CN109160169A - The warehousing system and automatic replenishing method of automatic replenishing - Google Patents

Abstract

The embodiment of the invention discloses a kind of warehousing systems of automatic replenishing and automatic replenishing method.Wherein, which includes: control server and the first robot；Wherein, the control server is configured to, and when the article for determining picking area needs to replenish, generates the task that replenishes for the article that needs replenish, and send according to the task of replenishing to first robot and carry instruction；First robot is configured to, and is instructed in response to the carrying, the associated article of the task that replenishes is transported to the picking area from stock area according to the instruction for carrying instruction, so that the article can replenish into the article container of picking area.Technical solution provided in an embodiment of the present invention, when picking area needs to replenish, by, by picking area and stock area's seamless connection, being not necessarily to human interference using robot, the automatic replenishing of picking area can be realized, improve the efficiency that replenishes, reduce labour cost；Warehouse intelligence degree is improved simultaneously.

Description

The warehousing system and automatic replenishing method of automatic replenishing

Technical field

The present invention relates to logistic storage technical field more particularly to the warehousing systems and automatic replenishing method of automatic replenishing.

Background technique

With the fast development of e-commerce and shopping at network, e-commerce plays increasingly in consumer's life Important role, annual user's quantity on order increase at geometric multiple, this makes a warehouse need to store the article kind of magnanimity Class and article inventory amount need warehouse that order sorting can be rapidly completed, it is similarly desirable to increase warehouse item amount of storage, to mention The filling rate in high entire warehouse.

In order to improve the storage efficiency in warehouse, warehouse would generally mark off stock area for storing a large amount of article when planning Inventory such as improves the amount of storage of article using overhead goods yard.When picking area shortage of goods, replenish stock area's lot item is stored in To sorting region, or periodically replenish to picking area.

But traditional warehouse replenishing, it is all using manual type, this mode inefficiency, high labor cost, warehouse is made Industry intelligence is low.

Summary of the invention

The embodiment of the present invention provides the warehousing system and automatic replenishing method of a kind of automatic replenishing, reduces cost of labor, Improve the intelligence degree of warehouse homework.

In a first aspect, the system includes: control the embodiment of the invention provides a kind of warehousing system method of automatic replenishing Server and the first robot；Wherein,

The control server is configured to, when the article for determining picking area needs to replenish, for the article for needing to replenish Generation replenishes task, and is sent according to the task of replenishing to first robot and carry instruction；

First robot is configured to, and is instructed in response to the carrying, will be described according to the instruction for carrying instruction The associated article of the task that replenishes is transported to the picking area from stock area, so that the article can replenish to the article appearance of picking area In device.

Further, the picking area includes replenish area and memory block, and the article container is located at the memory block；

First robot is further configured to, and the task that replenishes is closed in the instruction for carrying instruction according to described first The article of connection is transported to the area that replenishes from the stock area.

Further, the system also includes the second robots；

The control server is additionally configured to, and determines the article container that the item complementary arrives, and to second machine Human hair send the second carrying to instruct；

Second robot is configured to, and is carried and is instructed in response to described second, the finger for carrying instruction according to described second Show and the article container that the article requires supplementation with is transported to the area that replenishes from the memory block, so that the article can be mended In the article container that goods is required supplementation with to the article.

Further, the picking area further includes sorting station；

The control server is additionally configured to, and is received order taking responsibility, is sent according to order taking responsibility to second robot Third carries instruction；

Second robot is additionally configured to, and is carried and is instructed in response to the third, carries instruction according to the third Article container where the associated order article of the order taking responsibility is transported to the sorting from the memory block and stood by instruction.

Further, the control server is further configured to, and calculates the stockpile number of the article in the picking area, If the stockpile number is less than or equal to preset safety inventory threshold value, determine that the article needs replenish.

Further, the control server is further configured to, according to the safety inventory threshold value and the inventory The difference of quantity determines the pre- quantity that replenishes of the article, according to it is described it is pre- replenish quantity and the article stock area storage Specification determines actually replenish at least one of the quantity and article container classification of the article, the reality according to the article Replenish quantity, generates the task that replenishes of the article.

Further, the article container includes at least one of pallet goods shelf and partition shelf.

Second aspect, the embodiment of the invention also provides a kind of automatic replenishing methods, this method comprises:

Control server if it is determined that picking area article needs replenish, then for need replenish article generation replenish appoint Business, and send first to first robot according to the task of replenishing and carry instruction；

First robot is carried in response to described first and is instructed, and the instruction for carrying instruction according to described first will be described The associated article of the task that replenishes is carried to picking area from stock area, so that the article can replenish to the article container of picking area In.

Further, the picking area includes replenish area and memory block, and the article container is located at the memory block；

First robot is carried in response to described first and is instructed, and the instruction for carrying instruction according to described first will be described The associated article of the task that replenishes is carried to picking area from stock area, comprising:

First robot is carried in response to described first and is instructed, and the instruction for carrying instruction according to described first will be described The associated article of the task that replenishes is transported to the area that replenishes from the stock area.

Further, first robot is carried in response to described first and is instructed, and carries instruction according to described first The associated article of the task that replenishes is transported to after the area that replenishes by instruction from the stock area, further includes:

The control server determines the article container that the item complementary arrives, and sends second to the second robot and carry Instruction；

Second robot is carried in response to described second and is instructed, and the instruction for carrying instruction according to described second will be described The article container that article requires supplementation with is transported to the area that replenishes from the memory block, so that the article can replenish to described In the article container that article requires supplementation with.

Further, the picking area further includes sorting, the above method further include:

The control server receives order taking responsibility, sends third carrying to second robot according to order taking responsibility and refers to It enables；

Second robot is carried in response to the third and is instructed, will be described according to the instruction that the third carries instruction Article container where the associated order article of order taking responsibility is transported to the sorting station from the memory block.

Further, the control server determines that the article needs of picking area replenish, comprising:

The control server calculates the stockpile number of the article in the picking area, if the stockpile number be less than or Equal to preset safety inventory threshold value, determine that the article needs replenish.

Further, the control server generates the task that replenishes for the article that needs replenish, comprising:

The control server determines the article according to the difference of the safety inventory threshold value and the stockpile number The pre- quantity that replenishes；

The control server according to it is described it is pre- replenish quantity and the article stock area storage specification, determine described in Actually replenish at least one of the quantity and article container classification of article；

Actually replenish quantity of the control server according to the article, generates the task that replenishes of the article.

