CN119018517A

CN119018517A - Warehouse system, warehouse scheduling method and warehouse scheduling device

Info

Publication number: CN119018517A
Application number: CN202411172842.5A
Authority: CN
Inventors: 苏权; 吴永海
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2024-08-26
Filing date: 2024-08-26
Publication date: 2024-11-26

Abstract

The present application relates to a warehousing system, a warehousing scheduling method and a warehousing scheduling device. The present application may not deploy a picking operation table and an evacuation passage area between a shelf group and a space boundary of a storage space, so as to allow the number of shelves to be increased by utilizing the floor space occupied by the picking operation table and the evacuation passage area. In the shelf group after the number of shelves is increased, a portion of the shelf facade of the edge shelf closest to the selected space boundary can be configured as a picking operation surface, a portion of the storage locations in the edge shelf within the range of the picking operation surface can be configured as a picking storage location for temporarily storing cargo units picked on the picking operation surface, and the first track robot deployed on the shelf facade of the edge shelf can be used to perform a pick-and-place operation on the cargo unit at the picking storage location, so as to realize the in-and-out transportation of the cargo unit between the picking operation surface and the storage location. Thereby, the space utilization rate of the storage space can be improved while retaining the picking operation within the storage space.

Description

Warehouse system, warehouse scheduling method and warehouse scheduling device

Technical Field

The present application relates to warehouse logistics technology, and in particular, to a warehouse system, a warehouse scheduling method, a warehouse scheduling apparatus, an electronic device, a non-transitory computer readable storage medium, and a computer program product.

Background

The storage space can be provided with a shelf row group comprising a plurality of rows of shelves, each row of shelves in the shelf row group can be provided with a storage position for storing the goods units, and the warehousing and the ex-warehousing of the goods units at any storage position in each shelf row group can be realized by a track robot arranged on the elevation of the shelf.

There is also typically a need to deploy a workstation in the warehouse space, the horizontal deck of which may be used to perform a picking operation on the units of goods, i.e. the horizontal deck of the picking operation station may be referred to as the picking operation face, and the units of goods to be binned or to be taken out of the warehouse may be transferred between the horizontal deck of the workstation serving as the picking operation face and the pallet row group using a floor handling robot, i.e. the workstation may be regarded as a hub of multiple units of goods that are concurrently subjected to in-and-out handling. Typically, the in-and-out warehouse handling of the cargo units is performed concurrently, and therefore, the transfer of the cargo units between the workstation and the pallet bank is also concurrent, i.e. there may be multiple floor handling robots around the workstation for concurrent transfer. In this case, in order to avoid congestion around the workstation by the plurality of ground handling robots for concurrent transfer, an evacuation passage area is reserved between the workstation and the rack row group.

However, the picking stations and evacuation traffic areas reduce the available area in the warehouse space for the deployment of shelves, which means that the number of shelves in a shelf array is reduced, and the number of shelves is reduced, which means that the number of storage locations in the warehouse space is reduced. Thus, the space utilization of the warehouse space may be reduced due to the presence of the picking stations and the evacuation traffic areas. In particular, for warehouse spaces with limited space dimensions, such as "in-store bins" or "front-end bins", the reduction in space utilization caused by picking stations and evacuation traffic areas is more severe.

As can be seen from the above, how to improve the space utilization of the warehouse space under the condition of preserving the picking operation in the warehouse space becomes a technical problem to be solved in the prior art.

Disclosure of Invention

Embodiments of the present application provide a warehouse system, a warehouse scheduling method, a warehouse scheduling apparatus, an electronic device, a non-transitory computer-readable storage medium, and a computer program product that facilitate increasing space utilization of a warehouse space while preserving a picking operation within the warehouse space.

In one embodiment of the present application, there is provided a warehousing system including:

A rack row group located in a storage space, the rack row group including at least two rows of racks, each of the at least two rows of racks having storage locations for storing units of goods, each row of racks having storage locations penetrating between rack elevations on both sides of the row of racks, the at least two rows of racks including a row of edge racks closest to a selected spatial boundary of the storage space, a local area of a rack elevation on one side of the edge racks toward the selected spatial boundary being set as a picking operation face, the storage locations of the edge racks being distributed outside the range of the picking operation face, the edge racks also having picking locations distributed within the range of the picking operation face, the picking locations being for temporarily storing the units of goods that are picked at the picking operation face, and the picking locations penetrating between the rack elevations on both sides of the edge racks;

a robotic group comprising a first orbital robot, and the first orbital robot being movably deployed on another side shelf facade of the edge shelf facing away from the selected boundary;

The dispatching management platform is used for issuing an in-out warehouse carrying dispatching task to the robot group, so that the first track robot can execute the picking and placing operation on the goods units at the picking storage position appointed by the in-out warehouse carrying dispatching task, and in-out warehouse carrying of the goods units between the picking operation surface and the storage position appointed by the in-out warehouse carrying dispatching task is realized.

In some examples, optionally, the size of the picking operation face in at least one of a height direction and a width direction of the edge shelf is smaller than the size of the outside shelf elevation in the corresponding direction.

In some examples, optionally, the pick storage locations include at least two layers arranged in succession in a height direction from a lowermost layer of the edge shelf upwards.

In some examples, optionally, a manual sorting operation space is reserved between the sorting operation face and the selected space boundary, and a depth dimension of the manual sorting operation space in a depth direction perpendicular to a shelf elevation of the edge shelf is smaller than a width dimension of the manual sorting operation space in a width direction of the edge shelf.

In some examples, optionally, the storage locations of at least one of the at least two rows of shelves are double deep locations having two unit storage spaces extending through in a depth direction perpendicular to the shelf elevation, and each of the unit storage spaces is for storing one of the cargo units.

In some examples, optionally, the at least two rows of shelves are each parallel to the selected spatial boundary.

In some examples, optionally, the in-and-out garage transport is used to effect in-and-out garage transport of the cargo units from the pick storage locations specified by the in-and-out garage transport dispatch tasks to the storage locations, or the cargo units from the storage locations specified by the in-and-out garage transport dispatch tasks to the pick storage locations.

In some examples, optionally, the pick bins designated by the in-warehouse handling dispatch tasks are determined by human interaction operations performed at the pick face.

In some examples, optionally, the storage locations specified by the in-and-out handling dispatch tasks are determined by the dispatch management platform.

In some examples, optionally, the storage locations of the edge racks are of a first type in storage location category, the warehouse-in and warehouse-out handling scheduling task includes a warehouse-in and warehouse-out single machine scheduling task, and the warehouse-in and warehouse-out single machine scheduling task is used for enabling the first track robot to complete warehouse-in and warehouse-out handling of the goods units between the warehouse-in and warehouse-out single machine scheduling designated sorting storage location and the first type in storage location by independently executing a first warehouse-in and warehouse-out operation combination; wherein, the first in-out bin operation combination includes: the first track robot dispatches a picking storage position appointed by a task at the warehouse-in and warehouse-out single machine, and performs a first picking and placing operation on the goods unit; and the first track robot performs a second picking and placing operation on the goods unit at the first storage position designated by the dispatching task of the warehouse entry and exit machine, and the second picking and placing operation and the first picking and placing operation are reciprocal operations.

In some examples, optionally, the at least two rows of shelves further include a row of neighborhood shelves adjacent to the edge shelf, the neighborhood shelves being located on a side of the edge shelf facing away from the selected spatial boundary, the neighborhood shelves and the edge shelf having a first channel therebetween for movement by the first orbital robot, and the storage locations of the neighborhood shelves having a storage location category of the first type of storage location; when the first storage position designated by the warehouse-in and warehouse-out single machine dispatching task is located in the neighborhood goods shelf, the first warehouse-in and warehouse-out operation combination further comprises: the first track robot is in a first steering operation in the first channel, the execution time of the first steering operation is located between the first picking and placing operation and the second picking and placing operation, and the first steering operation enables the placing direction of the goods unit when the first picking and placing operation and the second picking and placing operation are executed to be opposite.

In some examples, optionally, the at least two rows of shelves further comprise a row of proximal shelves adjacent to the neighborhood shelf, the proximal shelf being located on a side of the neighborhood shelf facing away from the edge shelf, the robot group further comprises a second rail robot movably deployed on a side of the neighborhood shelf facing the proximal shelf or on a side of the proximal shelf facing the neighborhood shelf, and a second channel is provided between the neighborhood shelf and the proximal shelf for movement of the second rail robot; the storage position category of the storage position of the near-end goods shelf is a second storage position, the warehouse-in and warehouse-out carrying scheduling task comprises a warehouse-in and warehouse-out relay scheduling task which is issued to the first track robot and the second track robot at the same time, and the warehouse-in and warehouse-out relay scheduling task is used for enabling the first track robot and the second track robot to finish warehouse-in and warehouse-out carrying of the goods unit between the selected storage position appointed by the warehouse-in and warehouse-out relay scheduling and the second storage position through cooperatively executing a second warehouse-in and warehouse-out operation combination; wherein, the second in-out bin operation combination includes: the first track robot performs first picking and placing operation on the goods units at a picking storage position appointed by the warehouse-in and warehouse-out relay dispatching task; the first track robot and the second track robot perform a first delivery operation on the goods units at a first delivery position designated by the warehouse-in and warehouse-out relay dispatching task; the second track robot performs third picking and placing operation on the goods units at the second storage position appointed by the warehouse-in and warehouse-out relay dispatching task, and the third picking and placing operation and the first picking and placing operation are reciprocal operations; a first steering operation of the first track robot in the first channel, wherein the execution time of the first steering operation is positioned between the first picking and placing operation and the first handover operation, and the first steering operation enables the placing direction of the goods unit when the first picking and placing operation and the second picking and placing operation are executed to be opposite; and a second steering operation of the second track robot in the second channel, wherein the execution time of the second steering operation is between the first handover operation and the third picking and placing operation, and the second steering operation enables the placement orientation of the goods units when the first handover operation and the third picking and placing operation are executed to be opposite.

In some examples, optionally, the first interface location of the first orbital robot and the second orbital robot is located in a storage location in the neighborhood shelf specified by the in-out relay dispatch task.

In some examples, optionally, the at least two rows of shelves further comprise at least one row of the distal shelf, the distal shelf being located on a side of the neighborhood shelf facing away from the edge shelf, the robotic group further comprises a floor handling robot and a third rail robot, the floor handling robot being free to move independent of the at least two rows of shelves, and the third rail robot being movably deployed on a side shelf elevation of the distal shelf; the storage position category of the storage position of the remote shelf is a third type of storage position, the warehouse-in and warehouse-out carrying scheduling task comprises a warehouse-in and warehouse-out cooperative scheduling task which is issued to the first track robot, the ground carrying robot and the third track robot at the same time, and the warehouse-in and warehouse-out cooperative scheduling task is used for enabling the first track robot, the ground carrying robot and the third track robot to finish the warehouse-in and warehouse-out carrying of the goods unit between the warehouse-in and warehouse-out cooperative scheduling designated sorting storage position and the third type of storage position through cooperatively executing a third warehouse-in and warehouse-out operation combination; wherein, the third in-out bin operation combination includes: the first track robot cooperates with a picking storage position appointed by a dispatching task in the warehouse to carry out a first picking and placing operation on the goods unit; the first track robot and the ground carrying robot perform a second handover operation on the goods units at a second handover position designated by the in-out warehouse collaborative scheduling task; the ground transfer robot and the third track robot perform a third transfer operation on the cargo units at a third transfer position designated by the in-out warehouse collaborative scheduling task; and the third track robot performs fourth picking and placing operation on the goods unit in the third class of storage locations appointed by the in-out warehouse collaborative scheduling task, and the fourth picking and placing operation and the first picking and placing operation are reciprocal operations.

