WO2025145769A1 - Warehousing system, warehouse, warehousing system control method, and storage medium - Google Patents

Abstract

The present application provides a warehousing system, a warehouse, a warehousing system control method, and a storage medium. The warehousing system provided in the present application comprises: a shelf, a sorting device, and a retrieval and placement device, wherein the shelf comprises a storage layer and a temporary storage layer, the temporary storage layer is located below the storage layer, and the storage layer is configured to store a plurality of material boxes stacked in a vertical direction; the sorting device comprises a sorting conveyor line and a sorting apparatus, the sorting conveyor line is provided beside the shelf, and the sorting conveyor line is aligned with the shelf; the sorting apparatus is provided opposite to the sorting conveyor line; and the retrieval and placement device is movably provided in the length direction of the shelf, and the retrieval and placement device is configured to retrieve a single material box from the storage layer and place same onto the temporary storage layer, or simultaneously retrieve a plurality of material boxes and place same onto the sorting conveyor line; and a handling device, configured to transport the material box on the temporary storage layer to the sorting conveyor line. Thus, the logistics efficiency of the warehousing system under different working conditions can be improved.

Description

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

This application claims priority to CN202410028511.8, filed on January 5, 2024, entitled “Warehousing system, warehouse, warehouse system control method and storage medium”, the entire contents of which are incorporated by reference into this application.

Technical Field

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

Background Art

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

In the related art, in order to improve the storage density, the stereoscopic warehouse can stack and store material boxes through the buffer rack, and there is no gap between the material boxes stacked up and down, so that more material boxes can be stacked in a limited height space. When picking and placing material boxes, after selecting the material box, the material box stacked above the selected material box is lifted by an independent picking robot, and then the selected material box is taken out, and then the picking robot transports the selected material box to the next logistics process.

However, in the current storage system where material boxes are stacked, the material boxes can only be transported out of the warehouse one by one by a transport robot, resulting in low logistics efficiency.

Application Contents

The present application provides a storage system, a warehouse, a storage system control method and a storage medium to solve the technical problem of low efficiency of material box outbound delivery in a storage system where material boxes are currently stacked.

In a first aspect, the present application provides a storage system, the storage system comprising:

The shelf includes a storage layer and a temporary storage layer, the temporary storage layer is located below the storage layer, and the storage layer is configured to store a plurality of material boxes stacked in a vertical direction;

Sorting equipment, the sorting equipment includes a sorting conveyor line and a sorting device. The sorting conveyor line is arranged on the side of the shelf, and the sorting conveyor line is connected to the shelf and transports the material box; the sorting device and the sorting conveyor The sorting conveyor line is opposite to the sorting conveyor line and is configured to sort the goods in the material box on the sorting conveyor line;

Pick-up and place equipment, which is arranged to move along the length direction of the shelf, and is configured to pick up and place a single material box from the storage layer to the temporary storage layer; or, to pick up and place multiple material boxes to the sorting conveyor line at the same time;

The handling equipment is configured to carry the material boxes in the temporary storage layer to the sorting conveyor line.

The warehousing system provided in the embodiment of the present application picks and places material boxes from the shelves where stacked material boxes are placed through the picking and placing equipment, and the picking and placing equipment can pick and place single or multiple material boxes according to the specific order task requirements, and at the same time use the sorting conveyor line and the handling equipment to cooperate with the shelves. When a single material box is shipped out of the warehouse, the handling equipment is used to take out the material box from the temporary storage layer, and when multiple material boxes are shipped out of the warehouse, the sorting conveyor line transports the multiple material boxes to the sorting device, thereby improving the logistics efficiency of the warehousing system under different working conditions.

In some embodiments, the sorting conveyor line has an input port, which is arranged opposite to one end of the shelf in the length direction; the picking and placing equipment is located on the side of the shelf in the length direction, and one end of the moving path of the picking and placing equipment along the length direction of the shelf is opposite to the input port.

With this arrangement, after the pick-and-place equipment takes out multiple material boxes from the shelf, the multiple material boxes can be transported and placed at the input port of the sorting conveyor line at one time, saving the time for the material boxes to be shipped out of the warehouse.

In some embodiments, the sorting conveyor line may include a first conveying section, a second conveying section and a third conveying section, the first conveying section is connected to the shelf and forms an input port, the third conveying section has an output port, and the output port is connected to the shelf; the second conveying section is connected between the first conveying section and the third conveying section; the sorting device is located on the side of the second conveying section.

Such an arrangement can realize the rapid outflow and inflow of material boxes from the shelves. The material boxes out of the warehouse can be directly transported to the sorting device through the sorting conveyor line, and the material boxes after sorting can be sent back to the shelves for storage through the sorting conveyor line.

In some embodiments, an inlet and an outlet are provided at both ends of the second conveying section, and the handling equipment can be docked with the inlet or the outlet.

With this arrangement, when transporting a single material box out of the warehouse, the handling equipment can directly convey the material box to the second conveying section, avoiding occupying the space in the area where the sorting conveyor line interfaces with the shelf, thereby preventing congestion of the material boxes.

In some embodiments, the sorting conveyor line may include a first conveyor line and a second conveyor line, the first conveyor line and the second conveyor line are arranged at intervals in the vertical direction; one of the first conveyor line and the second conveyor line One is configured to transport the material box from the end docked with the shelf to the sorting device; the other of the first conveying line and the second conveying line is configured to transport the material box from the sorting device to the end docked with the shelf.

In some embodiments, the picking and placing cargo equipment may include a frame, a mobile gantry and a picking and placing cargo device, the frame having a slide rail extending along the length direction of the shelf, the mobile gantry being movably connected to the slide rail; the mobile gantry is vertically arranged, the picking and placing cargo device is connected to the mobile gantry, and the picking and placing cargo device can move along the height direction of the mobile gantry.