Further, the article container includes at least one of pallet goods shelf and partition shelf.

The warehousing system and automatic replenishing method of automatic replenishing provided in an embodiment of the present invention are picked in control server determination When article in constituency needs to replenish, the article to replenish for needs automatically generates the task of replenishing；And according to the task of replenishing to One robot sends first and carries instruction；Instruction is carried in first robot response first, obtains the task association that replenishes from stock area Article, and the article carrying that will acquire is to picking area, so that article can replenish into the article container of picking area, to realize The automatic replenishing of picking area.The program is in real time monitored the stockpile number of the article in picking area by control server, And when the article for determining picking area needs to replenish, with regard to carrying out automatic replenishing, when can guarantee that sorting personnel sort the article, object The quantity of product is sufficient, withouts waiting for, also further improves sorting efficiency.In addition, by using robot by picking area with Stock area's seamless connection, is not necessarily to human interference, the automatic replenishing of picking area can be realized, and then improve the efficiency that replenishes, and reduces Labour cost；Warehouse intelligence degree is improved simultaneously.

Detailed description of the invention

By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other Feature, objects and advantages will become more apparent upon:

Figure 1A is a kind of system structure diagram of the warehousing system for automatic replenishing that the embodiment of the present invention is applicable in；

Figure 1B is a kind of structural schematic diagram for picking area that the embodiment of the present invention is applicable in；

Fig. 2A is a kind of structural schematic diagram for robot with grabbing device that the embodiment of the present invention is applicable in；

Fig. 2 B is a kind of structural schematic diagram for Prospect of Robot Sorting System that the embodiment of the present invention is applicable in；

Fig. 3 is a kind of flow chart of the automatic replenishing method provided in the embodiment of the present invention two；

Fig. 4 is a kind of flow chart of the automatic replenishing method provided in the embodiment of the present invention three；

Fig. 5 A is a kind of flow chart of the automatic replenishing method provided in the embodiment of the present invention four；

Fig. 5 B is a kind of structural schematic diagram for pallet goods shelf that the embodiment of the present invention is applicable in；

Fig. 5 C is a kind of structural schematic diagram for partition shelf that the embodiment of the present invention is applicable in.

Specific embodiment

Figure 1A is a kind of system structure diagram of the warehousing system for automatic replenishing that the embodiment of the present invention is applicable in, storage System includes: robot 10, control server 20, stock area 30 and picking area 40；Stock area 30 is provided with multiple shelf 301 (for example, the shelf can be high-level shelf in order to improve quantity in stock) is stored with various replenish to picking area on shelf 301 Lot item (e.g., the cola of FCL), picking area 40 is also equipped with multiple shelf 401, is placed with article on shelf 401, When responding order taking responsibility, which can be chosen in order container, and an order container at least can be with an order phase It is associated.

Control server 20 is carried out wireless communication with robot 10, and staff makes control server 20 by station 60 Work, robot 10 execute cargo and carry task under the control of control server 20.Wherein, in picking area shortage of goods, machine Lot item is transported to picking area 40 from stock area 30 by people 10, so as to operator (staff or other automation equipments) It will be on the shelf 401 that be put into after lot item in picking area.

Control server 20 is that robot 10 plans movement routine according to the task of carrying, and robot 10 is according to movement routine edge Empty space (a part of 10 transit passage of robot) traveling in shelf array.It is moved for convenience for the planning of robot 10 Dynamic path, by the working region of robot 10, (working region includes at least stock area 30 and 40 location of picking area in advance Domain) it is divided into several sub-regions (i.e. cell), robot 10 carries out to subregion mobile to form motion profile one by one.

Control server 20 is software systems run on the server, with data storage, information processing capability, can By wirelessly or non-wirelessly being connect with robot, hardware input system, other software systems.Control system 20 may include one or Multiple servers can be centerized fusion framework or distributed computing architecture.Server has processor 201 and memory 202, it can have order pond 203 in memory 202.

In cargo radio frequency, in order to guarantee to sort the number of articles abundance in station in picking area, sorting personnel are reduced Time until sorting article, the present invention provides the schemes for picking area automatic replenishing, to improve the efficiency that replenishes, and then improve Sort efficiency.

The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched State that the specific embodiments are only for explaining the present invention, rather than limitation of the invention.It also should be noted that for the ease of Description, only some but not all contents related to the present invention are shown in the drawings.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.

Embodiment one

Please refer to a kind of system structure of the warehousing system for automatic replenishing that the embodiment of the present invention shown in figure 1A is applicable in Schematic diagram, the present embodiment the case where picking area replenishes suitable for intelligent repository system.Whole system can be by controlling Server and at least one robot cooperate to execute；Wherein, control server can be single line or multithreaded server, can Strategy is provided for the sorting and the distribution of robot etc. of cargo.Referring to Figure 1A, which is specifically included: control server 20 with And robot 10, robot 10 may include the first robot；Wherein,

Control server 20 is configured to, raw for the article for needing to replenish when the article for determining picking area needs to replenish At the task of replenishing, and first is sent to the first robot according to the task of replenishing and carries instruction；First robot is configured to, in response to First carry instruction, according to first carry instruction instruction will replenish the associated article of task from stock area 30 be transported to picking area 40, so that article can replenish into the article container 401 of picking area 40.

Wherein, picking area 40 refers to the region sorted for the order according to user to article；The task of replenishing refers to During daily picking, control server 20 detects in picking area 40 occur phenomenon out of stock there are a certain article When, the task generated for replenishing to the article.It may include the title of the article to replenish in the task that replenishes, replenish Quantity and article are in the storage position etc. for getting ready the goods area 30.Optionally, control server 20 determines that the article of picking area 40 needs to mend Goods may include: the stockpile number for the article that control server 20 calculates in picking area 40, if stockpile number is less than or equal to Preset safety inventory threshold value determines that article needs replenish.

In the present embodiment, stockpile number refers to the quantity that an article is currently placed in picking area；Safety inventory threshold value The value range for referring to demand during the quantity of an article can satisfy daily picking can be one day, can also be with It is one week or one month etc.；It may include upper limit value and lower limit value；The safety inventory threshold value of different articles can be different, can also It can be identical.It, can be according to the commodity temperature of article within a certain period of time and the journey of temperature in a feasible embodiment Degree is to determine the safety inventory threshold value.For example, down jackets are lower in the commodity temperature in summer, it can be this article of down jackets One lower safety inventory threshold value is set, and short-sleeve T-shirt is higher in the commodity temperature in summer, can for short-sleeve T-shirt this A higher safety inventory threshold value is arranged in article.