In some examples, optionally, the at least two rows of shelves further comprise a row of proximal shelves, the proximal shelf being located on a side of the neighborhood shelf facing away from the edge shelf, and the distal shelf being located on a side of the proximal shelf facing away from the neighborhood shelf; wherein: a row of the distal shelf adjacent to the proximal shelf is disposed against the proximal shelf; and/or the third rail robot is movably deployed on a side shelf elevation of the distal shelf facing away from the proximal shelf; and/or the number of the far-end shelves is at least two, and a third channel for the third track robot to move is arranged between every two adjacent far-end shelves.

In some examples, optionally, the second interface location of the first rail robot and the floor handling robot is located in the first aisle or the second aisle; or a lifting storage position or a comb cantilever is arranged below the storage position at the bottommost layer in the neighborhood shelf and/or the edge shelf, and the second connecting position of the first track robot and the ground carrying robot is positioned below the neighborhood shelf or the edge shelf and designated by the in-out warehouse collaborative scheduling task.

In some examples, optionally, the third interface location of the first rail robot and the floor handling robot is located in the third aisle; or a lifting storage position or a comb cantilever is arranged below the bottommost storage position in the far-end goods shelf, and the third connecting position of the ground transfer robot and the third track robot is positioned below the far-end goods shelf and is designated by the in-out warehouse collaborative scheduling task.

In some examples, optionally, the schedule management platform is further to: determining a matching bin category for the units of cargo based on a predicted shipment frequency for the units of cargo waiting to be stocked in any one of the picking bins; and selecting the storage position designated by the warehouse in-out conveying dispatching task from storage positions of the matched storage position types of the goods units.

In some examples, optionally, the warehouse space includes a first space, a second subspace, and a third subspace sequentially arranged in a direction away from the selected space boundary, the storage category of the storage location of each of the at least two rows of shelves located in the first subspace is a first type of storage location, the edge shelf is located in the first subspace, the storage location category of the storage location of each of the at least two rows of shelves located in the second subspace is a second type of storage location, and the storage location category of the storage location of each of the at least two rows of shelves located in the third subspace is a third type of storage location; and: if the predicted discharging frequency is larger than a preset first frequency threshold value, the matching storage position category of the goods unit is the first storage position category; if the predicted discharging frequency is smaller than or equal to the first frequency threshold and larger than or equal to a preset second frequency threshold, the matching storage bit class of the cargo unit is the second storage bit class; and if the predicted discharging frequency is smaller than the second frequency threshold value, the matching storage position category of the cargo unit is the third-type storage position.

In some examples, optionally, the warehouse space includes a first subspace adjacent to the selected space boundary, and a second subspace or a third subspace farther from the selected space boundary than the first subspace, the storage category of the storage locations of each of the at least two rows of shelves within the first subspace is a first type of storage location, the edge shelf is within the first subspace, the storage category of the storage locations of each of the at least two rows of shelves within the second subspace is a second type of storage location, and the storage category of the storage locations of each of the at least two rows of shelves within the third subspace is a third type of storage location; and: if the predicted discharging frequency is larger than a preset first frequency threshold value, the matching storage position category of the goods unit is the first storage position category; and if the predicted discharging frequency is smaller than or equal to the first frequency threshold, the matching storage position type of the cargo unit is the second type storage position or the third type storage position.

In some examples, optionally, the schedule management platform is further to: and responding to the triggering of the tally condition of the goods units stored in any storage position, and delivering a tally carrying scheduling task to the robot group so as to realize the tally carrying of the goods units among different storage positions appointed by the tally carrying scheduling task.

In some examples, optionally, the storage locations of at least one of the at least two rows of shelves are double deep locations having two unit locations spaces therethrough in a depth direction perpendicular to a shelf elevation, each of the unit locations spaces for storing one of the cargo units, the tally trigger condition comprising a passive tally trigger condition for characterizing: and the goods units stored in one unit storage space of the double-deep storage blocks the warehouse in-out transportation of the other unit storage space which is free in the double-deep storage, and the storage types of different storage positions designated by the tally transportation scheduling task are the same.

In some examples, optionally, the storage category of the storage location for storing the cargo unit is a matching storage category of the cargo unit, the matching storage category of the cargo unit being associated with a predicted shipment frequency of the cargo unit, the tally trigger condition comprising an active tally trigger condition for characterizing: the matching storage categories of the goods units stored in any one storage location are changed due to the change of the predicted shipment frequency, and the storage categories of different storage locations designated by the tally handling scheduling task are different.

In some examples, optionally, the at least two rows of shelves further include a row of neighborhood shelves, a row of proximal shelves, and at least one row of distal shelves, the neighborhood shelves being located on a side of the edge shelf facing away from the selected spatial boundary, the neighborhood shelves and the edge shelf having a first channel therebetween for movement by the first orbital robot, and the proximal shelves being located on a side of the neighborhood shelves facing away from the edge shelf, the distal shelves being located on a side of the proximal shelves facing away from the edge shelf; the edge shelf and the neighborhood shelf are both positioned in the first subspace, the storage categories of the storage locations of the edge shelf and the neighborhood shelf are a first type storage location, the near-end shelf is positioned in the second subspace, the storage categories of the storage locations of the near-end shelf are a second type storage location, the far-end shelf is positioned in the third subspace, and the storage categories of the storage locations of the far-end shelf are a third type storage location; the robot group further comprises a second track robot, a ground carrying robot and a third track robot, wherein the second track robot is movably deployed on one side of the adjacent shelf, which faces the near-end shelf, or on one side of the near-end shelf, which faces the adjacent shelf, a second channel for the second track robot to move is arranged between the adjacent shelf and the near-end shelf, the ground carrying robot is independent of the free movement of at least two rows of shelves, and the third track robot is movably deployed on one side of the far-end shelf.

In some examples, optionally, the tally handling scheduling task includes a passive tally handling scheduling task that is responsive to the passive tally trigger condition being reached, and the passive tally handling scheduling task is configured to cause the first orbital robot, or the second orbital robot, or the third orbital robot to perform reciprocal two pick and place operations on the same cargo unit independently at two storage locations of the same storage location category.

In some examples, optionally, the tally handling scheduling tasks include an active tally handling scheduling task that is responsive to the active tally trigger condition, and the active tally handling scheduling task includes at least one of a first active tally handling scheduling task, a second active tally handling scheduling task, and a third active tally handling scheduling task.

In some examples, optionally, the first active tally handling scheduling task is configured to cause the first rail robot and the second rail robot to perform a first active tally operation combination by cooperatively executing the first active tally handling scheduling task to complete tally handling of the cargo units between the first type of storage location and the second type of storage location specified by the first active tally handling scheduling task; wherein, the first active tally operation combination includes: the first track robot performs second picking and placing operation on the goods units at the first storage locations appointed by the first tally carrying dispatching task on the edge goods shelves; the first track robot and the second track robot perform a first handover operation on the goods unit at a first handover position designated by the first active tally handling scheduling task; the second track robot performs a third picking and placing operation on the goods unit at the second storage position appointed by the first tally carrying scheduling task, and the second picking and placing operation and the third picking and placing operation are reciprocal operations; a first steering operation of the first track robot in the first channel, wherein the execution time of the first steering operation is positioned between the first picking and placing operation and the second picking and placing operation, and the first steering operation enables the placing direction of the goods unit when the first picking and placing operation and the second picking and placing operation are executed to be opposite; and a second steering operation of the second track robot in the second channel, wherein the execution time of the second steering operation is between the first handover operation and the third picking and placing operation, and the second steering operation enables the placement orientation of the goods units when the first handover operation and the third picking and placing operation are executed to be opposite.

In some examples, optionally, the second active tally handling scheduling task is configured to cause the second rail robot, the ground handling robot, and the third rail robot to complete tally handling of the cargo unit between the second type of storage locations and the third type of storage locations specified by the second active tally handling scheduling task by cooperatively executing a second active tally operation combination; wherein the second active tally operation combination includes: the second track robot performs fifth picking and placing operation on the goods units at the second storage position designated by the second tally carrying scheduling task; the second track robot and the ground transfer robot perform a fourth transfer operation on the cargo units at a fourth transfer position designated by the second cargo handling scheduling task; the ground transfer robot and the third track robot perform a third transfer operation on the cargo units at a third transfer position designated by the second active cargo handling scheduling task; and the third track robot performs a fourth picking and placing operation on the goods unit at the third type of storage position designated by the second tally handling scheduling task, and the fourth picking and placing operation and the fifth picking and placing operation are reciprocal operations.

In some examples, optionally, the third active tally handling scheduling task is configured to cause the first rail robot, the ground handling robot, and the third rail robot to complete tally handling of the cargo unit between the first type of storage location and the third type of storage location specified by the third active tally handling scheduling task by cooperatively performing a third active tally operation combination; wherein, the third active tally operation combination includes: the first track robot performs second picking and placing operation on the goods units at the first storage position appointed by the third tally carrying scheduling task; the first track robot and the ground carrying robot carry out second handing-over operation on the goods units at a second handing-over position appointed by the third active tally carrying scheduling task; the ground transfer robot and the third rail robot perform a third transfer operation on the cargo units at a third transfer position designated by the third cargo handling scheduling task; and the third track robot performs a fourth picking and placing operation on the goods unit at the third type of storage position appointed by the third active cargo handling scheduling task, and the second picking and placing operation and the fourth picking and placing operation are reciprocal operations.

In some examples, optionally, the neighborhood shelf and the bottom-most storage location in the distal shelf each have a lifting location or comb cantilever below them, and: the first delivery position of the first track robot and the second track robot is positioned at a storage position designated by the warehouse-in and warehouse-out relay dispatching task in the neighborhood goods shelf; and/or the second interface position of the first rail robot and the floor handling robot is located in the first aisle or the second aisle; or the second connection position of the first track robot and the ground carrying robot is positioned below the neighborhood goods shelf or the edge goods shelf and is designated by the third active tally carrying scheduling task to be lifted or a comb cantilever; and/or the fourth interface location of the second rail robot and the floor handling robot is located in the second aisle; or the fourth connecting position of the second track robot and the ground carrying robot is positioned below the neighborhood goods shelf and is designated by the second active tally carrying scheduling task to be lifted or a comb cantilever; and/or the third interface location of the third rail robot and the floor handling robot is located in the third aisle; or the third connection position of the third track robot and the ground carrying robot is located below the remote shelf and is designated by the second active tally carrying scheduling task or the third active tally carrying scheduling task, and is a lifting storage position or a comb cantilever.

In another embodiment of the present application, there is also provided a warehouse scheduling method, including:

Acquiring a storage configuration file of a storage rack row group in a storage space; wherein the rack row group is located within a storage space, the rack row group comprises at least two rows of racks, each of the at least two rows of racks has a storage location for storing a unit of goods, the at least two rows of racks comprise a row of edge racks closest to a selected spatial boundary of the storage space, a local area of a side of a rack elevation of the edge racks towards the selected spatial boundary is set as a picking operation face, the storage locations of the edge racks are distributed outside the range of the picking operation face, the edge racks also have picking locations distributed within the range of the picking operation face, the picking locations are used for temporarily storing the unit of goods picked at the picking operation face, and the storage location configuration file is used for determining the picking locations and the spatial location information of the storage locations;

According to the storage configuration file, delivering an in-out warehouse carrying scheduling task to a robot group; the robot group comprises a first track robot which is movably arranged on the other side shelf elevation of the edge shelf, which is opposite to the selected boundary, and the warehouse-in and warehouse-out carrying scheduling task is used for enabling the first track robot to execute picking and placing operation on the goods units at a picking storage position appointed by the warehouse-in and warehouse-out carrying scheduling task so as to realize warehouse-in and warehouse-out carrying of the goods units between the picking operation surface and the storage position appointed by the warehouse-in and warehouse-out carrying scheduling task.