With such an arrangement, the moving path of the cargo picking and placing equipment is made more precise through the fixed frame and the movable gantry that moves on the frame, thereby reducing the floor space occupied by the storage system and the cost of the equipment.

In some embodiments, at least two picking and placing devices are provided on the mobile gantry, wherein at least one picking and placing device is configured to lift other material boxes stacked above the target material box, and at least one picking and placing device is configured to pick up and place the target material box.

With such an arrangement, any one of the stacked material boxes can be quickly removed from the warehouse, and in the process of removing the material box, other storage locations on the shelf will not be occupied.

In some embodiments, the frame may include at least two columns and at least two beams, the columns are arranged at both ends of the shelf in the length direction, and the beams are connected between the columns at both ends of the shelf in the length direction; the beams are used to form slide rails.

Such an arrangement enables the area passed by the moving path of the mobile gantry to cover various positions in the length direction of the shelf and ensures the smoothness of the moving process of the mobile gantry.

In some embodiments, there may be a plurality of movable gantries, the plurality of movable gantries are spaced apart along the extension direction of the slide rail, and the plurality of movable gantries can independently move along the slide rail.

With this arrangement, multiple mobile gantries can be used to simultaneously carry out picking and placing operations at different positions along the length of the shelf, thereby improving logistics efficiency.

In some embodiments, there can be multiple shelves, which are arranged at intervals to form a storage area; there are alleys between adjacent shelves, and the picking and placing equipment is arranged in the alleys, and the picking and placing equipment is configured to pick up and place material boxes in both directions from the shelves on both sides of the alley; the sorting equipment can be arranged outside the storage area.

With this arrangement, the picking and placing equipment can perform picking and placing operations on two shelves at the same time, and there is no need to set up multiple picking and placing equipment in a single aisle, thereby increasing the storage density while reducing the cost of the storage system.

In some embodiments, a movable channel is provided below the temporary storage layer, and the handling equipment can move in the movable channel; the handling equipment can enter the movable channel from any position around the shelf.

Such an arrangement can shorten the path of the transport equipment when it moves in and out of the area where the shelves are located, thereby improving the transport efficiency of the transport equipment.

In a second aspect, the present application provides a warehouse, which includes a warehousing area, a storage area, an operation area, and a warehousing area, and the warehouse is provided with a warehousing system in the above technical solution;

The shelves of the storage system are set in the storage area, and the sorting equipment of the storage system is set in the operation area;

The goods in the incoming warehouse area are transported to the shelves in the storage area through the handling equipment of the warehousing system; the goods on the shelves are transported to the sorting equipment in the operating area through the picking and placing equipment or handling equipment of the warehousing system; the goods sorted by the sorting equipment in the operating area are transported to the outgoing warehouse area through the handling equipment.

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

Receive order information and determine the quantity of target material boxes based on the order information;

If the target material box is a single one, a first picking instruction is sent to the picking and placing device, so that the picking and placing device picks and places the target material box to the temporary storage layer of the shelf;

If there are multiple target material boxes, a second picking instruction is sent to the picking and placing device, so that the picking and placing device obtains multiple target material boxes and transports the multiple target material boxes to the sorting conveyor line at one time.

The warehousing system control method provided in the embodiment of the present application can select different outbound methods and outbound paths according to the number of material boxes corresponding to a specific order after taking out the material boxes using the picking and releasing equipment, thereby improving the outbound efficiency of the material boxes under different working conditions.

In some embodiments, the picking and placing device obtains multiple target material boxes, specifically including:

Determine whether multiple target material boxes are continuously stacked material boxes;

If multiple target material boxes are stacked continuously, the picking and placing equipment is controlled to move to the position corresponding to the target material box, lift the other material boxes above the target material box, and take out all the target material boxes at one time;

If the multiple target material boxes are not continuously stacked material boxes, the picking and placing equipment is controlled to move to the positions corresponding to the multiple target material boxes in sequence, and other material boxes above the target material boxes are lifted respectively to take out the multiple target material boxes in sequence.

In some embodiments, after sending a first picking instruction to the picking and placing device so that the picking and placing device picks and places the target material box to the temporary storage layer of the shelf, the method further includes:

Send a transport instruction to the transport equipment, so that the transport equipment transports the target material box from the temporary storage layer to the sorting conveyor line.

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

The present application provides a storage system, a warehouse, a storage system control method and a storage medium, wherein the storage system includes a shelf, a sorting device and a pick-up and put-away device, the shelf includes a storage layer and a temporary storage layer, the temporary storage layer is located below the storage layer, and the storage layer is configured to store a plurality of material boxes stacked in a vertical direction; the sorting device includes a sorting conveyor line and a sorting device, the sorting conveyor line is arranged on the side of the shelf, and the sorting conveyor line is connected to the shelf and conveys the material box; the sorting device is opposite to the sorting conveyor line, and is configured to sort the goods in the material box on the sorting conveyor line; the pick-up and put-away device is arranged to move along the length direction of the shelf, and the pick-up and put-away device is configured to pick up and put a single material box from the storage layer to the temporary storage layer; or, pick up and put a plurality of material boxes to the sorting conveyor line at the same time; the handling device, the handling device is configured to transport the material box in the temporary storage layer to the sorting conveyor line, so that the logistics efficiency of the storage system can be improved under different working conditions.

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

BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

FIG4 is a third structural diagram of a storage system provided in an embodiment of the present application;

FIG5 is a fourth structural diagram of a storage system provided in an embodiment of the present application;

FIG6 is a schematic diagram of the steps of a storage system control method provided in an embodiment of the present application;

FIG. 7 is a flow chart of a storage system control method provided in an embodiment of the present application.