Specifically, if control server 20 detects in picking area 40 occur phenomenon out of stock there are a certain article, i.e., When the stockpile number of the article is less than or equal to the lower limit value of the safety inventory threshold value of the set article, for needing to mend The article of goods generates the task that replenishes.Optionally, control server 20 can be further configured as according to safety inventory threshold value and library The difference for depositing quantity determines the pre- quantity that replenishes of article, according to the storage specification of quantity and article in stock area 30 that replenishes in advance, really Actually replenish at least one of the quantity and article container of earnest product generate article according to the quantity that actually replenishes of article The task that replenishes.

Wherein, the quantity that replenishes in advance refers to the quantity of the article shortage of goods in picking area 40, and the security vault of the article can be used The stockpile number that upper limit value subtracts the article is deposited, the pre- quantity that replenishes of article needs is obtained.Storage specification refers to article container The maximum memory space that can accommodate or the maximum storage quantity that a certain article can be accommodated.If memory is storage box, object Product are clothes, and storage specification is the quantity of clothes when filling entire chest, for example, one case 10.The storage of different articles Specification may be different, it is also possible to identical.In a kind of feasible program, the article for being stored in stock area 30 is specification according to article I.e. FCL is stored, and the quantity that actually replenishes of article is article in the integral multiple of the storage specification in stock area 30, and article Actually replenish quantity be equal to or more than article the pre- quantity that replenishes.Alternatively, it is stored in the article in stock area 30 It is to be stored according to the specification i.e. FCL of article, the quantity that replenishes in advance can be the integral multiple of the storage specification of article container, The storage specification that might be less that article container quantity and stores specification and determines the classification of article container according to replenishing in advance.Such as, such as Fruit replenish in advance quantity be article container storage specification integral multiple, article container can be pallet goods shelf, facilitate receiving to put one's child in a boarding nursery Article；If the quantity that replenishes in advance is less than the storage specification of article container, article container can be partition shelf, and receiving is facilitated to put one's child in a boarding nursery Article after tearing zero open.The structure of pallet goods shelf and partition shelf can be illustrated below.

It may include the walking path of this carrying task of the first robot, and the article to replenish in first carrying instruction Title, the quantity that replenishes and article stock area 30 storage position etc..Article container 401 refers to the utensil of bearing article, such as It can be shelf, cage vehicle etc..Optionally, in the present embodiment, article container 401 may include in pallet goods shelf and partition shelf At least one.

Specifically, being generated when control server 20 determines that the article of picking area needs to replenish for the article for needing to replenish After the task that replenishes, first is sent to the first robot according to the task of replenishing and carries instruction；First robot response first, which is carried, to be referred to It enables, carries the walking path for including in instruction according to first and travel into stock area 30 article that replenishes in the storage position in area 30 of getting ready the goods Place is set, and carries the quantity that replenishes for including in instruction according to first and obtains the associated article of task that replenishes from stock area 30, and will The article carrying of the acquisition is to picking area 40, so that the article can replenish into the article container 401 of picking area 40.

Technical solution provided in an embodiment of the present invention, when control server determines that the article of picking area needs to replenish, needle The article to replenish to needs automatically generates the task of replenishing；And first is sent to the first robot according to the task of replenishing and carries instruction； Instruction is carried in first robot response first, obtains the replenish associated article of task, and the article carrying that will acquire from stock area To picking area, so that article can replenish into the article container of picking area, to realize the automatic replenishing of picking area.The program is logical It crosses control server to be in real time monitored the stockpile number of the article in picking area, and needs to mend in the article for determining picking area When goods, with regard to carrying out automatic replenishing, when can guarantee that sorting personnel sort the article, the quantity of article is sufficient, withouts waiting for, Further improve sorting efficiency.In addition, by, by picking area and stock area's seamless connection, being not necessarily to artificial dry using robot It disturbs, the automatic replenishing of picking area can be realized, and then improve the efficiency that replenishes, reduce labour cost；Warehouse is improved simultaneously Intelligence degree accelerates the logistics rate flow of e-commerce company and improves the utilization rate in warehouse, to promote electronics Business service company service quality and customer satisfaction.

In order to not influence the operation of picking area, illustratively, the structural schematic diagram of picking area shown in Figure 1B is please referred to, is picked Constituency 40 may include that memory block 41, sorting station 42 and the area 43 that replenishes, article container 401 are located at memory block 41；Wherein, replenish area 43 refer to setting, the region for temporarily replenishing to article in picking area 40；Memory block 41 refers in picking area 40 specially Door is for storing the region of article to be sorted；It is set dedicated for sort to article in picking area 40 for sorting station 42 Region.Optionally, replenish area 43, memory block 41 and to sort area identification corresponding to station 42 different, in order to robot 10 into Row is distinguished.It is corresponding, it can also be including the area identification in the area 43 that replenishes in the first carrying instruction.Corresponding, the first robot can Be further configured to, according to first carry instruction instruction will replenish the associated lot item 301 of task from stock area 30 carry To the area 43 that replenishes.In the present embodiment, control server 20 determines that the article needs of picking area 40 replenish, and can be control service Device 20 determines that the article needs of the memory block 41 in picking area 40 replenish.

Wherein, the first robot can be fork truck, fork pallet from high-level shelf using fork truck, be placed on the pallet Lot item.Alternatively, the first robot can be removed container by the way of holding from shelf, the appearance It is placed in device and tears zero article open.The first robot shown in A holds structural schematic diagram referring to fig. 2.First robot has 2B Shown in robot architecture, but the first robot is additionally provided with grabbing device, and as shown in 2A, which includes flexible group Part 51, telescopic component 51 is for grabbing storage container.Grabbing device further includes lifting assembly 52, and the lifting assembly 52 is by flexible group Part 51 promotes and/or drops to preset height.Telescopic component 51 includes holding portion 511 and sliding part 512, holds portion 511 and passes through The mode held grabs storage container or article from shelf, holds portion 511 and is slidably connected with sliding part 512,511 hold portion can Prolong the longitudinal direction sliding of shelf interlayer by sliding part 512.

