CN114229312B - Cargo handling method, device, server and storage medium - Google Patents

Abstract

The invention discloses a cargo handling method, a device, a server and a storage medium, wherein the method comprises the following steps: after the handling equipment is selected, determining a pickup path of the target goods contained in the current order; sending the goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path; when the carrier arrives at the shelf where the target goods are stored in a stacked form, the pickup arrival information is transmitted to the shelf so that the shelf delivers the target goods to the carrier. According to the technical scheme, the carrying equipment is selected, the goods taking path is determined according to the target goods contained in the current order, the carrying equipment is based on the goods taking path and goes to the goods shelf in which the target goods are stored in a stacked mode, after the carrying equipment arrives at the goods shelf and the goods shelf receives the arrival information, the target goods are put into the carrying equipment based on the goods channel of the stacked goods shelf, the goods taking of the target goods is realized under the condition of no manual participation, the goods taking of unmanned and informationized warehouse storage is realized, and the efficiency of warehouse goods taking is improved.

Description

Cargo handling method, device, server and storage medium

Technical Field

The embodiment of the invention relates to intelligent storage technology, in particular to a cargo handling method, a device, a server and a storage medium.

Background

Along with the rapid development of electronic commerce and the improvement of logistics informatization degree, the requirements on the operation capability of a warehouse operation link are also continuously improved. Meanwhile, high requirements are also placed on warehouse shipment efficiency so as to rapidly distribute cargoes to various places throughout the country.

In the prior art, in the goods handling process, the handling equipment can be moved to the vicinity of the goods shelves, warehouse staff carries the goods to the handling equipment, after the handling equipment is loaded with the goods, the goods are further moved to the destination, the goods taking process is realized, the movement of the staff is reduced, the time for the staff to find the goods corresponding to the goods shelves is also reduced, and the work efficiency and the accuracy are improved to a certain extent.

However, in the prior art, the manually engaged picking process still requires more cost and has lower efficiency.

Disclosure of Invention

The invention provides a cargo handling method, a cargo handling device, a server and a storage medium, which are used for realizing unmanned and informationized storage cargo taking and improving cargo taking efficiency.

In a first aspect, an embodiment of the present invention provides a method for handling cargo, the method comprising: after the handling equipment is selected, determining a pickup path of the target goods contained in the current order; sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path; and when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment.

The embodiment of the invention provides a cargo handling method, which comprises the following steps: after the handling equipment is selected, determining a pickup path of the target goods contained in the current order; sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path; and when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the destination position, after the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf storing the target goods in a stacking mode based on the goods taking path, after the carrying equipment arrives at the goods shelf, and after the goods shelf receives the arrival information, the target goods can be put into the carrying equipment based on the goods channel of the stacking goods shelf, the goods taking of the target goods is realized under the condition of no manual participation, the unmanned and informationized storage goods taking is realized, and the efficiency of storage goods taking is improved.

Further, the goods shelf comprises at least one goods channel which is vertically arranged, each goods channel comprises at least one storage unit, the storage units of the goods channels store goods in a stacking mode, and when the carrying equipment reaches the goods shelf, the goods shelf puts the target goods close to the carrying equipment into the carrying equipment.

Further, determining a pick path for the target good contained by the current order includes: determining target position information and destination position information of target goods contained in the current order; and determining a goods taking path of the carrying equipment according to the first initial position information, the target position information and the destination position information of the carrying equipment.

Further, determining target location information and destination location information of a target good contained in the current order includes: determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo; wherein determining the destination location information according to the destination address of the target cargo includes: and determining a sorting opening corresponding to the target goods according to the corresponding relation between the destination address and the sorting opening, and determining sorting position information of the sorting opening as the destination position information.

Further, the pickup path is a space-time path, and accordingly, after determining the pickup path of the target goods contained in the current order, the method further includes: determining whether the goods taking path and other current space-time paths have position conflict at the same time; if the goods taking path and other current space-time paths are determined to have position conflict at the same time, taking the goods of the target goods contained in the next order; otherwise, continuing to send the pick-up path to the handling device.

Further, the method further comprises the following steps: after the replenishment instruction is determined, a replenishment path is determined according to the selected conveying equipment and the replenishment instruction, and the replenishment path is sent to the conveying equipment, so that the conveying equipment conveys the to-be-replenished goods to the to-be-replenished goods shelf from the upstream replenishment port of the to-be-replenished goods based on the replenishment path; when the carrying equipment arrives at the goods shelf to be supplemented, goods arrival information is sent to the goods shelf to be supplemented, so that the goods shelf to be supplemented supplements goods to the goods shelf to be supplemented, and the goods shelf to be supplemented stores the goods in a stacking mode.

Further, determining a restocking path based on the selected handling equipment and the restocking instruction includes: determining upstream position information corresponding to an upstream replenishment port of the to-be-replenished goods contained in the replenishment instruction and to-be-replenished goods position information corresponding to a to-be-replenished goods shelf of the to-be-replenished goods; and determining the replenishment path according to the second initial position information, the upstream position information and the to-be-replenished position information of the selected carrying equipment.

In a second aspect, embodiments of the present invention also provide a cargo handling device, comprising:

the determining module is used for determining a picking path of the target goods contained in the current order after the handling equipment is selected; the first sending module is used for sending the goods taking path to the carrying equipment so as to enable the carrying equipment to move based on the goods taking path; and the second sending module is used for sending the goods arrival information to the goods shelf when the carrying equipment arrives at the goods shelf storing the target goods in a stacking mode, so that the goods shelf puts the target goods into the carrying equipment.