Description of reference numerals:
100-shelf; 101-storage layer; 102-temporary storage layer; 103-mobile channel;
200-sorting equipment; 210-sorting conveyor line; 211-first conveying section; 212-second conveying section; 213-
The third conveying section; 214-input port; 215-output port; 216-inflow port; 217-outflow port; 218-first conveying line; 219-second conveying line; 220-sorting device;
300-cargo pick-up and release equipment; 310-frame; 311-column; 312-beam; 313-slide rail; 320-movable door frame; 330-cargo pick-up and release device;
400-Handling equipment.

DETAILED DESCRIPTION

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

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

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

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

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

The stereoscopic storage system is widely used in the field of warehousing and logistics due to its large storage capacity. The stereoscopic warehouse is usually composed of multiple shelves, and the robot used to pick up and place goods can move between the shelves. At present, in order to improve the storage density, the stereoscopic warehouse can stack and store material boxes through the buffer rack. There is no gap between the stacked material boxes, and more material boxes can be stacked in a limited height space. When picking and placing the material boxes, after selecting the material box, the robot will lift the material box stacked above the selected material box, and then take out the selected material box. The robot will transport the material box to the sorting workbench along the preset track path for sorting, and the sorted goods will be packaged and shipped out.

However, for the current storage system with stacked material boxes, the robot needs to lift the stacked material boxes and pick up and transport the target material boxes. Therefore, the robot is large in size and weight, and will occupy a large amount of space in the mobile channel of the storage system during the transportation process, which is not only costly but also easy to cause system congestion. In addition, when the robot transports the material boxes, it can only take the material boxes out of the warehouse one by one, and the number of times the material boxes are transported back and forth is large, which leads to low logistics efficiency.

In response to the above problems, the embodiments of the present application provide a warehousing system, a warehouse, a warehousing system control method and a storage medium, wherein the warehousing system uses a picking and placing device to pick up and place material boxes, and a sorting conveyor line is set up to connect with the shelf, and a temporary storage layer is set up on the shelf to connect with the handling equipment, so that the picking and placing device can adopt different material box outbound paths and methods according to the number of material boxes that need to be shipped out. A single material box can be obtained from the temporary storage layer by the handling equipment and shipped out, while multiple material boxes can be transported out in a centralized manner by the sorting conveyor line, thereby adapting to the high-efficiency logistics needs under different working conditions and maximizing the logistics efficiency of the warehousing system.

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

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

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

Please refer to Figures 1 and 2, the present application provides a storage system, which includes a shelf 100, a sorting device 200, a pick-up and place device 300, and a handling device 400. The shelf 100 includes a storage layer 101 and a temporary storage layer 102, the temporary storage layer 102 is located below the storage layer 101, and the storage layer 101 is configured to store a plurality of material boxes stacked in a vertical direction, and there is no storage gap between the stacked material boxes, which can improve the storage density.

The multiple material box stacking setting means that multiple material boxes are stacked in sequence from bottom to top. When taking and placing the material box at the top of the stack, the material box can be taken and placed directly, and when taking and placing the material box in the middle or lower layer, it is necessary to lift the other material boxes above it first before the target material box can be taken and placed.

The sorting equipment 200 includes a sorting conveyor line 210 and a sorting device 220. The sorting conveyor line 210 is arranged on the side of the shelf 100, and the sorting conveyor line 210 is docked with the shelf 100 and conveys the material box. The sorting device 220 is opposite to the sorting conveyor line 210 and is configured to sort the goods in the material box on the sorting conveyor line 210.

It is understandable that the picking and placing equipment 300 is arranged to move along the length direction of the shelf 100, and the picking and placing equipment 300 is configured to pick up and place a single material box from the storage layer 101 to the temporary storage layer 102, or to pick up and place multiple material boxes to the sorting conveyor line 210 at the same time. A single material box that needs to be shipped out of the temporary storage layer 102 can be transported to the sorting conveyor line 210 by the handling equipment 400, and multiple material boxes that need to be shipped out at the same time can be directly picked up and placed on the sorting conveyor line 210 by the picking and placing equipment 300.

It should be noted that the handling device 400 occupies a small space and is more flexible in movement. The efficiency of the handling device 400 in transporting a material box alone is higher than that of the picking and placing device 300 in transporting a single material box to the sorting conveyor line 210; and the picking and placing device 300 can transport multiple material boxes at a time. When multiple material boxes need to be shipped out at the same time, the efficiency of the picking and placing device 300 in simultaneously transporting multiple material boxes to the sorting conveyor line 210 is higher than that of the handling device 400 in acquiring and transporting material boxes one by one from the temporary storage layer 102. Therefore, the embodiment of the present application adopts different material box transportation methods according to the requirements of different order working conditions, thereby improving the logistics efficiency of the storage equipment.

In addition, in the warehousing system provided in the embodiment of the present application, the picking and placing device 300 can process the order. The orders are shipped out in sequence, and the orders are transported to the temporary storage layer 102 or the sorting conveyor line 210 according to the number of material boxes corresponding to the order. Alternatively, the picking and placing equipment 300 can ship out multiple orders at the same time. At this time, if there are orders for a single material box and orders for multiple material boxes at the same time, while the sorting conveyor line 210 outputs multiple material boxes, the transport equipment 400 can simultaneously ship out the order for a single material box.

In addition, when a single material box is shipped out of the warehouse, on the one hand, the material box can be shipped to the temporary storage layer 102 by the pick-and-place device 300, and the material box in the temporary storage layer 102 can be shipped to the sorting conveyor line 210 by the handling device 400; on the other hand, the single target material box can be directly shipped to the sorting conveyor line 210 by the pick-and-place device 300. The specific method of shipping a single material box can be selected according to the specific working status of the handling device 400 and the pick-and-place device 300, and the currently idle device can be selected for the shipping operation.