Holding portion 511 may include the first handgrip 5111 and the second handgrip 5112, and the corresponding left and right that interlayer is arranged in Two sides.First handgrip and the second handgrip can be plate structure, or other structures, such as rod-like structure.Hold portion 511 It further include the non-slip mat 5113 for being separately positioned on 5112 inside of the first handgrip 5111 and the second handgrip, which can roll over Folded, when the portion that holds 511 does not grab storage container or article, the non-slip mat 5113 is folded, should when storage container is grabbed in the portion that holds 511 Non-slip mat 5113 is opened.

Illustratively, robot 10 can also include the second robot；Control server 20 is but also it may be configured such that determine big The article container 401 that ancestor's article 301 adds to, and send second to the second robot and carry instruction；Second robot is configured to, Instruction is carried in response to second, the article container 401 that the instruction for carrying instruction according to second requires supplementation with lot item 301 The area 43 that replenishes is transported to from memory block 41.Second carrying is instructed to include the walking path of this carrying task of the second robot, And mark such as label of the article container 401 for the item associations that replenish etc..At this point, the article container that the second robot is carried 401 be empty.

The structural schematic diagram of second robot shown in B referring to fig. 2, the second robot may include driving mechanism 101, By the driving mechanism 101, the second robot can move in working space, and the second robot can also include for carrying The lifting mechanism 102 of shelf, if article container 401 is shelf, when picking area 40 needs to replenish, the second robot can be moved To the lower section of target shelf 401, target shelf 401 are lifted using lifting mechanism 102, and be transported to the area 43 that replenishes.Lifting mechanism 102 lift entire target shelf 401 from ground when rising, so that target shelf 401, lifting machine are carried by the second robot Structure 102 puts it on the ground target shelf 401 when declining.Target identification component 103 in second robot is in the second robot When lifting target shelf 401, effectively target shelf 401 can be identified.

In addition to this, it navigates if it is view-based access control model, the second robot further includes that (Fig. 2-B does not show navigation recognizer component Out), the navigation markup (such as two dimensional code) being laid with for identification on ground.Certainly, the second robot further includes controlling entire machine People realizes the control module of the functions such as movement, navigation (Fig. 2 B is not shown).In one example, the second robot can be according to taking the photograph The two-dimensional barcode information (being also possible to other land markings) taken as head moves forward, and can be according to control system service Below the target shelf 401 that the route running that device 20 determines is prompted to control system server 20.Robot 10 is by target shelf 401 are transported to the area 43 that replenishes, and it is large by staff or other automation equipments bulk supply tariff to be put into this at the area 43 that replenishes In the target shelf 401 of item associations, to replenish to article needed for picking area.

Control server 20 detect the second robot article container 401 is transported to from memory block 41 replenish area 43 it Afterwards, the instruction that replenishes is sent to the first robot；First robot will replenish in response to the instruction that replenishes according to the instruction for the instruction that replenishes The associated lot item 301 of task is placed in the article container 401 that article requires supplementation with；Then control server 20 detects The associated lot item 301 of the task of replenishing all is placed in the article container 401 that article requires supplementation with to the first robot Afterwards, the 4th is sent to the second robot carry instruction；Second robot is carried in response to the 4th and is instructed, and is carried and is instructed according to the 4th Instruction the article container 401 of bearing article is carried to corresponding region in memory block 41 from the area 43 that replenishes, to complete to sort The automatic replenishing of article in area.

When sorting station 42 needs to sort the article stored in memory block 41, control server 20 be can also configure To receive order taking responsibility, sending third to the second robot according to order taking responsibility and carry instruction；Second robot is additionally configured to, It carries and instructs in response to third, held the article where the associated order article of order taking responsibility according to the instruction that third carries instruction Device 401 is transported to sorting station 42 from memory block 41, sets to sort other automations such as sorting personnel or mechanical arm in station 42 It is standby that picking operation is carried out to the lot item.For example, target shelf are carried by the second robot when target item needs to sort It stands to sorting, picking and is put into from target shelf in the picking personnel at station of sorting or other automation equipments (such as mechanical arm) It waits and being packaged in (e.g., sorting the turnover box on sowing wall) in order container.

Embodiment two

Fig. 3 is a kind of flow chart of automatic replenishing method provided by Embodiment 2 of the present invention, and the present embodiment is suitable for intelligence The case where picking area is replenished in energy warehouse system.Overall procedure can be with control server and at least one robot To execute.Referring to Fig. 3, this method is specifically included:

S310, control server is if it is determined that the article needs of picking area replenish, then for the article generation benefit for needing to replenish Goods task, and send first to the first robot according to the task of replenishing and carry instruction.

Wherein, picking area refers to the region sorted for the order according to user to article；The task of replenishing refers to During daily picking, when control server detects the phenomenon out of stock there are the appearance of a certain article in picking area, institute The task for replenishing to the article generated.Optionally, control server determines the article needs of picking area replenish can With include: control server calculate picking area in article stockpile number, if stockpile number be less than or equal to preset peace Full inventory's threshold value determines that article needs replenish.

In the present embodiment, stockpile number refers to the quantity that an article is currently placed in picking area；Safety warehouse door limit value is The value range for referring to demand during the quantity of an article can satisfy daily picking can be one day, be also possible to One week or one month etc.；It may include upper limit value and lower limit value；The safety inventory threshold value of different articles can be different, it is also possible to It is identical.It optionally, can be according to the historical sales quantity and/or prediction data of the article, for article setting for each article Safety inventory threshold value.Wherein, prediction data is for predicted value set by shopping peak period, such as " double 11 " and " 6.18 " Deng can be predicted to obtain according to the historical sales quantity of the period.In the present embodiment, pass through the history pin according to article Quantity setting safety inventory threshold value is sold, be can be improved and replenished timeliness and sort efficiency, and guarantees article abundance.

Specifically, the task of replenishing refers to during daily picking, control server detects depositing in picking area Occur phenomenon out of stock, i.e. safety inventory of the stockpile number of the article less than or equal to the set article in a certain article When the lower limit value of threshold value, the task generated for replenishing to the article.Optionally, may include in the task that replenishes The storage position etc. of the title of the article to replenish, the quantity that replenishes and article in stock area.