In another embodiment of the present application, there is also provided a warehouse scheduling device, including:

The configuration acquisition module is used for acquiring a storage configuration file of a storage rack row group in the storage space; wherein the rack row group is located within a storage space, the rack row group comprises at least two rows of racks, each of the at least two rows of racks has a storage location for storing a unit of goods, the at least two rows of racks comprise a row of edge racks closest to a selected spatial boundary of the storage space, a local area of a side of a rack elevation of the edge racks towards the selected spatial boundary is set as a picking operation face, the storage locations of the edge racks are distributed outside the range of the picking operation face, the edge racks also have picking locations distributed within the range of the picking operation face, the picking locations are used for temporarily storing the unit of goods picked at the picking operation face, and the storage location configuration file is used for determining the picking locations and the spatial location information of the storage locations;

The task generating module is used for issuing a warehouse in-out carrying scheduling task to the robot group according to the storage configuration file; the robot group comprises a first track robot which is movably arranged on the other side shelf elevation of the edge shelf, which is opposite to the selected boundary, and the warehouse-in and warehouse-out carrying scheduling task is used for enabling the first track robot to execute picking and placing operation on the goods units at a picking storage position appointed by the warehouse-in and warehouse-out carrying scheduling task so as to realize warehouse-in and warehouse-out carrying of the goods units between the picking operation surface and the storage position appointed by the warehouse-in and warehouse-out carrying scheduling task.

In another embodiment of the present application, there is also provided an electronic device including a processor configured to perform the warehouse scheduling method according to the foregoing embodiment.

In another embodiment of the present application, there is also provided a non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the warehouse scheduling method of the previous embodiment.

In another embodiment of the present application, there is also provided a computer program product comprising computer executable instructions which, when executed by a processor, implement the warehouse scheduling method of the previous embodiment.

As can be seen above, embodiments of the present application may not deploy a picking console and an evacuation pass zone between a rack row and a spatial boundary of a warehouse space, and the footprint of the picking console and the evacuation pass zone in the warehouse space may be used to increase the number of racks of the rack row. In the shelf row group with the increased number of shelves, a part of the shelf elevation of the edge shelf closest to the selected space boundary can be configured as a picking operation surface for replacing a horizontal table surface of the picking operation platform, a part of storage positions in the edge shelf, which are located in the range of the picking operation surface, can be configured as picking storage positions for temporarily storing the goods units picked on the picking operation surface, the shelf elevation of the edge shelf can be further provided with a first track robot, and the goods units can be carried in and out between the picking operation surface and the storage positions by utilizing the first track robot in picking and placing operations of the goods units on the picking storage positions. Therefore, the embodiment of the application can improve the space utilization rate of the warehouse space under the condition of keeping the picking operation in the warehouse space.

Drawings

The following drawings are only illustrative of the application and do not limit the scope of the application:

FIG. 1a is a top view of a warehousing system according to an embodiment of the application;

FIG. 1b is a schematic illustration of a side shelf elevation of an edge shelf of a warehousing system according to an embodiment of the application;

FIG. 1c is a schematic view of another side shelf elevation of an edge shelf of a warehousing system according to an embodiment of the application;

FIG. 2 is a schematic diagram of an exemplary configuration of a rail robot used in a warehousing system according to an embodiment of the application;

FIG. 3 is a schematic diagram illustrating an exemplary configuration of a warehousing system according to an embodiment of the application;

fig. 4 is a schematic structural diagram of an example of a floor handling robot used in the warehouse system according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a first warehouse entry and exit handling example of a warehouse system in an embodiment of the present application;

FIG. 6 is a schematic diagram of a second warehouse entry and exit handling example of the warehouse system in an embodiment of the present application;

FIG. 7 is a schematic diagram of a third in-out warehouse handling example of a warehouse system according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a fourth warehouse entry and exit handling example of the warehouse system in an embodiment of the present application;

FIG. 9 is a schematic view of a comb cantilever of a warehousing system according to an embodiment of the application;

FIG. 10 is a schematic view of a lifting bin of a warehousing system according to an embodiment of the application;

FIG. 11 is a schematic diagram of a first example of a warehouse system according to an embodiment of the present application;

fig. 12 is a schematic diagram of a second example of a warehouse system according to an embodiment of the application

FIG. 13 is a diagram of a third example of a warehouse system according to an embodiment of the present application;

FIG. 14 is an exemplary flow chart of a warehouse scheduling method in an embodiment of the application;

FIG. 15 is an exemplary flow chart of a hasten scheduling apparatus in an embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below by referring to the accompanying drawings and examples.

Fig. 1a is a top view of a warehousing system according to an embodiment of the application. Fig. 1b is a schematic view of a side shelf elevation of an edge shelf of a warehouse system according to an embodiment of the present application. Fig. 1c is a schematic view of another side shelf elevation of an edge shelf of a warehouse system according to an embodiment of the present application.

Referring to fig. 1a, the warehouse system in the embodiment of the present application includes a rack row group fr_grp, where the rack row group fr_grp is located in a warehouse space, and the rack row group fr_grp includes at least two rows of racks. In an embodiment of the present application, each row of shelves may include shelf storage arranged in a plurality of rows and columns, the row direction of the shelf storage of each of the at least two rows of shelves of the shelf row group fr_grp may be referred to as the width direction X (labeled in fig. 1a, 1b and 1 c) of the row of shelves, the column direction of the shelf storage of each of the at least two rows of shelves of the shelf row group fr_grp may be referred to as the height direction Y (labeled in fig. 1b and 1 c) of the row of shelves, the penetration direction between the two side elevation of each of the at least two rows of shelves of the shelf row group fr_grp may be referred to as the depth direction Z (labeled in fig. 1 a) of the row of shelves, and the shelf storage of each of the at least two rows of shelves may be penetrated between the two side elevation of the row of shelves, i.e., the two ends of the shelf storage in the depth direction of the shelf storage of the row of shelves may have the storage openings of the two side elevation of the shelf of the row of shelves, respectively.

In an embodiment of the application, each of the at least two rows of shelves of the shelf row group fr_grp has a storage location att_stg for storing a unit of goods, i.e. the shelf location of each of the at least two rows of shelves of the shelf row group fr_grp may comprise a storage location att_stg; in addition, the storage position att_stg of each of at least two rows of shelves in the shelf row group fr_grp can be communicated between the two side shelf elevation of the row of shelves, that is, the two ends of the storage position att_stg in the depth direction of the row of shelves are respectively provided with storage position openings positioned at the two side shelf elevation of the row of shelves.

As can be seen from fig. 1a of an embodiment of the present application, any side or at least one side of the warehouse space may be conveniently in communication with the external connection, such a space boundary being suitable for picking operations performed on the cargo units, and such a space boundary is referred to herein as a selected space boundary edge_sort.

It can also be seen from fig. 1a of the present embodiment that at least two rows of shelves of the shelf row group fr_grp comprise a row of Edge shelves fr_edge closest to the selected spatial boundary edge_sort of the warehouse space, and that, as shown in fig. 1b of the present embodiment, a local area of a side shelf elevation of the Edge shelves fr_edge towards the selected spatial boundary edge_sort is set as a picking operation surface p_sort, e.g. the size of the picking operation surface p_sort in at least one of the height direction and the width direction of the Edge shelf fr_edge is smaller than the size of the outside shelf elevation in the corresponding direction. In this case, the storage locations att_stg of the edge racks fr_edge are distributed outside the range of the picking surface p_sort, the edge racks fr_edge also have picking locations att_sort distributed within the range of the picking surface p_sort, the picking locations att_sort being used for temporarily storing the goods units picked at the picking surface p_sort, i.e. a part of the storage locations of the edge racks fr_edge that are distributed outside the range of the picking surface p_sort may comprise storage locations att_stg, another part of the storage locations of the edge racks fr_edge that are distributed within the range of the picking surface p_sort may comprise picking locations att_sort; the picking storage att_sort of the Edge shelf fr_edge may be penetrated between the shelf elevations on both sides of the Edge shelf fr_edge, i.e., both ends of the picking storage att_sort in the depth direction of the Edge shelf fr_edge may have storage openings on the shelf elevations on both sides of the Edge shelf fr_edge facing and facing away from the selected spatial boundary edge_sort.

In embodiments of the present application, the Edge shelf fr_edge may be considered to be one shelf attribute that is assigned to a shelf in a relative relationship to the selected spatial boundary edge_sort, and the Edge shelf fr_edge does not require that other shelves in the remaining shelf row group fr_grp necessarily have physical differences.

In embodiments of the application, the picking surface P_sort may be a configurable virtual area, and the picking storage att_sort with edge shelves FR_edge distributed within the range of the picking surface P_sort may be physically identical to the storage att_stg with edge shelves FR_edge distributed outside the range of the picking surface P_sort. That is, the edge shelf fr_edge may have a plurality of shelf positions having the same physical form, and depending on the setting result of the picking operation surface p_sort, a part of the plurality of shelf positions located within the range of the picking operation surface p_sort is used as the picking position att_sort, and another part located outside the range of the picking operation surface p_sort is used as the storage position att_stg.

In an embodiment of the application, a portion of the shelf elevation of the edge shelf fr_edge of the shelf row group fr_grp may be configured as a picking surface p_sort for replacing the horizontal deck of the picking surface. Illustratively, in an embodiment of the present application, to facilitate manual execution of a picking operation, a picking operation surface p_sort may be located in a lower partial region of a side shelf elevation of an Edge shelf fr_edge toward a selected spatial boundary edge_sort, and thus, a picking storage att_sort located within the range of the picking operation surface p_sort may include: at least two layers are arranged continuously in the height direction from the lowermost layer of the edge shelf fr_edge upward.

In embodiments of the present application, using a portion of the shelf elevation of the Edge shelf fr_edge as the picking surface p_sort means that the picking operation can be performed on the Edge shelf fr_edge of the shelf row fr_grp, and therefore embodiments of the present application may eliminate the need to deploy a picking console between the shelf row fr_grp and the spatial boundary edge_sort of the warehouse space, and also eliminate the need to transfer between the picking console and the shelf row fr_grp, and thus eliminate the need to deploy an evacuation pass zone around the picking console between the shelf row fr_grp and the selected spatial boundary edge_sort of the warehouse space. Illustratively, in an embodiment of the present application, the picking operation surface p_sort may not necessarily coincide with the selected space boundary edge_sort across the picking table and the evacuation passing area, but it does not mean that the picking operation surface p_sort must coincide with the selected space boundary edge_sort, for example, a manual sorting operation space a_sort for an operator standing to perform a picking operation may be reserved between the picking operation surface p_sort and the selected space boundary edge_sort, and a depth dimension of the manual sorting operation space a_sort in a depth direction of a shelf elevation perpendicular to the Edge shelf fr_edge may be smaller than a width dimension of the manual sorting operation space a_sort in a width direction of the Edge shelf fr_edge.

In the case where a part of the shelf elevation of the edge shelf fr_edge is used as the picking surface p_sort in the embodiment of the application, the floor area of the picking stations and the evacuation traffic area in the warehouse space can be used to increase the number of shelves of the shelf row group. That is, the edge shelf fr_edge of the shelf row group fr_grp may be regarded as a shelf that is added in the shelf row group fr_grp due to the omission of the picking operation table and the evacuation passage area, and the shelf that is added in the shelf row group fr_grp due to the omission of the picking operation table and the evacuation passage area may be more than the edge shelf fr_edge, but may include the edge shelf fr_edge and at least one other shelf.