Exemplarily, the storage layer 101 of the shelf 100 has multiple storage rows, and each storage row can be stacked with multiple material boxes. When the picking and placing device 300 needs to take out multiple material boxes in a single order, the multiple material boxes can be stacked together, that is, located in the same storage row and stacked from top to bottom; or, the multiple material boxes can also be located in multiple different storage rows.

Among them, when multiple material boxes of the target order are located in the same storage column and stacked together, the picking and placing equipment 300 can take out all material boxes corresponding to the target order with only one picking and placing operation, and transport all material boxes corresponding to the target order to the sorting conveyor line 210 at one time. Compared with the robots in the prior art that transport the material boxes back and forth in sequence, the number of round trips is reduced and the logistics efficiency is improved.

When multiple material boxes of the target order are located in multiple different storage columns, the picking and placing equipment 300 can obtain the multiple material boxes in a preset order. For example, the first material box is obtained first. When obtaining subsequent material boxes, the previously obtained material boxes can be stacked and placed on the material box that currently needs to be obtained, and then the stacked material boxes that need to be obtained are lifted together until all the material boxes are taken out, and all the material boxes corresponding to the target order are transported to the sorting conveyor line 210 at one time. Compared with the robot in the prior art that transports the material boxes back and forth in sequence, the number of round trips is reduced and the logistics efficiency is improved.

The specific method of docking the sorting conveyor line 210 with the shelf 100 and the specific structure of the sorting conveyor line 210 are described in detail below.

1 and 2, in some embodiments, the sorting conveyor line 210 has an input port 214, and the input port 214 is arranged opposite to one end of the shelf 100 in the length direction. The picking and placing equipment 300 is located on the side of the shelf 100 in the length direction, and the picking and placing equipment 300 moves along the length direction of the shelf 100. One end of the diameter is opposite to the input port 214.

It is understandable that after the picking and placing device 300 takes out multiple material boxes from the shelf 100, the multiple material boxes can be transported and placed at the input port 214 of the sorting conveyor line 210 at one time, saving the time of sending the material boxes out of the warehouse.

After the picking and placing equipment 300 transports multiple stacked material boxes to the input port 214 of the sorting conveyor line 210, the picking and placing equipment 300 can split the multiple stacked material boxes into sections arranged along the conveying direction of the sorting conveyor line 210. In this process, the sorting conveyor line 210 can be used to convey the material boxes in sequence from bottom to top, and the picking and placing equipment 300 only needs to lift and put down the corresponding material boxes.

Alternatively, the input port 214 of the sorting conveyor line 210 may be provided with a splitting mechanism. After the picking and placing equipment 300 transports a plurality of stacked material boxes to the input port 214 of the sorting conveyor line 210, the picking and placing equipment 300 may execute the next order task, and the plurality of stacked material boxes placed at the input port 214 may be split by the splitting mechanism into boxes arranged along the conveying direction of the sorting conveyor line 210.

In some embodiments, the sorting conveyor line 210 may include a first conveying section 211, a second conveying section 212, and a third conveying section 213. The first conveying section 211 is docked with the shelf 100 and forms an input port 214. The third conveying section 213 has an output port 215, and the output port 215 is docked with the shelf 100. The second conveying section 212 is connected between the first conveying section 211 and the third conveying section 213. The sorting device 220 is located on the side of the second conveying section 212.

It can be understood that the sorting conveyor line 210 can be in a "U" shape at the end of the shelf 100. After the material box flows in from the input port 214, it is first transmitted along the first conveying section 211, and then enters the second conveying section 212 from the first conveying section 211. The sorting operation is completed by the sorting device 220 in the second conveying section 212. The material box after sorting can enter the third conveying section 213 from the second conveying section 212. The material box that is transmitted to the output port 215 along the third conveying section 213 can be put into storage through the picking and placing equipment 300 on the other side of the shelf 100, so that the material box can flow out and in quickly from the shelf 100. The outbound material box can be directly transported to the sorting device 220 through the sorting conveyor line 210, and the material box after sorting can be sent back to the shelf 100 for storage through the sorting conveyor line 210.

For example, the first conveying section 211, the second conveying section 212 and the third conveying section 213 may adopt similar or identical conveying structures. For example, the first conveying section 211 may include a bracket and a conveying roller disposed on the bracket, and the conveying roller may include an active roller and a passive roller, which are driven by a motor to actively rotate, thereby realizing the movement of the material box on the first conveying section 211. For another example, the first conveying section 211 may The second conveying section 212 and the third conveying section 213 are included in the conveying section 213. The structures of the second conveying section 212 and the third conveying section 213 are not described in detail here.

In some embodiments, an inlet 216 and an outlet 217 are provided at both ends of the second conveying section 212, and the handling device 400 can dock with the inlet 216 or the outlet 217. When the handling device 400 is transporting a single outbound material box, the material box can be directly transported to the second conveying section 212 to avoid occupying the space of the area on the sorting conveying line 210 docking with the shelf 100, thereby preventing congestion of the material boxes.

It can be understood that the second conveying section 212 can be correspondingly provided with a conveyor line for conveying order boxes, and the conveyor line for conveying order boxes can be arranged in upper and lower layers with the second conveying section 212, and the sorting device 220 can sort the goods in the material box on the second conveying section 212 into the order box.

For example, after the goods in the material box are sorted, if there is no remaining goods in the material box, the material box can be transferred to the output port 215 through the third conveying section 213, and the picking and releasing equipment 300 can be used for re-warehousing; and if there is no remaining goods in the material box, the handling equipment 400 can take the empty material box from the outflow port 217 of the second conveying section 212 and transport it to the storage area of the empty material box.