It should be noted that since article is when area of getting ready the goods stores stored according to the original packing i.e. FCL of article, because The quantity that replenishes in this task that replenishes be equally likely to or greater than article demand；And the quantity that replenishes is the integral multiple of original packing. For example, the demand that the needs of an article replenish is 55, but the article be by one case 10 packed, so mending The quantity that replenishes of the article will be 60 in goods task, i.e. 6 casees.

In order to guarantee that the abundance of article, control server detect the stockpile number in real time to article in picking area, If detect picking area there are the lower limit value that the stockpile number of multiple articles is below the corresponding safety inventory thresholding of each article, The task that replenishes, which corresponds to, replenishes to multiple articles.Specifically, if control server detect in picking area a certain article or When the stockpile number of multiple articles is lower than the lower limit value of the corresponding secure storage threshold value of each article, by the inventory according to each article Quantity and safety inventory threshold value generate the task that replenishes of article.

It may include the walking path of this carrying task of the first robot, and the article to replenish in first carrying instruction Title, the quantity that replenishes and article stock area storage position etc..Control server is generated for the article for needing to replenish After the task that replenishes, it is also necessary to send first to the first robot according to the task that replenishes and carry instruction, so that the first robot is rung The first carrying is answered to instruct, thus by the article carrying for needing to replenish to picking area, and then complete to replenish to picking area.

S320, the first robot in response to first carry instruct, according to first carry instruction instruction will replenish task close The article of connection is carried to picking area from stock area, so that article can replenish into the article container of picking area.

Wherein, stock area refers to the region that large numbers of items is stored in warehousing system；Picking area refer to for according to The region that article is sorted according to the order of user.Article container refers to the utensil of bearing article, such as can be shelf, cage vehicle Deng.Optionally, in the present embodiment, article container may include at least one of pallet goods shelf and partition shelf.

Specifically, control server after generation replenishes task, sends first to the first robot according to the task of replenishing and removes Fortune instruction；Instruction is carried in first robot response first, is carried the walking path for including in instruction according to first and is travelled to stock Article is replenished in area at the storage position in stock area, and is carried the quantity that replenishes for including in instruction according to first and obtained from stock area The associated article of the task of replenishing is taken, and by the article carrying of the acquisition to picking area, arrives picking area so that the article can replenish In article container.

In order to not influence the operation of picking area, illustratively, picking area may include replenish area and memory block etc., and article holds Device is located at memory block；Wherein, the area that replenishes refers to and is arranged in picking area, the region for temporarily replenishing to article；Storage Area refers to the region that article to be sorted is stored in picking area；Optionally, replenish area and memory block and corresponding area Domain identifier is different, in order to which robot distinguishes.Corresponding, first carries in instruction and can also mark including the region in the area that replenishes Know.First robot in response to first carry instruct, according to first carry instruction instruction will replenish the associated article of task from It may include: that the first robot is instructed in response to the first carrying that stock area, which is carried to picking area, the finger for carrying instruction according to first Show that the associated article of task that will replenish is transported to the area that replenishes from stock area.

In the present embodiment, control server determines that the article needs of picking area replenish, and can pick for control server determination The article needs of memory block in constituency replenish, and therefore, in order to improve the efficiency that replenishes, can select and construct two kinds of different machines People, which cooperates, to be executed, to realize automatic replenishing of the article from stock area to picking area.Optionally, the first robot is removed in response to first Fortune instruction, the instruction for carrying instruction according to first will replenish after the associated article of task is transported to from stock area and replenishes area, also It may include: that control server determines the article container that item complementary arrives, and sends second to the second robot and carry instruction；The Two robots are carried in response to second and are instructed, according to second carry the instruction article container that requires supplementation with article of instruction from Memory block is transported to the area that replenishes.Second carries instruction to include the walking path of this carrying task of the second robot, and mends Mark such as label of the associated article container of cargo product etc..At this point, the article container that the second robot is carried is empty.

After control server detects that article container is transported to from memory block and replenishes area by the second robot, to the first machine Device human hair send the instruction that replenishes；First robot is associated according to the instruction for the instruction that the replenishes task that will replenish in response to the instruction that replenishes Article is placed in the article container that article requires supplementation with；Then control server detect the first robot will replenish task pass After the article of connection is all placed in the article container that article requires supplementation with, the 4th is sent to the second robot and carries instruction；The Two robots are carried in response to the 4th and are instructed, and carry the instruction of instruction for the article container of bearing article from the area that replenishes according to the 4th It is carried to corresponding region in memory block, to complete the automatic replenishing of article in picking area.

First robot is one in all first robots being in idle condition in stock area；It is corresponding, second Robot is one in all second robots that picking area is in idle condition.

Specific operating process are as follows: control server if it is determined that picking area article needs replenish, then for need replenish Article generation replenish task, and according to the task of replenishing to the first robot send first and carry and instruct, the response of the first robot Instruction is carried in first, and foundation first carries the walking path for including in instruction, article depositing in stock area in the task that replenishes Position and independent navigation function are put, traveling to stock area is stored at the shelf for the associated article of task that replenishes, and can use crawl Device, which is grabbed, is placed in the region for itself loading cargo, and the article that will acquire with the comparable article of quantity that replenishes in the task that replenishes It is carried to the area that replenishes；Also it can use lifting mechanism and be entirely carried to the shelf for storing the associated article of the task that replenishes and replenish Area.Control server detects that the first robot will replenish after task associated article carrying to the area that replenishes, and determines item complementary The article container arrived, and send second to the second robot and carry instruction；Second robot is carried in response to second and is instructed, according to The article container that second instruction for carrying instruction requires supplementation with article is carried to the area that replenishes from memory block.Control server inspection It measures after article container is transported to from memory block and replenishes area by the second robot, replenishes instruction to the transmission of the first robot；The One robot is placed article on article container according to the instruction grabbing device for the instruction that replenishes or in response to the instruction that replenishes by sorting Personnel place article on article container.Then control server detects that the first robot associated article of task that will replenish is complete After portion is placed in the article container that article requires supplementation with, the 4th is sent to the second robot and carries instruction, the second robot is rung Ying Yu tetra- carries instruction, the article container for carrying article is carried to memory block, to realize the automatic replenishing of picking area. In addition, picking area and stock area's seamless connection are improved the efficiency that replenishes by robot.Since control server is in real time to picking The stockpile number of article in constituency is monitored, and when being lower than the safety inventory threshold value of article, with regard to carrying out automatic replenishing, When can guarantee that sorting personnel sort the article, the quantity of article is sufficient, withouts waiting for, and also further improves sorting effect Rate.