In the embodiment of the present application, since only a part of all the storage locations of the edge shelf fr_edge are used as the picking storage location att_sort, and all the other storage locations outside the range of the picking operation surface p_sort in the edge shelf fr_edge are storage locations att_stg, even if the shelf row group fr_grp has only one row of edge shelf fr_edge increased by omitting the picking operation table and the evacuation passage area, the number of storage locations att_stg in the storage space can be increased, and in other cases, if the shelf row group fr_grp has at least one row of other storage locations including the edge shelf fr_edge and all the storage locations are storage locations att_stg at the same time due to omitting the picking operation table and the evacuation passage area, the number of storage locations att_stg in the storage space can be further increased. Furthermore, the embodiment of the application can improve the space utilization rate of the warehouse space.

Illustratively, in an embodiment of the present application, in order to make the distribution of the storage locations att_stg more compact to further increase the space utilization of the warehouse space, at least two rows of shelves may each be parallel to the selected space boundary edge_sort, so that the number of shelves of at least two rows of shelves in the shelf row group fr_grp can be maximized by maximizing the utilization of the warehouse space.

Illustratively, in an embodiment of the present application, in order to make the distribution of the storage bits att_stg more compact to further increase the space utilization of the storage space, at least one of the storage bits att_stg of at least two rows of shelves of the shelf row group fr_grp may be a double deep storage bit. Wherein the double deep storage has two unit storage spaces penetrating in a depth direction perpendicular to the elevation of the shelf, and each unit storage space is used for storing one cargo unit, i.e., the double deep storage refers to a storage att_stg which can allow two cargo units to be stored simultaneously in the depth direction.

In an embodiment of the present application, the warehouse system may further include a robot group, where the robot group may include at least a first track robot r_r1, as shown in fig. 1c of the embodiment of the present application, where the first track robot is movably disposed on another shelf elevation of the Edge shelf fr_edge facing away from the selected space boundary edge_sort.

Fig. 2 is a schematic structural diagram of an exemplary track robot used in the warehouse system according to an embodiment of the present application. Referring to fig. 2, the track robot used in the warehouse system of the embodiment of the present application may include a pair of horizontal tracks 21, a pair of vertical tracks 22, a carrying tray 23, and an operating arm 25, where the horizontal tracks 21 may be fixedly installed in pairs at the upper and lower edges of any one of the racks in the rack row group fr_grp, the upper and lower ends of the vertical tracks 22 may be movably installed in the pair of horizontal tracks 21, and the carrying tray 23 may be movably installed between the pair of vertical tracks 22, so that the vertical tracks 22 may be driven by the horizontal driving assembly 210 to drive the carrying tray 23 to move horizontally along the horizontal tracks 21, and the carrying tray 23 may be driven by the vertical driving assembly 220 to move vertically along the vertical tracks 22, so that the carrying tray 23 may reach any storage location of the rack by moving horizontally and/or vertically on the rack elevation of the rack where the track robot is located.

Referring back to fig. 2, in an embodiment of the present application, the robot arm 25 of the track robot may be located at a side of the carrying tray 23, and when the carrying tray 23 is at any storage position, the robot arm 25 may extend into or withdraw from the storage position along a depth direction perpendicular to the vertical surface of the shelf under the driving of the arm driving assembly 230, so as to implement a picking and placing operation (i.e. a loading and placing operation of a cargo unit into the storage position or an unloading and taking operation of a cargo unit out of the storage position) of the storage position. The unit package adopted by the cargo unit may have a pick-and-place matching structure that is convenient to be locked and released by the mechanical arm 25, for example, the unit package of the cargo unit may be a turnover box, and a wall of the turnover box may have a suction cup that is convenient to be locked by the mechanical arm 25 in a magnetic attraction manner and released in a demagnetizing manner. In addition, the movement stroke of the robot arm 25 in the depth direction may be adapted to the depth dimension of the storage, that is, if the storage of any one row of shelves is a double-deep storage, the robot arm 25 of the rail robot disposed on the shelf elevation of the row of shelves has a movement stroke adapted to the depth dimension of the double-deep storage.

In an embodiment of the present application, the first rail robot r_r1 disposed on the other shelf elevation of the Edge shelf fr_edge facing away from the selected space boundary edge_sort may have a structure as shown in fig. 2 or a structure similar to the principle of fig. 2. And, for the first track robot r_r1, the storage locations that can be reached and the pick-and-place operation performed by the other side shelf elevation of the Edge shelf fr_edge facing away from the selected space boundary edge_sort include the picking storage location att_sort within the range of the picking operation face p_sort and the storage location att_stg outside the range of the picking operation face p_sort.

In an embodiment of the present application, the warehousing system may further include a schedule management platform, not shown in the drawings, which may acquire an externally input storage configuration file, and the storage configuration file is used to determine spatial location information of the picking storage att_sort and the storage att_stg. For example, the storage profile may include spatial location information for all storage racks in at least two rows of racks of rack row group fr_grp, rack attributes of at least two rows of racks of rack row group fr_grp (e.g., edge racks fr_edge or other rack attributes mentioned later), and pick operation face p_sort coverage. Therefore, the scheduling management platform can identify the picking storage bit att_sort within the range of the picking operation surface p_sort in the edge shelf fr_edge and all storage bits att_stg except the picking storage bit att_sort based on the shelf attributes of at least two rows of shelves of the shelf row group fr_grp in the storage bit configuration file and the coverage of the picking operation surface p_sort, and further can determine the spatial position information of the picking storage bit att_sort and the storage bit att_stg based on the identification result and the spatial position information of all the shelf storage bits in at least two rows of shelves of the shelf row group fr_grp.

In the embodiment of the application, the warehouse system can be used for delivering the warehouse in and out carrying scheduling task to the robot group (namely delivering the warehouse in and out carrying scheduling task to any robot including the first track robot R_r1 in the robot group), so that the first track robot R_r1 can execute the picking and placing operation on the goods unit at the picking storage bit att_sort appointed by the warehouse in and out carrying scheduling task, and the warehouse in and out carrying of the goods unit between the picking operation face P_sort and the storage bit att_stg appointed by the warehouse in and out carrying scheduling task is realized. The warehouse in and out conveying device is used for realizing warehouse in conveying from a picking storage position Att_sort appointed by a warehouse in and out conveying scheduling task to a storage position Att_stg of a goods unit, or warehouse out conveying from the storage position Att_stg appointed by the warehouse in and out conveying scheduling task to the picking storage position Att_sort of the goods unit.

Illustratively, in an embodiment of the present application, the pick-up locations att_sort specified by the in-and-out warehouse handling dispatch tasks are determined by human-machine interaction operations performed at the pick-up operator plane p_sort, e.g., the pick-up operator plane p_sort of the edge shelf fr_edge may be equipped with human-machine interaction components such as buttons or operator panels, and the human-machine interaction components may be in signal connection with the dispatch management platform of the warehouse system.

Illustratively, in embodiments of the present application, the storage locations att_stg specified by the in-warehouse handling dispatch tasks may be determined by the dispatch management platform of the warehousing system through various dispatch policy calculations.

As can be seen from the above, the embodiment of the present application can also utilize the pick-and-place operation of the first track robot r_r1 on the cargo units at the picking storage location att_sort to implement the warehouse-in and warehouse-out transportation of the cargo units between the picking operation surface p_sort and the storage location att_stg. Therefore, the technical scheme for improving the space utilization rate of the storage space can not cause that the picking operation in the storage space cannot be implemented, namely, the embodiment of the application can improve the space utilization rate of the storage space under the condition of preserving the picking operation in the storage space.

Illustratively, in an embodiment of the present application, the warehouse space may include a first space, a second subspace, and a third subspace sequentially arranged in a direction away from the selected space boundary edge_sort (or away from the picking operation face p_sort). The storage type of the storage bit att_stg of each storage rack in the first subspace in at least two rows of storage racks of the storage rack row group fr_grp is a first storage bit att_stg_a, the edge storage racks fr_edge are positioned in the first subspace, the storage type of the storage bit att_stg of each storage rack in the second subspace in at least two rows of storage racks of the storage rack row group fr_grp is a second storage bit att_stg_b, and the storage type of the storage bit att_stg of each storage rack in the third subspace in at least two rows of storage racks of the fr_grp is a third storage bit att_stg_c. In this case, the in-out bin handling between the picking operation surface p_sort and the first, second and third types of storage bits att_stg_a, att_stg_b, and att_stg_c, respectively, may be achieved by scheduling different robots in the group of robot groups, and the in-out bin handling between the picking operation surface p_sort and the first, second, and third types of storage bits att_stg_a, att_stg_b, and att_stg_c, respectively, all involve the picking and placing operation of the first track robot r_r1 on the cargo units at the picking storage bits att_sort.

Fig. 3 is a schematic structural diagram of an example warehouse system according to an embodiment of the application. Referring to FIG. 3, in an embodiment of the present application, at least two rows of shelves of the shelf row group FR_grp may include a row of neighbor shelves FR_adj, a row of near-end shelves FR_near, and at least one row of far-end shelves FR_far in addition to the edge shelves FR_edge. Similar to the edge shelves fr_edge, the neighborhood shelf fr_adj, the near-end shelf fr_near, and the far-end shelf fr_far are also the shelf attributes of at least two rows of shelves of the shelf row group fr_grp, and do not necessarily mean that there is a physical morphological difference between the shelves.

In this case, the robot group further includes a second track robot r_r2 and a third track robot r_r3. Illustratively, both the second track robot r_r2 and the third track robot r_r3 may adopt a structure as shown in fig. 2 or a similar structure as the principle of fig. 2, and, for each of the second track robot r_r2 and the third track robot r_r3, the other side shelf elevation of the Edge shelf fr_edge facing away from the selected space boundary edge_sort can reach the storage place att_stg and perform a pick-and-place operation at the storage place att_stg, and the second track robot r_r2 and the third track robot r_r3 do not perform a pick-and-place operation at the pick-and-place att_sort.

In the embodiment of the application, the neighborhood shelf fr_adj is located at one side of the Edge shelf fr_edge facing away from the selected space boundary edge_sort, a first channel CH1 for the first track robot r_r1 to move is provided between the neighborhood shelf fr_adj and the Edge shelf fr_edge, the Edge shelf fr_edge and the neighborhood shelf fr_adj are both located in the first subspace, and the storage type of the storage bit att_stg of the Edge shelf fr_edge and the neighborhood shelf fr_adj is the first storage type att_stg_a.

In the embodiment of the application, the near-end shelf fr_near is located on the side of the neighborhood shelf fr_adj facing away from the edge shelf fr_edge, the second track robot r_r2 is movably disposed on the side shelf elevation of the neighborhood shelf fr_adj facing the near-end shelf fr_near or on the side shelf elevation of the near-end shelf fr_near facing the neighborhood shelf fr_adj, a second channel CH2 is provided between the neighborhood shelf fr_adj and the near-end shelf fr_near for the second track robot r_r2 to move, the near-end shelf fr_near is located in the second subspace, and the storage type of the storage location att_stg of the near-end shelf fr_near is the second type of storage location att_stg_b.

In the embodiment of the application, the far-end shelf fr_far is located on one side of the neighborhood shelf fr_adj or the near-end shelf fr_near facing away from the edge shelf fr_edge, the far-end shelf fr_far is specifically located on one side of the near-end shelf fr_near facing away from the neighborhood shelf fr_adj and the edge shelf fr_edge, the third track robot r_r3 is movably disposed on one side shelf elevation of the far-end shelf fr_far, the far-end shelf fr_far is located in the third subspace, and the storage type of the storage location att_stg of the far-end shelf fr_far is a third type of storage location att_stg_c. For example, the third track robot r_r3 is movably disposed on a side of the far-end shelf fr_far facing away from the edge shelf fr_edge, the neighborhood shelf fr_adj and the near-end shelf fr_near, and if the far-end shelf fr_far is at least two rows, a third channel CH3 for the third track robot r_r3 to move is provided between every two adjacent rows of far-end shelves fr_far. Further, in order to make the distribution of the storage locations att_stg more compact, so as to further improve the space utilization of the storage space, a row of distal racks fr_far adjacent to the proximal rack fr_near is arranged in abutment with the proximal rack fr_near.