FIG. 5 is a fourth structural diagram of the warehousing system provided in an embodiment of the present application.

Please refer to Figure 5. In some embodiments, the sorting conveyor line 210 may include a first conveyor line 218 and a second conveyor line 219, and the first conveyor line 218 and the second conveyor line 219 are arranged at intervals in the vertical direction; one of the first conveyor line 218 and the second conveyor line 219 is configured to convey the material box from the end docked with the shelf 100 to the sorting device 220; the other of the first conveyor line 218 and the second conveyor line 219 is configured to convey the material box from the sorting device 220 to the end docked with the shelf 100.

It is understandable that the conveying directions of the first conveyor line 218 and the second conveyor line 219 are opposite. The first conveyor line 218 and the second conveyor line 219 both extend in the horizontal direction. By arranging the first conveyor line 218 and the second conveyor line 219 in the vertical direction, the longitudinal space can be fully utilized, the area occupied by the sorting conveyor line 210 can be reduced, and the space utilization rate can be improved.

It should be noted that the sorting device 220 can be provided with a button for stopping the operation of the sorting conveyor line 210, which is used to start and stop the sorting conveyor line 210 during the vacant sorting process. The sorting device 220 can be provided with a detection mechanism for detecting whether the goods sorting operation of the current material box is completed. In addition, the sorting device 220 can adopt either a robot automatic sorting method or a manual sorting method, which is not specifically limited in the embodiments of the present application.

The specific structure of the cargo picking and placing device 300 is described in detail below.

1 and 2, in some embodiments, the cargo picking and placing device 300 may include a frame The frame 310 has a slide rail 313 extending along the length direction of the shelf 100, and the movable door frame 320 is movably connected to the slide rail 313. The movable door frame 320 is vertically arranged, and the pick-up and put-out device 330 is connected to the movable door frame 320, and the pick-up and put-out device 330 can move along the height direction of the movable door frame 320.

It is understandable that the length of the frame 310 can match the length of the shelf 100, and the height of the frame 310 matches the upper limit of the height of the material boxes that can be stacked on the shelf 100. By means of the fixed frame 310 and the mobile door frame 320 that moves on the frame 310, the moving path of the picking and placing equipment 300 is made more precise, which reduces the floor space occupied by the storage system and reduces the cost of the equipment.

Exemplarily, the frame 310 may be made of a metal or alloy such as iron or aluminum. For example, the frame 310 may be made of an aluminum profile to improve structural strength and installation convenience while reducing costs.

In some embodiments, at least two picking and placing devices 330 may be provided on the movable gantry 320, wherein at least one picking and placing device 330 is configured to lift other material boxes stacked on top of a target material box, and at least one picking and placing device 330 is configured to pick up and place a target material box, thereby enabling any stacked material box to be quickly shipped out of the warehouse, and in the process of taking out the material box, other storage locations on the shelf 100 will not be occupied.

It can be understood that when two cargo picking and placing devices 330 are arranged on each mobile gantry 320, the two cargo picking and placing devices 330 are arranged at intervals in the vertical direction, and the two cargo picking and placing devices 330 can move independently along the height direction of the mobile gantry 320, that is, two sets of independent driving and transmission systems can be arranged on the mobile gantry 320 to drive the two cargo picking and placing devices 330 to move respectively.

During the process of picking up goods, when the target material box is located at a certain position in the middle of a row of stacked material boxes, the other material boxes above the target material box can be lifted up by the upper picking and placing device 330, and then the target material box can be taken out by another picking and placing device 330 below. Thereafter, the lifted material box can be put down by the upper picking and placing device 330 and stacked together with the material box below the previous target material box.

In addition, if the target material box is located at the top layer of a row of stacked material boxes, only one of the two picking and placing devices 330 is needed to pick up the material.

Exemplarily, the cargo picking and placing device 330 may include a fixed arm and a telescopic arm. The telescopic arm may be extended relative to the fixed arm, and the telescopic arm may cooperate with the two side walls of the material box to lift the material box.

It should be noted that the transmission and drive structure of the telescopic arm relative to the fixed arm, as well as the pick-up and placement The transmission and drive structure of the cargo device 330 that moves up and down relative to the mobile door frame 320 can be driven by a motor, as well as a transmission structure such as a chain, belt, gear rack, wire rope, etc., which is not specifically limited in the embodiment of the present application.

In some embodiments, the frame 310 may include at least two columns 311 and at least two beams 312, the columns 311 are arranged at both ends of the length direction of the shelf 100, and the beams 312 are connected between the columns 311 at both ends of the length direction of the shelf 100. The beams 312 are used to form a slide rail 313. The area passed by the moving path of the mobile door frame 320 can cover various positions in the length direction of the shelf 100, and ensure the smoothness of the moving process of the mobile door frame 320.

Exemplarily, there can be two columns 311, which are respectively arranged at the two ends of the side of the shelf 100, and there can be two beams 312, which are connected between the two columns 311, and the two beams 312 are respectively connected to the bottom and top of the columns 311, so that the movable door frame 320 forms a "mouth" shaped structure.

In addition, more columns 311 and beams 312 may be provided. For example, three columns 311 and three beams 312 may be provided so that the movable door frame 320 forms a "田"-shaped structure. The embodiment of the present application does not make any specific limitation on this.

It should be noted that the driving mode and transmission structure of the moving gantry 320 moving along the slide rail 313 on the crossbeam 312 can be driven by a motor, as well as a transmission structure such as a chain, a belt, a gear rack, a wire rope, etc. In addition, the moving gantry 320 and the slide rail 313 can be matched through rollers, that is, the moving gantry 320 can roll along the slide rail 313 by setting rollers to reduce the friction when moving along the slide rail 313.