Illustratively, picking area can also include sorting station；Sorting station is that picking area is interior dedicated for picking article The set region of choosing.When sorting station and needing to sort the article stored in memory block or the second robot responds Instruction is carried in the 4th, can also include: control after the article container for carrying article is carried to memory block from the area that replenishes Server receives order taking responsibility, sends third to the second robot according to order taking responsibility and carries instruction；Second robot in response to Third carries instruction, carries the instruction of instruction for the article container where the associated order article of order taking responsibility from depositing according to third Storage area is transported to sorting station, carries out picking operation to the article to sort the sorting personnel in standing or mechanical arm.Wherein, third Carry may include in instruction article container where the quantity of the associated order article of order taking responsibility, order article mark, It sorts at the number and article container position at station to the walking path etc. for sorting station.

Technical solution provided in an embodiment of the present invention, when control server determines that the article of picking area needs to replenish, needle The article to replenish to needs automatically generates the task of replenishing；And first is sent to the first robot according to the task of replenishing and carries instruction； Instruction is carried in first robot response first, obtains the replenish associated article of task, and the article carrying that will acquire from stock area To picking area, so that article can replenish into the article container of picking area, to realize the automatic replenishing of picking area.The program is logical It crosses control server to be in real time monitored the stockpile number of the article in picking area, and needs to mend in the article for determining picking area When goods, with regard to carrying out automatic replenishing, when can guarantee that sorting personnel sort the article, the quantity of article is sufficient, withouts waiting for, Further improve sorting efficiency.In addition, by, by picking area and stock area's seamless connection, being not necessarily to artificial dry using robot It disturbs, the automatic replenishing of picking area can be realized, and then improve the efficiency that replenishes, reduce labour cost；Warehouse is improved simultaneously Intelligence degree accelerates the logistics rate flow of e-commerce company and improves the utilization rate in warehouse, to promote electronics Business service company service quality and customer satisfaction.

Embodiment three

Fig. 4 is a kind of flow chart for automatic replenishing method that the embodiment of the present invention three provides, and the present embodiment is in above-mentioned implementation On the basis of example, the task of replenishing further is generated for the article that needs replenish to control server and is explained.Ginseng See Fig. 4, this method specifically includes:

S410, control server calculate the stockpile number of the article in picking area, if stockpile number is less than or equal in advance If safety inventory threshold value, determine article needs replenish.

Specifically, detecting that the stockpile number of the article in picking area is less than or equal to preset safety such as control server The lower limit value of inventory's threshold value, it is determined that article needs replenish.

S420, control server determine the pre- number that replenishes of article according to the difference of safety inventory threshold value and stockpile number Amount.

Wherein, the quantity that replenishes in advance refers to the quantity of the article shortage of goods in picking area, and the safety inventory of the article can be used Upper limit value subtracts the stockpile number of the article, obtains the pre- quantity that replenishes of article needs.For example, an article A is in picking area Stockpile number be 45, the safety inventory threshold value of article A is 50-100, and corresponding safety inventory lower limit value is 50, safety Inventory's upper limit value is 100, subtracts article A in the stockpile number 45 of picking area, obtained object using safety inventory upper limit value 100 The pre- quantity that replenishes that product A needs is 55.

S430, control server determine the reality of article according to the storage specification of quantity and article in stock area that replenishes in advance Replenish quantity.

Wherein, storage specification refers to that memory can accommodate the maximum storage quantity of a certain article；If memory is storage Case, article are clothes, and storage specification is the quantity of clothes when filling entire chest, for example, one case 10.Different articles Storage specification may be different, it is also possible to it is identical.

It should be noted that the article for being stored in stock area is stored according to the specification i.e. FCL of article, therefore The quantity that actually replenishes of article is article in the integral multiple of the storage specification in stock area, and the quantity that actually replenishes of article be equal to or Greater than the pre- quantity that replenishes of article.For example, the pre- quantity that replenishes of article A is 55, and storage specification of the article A in stock area is One case 10, then article actually replenish quantity be 60.

S440, actually replenish quantity of the control server according to article, generates the task that replenishes of article.

Specifically, after the quantity that actually replenishes of article has been determined, the quantity that actually replenishes of control server foundation article, The title of article and article replenish task in generations such as the storage locations in stock area.

S450, control server send first to the first robot according to the task of replenishing and carry instruction.

S460, the first robot in response to first carry instruct, according to first carry instruction instruction will replenish task close The article of connection is carried to picking area from stock area, so that article can replenish into the article container of picking area.

Technical solution provided in an embodiment of the present invention, control server pass through according to the stockpile number of article in picking area, Storage specification of the safety inventory threshold value and article of article in stock area determines the quantity that actually replenishes of article, mends according to practical Goods quantity generates the task that replenishes；And first is sent to the first robot according to the task of replenishing and carries instruction；The response of first robot First carries instruction, obtains and replenishes the associated article of task from stock area, and the article carrying that will acquire is to picking area, so as to object Product can replenish into the article container of picking area, to realize the automatic replenishing of picking area.The program passes through setting safety inventory Threshold value can be improved replenish timeliness and sort efficiency, and by using robot by picking area and stock area's seamless connection, Without human interference, the automatic replenishing of picking area can be realized, to improve the efficiency that replenishes, reduce labour cost；Simultaneously Warehouse intelligence degree is improved, the logistics rate flow of e-commerce company is accelerated and improves the utilization rate in warehouse, thus Promote E-business service company service quality and customer satisfaction.

Example IV

Fig. 5 A is a kind of flow chart for automatic replenishing method that the embodiment of the present invention four provides, and the present embodiment is in above-mentioned implementation On the basis of example, a kind of preferable example is provided.Referring to Fig. 5 A, this method is specifically included:

S510, control server is if it is determined that the article needs of picking area replenish, then for the article generation benefit for needing to replenish Goods task, and send first to the first robot according to the task of replenishing and carry instruction.

S520, the first robot in response to first carry instruct, according to first carry instruction instruction will replenish task close The article of connection is carried to the area that replenishes from stock area.

S530, control server determine the article container that item complementary arrives, then send the second carrying to the second robot and refer to It enables, wherein article container is pallet goods shelf.

S540, the second robot in response to second carry instruct, according to second carry instruction instruction by pallet goods shelf from Memory block is transported to the area that replenishes.