In the embodiment of the present application, as described above, the shelf elevation on which the first track robot r_r1 can perform the pick-and-place operation includes the shelf elevation on the side of the Edge shelf fr_edge facing away from the selected space boundary edge_sort and the shelf elevation on the side of the neighborhood shelf fr_adj facing toward the selected space boundary edge_sort or Edge shelf fr_edge, the shelf elevation on which the second track robot r_r2 can perform the pick-and-place operation includes the shelf elevation on the side of the neighborhood shelf fr_adj facing away from the selected space boundary edge_sort or Edge shelf fr_edge and the shelf elevation on the side of the near-end shelf fr_near-end shelf Edge facing toward the selected space boundary edge_sort or Edge shelf fr_adj, the shelf elevation on which the third track robot r_r3 can perform the pick-and-place operation includes the shelf elevation on the far-end side fr_far, and the third track robot r_r3 can perform the pick-and-place operation with the first track robot r_r1 and the second track robot r_r2 can perform the pick-and-place operations on the shelf elevation on the side of the selected space boundary.

In an embodiment of the present application, in order to achieve a transfer engagement between the rack facade, where the third rail robot r_r3 can perform a pick and place operation, and the other rack facades, the robot group may further comprise a floor transfer robot r_gnd, which may be moved independently of the rack row group fr_grp, and which may have a lifting mechanism for carrying and lifting the goods units up and down. For example, the floor transfer robot R_gnd may include an AGV (Automated Guided Vehicle, automatic guided vehicle).

Fig. 4 is a schematic structural diagram of an example of a ground handling robot r_gnd used in the warehouse system according to an embodiment of the present application. As shown in fig. 4, in the embodiment of the present application, the floor transfer robot r_gnd included in the robot group may include a moving chassis 41, a lifting and lowering mechanism 43 installed on top of the moving chassis 41, and a cargo carrying mechanism 45 supported by the lifting and lowering mechanism 43.

Fig. 5 is a schematic diagram of a first warehouse entry and exit handling example of the warehouse system according to an embodiment of the present application. As shown in fig. 5, in the first in-out warehouse handling example of the embodiment of the present application, the in-out warehouse handling scheduling task includes an in-out warehouse scheduling task, and the in-out warehouse scheduling task is used for enabling the first track robot r_r1 to complete in-out warehouse handling of the cargo unit between the picking storage bit att_sort and the first storage bit att_stg_a designated by the in-out warehouse scheduling by independently executing the first in-out warehouse operation combination. Wherein the first combination of access operations may include:

a first track robot R_r1 performs a first picking and placing operation on the goods unit at a picking storage position Att_sort appointed by a dispatching task of the warehouse entering and exiting single machine; and

The first track robot r_r1 performs a second picking and placing operation on the cargo units at the first type of storage bit att_stg_a designated by the dispatch task of the in-out bin and out-of-bin, and the second picking and placing operation and the first picking and placing operation are reciprocal operations, that is, if one of the first picking and placing operation and the second picking and placing operation is an in-place placing operation for feeding the cargo units into the storage bit (picking storage bit att_sort or first type of storage bit att_stg_a), the other of the first picking and placing operation and the second picking and placing operation is an out-of-position picking operation for picking the cargo units from the storage bit (picking storage bit att_sort or first type of storage bit att_stg_a).

Fig. 6 is a schematic diagram of a second warehouse entry and exit handling example of the warehouse system according to an embodiment of the present application. As shown in fig. 6, in the second in-out warehouse handling example of the embodiment of the present application, a first storage location att_stg_a designated by an in-out warehouse scheduling task is located in a neighborhood shelf fr_adj, in this case, the first track robot r_r1 may further include:

The first track robot r_r1 performs a first turning operation in the first channel CH1, the timing of which is located between the first pick-and-place operation and the second pick-and-place operation, and the first turning operation makes the placement orientations of the cargo units opposite (for example, 180 ° in a flat state) when the first and second pick-and-place operations are performed. Illustratively, the first steering operation of the first track robot r_r1 in the first channel CH1 may be achieved by the panning of the carrying tray 23, and in order to support the panning of the carrying tray 23, a tray base that is vertically moved directly driven by the vertical driving unit 220 may be further added to the structure shown in fig. 2, and the carrying tray 23 may be rotatably installed above the tray base.

Fig. 7 is a schematic diagram of a third warehouse entry and exit handling example of the warehouse system according to an embodiment of the present application. As shown in fig. 7, in the third in-and-out bin handling example of the embodiment of the present application, the in-and-out bin handling scheduling task includes an in-and-out bin relay scheduling task issued to the first track robot r_r1 and the second track robot r_r2 simultaneously, and the in-and-out bin relay scheduling task is used to make the first track robot r_r1 and the second track robot r_r2 perform the second in-and-out bin operation combination in cooperation, so as to complete in-and-out bin handling of the cargo unit between the picking storage bit att_sort and the second storage bit att_stg_b designated by the in-and-out bin relay scheduling. Wherein the second in-out bin operation combination comprises:

The first track robot R_r1 picks up the storage site Att_sort appointed by the warehouse-in and warehouse-out relay dispatching task and performs first picking and placing operation on the goods units;

The first rail robot r_r1 and the second rail robot r_r2 perform a first delivery operation on the cargo units at a first delivery position designated by the warehouse-in/warehouse-out relay scheduling task (for example, a first delivery position designated by the warehouse-in/warehouse-out relay scheduling task in the neighborhood shelf fr_adj);

a second track robot r_r2 performs a third picking and placing operation on the goods units at a second storage location att_stg_b designated by the warehouse relay dispatching task, and the third picking and placing operation and the first picking and placing operation are reciprocal operations, that is, if one of the first picking and placing operation and the third picking and placing operation is an in-place placing operation for feeding the goods units into the storage location (picking storage location att_sort or the second storage location att_stg_b), the other of the first picking and placing operation and the third picking and placing operation is an out-of-place picking operation for taking the goods units out of the storage location (picking storage location att_sort or the second storage location att_stg_b);

a first steering operation of the first track robot r_r1 in the first channel CH1, the execution timing of the first steering operation being located between the first pick-and-place operation and the second pick-and-place operation, and the first steering operation causing the placement orientations of the cargo units when the first and second pick-and-place operations are executed to be opposite (e.g., 180 ° turned flat); and

And a second steering operation of the second track robot r_r2 in the second channel CH2, the second steering operation being performed at a timing between the first handover operation and the third pick-and-place operation, and the second steering operation causing the placement orientations of the cargo units when the first handover operation and the third pick-and-place operation are performed to be opposite (for example, 180 ° of panning).

Illustratively, the first handoff location in the neighborhood shelf fr_adj specified by the in-and-out relay dispatch task may be located at a storage location att_stg (i.e., a first type of storage location att_stg_a) in the neighborhood shelf fr_adj specified by the in-and-out relay dispatch task. In this case, the first handover operation may include a set of reciprocal access operations, i.e., an in-place placing operation for feeding the cargo units into the storage site att_stg (i.e., the first type of storage site att_stg_a) from one side edge elevation of the neighborhood shelf fr_adj toward the edge shelf fr_edge, and an out-of-place taking operation for taking the cargo units out of the storage site att_stg (i.e., the first type of storage site att_stg_a) from the other side edge elevation of the neighborhood shelf fr_adj toward the edge shelf fr_edge.

The second steering operation of the second track robot r_r2 in the second channel CH2 is the same as the first steering operation of the first track robot r_r1 in the first channel CH1, and is not described herein.

Fig. 8 is a schematic diagram of a fourth warehouse entry and exit handling example of the warehouse system in an embodiment of the present application. As shown in fig. 8, in the fourth in-and-out bin handling example of the embodiment of the present application, the in-and-out bin handling scheduling task includes an in-and-out bin co-scheduling task issued to the first track robot r_r1, the ground handling robot r_gnd, and the third track robot r_r3 simultaneously, and the in-and-out bin co-scheduling task is used to make the first track robot r_r1, the ground handling robot r_gnd, and the third track robot r_r3 perform a third in-and-out bin operation combination in a co-operation manner, so as to complete in-and-out bin handling of the cargo unit between the in-and-out bin co-scheduling designated picking storage location att_sort and the third type of storage location att_stg_c. Wherein, the third in-out bin operation combination includes:

the first track robot R_r1 performs first picking and placing operation on the goods units at a picking storage position Att_sort appointed by the in-out warehouse collaborative scheduling task;

The first track robot R_r1 and the ground carrying robot R_gnd perform a second handover operation on the cargo units at a second handover position designated by the in-out warehouse collaborative scheduling task;

The ground carrying robot R_gnd and the third track robot R_r3 perform a third handover operation on the cargo units at a third handover position designated by the in-out warehouse collaborative scheduling task; and

The third track robot r_r3 performs a fourth pick-and-place operation on the cargo units at the third type of storage bit att_stg_c designated by the in-out co-dispatch task, and the fourth pick-and-place operation and the first pick-and-place operation are reciprocal operations, that is, if one of the first and fourth pick-and-place operations is an in-place placing operation for feeding the cargo units into the storage bit (pick-up bit att_sort or the third type of storage bit att_stg_c), the other of the first and fourth pick-and-place operations is an out-of-position pick-up operation for taking the cargo units out of the storage bit (pick-up bit att_sort or the third type of storage bit att_stg_c).

Illustratively, in an embodiment of the present application, the second interface position of the first rail robot and the floor transfer robot r_gnd may be located in the first lane CH1 or the second lane CH 2; or the second connection position of the first track robot and the ground transfer robot R_gnd can also be positioned below the neighborhood goods shelf FR_adj or the edge goods shelf and is provided with cantilever comb teeth or a hoisting storage position designated by the in-out warehouse cooperative scheduling task.

Illustratively, in an embodiment of the present application, the third interface location of the first rail robot and the floor handling robot r_gnd may be located in the third channel CH 3; or the third connection position of the ground transfer robot r_gnd and the third rail robot r_r3 may be located below the remote shelf fr_far and be configured with cantilever combs or lifting storage positions designated by the in-out warehouse cooperative scheduling task.

Fig. 9 is a schematic diagram of cantilever combs of a warehousing system according to an embodiment of the application. Referring to fig. 9, as an alternative to the second and/or third handover positions, the bottom storage location att_stg of at least one row of the edge racks fr_edge, the adjacent racks fr_adj, the near-end racks fr_near, and the far-end racks fr_far may further have cantilever comb teeth att_toi below. Wherein the cantilever comb Att _ toi may include a plurality of cantilevers arranged at intervals, and thus the plurality of cantilevers arranged at intervals may have a comb-like appearance form (physical form as shown in the lead frame of fig. 9).

The bottom surface of the cargo unit located in any cantilever comb att_too can be exposed to the comb tooth gaps located between every two cantilevers and outside the two cantilevers at the outermost sides, so that the ground handling robot R_gnd can lift the cargo carrying mechanism 45 below the comb tooth gaps of any cantilever comb att_too by using the lifting and lifting mechanism 43, the cargo carrying mechanism 45 lifts the cargo unit in the cantilever comb att_too, and the lifted cargo carrying mechanism 45 can move out of the cantilever comb att_too along the comb tooth gaps, and further the cargo unit is lifted away from the cantilever comb att_too; or when the floor handling robot r_gnd with the cargo unit lifted by the lifting mechanism moves to any cantilever comb att_to, the floor handling robot r_gnd may move under the cantilever comb att_to, during which the cargo carrying mechanism 45 in a lifted state and with the cargo unit lifted may move into the cantilever comb att_to along the comb gap of the cantilever comb att_to, after which the floor handling robot r_gnd may control the lifting mechanism to lower the cargo carrying mechanism 45 so that the cargo unit lifted by the cargo carrying mechanism 45 falls in the cantilever comb att_to, and then the floor handling robot r_gnd may freely drive away from under the cantilever comb att_to. Also, since the cantilever comb att_to also has a comb tooth gap outside the two outermost cantilevers, the cargo carrying mechanism 45 of the floor transfer robot r_gnd can be allowed to perform a limit grip on the cargo unit (as shown by the dotted rectangular frame shown in the lead frame of fig. 9) from the comb tooth gap outside the two outermost cantilevers to avoid falling of the cargo unit during movement of the floor transfer robot r_gnd by the limit grip.