FIG. 3 is a second structural diagram of the warehousing system provided in an embodiment of the present application.

Referring to FIG. 3 , in combination with FIG. 1 and FIG. 2 , in some embodiments, there may be a plurality of movable gantries 320, which are arranged at intervals along the extension direction of the slide rail 313, and the plurality of movable gantries 320 can independently move along the slide rail 313. In this way, the plurality of movable gantries 320 can simultaneously perform pick-up and place operations at different positions in the length direction of the shelf 100, thereby improving logistics efficiency.

It is understandable that when the warehousing system is running, there may be multiple different orders in the order library at the same time, and the heat requirements for the goods in the material box on the shelf 100 may be different. The higher the heat requirement for outbound delivery, the more material boxes need to be taken out in a single outbound delivery process. When the heat requirement for outbound delivery is low, only the corresponding single material box needs to be taken out in a single outbound delivery process.

For example, two movable door frames 320 may be provided on each frame 310, and two movable door frames 320 may be provided on each frame 310. The racks 320 can work in coordination. For example, a threshold value of the heat demand of the goods corresponding to the order is preset. When it is below this threshold, only a single material box needs to be shipped out, and when it exceeds the heat demand threshold of the goods, two or more material boxes need to be shipped out. The two mobile door racks 320 can be responsible for picking up goods in different areas along the length direction of the shelf 100.

FIG. 4 is a third structural diagram of the warehousing system provided in an embodiment of the present application.

Please refer to Figure 4 and in combination with Figure 3. In order to improve the export efficiency of the material box and avoid path interference of multiple mobile gantries 320 during the movement along the frame 310, sorting conveyor lines 210 can be set at both ends of the shelf 100 for docking, so that the multiple mobile gantries 320 can select the sorting conveyor line 210 at the closer end to output the material box according to the specific pickup position on the shelf 100.

In some embodiments, there may be multiple shelves 100, which are arranged at intervals to form a storage area; there is an aisle between adjacent shelves 100, and the picking and placing equipment 300 is arranged in the aisle, and the picking and placing equipment 300 is configured to pick up and place material boxes from the shelves 100 on both sides of the aisle in both directions. The sorting equipment 200 can be arranged outside the storage area.

It is understandable that the picking and placing equipment 300 can perform picking and placing operations on two shelves 100 at the same time, and there is no need to set up multiple picking and placing equipment 300 in a single lane, thereby improving the storage density and reducing the cost of the storage system.

The following is a detailed description of the pick-up and placement operation of a single material box by the handling device 400.

In some embodiments, a moving channel 103 is provided below the temporary storage layer 102, and the transport device 400 can move in the moving channel 103. The transport device 400 can enter the moving channel 103 from any position around the shelf 100, thereby shortening the path of the transport device 400 when moving in and out of the area where the shelf 100 is located, thereby improving the transport efficiency of the transport device 400.

It is understandable that the temporary storage layer 102 can have multiple storage locations, which correspond to the positions of the material boxes stacked above it. However, when the picking and releasing equipment 300 takes out a single material box, the material box can be placed according to the vacancy of the storage locations of the current temporary storage layer 102. It can be placed in the temporary storage layer 102 storage location directly below the stacked position of the target material box, or in the temporary storage layer 102 storage location at other locations.

For example, the handling device 400 may include a mobile base and a lifting mechanism. The mobile base can move freely along the ground. The lifting mechanism is disposed on the mobile base. The lifting mechanism is used to lift the material box in the temporary storage layer 102 and take the material box out of the temporary storage layer 102 by moving the mobile base. The lifting mechanism may include a motor and a lifting plate driven by the motor. The motor and the lifting plate may be connected by a telescopic rod or The embodiment of the present application does not limit the specific structure of the lifting mechanism.

The embodiment of the present application provides a warehouse, which includes an incoming warehouse area, a storage area, an operation area and an outgoing warehouse area, and the warehouse is provided with a storage system in the above technical solution, wherein the shelves of the storage system are arranged in the storage area, and the sorting equipment of the storage system is arranged in the operation area.

It is understandable that the goods in the storage area can be transported to the shelves in the storage area by the handling equipment of the storage system. For example, the handling equipment can transport the material box containing the goods to the temporary storage layer of the shelf, and then the picking and placing equipment can pick up and place the material box to the vacant storage layer.

When the goods need to be shipped out of the warehouse, the goods on the shelf are transported to the sorting equipment in the operation area by the picking and placing equipment or the handling equipment of the storage system. For example, the material box containing the target goods can be transported to the sorting equipment by any of the picking and placing equipment or the handling equipment. The specific transportation method and process are the same as those in the aforementioned storage system and will not be repeated here.

The goods sorted out by the sorting equipment in the operation area are transported to the outbound area by the handling equipment. For example, the sorting device of the sorting equipment can sort the target goods in the material box outbound from the shelf into the order box, and the handling equipment transports the order box containing the target goods to the outbound area, where the target goods are packaged.

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

FIG6 is a schematic diagram of the steps of the warehouse system control method provided in an embodiment of the present application, and FIG7 is a flow chart of the warehouse system control method provided in an embodiment of the present application.

Referring to FIG. 6 and FIG. 7 , and in combination with FIG. 1 and FIG. 2 , an embodiment of the present application provides a storage system control method, which is used for a controller of the storage system, and the controller of the storage system serves as an execution subject of the method, and the method includes:

S100, receiving order information, and determining the quantity of target material boxes according to the order information.

The controller of the storage system can receive order information by wireless communication. The order information includes the type and quantity of goods in the target order. The controller of the storage system can determine the number of target material boxes according to the information of the target order, and determine the specific location of the target material box in the shelf 100 of the storage system.