Wherein, pallet goods shelf can claim cross beam type shelf again, refer to can placement tray heavy weight shelving, by horizontal, vertical The components such as Drag link and crossbeam link up, and Fig. 5 B is a kind of structural representation of pallet goods shelf provided in an embodiment of the present invention Figure.Wherein, 510 in figure are a kind of pallets, and a multiple article 5 can be accommodated on each pallet, pallet in pallet goods shelf Type, specification and size, can according to the actual situation in article storage specification and the determination such as weight.Illustratively, pallet-load Frame includes that one or more vertical ties 520 are used as support portion.

Specifically, when control server detects that there are available pallet goods shelfs for memory block, and available pallet goods shelf is only When having one, the article container that can arrive the pallet goods shelf as item complementary, control server can be according to optimal path principle Second robot is selected from all second robots being in idle condition in picking area；If pallet goods shelf is multiple When, control server can be selected out of memory block according to the quantity that actually replenishes etc. an empty pallet goods shelf as item complementary to Article container, and establish the incidence relation between the pallet goods shelf and the task that replenishes of article, and according to optimal path principle, The distance between all second robots being in idle condition in picking area and the pallet goods shelf are calculated, determines the second machine People.

Control server sends second to the second robot and carries instruction, second carries after determining the second robot May include the second robot in instruction between the pallet goods shelf position path planning and the pallet goods shelf position to replenishing Path planning of the associated article of task between the position in the area that replenishes；Instruction is carried in second robot response second, by the support Take stock shelf for conveying to the associated article of the task of replenishing at the position in the area that replenishes.It should be noted that the second robot removes at this time The pallet goods shelf of fortune is empty, and the pallet goods shelf is associated with the task of replenishing.

S550, after control server detects that pallet goods shelf is transported to from memory block and replenishes area by the second robot, to First robot sends the instruction that replenishes.

S560, in response to the instruction that replenishes, the instruction according to the instruction that replenishes will replenish the associated article of task for the first robot By in original packing restocking to pallet goods shelf.

Wherein, article original packing refer to article stock area storage specification, in other words without tearing zero open, directly By FCL restocking.

Specifically, when control server detects that pallet goods shelf is carried in the area that replenishes the task that replenishes by the second robot At associated article position, then the instruction that replenishes is sent to the first robot, the first robot will replenish and appoint in response to the instruction that replenishes Be engaged in associated article by the article by original packing restocking to pallet goods shelf.

S570, control server send shelf to the second robot and carry instruction.

S580, the second robot are carried in response to shelf and are instructed, the pallet goods shelf of bearing article is returned to from the area that replenishes Memory block.

Wherein, shelf, which are carried to instruct, refers to that being used to indicate the second robot carries the shelf for carrying article from the area that replenishes It is placed at the position of the article to memory block.Optionally, it may include shelf current location to memory block that shelf, which are carried in instruction, The path planning between the position of the article is placed, so that the second robot will carry article from benefit according to independent navigation function Goods area is sent to memory block.

Specifically, when control server detects the first robot and will replenish the associated article restocking of task to pallet-load On frame, then send shelf to the second robot and carry instruction, so as to second robot will carry the pallet goods shelf of article from The area that replenishes is carried to memory block, to realize the automatic replenishing of article in picking area.

Technical solution provided in an embodiment of the present invention, when control server determines that the article in picking area needs to replenish, The article to replenish for needs automatically generates the task of replenishing；The then mutual cooperation based on the first robot and the second robot, By picking area and stock area's seamless connection, and the actual conditions according to picking area, the flexible type for selecting shelf can be realized Area get ready the goods to the automatic replenishing of picking area, replenishes efficiency to improve and sorts efficiency, reduce labour cost；It also mentions simultaneously High warehouse intelligence degree, accelerates the logistics rate flow of e-commerce company and improves the utilization rate in warehouse, to promote Into E-business service company service quality and customer satisfaction.

Illustratively, if available pallet goods shelf is not present in picking area, and control server determines the object that item complementary arrives Product container is partition shelf, and receives and tears zero instruction open, to the second robot send second carry operation after instruction can be with Include:

A, the second robot is carried in response to second and is instructed, and carries the instruction of instruction for partition shelf from storage according to second Area is transported to the area that replenishes, and to replenish, the associated article of task is torn open on frame above freezing to target partition shelf.

Wherein, partition shelf refer to that prolonging vertical direction superposition by the partition of multiple fixations is formed by, due to partition shelf The limitation of middle partition, prevent article is from carrying out restocking by original packing.As shown in Figure 5 C, partition shelf include multiple prolonging Vertical Square To the interlayer of superposition, each interlayer can accommodate multiple articles 5, and certain article 5 can also be stored in storage container.It should be every Plate shelf include one or more support portions 602.In addition, in a particular embodiment, article 5 can also be out of shelf or on shelf Hook or bar hung.Article 5 can be placed on inside or the appearance of shelf in any suitable manner on shelf Face.

It tears zero instruction open and refers to the instruction for being located at the sorting personnel triggering in area that replenishes, for informing that control server replenishes area There is staff at place, can dispatch the second robot for partition shelf and be carried to the area that replenishes, and will replenish in area to sort personnel The associated article of the task that replenishes carries out tearing frame above freezing open.

Specifically, when control server detects that picking area does not have available target pallet goods shelf, and receive and sort people After what member sent tears zero instruction open, control server can select an empty partition shelf out of memory block at random, and establishing should be every Incidence relation between plate shelf and the task that replenishes of article is in idle condition out of picking area according to optimal path principle Second robot is selected in all second robots, and is determined second robot between the partition shelf location The path planning of path planning and the partition shelf location to the associated article of the task of replenishing between the position in the area that replenishes, to this Second robot sends the second carrying instruction including above-mentioned path planning, and the second robot is carried in response to second and instructed, root Partition shelf are transported to the associated article of the task of replenishing in the position for replenishing area from memory block by the instruction for carrying instruction according to second Place.It should be noted that the partition shelf that the second robot is carried at this time are empty.

After partition shelf are carried to by the second robot replenishes area, sorting personnel tear execution open frame above freezing and operate, until In the associated article whole restocking to partition shelf of the task of replenishing.

B, control server sends shelf to the second robot and carries instruction.

C, the second robot is carried in response to shelf and is instructed, and the partition shelf of bearing article are returned to storage from the area that replenishes Area.