Preferably, in the embodiment of the present application, the cantilever comb teeth att_to below the edge shelf fr_edge, the neighborhood shelf fr_adj, the near end shelf fr_near, and the far end shelf fr_far may leave a gap in the shelf width direction for the passage of the floor handling robot r_gnd for avoiding the cargo unit lifted by the floor handling robot r_gnd, so that, for the floor handling robot r_gnd with the cargo unit lifted, since the first channel CH1 and the second channel CH2 may communicate through the gap below the neighborhood shelf fr_adj, and the second channel CH2 and the third channel CH3 may communicate through the gap below the near end fr_near and the far end shelf fr_far, the moving path thereof is planarly determined in such a manner as to allow crossing the shelf irrespective of whether or not the cargo unit is lifted.

Fig. 10 is a schematic view of a lifting bin of a warehousing system according to an embodiment of the application. Referring to fig. 10, as another alternative of the second handover position and/or the third handover position, a lifting storage att_btm may be further located below the storage att_stg of the bottommost layer of at least one row of the edge shelf fr_edge, the neighborhood shelf fr_adj, the near-end shelf fr_near, and the far-end shelf fr_far. Wherein, the bottom of each lifting storage bit att_btm can be provided with a through groove in the depth direction perpendicular to the shelf elevation of the shelf where the lifting storage bit att_btm is located, and the bottom surface of a cargo unit positioned at any lifting storage bit att_btm can be exposed at the through groove of the bottom of the lifting storage bit att_btm. Therefore, the ground carrying robot R_gnd can lift the cargo carrying mechanism 45 below the through groove at the bottom of any lifting storage position Att_btm by using the lifting mechanism, so that the cargo carrying mechanism 45 lifts the cargo units in the lifting storage position Att_btm, and the lifted cargo carrying mechanism 45 can move out of the lifting storage position Att_btm along the through groove, so as to move the cargo units away from the lifting storage position Att_btm; or when the floor conveyance robot r_gnd lifting the cargo unit with the cargo carrying mechanism 45 moves to an arbitrary lifting position att_btm, the floor conveyance robot r_gnd may move to the lower side of the lifting position att_btm, during which time the cargo carrying mechanism 45 in a lifted state and lifting the cargo unit may move into the lifting position att_btm along the through slot of the lifting position att_btm, after which the floor conveyance robot r_gnd may control the lifting mechanism to lower the cargo carrying mechanism 45 so that the lifted cargo unit falls in the lifting position att_btm, and then the floor conveyance robot r_gnd may freely drive away from the lower side of the lifting position att_btm.

Preferably, in the embodiment of the present application, the hoisting storage place att_btm below the edge shelf fr_edge, the neighborhood shelf fr_adj, the near-end shelf fr_near, and the far-end shelf fr_far may leave a gap in the shelf width direction for the ground handling robot r_gnd to pass through, for avoiding the cargo unit lifted by the ground handling robot r_gnd, so that, for the ground handling robot r_gnd lifting the cargo unit, since the first channel CH1 and the second channel CH2 may communicate through the gap below the neighborhood shelf_adj, and the second channel CH2 and the third channel CH3 may communicate through the gap below the near-end shelf fr_near and the far-end shelf fr_far, the moving path thereof is determined in a manner allowing to cross the shelf plan regardless of whether or not the cargo unit is lifted.

In the embodiment of the application, the goods units can be put into bins from the picking storage bit att_sort to the storage bit att_stg of the matched storage bit type according to the respective predicted unloading frequency, namely, if the predicted unloading frequency is greater than a preset first frequency threshold value, the matched storage bit type of the goods units is the first type of storage bit att_stg_a; if the predicted discharging frequency is smaller than or equal to the first frequency threshold and larger than a second frequency threshold preset by the same, the matching storage bit type of the cargo unit is a second type storage bit att_stg_b; if the predicted discharge frequency is less than the second frequency threshold, the matching storage category of the cargo unit is a third type of storage att_stg_c. In this case, the warehouse system's dispatch management platform may also be used to: determining a matching bin category for the units of cargo based on a predicted shipment frequency for units of cargo waiting to be stocked in any one of the pickers att_sort; and selecting the storage bit Att_stg appointed by the warehouse in-out conveying dispatching task from the storage bit Att_stg matched with the storage bit category of the goods unit.

In embodiments of the present application, cargo units that have been stocked to a storage location att_stg matching the storage location type may also be subjected to a tally handling prior to shipment. In this case, the schedule management platform may also be used to: and responding to the cargo condition trigger of the cargo units stored in any storage position Att_stg, and delivering a cargo handling scheduling task to the robot group so as to realize cargo handling of the cargo units among different storage positions Att_stg appointed by the cargo handling scheduling task.

Illustratively, in an embodiment of the present application, if the storage location att_stg of at least one of the at least two rows of shelves is a double deep storage location, the tally trigger condition may include a passive tally trigger condition, where the passive tally trigger condition is used to characterize: cargo units stored in one unit storage space of the double deep storage blocks the in-out warehouse transportation of the other unit storage space which is free in the double deep storage, and storage categories of different storage bits Att_stg designated by a cargo handling scheduling task are the same.

In this case, the cargo handling scheduling task in the embodiment of the present application may include: and responding to the passive tally carrying scheduling task reached under the passive tally triggering condition, wherein the passive tally carrying scheduling task is used for enabling the first track robot R_r1, the second track robot R_r2 or the third track robot R_r3 to independently execute reciprocal twice picking and placing operations on the same goods unit at two storage positions att_stg of the same storage position category. Moreover, in embodiments of the present application, passive tally handling tasks may be issued in association with warehouse in and warehouse out handling tasks.

Illustratively, in an embodiment of the present application, since the matching bin category of the cargo unit may be associated with a predicted shipment frequency of the cargo unit, the tally trigger conditions may further include an active tally trigger condition for characterizing: the matching storage category of the cargo units stored in any one storage bit att_stg changes due to the change in the predicted shipment frequency, and the storage categories of different storage bits att_stg specified by the tally handling scheduling task are different.

In this case, the tally handling scheduling task includes an active tally handling scheduling task that is reached in response to the active tally trigger condition, and the active tally handling scheduling task includes at least one of a first active tally handling scheduling task, a second active tally handling scheduling task, and a third active tally handling scheduling task.

Fig. 11 is a schematic diagram of a first example of a cargo handling of a warehouse system according to an embodiment of the application. As shown in fig. 11, in a first cargo handling example of the embodiment of the present application, a first active cargo handling scheduling task is configured to enable a first track robot r_r1 and a second track robot r_r2 to perform a first active cargo handling operation combination in a cooperative manner, so as to complete cargo handling of cargo units between a first type of storage location att_stg_a and a second type of storage location att_stg_b specified by the first active cargo handling scheduling task; wherein, the first active tally operation combination includes:

The first track robot R_r1 performs second picking and placing operation on the goods units at a first storage position att_stg_a appointed by a first tally carrying dispatching task on an edge goods shelf FR_edge;

The first rail robot R_r1 and the second rail robot R_r2 perform first handover operation on the goods units at a first handover position designated by a first active tally handling scheduling task; illustratively, the first interface location of the first rail robot and the second rail robot r_r2 may be located at a storage location att_stg specified by the in-out relay dispatch task in the neighborhood shelf fr_adj (e.g., a first type of storage location att_stg_a specified by the in-out relay dispatch task in the neighborhood shelf fr_adj);

The second track robot r_r2 performs a third pick-and-place operation on the cargo units at the second type of storage bits att_stg_b designated by the first tally handling scheduling task, and the second and third pick-and-place operations are reciprocal operations, that is, if one of the second and third pick-and-place operations is an in-place placing operation for feeding the cargo units into the storage bits (the first type of storage bits att_stg_a or the second type of storage bits att_stg_b), the other of the second and third pick-and-place operations is an out-of-place pick-and-place operation for taking the cargo units out of the storage bits (the first type of storage bits att_stg_a or the second type of storage bits att_stg_b);

For the first tally handling example shown in fig. 11 in the embodiment of the present application, if the first type of storage bits att_stg_a specified by the first tally handling task are located in the neighborhood shelf fr_adj, the first active tally operation combination may only include: the second track robot r_r2 performs a pair of reciprocal pick and place operations on the cargo units at the first type of storage bit att_stg_a and the second type of storage bit att_stg_b designated by the first cargo handling scheduling task, and performs a second steering operation in the second lane CH2, respectively.

Fig. 12 is a schematic diagram of a second example of a warehouse system according to an embodiment of the present application. As shown in fig. 12, in the second tally handling example of the embodiment of the present application, the second active tally handling task is used to make the second track robot r_r2, the ground handling robot r_gnd, and the third track robot r_r3 perform the second active tally operation combination cooperatively to complete the tally handling of the cargo unit between the second type storage location att_stg_b and the third type storage location att_stg_c specified by the second active tally handling task; wherein the second active tally operation combination includes:

a second track robot R_r2 performs fifth picking and placing operation on the goods units at a second storage position Att_stg_b designated by a second tally carrying scheduling task;

The fourth handover position of the second track robot r_r2 and the ground handling robot r_gnd at the fourth handover position designated by the second tally handling task may be, for example, the fourth handover position of the second track robot r_r2 and the ground handling robot r_gnd may be located in the second channel CH2, or the fourth handover position of the second track robot r_r2 and the ground handling robot r_gnd may be located below the neighborhood shelf fr_adj at the cantilever comb teeth or the hoisting storage position designated by the second active tally handling task;

The third hand-over position of the ground handling robot r_gnd and the third rail robot r_r3 specified by the second active tally handling task may be located in the third channel CH3, or the third hand-over position of the third rail robot r_r3 and the ground handling robot r_gnd may be located below the distal shelf fr_far by the cantilever comb teeth or the lifting storage position specified by the second active tally handling task, for example; and

The third track robot r_r3 performs a fourth pick-and-place operation on the cargo units at the third type of storage location att_stg_c designated by the second cargo handling scheduling task, and the fourth pick-and-place operation and the fifth pick-and-place operation are reciprocal operations, that is, if one of the fourth pick-and-place operation and the fifth pick-and-place operation is an in-place placing operation for feeding the cargo units into the storage location (the second type of storage location att_stg_b or the third type of storage location att_stg_c), the other of the fourth pick-and-place operation and the fifth pick-and-place operation is an out-of-place pick-and-place operation for taking the cargo units out of the storage location (the second type of storage location att_stg_b or the third type of storage location att_stg_c).