It should be noted that the storage system stores the storage information of the goods in the material boxes on all shelves 100 of the current storage system, including the type of goods and the storage quantity of the goods in the material box. After receiving the order information, the controller can search the order information from the storage by keywords. The coordinates of all material boxes where the target goods are located are retrieved from the device, and the pick-up and placement equipment 300 and sorting equipment 200 that need to execute the target order outbound task are determined according to the busy status of all the pick-up and placement equipment 300 and sorting equipment 200 in the current warehousing system.

The warehousing system control method provided in the embodiment of the present application can select different outbound delivery methods and outbound delivery paths after taking out the material boxes using the picking and placing equipment 300 according to the number of material boxes corresponding to the specific order, thereby improving the outbound delivery efficiency of the material boxes under different working conditions.

S200. If the target material box is single, a first picking instruction is sent to the picking and placing device, so that the picking and placing device picks and places the target material box to the temporary storage layer of the shelf; if the target material box is multiple, a second picking instruction is sent to the picking and placing device, so that the picking and placing device obtains multiple target material boxes and transports the multiple target material boxes to the sorting conveyor line at one time.

It can be understood that when the target material box is single, the picking and placing equipment 300 only needs a single picking operation to obtain the target material box, wherein the first picking instruction includes the coordinate information of the target material box, for example, the coordinates of the target material box are [X, Y], X corresponds to the storage column of the target material box on the shelf 100, and Y corresponds to the stacking position of the target material box in the corresponding storage column.

When the picking and placing equipment 300 is picking up goods, the movable gantry 320 first moves along the slide rail 313 of the frame 310 to the storage row corresponding to the target material box, and then the picking and placing device 330 moves along the movable gantry 320 to the opposite side of the target material box to perform the picking and placing operation.

In addition, when a single material box is shipped out of the warehouse, on the one hand, the material box can be shipped to the temporary storage layer 102 by the pick-and-place device 300, and the material box in the temporary storage layer 102 can be shipped to the sorting conveyor line 210 by the handling device 400; on the other hand, the single target material box can be directly shipped to the sorting conveyor line 210 by the pick-and-place device 300. The specific method of shipping a single material box can be selected according to the specific working status of the handling device 400 and the pick-and-place device 300, and the currently idle device can be selected for the shipping operation.

When there are multiple target material boxes, a single or multiple picking operations can be performed according to the specific storage locations of the multiple target material boxes on the shelf 100, which will not be described in detail below.

In some embodiments, the cargo picking and placing device 300 obtains multiple target material boxes, specifically including:

It is determined whether the multiple target material boxes are continuously stacked material boxes, wherein the continuously stacked material boxes refer to the multiple material boxes being in the same storage column and being arranged in sequence along the vertical direction.

If the multiple target material boxes are stacked continuously, the picking and placing device 300 is controlled to move to The target material box corresponds to the position of the target material box, lifts the other material boxes above the target material box, and takes out all the target material boxes at one time.

It is understandable that if the multiple target material boxes are continuously stacked material boxes, the second picking and releasing instruction only needs to include the coordinate information of the bottommost material box and the coordinate information of the topmost material box of the multiple continuously stacked material boxes.

For example, there are N target material boxes, which are stacked continuously, wherein the coordinates of the bottom target material box are [X, Y], and the coordinates of the other target material boxes are [X, Y+1], [X, Y+2]...[X, Y+N-1]. When the picking and placing device 300 picks up the goods, it only needs to move to the corresponding storage column, and first a picking and placing device 330 lifts the coordinates of [X, Y+N] and all the material boxes above it, and then another picking and placing device 330 lifts the target material box with the coordinates [X, Y], and drives all the N target material boxes to be taken out.

If the multiple target material boxes are not continuously stacked material boxes, the picking and placing equipment 300 is controlled to move to the positions corresponding to the multiple target material boxes in sequence, and other material boxes above the target material boxes are lifted respectively to take out the multiple target material boxes in sequence.

It is understandable that if the multiple target material boxes are not continuously stacked, the second picking and placing instruction includes the coordinate information of all the target material boxes that are not stacked.

Exemplarily, the coordinates of the target material boxes are [a, b], [c, d], and [e, f], respectively, and the above three target material boxes can be picked up and placed in sequence. Among them, the steps for obtaining the first target material box with coordinates [a, b] are the same as the steps for picking up and placing the aforementioned single material box. When obtaining the second target material box with coordinates [c, d], after lifting the other material boxes above the second target material box, the first target material box can be stacked and placed above the second target material box, and then the second target material box can be lifted, and the first target material box and the second target material box can be driven to complete the picking operation at the same time. The third target material box with coordinates [e, f] can be removed in a similar manner, and by analogy, more target material boxes can be picked up and placed. After all target material boxes are removed, they are transported to the sorting conveyor line 210 at one time.

In some embodiments, after sending the first picking instruction to the picking and placing device 300 so that the picking and placing device 300 picks and places the target material box to the temporary storage layer 102 of the shelf 100, the method further includes:

A transport instruction is sent to the transport device 400 , so that the transport device 400 transports the target material box from the temporary storage layer 102 to the sorting conveyor line 210 .

It is understandable that the transport instruction includes the coordinate information of the target material box stored in the temporary storage layer 102. After the transport device 400 takes the target material box out of the temporary storage layer 102, the transport instruction may be used to store the target material box according to the current distribution. The logistics of the picking device 200 is in an idle state, and the target material box is selected to be transported to the sorting conveying line 210 of the sorting device 200 with relatively fewer order sorting tasks.