Specifically, detect in the task of replenishing associated article restocking to partition shelf when control server, then to the Two robots send shelf and carry instruction；Second robot is carried in response to shelf and is instructed, and will carry the partition shelf of article From replenishing, area is carried to memory block, to realize the automatic replenishing of article in picking area.

Technical solution provided in an embodiment of the present invention selects partition goods when available pallet goods shelf is not present in memory block Frame carries out tearing frame above freezing open, to realize that stock area to the automatic replenishing of picking area, increases the flexibility ratio that picking area replenishes, improves The efficiency that replenishes and efficiency is sorted, reduces labour cost.

Illustratively, if only one available pallet goods shelf of picking area, and the practical benefit of the associated article of the task that replenishes Goods quantity is more, and the quantity that a pallet goods shelf can carry is less than the quantity that actually replenishes of article, can also be simultaneously using support It takes stock frame and partition shelf carries the associated article of the task that replenishes, realize the automatic replenishing of the article in picking area.

Above-described embodiment serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.

Will be appreciated by those skilled in the art that each module of the above invention or each step can use general meter Device is calculated to realize, they can be concentrated on single computing device, or be distributed in network constituted by multiple computing devices On, optionally, they can be realized with the program code that computer installation can be performed, so as to be stored in storage It is performed by computing device in device, perhaps they are fabricated to each integrated circuit modules or will be more in them A module or step are fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and The combination of software.

All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with The difference of other embodiments, the same or similar part between each embodiment may refer to each other.

The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For, the invention can have various changes and changes.All any modifications made within the spirit and principles of the present invention are equal Replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (14)

1. a kind of warehousing system of automatic replenishing characterized by comprising control server and the first robot；Wherein,

The control server is configured to, and when the article for determining picking area needs to replenish, is generated for the article for needing to replenish Replenish task, and sends first to first robot according to the task of replenishing and carry instruction；

First robot is configured to, and is carried and is instructed in response to described first, and the instruction for carrying instruction according to described first will The associated article of the task that replenishes is transported to the picking area from stock area, so that the article can replenish to the object of picking area In product container.

2. system according to claim 1, which is characterized in that the picking area includes replenish area and memory block, the object Product container is located at the memory block；

First robot is further configured to, and the instruction instructed is carried according to described first the task that replenishes is associated Article is transported to the area that replenishes from the stock area.

3. system according to claim 2, which is characterized in that further include the second robot；

The control server is additionally configured to, and determines the article container that the item complementary arrives, and to the second machine human hair The second carrying is sent to instruct；

Second robot is configured to, and is carried and is instructed in response to described second, and the instruction for carrying instruction according to described second will The article container that the article requires supplementation with is transported to the area that replenishes from the memory block, so as to the article can replenish to In the article container that the article requires supplementation with.

4. system according to claim 3, which is characterized in that the picking area further includes sorting station；

The control server is additionally configured to, and receives order taking responsibility, sends third to second robot according to order taking responsibility Carry instruction；

Second robot is additionally configured to, and is carried and is instructed in response to the third, and the instruction of instruction is carried according to the third Article container where the associated order article of the order taking responsibility is transported to the sorting station from the memory block.

5. system described in any one of -4 according to claim 1, which is characterized in that the control server further configures The stockpile number of the article in the picking area to be calculated, if the stockpile number is less than or equal to preset safety inventory Threshold value determines that the article needs replenish.

6. system according to claim 5, which is characterized in that the control server is further configured to, according to described in Safety inventory threshold value and the difference of the stockpile number determine the pre- quantity that replenishes of the article, according to the pre- quantity that replenishes Storage specification with the article in stock area, determines in actually replenish quantity and the article container classification of the article at least One, according to the quantity that actually replenishes of the article, generate the task that replenishes of the article.

7. system described in any one of -4 according to claim 1, which is characterized in that the article container include pallet goods shelf and At least one of partition shelf.

8. a kind of automatic replenishing method characterized by comprising

Control server is if it is determined that the article needs of picking area replenish, then for needing the article to replenish generation to replenish task, and First, which is sent, to the first robot according to the task of replenishing carries instruction；

First robot is carried in response to described first and is instructed, and the instruction for carrying instruction according to described first replenishes described The associated article of task is carried to picking area from stock area, so that the article can replenish into the article container of picking area.

9. according to the method described in claim 8, it is characterized in that, the picking area includes replenish area and memory block, the object Product container is located at the memory block；

First robot is carried in response to described first and is instructed, and the instruction for carrying instruction according to described first replenishes described The associated article of task is carried to picking area from stock area, comprising:

First robot is carried in response to described first and is instructed, and the instruction for carrying instruction according to described first replenishes described The associated article of task is transported to the area that replenishes from the stock area.

10. according to the method described in claim 9, it is characterized in that, first robot refers in response to first carrying It enables, the associated article of the task that replenishes is transported to the benefit from the stock area by the instruction for carrying instruction according to described first After goods area, further includes:

The control server determines the article container that the item complementary arrives, and sends second to the second robot and carry and refer to It enables；

Second robot is carried in response to described second and is instructed, and carries the instruction of instruction for the article according to described second The article container required supplementation with is transported to the area that replenishes from the memory block, so that the article can replenish to the article In the article container required supplementation with.

11. according to the method described in claim 10, the method is also it is characterized in that, the picking area further includes sorting station Include:

The control server receives order taking responsibility, sends third to second robot according to order taking responsibility and carries instruction；

Second robot is carried in response to the third and is instructed, and carries the instruction of instruction for the order according to the third Article container where the associated order article of task is transported to the sorting station from the memory block.

12. according to the method any in claim 8-11, which is characterized in that the control server determines picking area Article needs replenish, comprising:

The control server calculates the stockpile number of the article in the picking area, if the stockpile number is less than or equal to Preset safety inventory threshold value determines that the article needs replenish.

13. according to the method for claim 12, which is characterized in that the control server is raw for the article for needing to replenish At the task of replenishing, comprising:

The control server determines the pre- of the article according to the difference of the safety inventory threshold value and the stockpile number Replenish quantity；

The control server, in the storage specification in stock area, determines the article according to pre- quantity and the article of replenishing Actually replenish at least one of quantity and article container classification；

Actually replenish quantity of the control server according to the article, generates the task that replenishes of the article.

14. the method according to any one of claim 8-11, which is characterized in that the article container includes pallet goods shelf At least one of with partition shelf.