Fig. 13 is a schematic diagram of a third example of a warehouse system according to an embodiment of the present application. As shown in fig. 13, in a third tally handling example of the embodiment of the present application, a third active tally handling task is used to make the first track robot r_r1, the ground handling robot r_gnd, and the third track robot r_r3 perform a third active tally operation combination cooperatively to complete the tally handling of the cargo unit between the first storage location att_stg_a and the third storage location att_stg_c specified by the third active tally handling task; wherein, the third active tally operation combination includes:

the first track robot R_r1 performs second picking and placing operation on the goods units at a first storage position Att_stg_a designated by a third tally carrying scheduling task;

The first track robot R_r1 and the ground carrying robot R_gnd perform a second handing-over operation on the goods units at a second handing-over position designated by a third active tally carrying scheduling task; for example, the second interface position of the first rail robot and the ground handling robot r_gnd may be located in the first channel CH1 or the second channel CH2, or the second interface position of the first rail robot and the ground handling robot r_gnd may also be located below the neighborhood shelf fr_adj or the edge shelf fr_edge by the cantilever comb teeth or the lifting storage location designated by the third active cargo handling scheduling task;

The third hand-over position of the ground handling robot r_gnd and the third rail robot r_r3 specified by the third tally handling task may be located in the third channel CH3, or the third hand-over position of the third rail robot r_r3 and the ground handling robot r_gnd may be located below the remote shelf fr_far by the cantilever comb teeth or the lifting storage position specified by the third active tally handling task, for example; and

The third track robot r_r3 performs a fourth pick-and-place operation on the cargo units at a third type of storage location att_stg_c designated by the third active cargo handling scheduling task, and the second and fourth pick-and-place operations are reciprocal operations, i.e., if one of the second and fourth pick-and-place operations is an in-place operation for feeding the cargo units into the storage location (the first type of storage location att_stg_a or the third type of storage location att_stg_c), the other of the second and fourth pick-and-place operations is an out-of-place pick-and-place operation for taking the cargo units out of the storage location (the first type of storage location att_stg_a or the third type of storage location att_stg_c).

It will be appreciated that in embodiments of the present application, the warehouse space may not necessarily include the first subspace, the second subspace, and the third subspace at the same time, but may include only the first subspace, or may include the first subspace and the second subspace, or may include the first subspace and the third subspace. Accordingly, the shelf row group fr_grp does not necessarily include a row of neighborhood shelves fr_adj, a row of near-end shelves fr_near, and at least one row of far-end shelves fr_far in addition to the edge shelf fr_edge, but may further include a row of neighborhood shelves fr_adj on the basis of the edge shelf fr_edge, or may further include a row of neighborhood shelves fr_adj and a row of near-end shelves fr_near on the basis of the edge shelf fr_edge, or may further include a row of neighborhood shelves fr_adj and at least one row of far-end shelves fr_far on the basis of the edge shelf fr_edge.

Fig. 14 is an exemplary flowchart of a warehouse scheduling method according to an embodiment of the present application. Referring to fig. 14, in an embodiment of the present application, a warehouse scheduling method may include:

S1410: acquiring a storage configuration file of a storage rack row group in a storage space; wherein the rack row group is positioned in the storage space, the rack row group comprises at least two rows of racks, each rack of the at least two rows of racks of the rack row group is provided with a storage position for storing goods units, the at least two rows of racks of the rack row group comprise a row of edge racks closest to a selected space boundary of the storage space, a local area of a rack elevation of one side of the edge racks facing the selected space boundary is set as a picking operation surface, the storage positions of the edge racks are distributed outside the range of the picking operation surface, the edge racks are also provided with picking positions distributed inside the range of the picking operation surface, the picking positions are used for temporarily storing the selected goods units on the picking operation surface, and the storage position configuration file is used for determining the picking positions and the spatial position information of the picking positions;

S1430: according to the storage configuration file, delivering an in-out warehouse carrying scheduling task to the robot group; the robot group comprises a first track robot, the first track robot is movably arranged on the other side shelf elevation of the edge shelf, which is opposite to the selected boundary of the storage space, and the warehouse-in and warehouse-out carrying scheduling task is used for enabling the first track robot to execute picking and placing operations on the goods units at the picking storage position appointed by the warehouse-in and warehouse-out carrying scheduling task so as to realize warehouse-in and warehouse-out carrying of the goods units between the picking operation surface and the storage position appointed by the warehouse-in and warehouse-out carrying scheduling task.

As can be seen from the above, the warehouse scheduling method in the embodiment of the present application may not deploy a picking operation table and an evacuation passage area between the space boundaries of the warehouse space and the shelf row group, and the occupation area of the picking operation table and the evacuation passage area in the warehouse space may be used to increase the number of shelves of the warehouse row group. In the shelf row group with the increased number of shelves, a part of the shelf elevation of the edge shelf closest to the selected space boundary can be configured as a picking operation surface for replacing a horizontal table surface of the picking operation platform, a part of storage positions in the edge shelf, which are located in the range of the picking operation surface, can be configured as picking storage positions for temporarily storing the goods units picked on the picking operation surface, the shelf elevation of the edge shelf can be further provided with a first track robot, and the goods units can be carried in and out between the picking operation surface and the storage positions by utilizing the first track robot in picking and placing operations of the goods units on the picking storage positions. Therefore, the embodiment of the application can improve the space utilization rate of the warehouse space under the condition of keeping the picking operation in the warehouse space.

For example, the foregoing description may be referred to for various structural configurations in the warehouse system, the storage category of the storage location, and various warehouse in and out handling scheduling tasks issued in combination with the storage category, which are not repeated herein.

The warehouse scheduling method in the embodiment of the application can further comprise a step for tally handling, namely, in response to the triggering of the tally condition of the goods units stored in any one storage location, the tally handling scheduling task is issued to the machine crowd group, so as to realize the tally handling of the goods units among different storage locations designated by the tally handling scheduling task. The step of the warehouse scheduling method for the tally handling in the embodiment of the present application may refer to the description of the tally handling in the foregoing, and will not be repeated here.

FIG. 15 is an exemplary flow chart of a hasten scheduling apparatus in an embodiment of the application. Referring to fig. 15, in an embodiment of the present application, a warehouse scheduling device may include:

A configuration acquisition module 1510 for: acquiring a storage configuration file of a storage rack row group in a storage space; wherein the rack row group is positioned in the storage space, the rack row group comprises at least two rows of racks, each rack of the at least two rows of racks of the rack row group is provided with a storage position for storing goods units, the at least two rows of racks of the rack row group comprise a row of edge racks closest to a selected space boundary of the storage space, a local area of a rack elevation of one side of the edge racks facing the selected space boundary is set as a picking operation surface, the storage positions of the edge racks are distributed outside the range of the picking operation surface, the edge racks are also provided with picking positions distributed inside the range of the picking operation surface, the picking positions are used for temporarily storing the selected goods units on the picking operation surface, and the storage position configuration file is used for determining the picking positions and the spatial position information of the picking positions;

A task generation module 1530 for: according to the storage configuration file, delivering an in-out warehouse carrying scheduling task to the robot group; the robot group comprises a first track robot, the first track robot is movably arranged on the other side shelf elevation of the edge shelf, which is opposite to the selected boundary of the storage space, and the warehouse-in and warehouse-out carrying scheduling task is used for enabling the first track robot to execute picking and placing operations on the goods units at the picking storage position appointed by the warehouse-in and warehouse-out carrying scheduling task so as to realize warehouse-in and warehouse-out carrying of the goods units between the picking operation surface and the storage position appointed by the warehouse-in and warehouse-out carrying scheduling task.

For example, the foregoing description may be referred to for various structural configurations in the warehouse system, the storage category of the storage location, and various warehouse-in and warehouse-out handling scheduling tasks issued in combination with the storage category, which are not repeated herein.

Illustratively, the task generating module 1530 of the warehouse dispatching device in the embodiment of the present application may be further configured to issue a cargo handling dispatching task to the machine crowd group in response to a cargo handling condition trigger of a cargo unit stored in any one storage location, so as to implement cargo handling of the cargo unit between different storage locations specified by the cargo handling dispatching task. The principle of the task generating module 1530 for handling the cargo may be referred to the description of handling the cargo, which is not repeated herein.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.

Claims

1. A storage system, comprising:

A shelf row group, the shelf row group is located in a storage space, the shelf row group includes at least two rows of shelves, each of the at least two rows of shelves has storage locations for storing cargo units, the at least two rows of shelves include a row of edge shelves closest to a selected space boundary of the storage space, a partial area of a shelf facade on one side of the edge shelves facing the selected space boundary is set as a picking operation surface, the storage locations of the edge shelves are distributed outside the range of the picking operation surface, the edge shelves also have picking storage locations distributed within the range of the picking operation surface, the picking storage locations are used to temporarily store the cargo units picked on the picking operation surface;

A robot group, the robot group includes a first track robot, and the first track robot is movably deployed on the shelf facade on the other side of the edge shelf facing away from the selected boundary;

The scheduling management platform is used to issue an in-and-out warehouse handling scheduling task to the robot group, so that the first rail robot performs the picking and placing operation on the cargo unit at the picking storage location specified by the in-and-out warehouse handling scheduling task, so as to realize the in-and-out warehouse handling of the cargo unit between the picking operation surface and the storage location specified by the in-and-out warehouse handling scheduling task.

2. The storage system according to claim 1, characterized in that:

The dimension of the picking operation surface in at least one of the height direction and the width direction of the edge shelf is smaller than the dimension of the outer shelf facade in the corresponding direction;

and/or,

The picking storage locations include at least two layers arranged continuously upward from the bottom layer of the edge shelf in the height direction;

and/or,

A manual sorting operation space is reserved between the picking operation surface and the boundary of the selected space, and the depth dimension of the manual sorting operation space in the depth direction perpendicular to the shelf facade of the edge shelf is smaller than the width dimension of the manual sorting operation space in the width direction of the edge shelf;

and/or,

The storage locations of at least one row of the at least two rows of shelves are double-deep storage locations, the double-deep storage locations have two unit storage locations that are connected in a depth direction perpendicular to the shelf facade, and each of the unit storage locations is used to store one of the cargo units;

and/or,

The at least two rows of shelves are parallel to the selected space boundary;

and/or,

The in-and-out warehouse transportation is used to realize the in-warehouse transportation of the cargo unit from the picking storage location specified by the in-and-out warehouse transportation scheduling task to the storage storage location, or the out-warehouse transportation of the cargo unit from the storage location specified by the in-and-out warehouse transportation scheduling task to the picking storage location;

and/or,

The picking storage location specified by the in-and-out warehouse transportation scheduling task is determined by the human-computer interaction operation performed on the picking operation surface;

and/or,

The storage location specified by the warehouse in-and-out handling scheduling task is determined by the scheduling management platform.

3. The storage system according to claim 1, characterized in that:

The storage location category of the storage location of the edge shelf is a first-category storage location, the in-and-out warehouse handling scheduling task includes an in-and-out warehouse single-machine scheduling task, and the in-and-out warehouse single-machine scheduling task is used to enable the first track robot to independently execute a first in-and-out warehouse operation combination to complete the in-and-out warehouse handling of the cargo unit between the picking storage location specified by the in-and-out warehouse single-machine scheduling and the first-category storage location;

Wherein, the first warehouse entry and exit operation combination includes:

The first rail robot performs a first pick-and-place operation on the cargo unit at the picking storage location specified by the single-machine scheduling task for entering and exiting the warehouse; and

The first track robot performs a second pick-and-place operation on the cargo unit in the first type of storage location specified by the warehouse entry and exit single machine scheduling task, and the second pick-and-place operation and the first pick-and-place operation are mutually inverse operations.

4. The storage system according to claim 3, characterized in that:

The at least two rows of shelves further include a row of neighboring shelves adjacent to the edge shelves, the neighboring shelves are located on a side of the edge shelves facing away from the boundary of the selected space, a first passage for movement of the first track robot is provided between the neighboring shelves and the edge shelves, and the storage location category of the storage locations of the neighboring shelves is the first type of storage locations;

Wherein, when the first type of storage location specified by the single-machine warehousing and warehousing scheduling task is located at the neighboring shelf, the first warehousing and warehousing operation combination further includes:

The first rail robot performs a first turning operation in the first channel, and the execution timing of the first turning operation is between the first pick-and-place operation and the second pick-and-place operation, and the first turning operation causes the cargo unit to be placed in opposite orientations when the first pick-and-place operation and the second pick-and-place operation are executed.