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

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

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

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

Claims (16)

A storage system, characterized in that the storage system comprises: A shelf, the shelf comprising a storage layer and a temporary storage layer, the temporary storage layer is located below the storage layer, and the storage layer is configured to store a plurality of material boxes stacked in a vertical direction; A sorting device, the sorting device comprising a sorting conveyor line and a sorting device, the sorting conveyor line is arranged on the side of the shelf, the sorting conveyor line is docked with the shelf, and conveys the material box; the sorting device is opposite to the sorting conveyor line, and is configured to sort the goods in the material box on the sorting conveyor line; A picking and placing device, the picking and placing device is arranged to move along the length direction of the shelf, and the picking and placing device is configured to pick up and place a single material box from the storage layer to the temporary storage layer; or, to pick up and place multiple material boxes to the sorting conveyor line at the same time; A handling device is configured to carry the material box in the temporary storage layer to the sorting conveying line. The warehousing system according to claim 1 is characterized in that the sorting conveyor line has an input port, which is arranged opposite to one end of the shelf in the length direction; the picking and placing equipment is located on the side of the shelf in the length direction, and one end of the moving path of the picking and placing equipment along the length direction of the shelf is opposite to the input port. The warehousing system according to claim 2 is characterized in that the sorting conveyor line includes a first conveying section, a second conveying section and a third conveying section, the first conveying section is connected to the shelf and forms the input port, the third conveying section has an output port, and the output port is connected to the shelf; the second conveying section is connected between the first conveying section and the third conveying section; and the sorting device is located on the side of the second conveying section. The storage system according to claim 3 is characterized in that an inlet and an outlet are provided at both ends of the second conveying section, and the handling equipment can be docked with the inlet or the outlet. The storage system according to claim 2 is characterized in that the sorting conveyor line includes a first conveyor line and a second conveyor line, the first conveyor line and the second conveyor line are arranged at intervals in the vertical direction; one of the first conveyor line and the second conveyor line is configured to convey the material box from the end docked with the shelf to the sorting device; the other of the first conveyor line and the second conveyor line is configured to convey the material box from the sorting device to the end docked with the shelf The butt end. The warehousing system according to any one of claims 1 to 5 is characterized in that the cargo picking and placing equipment comprises a frame, a movable gantry and a cargo picking and placing device, the frame has a slide rail extending along the length direction of the shelf, and the movable gantry is movably connected to the slide rail; the movable gantry is vertically arranged, the cargo picking and placing device is connected to the movable gantry, and the cargo picking and placing device can move along the height direction of the movable gantry. The warehousing system according to claim 6 is characterized in that at least two of the picking and placing devices are arranged on the movable gantry, wherein at least one of the picking and placing devices is configured to lift other material boxes stacked above the target material box, and at least one of the picking and placing devices is configured to pick up and place the target material box. The storage system according to claim 6 is characterized in that the frame includes at least two columns and at least two beams, the columns are arranged at both ends of the length direction of the shelf, and the beams are connected between the columns at both ends of the length direction of the shelf; the beams are used to form the slide rails. The storage system according to claim 6 is characterized in that there are multiple movable gantries, the multiple movable gantries are arranged at intervals along the extension direction of the slide rail, and the multiple movable gantries can move independently along the slide rail. The storage system according to any one of claims 1 to 5 is characterized in that there are multiple shelves, the multiple shelves are arranged at intervals to form a storage area; there are lanes between adjacent shelves, the picking and placing equipment is arranged in the lanes, and the picking and placing equipment is configured to pick up and place the material boxes in two directions from the shelves on both sides of the lanes; the sorting equipment is arranged outside the storage area. The storage system according to any one of claims 1 to 5 is characterized in that a movable channel is provided below the temporary storage layer, and the handling equipment can move in the movable channel; the handling equipment can enter the movable channel from any position around the shelf. A warehouse, characterized in that the warehouse comprises a storage area, a storage area, an operation area and a delivery area, and the warehouse is provided with a storage system according to any one of claims 1 to 11; The shelves of the storage system are arranged in the storage area, and the sorting equipment of the storage system is arranged in the operation area; The goods in the storage area are transported to the storage area by the handling equipment of the warehousing system. the goods on the shelves are transported to the sorting equipment in the operating area by the picking and placing equipment of the warehousing system or the handling equipment; the goods sorted out by the sorting equipment in the operating area are transported to the outbound area by the handling equipment. A storage system control method, characterized in that it is used for the controller of the storage system according to any one of claims 1 to 11, and the method comprises: Receiving order information, and determining the quantity of target material boxes according to the order information; If the target material box is single, a first picking instruction is sent to the picking and placing device, so that the picking and placing device picks and places the target material box to a temporary storage layer of a shelf; If there are multiple target material boxes, a second picking instruction is sent to the picking and placing device, so that the picking and placing device obtains multiple target material boxes and transports the multiple target material boxes to the sorting conveyor line at one time. The warehouse system control method according to claim 13 is characterized in that the picking and placing device obtains a plurality of the target material boxes, specifically comprising: Determining whether the plurality of target material boxes are continuously stacked material boxes; If the plurality of target material boxes are continuously stacked, the picking and placing equipment is controlled to move to the position corresponding to the target material box, lift the other material boxes above the target material box, and take out all the target material boxes at one time; If the multiple target material boxes are not continuously stacked material boxes, the picking and placing equipment is controlled to move to the positions corresponding to the multiple target material boxes in sequence, and other material boxes above the target material boxes are lifted respectively to take out the multiple target material boxes in sequence. The warehouse system control method according to claim 13 is characterized in that after sending the first picking instruction to the picking and placing device so that the picking and placing device picks and places the target material box to the temporary storage layer of the shelf, it also includes: A transport instruction is sent to a transport device, so that the transport device transports the target material box from the temporary storage layer to the sorting conveying line. A storage medium, characterized in that the storage medium stores computer execution instructions, and the computer execution instructions are used to implement the warehouse system control method described in any one of claims 13-15 when executed.