5. The storage system according to claim 4, characterized in that:

The at least two rows of shelves further include a row of proximal shelves adjacent to the neighboring shelves, the proximal shelves are located on a side of the neighboring shelves facing away from the edge shelves, the robot group further includes a second track robot, the second track robot is movably deployed on a shelf facade on one side of the neighboring shelves facing the proximal shelves, or is located on a shelf facade on one side of the proximal shelves facing the neighboring shelves, and a second channel for the second track robot to move is provided between the neighboring shelves and the proximal shelves;

The storage location category of the storage location of the near-end shelf is a second-category storage location, the in-and-out warehouse handling scheduling task includes an in-and-out warehouse relay scheduling task issued to the first rail robot and the second rail robot at the same time, and the in-and-out warehouse relay scheduling task is used to enable the first rail robot and the second rail robot to collaboratively perform a second in-and-out warehouse operation combination to complete the in-and-out warehouse handling of the cargo unit between the picking storage location specified by the in-and-out warehouse relay scheduling and the second-category storage location;

Wherein, the second warehouse entry and exit operation combination includes:

The first rail robot performs a first pick-and-place operation on the cargo unit at the picking storage location specified by the in-and-out warehouse relay scheduling task;

The first rail robot and the second rail robot perform a first handover operation on the cargo unit at a first handover position specified by the warehouse entry and exit relay scheduling task;

The second track robot performs a third pick-and-place operation on the cargo unit at the second type of storage location specified by the warehouse entry and exit relay scheduling task, and the third pick-and-place operation is a reciprocal operation to the first pick-and-place operation;

a first turning operation of the first track robot in the first channel, wherein the timing of executing the first turning operation is between the first pick-and-place operation and the first handover operation, and the first turning operation causes the placement orientation of the cargo unit to be opposite when the first pick-and-place operation and the second pick-and-place operation are executed; and

The second rail robot performs a second turning operation in the second channel, and the execution timing of the second turning operation is between the first handover operation and the third pick-and-place operation, and the second turning operation makes the placement orientation of the cargo unit opposite when the first handover operation and the third pick-and-place operation are executed.

6. The storage system according to claim 5, characterized in that:

The first handover position of the first rail robot and the second rail robot is located in the storage location designated by the in-and-out warehouse relay scheduling task in the neighboring shelf.

7. The storage system according to claim 6, characterized in that:

The at least two rows of shelves further include at least one row of remote shelves, the remote shelves are located on a side of the neighboring shelves facing away from the edge shelves, the robot group further includes a ground handling robot and a third track robot, the ground handling robot moves freely independently of the at least two rows of shelves, and the third track robot is movably deployed on a shelf facade on one side of the remote shelves;

The storage location category of the storage location of the remote shelf is a third-category storage location, the in-and-out warehouse handling scheduling task includes an in-and-out warehouse collaborative scheduling task issued to the first rail robot, the ground handling robot and the third rail robot at the same time, and the in-and-out warehouse collaborative scheduling task is used to enable the first rail robot, the ground handling robot and the third rail robot to collaboratively perform a third in-and-out warehouse operation combination to complete the in-and-out warehouse handling of the cargo unit between the picking storage location specified by the in-and-out warehouse collaborative scheduling and the third-category storage location;

Wherein, the third warehouse entry and exit operation combination includes:

The first rail robot performs a first pick-and-place operation on the cargo unit at the picking storage location specified by the warehouse entry and exit collaborative scheduling task;

The first rail robot and the ground handling robot perform a second handover operation on the cargo unit at a second handover position specified by the warehouse entry and exit collaborative scheduling task;

The ground handling robot and the third rail robot perform a third handover operation on the cargo unit at a third handover position specified by the warehouse entry and exit collaborative scheduling task; and

The third track robot performs a fourth pick-and-place operation on the cargo unit in the third type of storage location specified by the warehouse entry and exit collaborative scheduling task, and the fourth pick-and-place operation and the first pick-and-place operation are mutually inverse operations.

8. The storage system according to claim 7, characterized in that:

The at least two rows of shelves further include a row of proximal shelves, the proximal shelves are located on a side of the neighboring shelves facing away from the edge shelves, and the distal shelves are located on a side of the proximal shelves facing away from the neighboring shelves;

in:

A row of the distal shelves adjacent to the proximal shelves is arranged close to the proximal shelves;

and/or,

The third track robot is movably deployed on a shelf facade of the far-end shelf facing away from the near-end shelf;

and/or,

The remote shelves are arranged in at least two rows, and a third channel for the third track robot to move is provided between every two adjacent rows of the remote shelves.

9. The storage system according to claim 7, characterized in that:

The second handover position between the first rail robot and the ground handling robot is located in the first channel or the second channel; or, a hoisting storage position or a comb-tooth cantilever is provided below the storage position at the bottom layer of the neighboring shelf and/or the edge shelf, and the second handover position between the first rail robot and the ground handling robot is located below the neighboring shelf or the edge shelf at the hoisting storage position or the comb-tooth cantilever designated by the warehouse entry and exit collaborative scheduling task;

and/or,

The third handover position between the first rail robot and the ground handling robot is located in the third channel; or, there is a hoisting storage position or a comb-tooth cantilever below the storage position at the bottom layer in the remote shelf, and the third handover position between the ground handling robot and the third rail robot is located below the remote shelf at the hoisting storage position or the comb-tooth cantilever designated by the warehouse entry and exit collaborative scheduling task.

10. The storage system according to claim 1, characterized in that:

The dispatch management platform is also used for:

Determine a matching storage location category for the cargo unit based on the predicted outbound frequency of the cargo unit waiting to be stored in any picking storage location; and

Selecting the storage location specified by the in-and-out warehouse handling scheduling task from the storage locations of the matching storage location category of the cargo unit;

in:

The storage space includes a first space, a second subspace and a third subspace arranged in sequence in a direction away from the boundary of the selected space, the storage location category of each row of the at least two rows of shelves located in the first subspace is the first type of storage location, the edge shelves are located in the first subspace, the storage location category of each row of the at least two rows of shelves located in the second subspace is the second type of storage location, and the storage location category of each row of the at least two rows of shelves located in the third subspace is the third type of storage location; and: if the predicted warehouse exit frequency is greater than a preset first frequency domain value, then the matching storage location category of the cargo unit is the first type of storage location; if the predicted warehouse exit frequency is less than or equal to the first frequency domain value and greater than or equal to a preset second frequency domain value, then the matching storage location category of the cargo unit is the second type of storage location; if the predicted warehouse exit frequency is less than the second frequency domain value, then the matching storage location category of the cargo unit is the third type of storage location;

or,

The storage space includes a first subspace adjacent to the boundary of the selected space, and a second subspace or a third subspace farther away from the boundary of the selected space than the first subspace. The storage location categories of the storage locations of each row of the at least two rows of shelves located in the first subspace are all first-category storage locations, the edge shelves are located in the first subspace, the storage location categories of the storage locations of each row of the at least two rows of shelves located in the second subspace are all second-category storage locations, and the storage location categories of the storage locations of each row of the at least two rows of shelves located in the third subspace are third-category storage locations; and: if the predicted warehouse exit frequency is greater than a preset first frequency domain value, then the matching storage location category of the cargo unit is the first-category storage location; if the predicted warehouse exit frequency is less than or equal to the first frequency domain value, then the matching storage location category of the cargo unit is the second-category storage location or the third-category storage location.

11. The storage system according to claim 10, characterized in that:

The dispatch management platform is further used to: in response to the tallying condition triggering of the cargo unit stored in any storage location, issue a tallying and handling dispatching task to the robot group to realize the tallying and handling of the cargo unit between different storage locations specified by the tallying and handling dispatching task;

in:

At least one of the at least two rows of shelves has a double-deep storage location, the double-deep storage location has two unit storage spaces that are connected in a depth direction perpendicular to the shelf facade, each of the unit storage spaces is used to store one of the cargo units, the tally trigger condition includes a passive tally trigger condition, the passive tally trigger condition is used to indicate that: the cargo unit stored in one of the unit storage spaces of the double-deep storage location hinders the in-and-out transportation of another free unit storage space of the double-deep storage location, and the storage location categories of different storage locations specified by the tally transportation scheduling task are the same;

and/or,

The storage location category of the storage location used to store the cargo unit is the matching storage location category of the cargo unit, the matching storage location category of the cargo unit is associated with the predicted warehouse exit frequency of the cargo unit, the tally trigger condition includes an active tally trigger condition, and the active tally trigger condition is used to indicate that: the matching storage location category of the cargo unit stored in any storage location changes due to the change of the predicted warehouse exit frequency, and the storage location categories of different storage locations specified by the tally handling scheduling task are different.

12. A storage scheduling method, characterized by comprising:

Obtaining a storage location configuration file for a shelf row group in a storage space; wherein the shelf row group is located in the storage space, the shelf row group includes at least two rows of shelves, each of the at least two rows of shelves has storage locations for storing cargo units, the at least two rows of shelves include a row of edge shelves closest to a selected space boundary of the storage space, a partial area of a shelf facade on one side of the edge shelves facing the selected space boundary is set as a picking operation surface, the storage locations of the edge shelves are distributed outside the range of the picking operation surface, the edge shelves also have picking storage locations distributed within the range of the picking operation surface, the picking storage locations are used to temporarily store the cargo units picked on the picking operation surface, and the storage location configuration file is used to determine spatial position information of the picking storage locations and the storage locations;

According to the storage location configuration file, a warehousing and out-of-warehouse handling scheduling task is issued to the robot group; wherein, the robot group includes a first track robot, which is movably deployed on the shelf facade on the other side of the edge shelf facing away from the selected boundary, and the warehousing and out-of-warehouse handling scheduling task is used to enable the first track robot to perform the picking and placing operation of the cargo unit at the picking storage location specified by the warehousing and out-of-warehouse handling scheduling task, so as to realize the warehousing and out-of-warehouse handling of the cargo unit between the picking operation surface and the storage location specified by the warehousing and out-of-warehouse handling scheduling task.

13. A storage scheduling device, characterized by comprising:

A configuration acquisition module is configured to acquire a storage location configuration file for a shelf row group in a storage space; wherein the shelf row group is located in the storage space, the shelf row group includes at least two rows of shelves, each of the at least two rows of shelves has storage locations for storing cargo units, the at least two rows of shelves include a row of edge shelves closest to a selected space boundary of the storage space, a partial area of a shelf facade on one side of the edge shelves facing the selected space boundary is set as a picking operation surface, the storage locations of the edge shelves are distributed outside the range of the picking operation surface, the edge shelves also have picking storage locations distributed within the range of the picking operation surface, the picking storage locations are used to temporarily store the cargo units picked on the picking operation surface, and the storage location configuration file is used to determine spatial position information of the picking storage locations and the storage locations;

A task generation module is used to issue an in-and-out warehouse handling scheduling task to a robot group based on the storage location configuration file; wherein, the robot group includes a first track robot, and the first track robot is movably deployed on the shelf facade on the other side of the edge shelf facing away from the selected boundary, and the in-and-out warehouse handling scheduling task is used to enable the first track robot to perform a pick-and-place operation on the cargo unit at the picking storage location specified by the in-and-out warehouse handling scheduling task, so as to realize the in-and-out warehouse handling of the cargo unit between the picking operation surface and the storage location specified by the in-and-out warehouse handling scheduling task.

14. An electronic device, characterized in that it comprises a processor, wherein the processor is used to execute the warehouse scheduling method as described in claim 12.

15. A non-transitory computer-readable storage medium storing instructions which, when executed by a processor, cause the processor to execute the warehouse scheduling method of claim 12.

16. A computer program product, comprising computer executable instructions, which, when executed by a processor, implement the warehouse scheduling method according to claim 12.