In a third aspect, an embodiment of the present invention further provides a server, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the cargo handling method according to any one of the first aspects when executing the program.

In a fourth aspect, embodiments of the present application also provide a storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are for performing the method of cargo handling of any of the first aspects.

In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the method of handling goods as provided in the first aspect.

It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged with the processor of the cargo handling device or may be packaged separately from the processor of the cargo handling device, which is not limited in this regard.

The description of the second, third, fourth and fifth aspects of the present application may refer to the detailed description of the first aspect; also, the advantageous effects described in the second aspect, the third aspect, the fourth aspect, and the fifth aspect may refer to the advantageous effect analysis of the first aspect, and are not described herein.

In the present application, the names of the above-described cargo handling devices do not constitute limitations on the devices or functional modules themselves, which may appear under other names in an actual implementation. Insofar as the function of each device or function module is similar to that of the present application, it falls within the scope of the claims of the present application and the equivalents thereof.

These and other aspects of the application will be more readily apparent from the following description.

Drawings

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

FIG. 2 is a flow chart of a method for handling cargo according to a first embodiment of the present application;

fig. 3 is a schematic structural diagram of a storage layer of a goods shelf in a goods handling method according to a first embodiment of the present application;

FIG. 4 is a flow chart of a method for handling cargo according to a second embodiment of the present application;

FIG. 5 is a flowchart illustrating a method for handling cargo according to step 410 of a second embodiment of the present application;

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

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

fig. 8 is a schematic structural diagram of a server according to a fourth embodiment of the present application.

Detailed Description

The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.

The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.

The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or between different processes of the same object and not for describing a particular order of objects.

Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like. Furthermore, embodiments of the application and features of the embodiments may be combined with each other without conflict.

It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the description of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.

Fig. 1 is a schematic structural diagram of a warehousing system according to an embodiment of the present application, where the warehousing system may be an intelligent warehousing system, as shown in fig. 1, the warehousing system may include a server 110, at least one handling device 120, and at least one shelf 130, where the shelf 130 may be an intelligent networking shelf, and the server 110, the handling device 120, and the shelf 130 are connected in communication with each other.

Of course, in practical applications, the server 110 may be communicatively connected to the plurality of handling devices 120 and the plurality of shelves 130, respectively, to implement management of the warehouse system.

The following embodiments describe the method of cargo handling in detail in connection with the warehousing system shown in fig. 1.

Example 1

Fig. 2 is a flowchart of a cargo handling method according to an embodiment of the present application, where the method may be performed by a cargo handling device in a case of quick pick based on an intelligent warehouse system, and the method specifically includes the following steps:

step 210, after the handling device is selected, determining a pickup path of the target cargo contained in the current order.

The handling device may be an intelligent handling robot for picking up goods, such as an automated guided vehicle (Automated Guided Vehicle, AGV), etc. The current order may be an order that the shopping platform sends to the warehousing system, and the current order may include the category, quantity, and destination of the target goods.

Specifically, the server may receive status information of the handling devices in the warehouse system, where the status information may include whether the handling devices are idle, location information, power information, and the like. The server may select a carrier device in an idle state with power information greater than a low power threshold for pickup. Meanwhile, the server can also determine the target position information of the target goods contained in the current order and the sorting mouth corresponding to the destination of the target goods.

The current order may contain at least one target good, each of which may include at least one. Of course, if the number of target items included in the current order is greater than a threshold for which one of the handling devices can handle items, then a plurality of free handling devices may be selected for handling the target items included in the current order. In practical applications, each target cargo may be randomly allocated to each handling device for handling, or each target cargo may be allocated to each handling device for handling according to a distance between each target cargo and each handling device, for example, a target cargo stored close to a handling device in a current order may be allocated to the handling device for handling.

In practical application, the server may also send the corresponding relationship between each target cargo and the handling device in the current order to the shelf storing each target cargo. The server may determine the pick-up path based on the first initial location information of the handling device, the target location information of the target good assigned by the handling device, and the sort gate. When the target goods distributed by the carrying device are stored in different shelves, the goods taking sequence of each target goods can be determined according to the distance information between the target position information and the first initial position information of each target goods in sequence, for example, goods can be taken from the shelf where the target goods closest to the carrying device are located first, and goods can be taken from the shelf where other target goods are located according to the distance information in sequence.

In practical applications, the pick-up path may be a space-time path. The server may determine time information of the handling apparatus from the initial position to the target position information and time information to the sorting gates according to the speed of the handling apparatus, the first initial position information, the target position information, and the distance information between the sorting gates, and determine a pickup path according to the target position information and the time information to the sorting gates and the sorting gates.

In the embodiment of the invention, after the carrying equipment which can be used for taking goods is selected, the taking path can be determined according to the first initial position information of the carrying equipment, the target position information of the target goods contained in the current order and the destination.

Step 220, sending the goods taking path to the handling equipment so as to enable the handling equipment to move based on the goods taking path.

Specifically, after determining the pick-up path, the server may send the pick-up path correspondence to the selected handling device. After receiving the pickup path, the transporting device can move based on the pickup path to the shelf storing each target cargo.

In the embodiment of the invention, the server can send the determined goods taking path to the carrying equipment so that the carrying equipment moves based on the goods taking path and goes to the goods shelves of all target goods, thereby improving the operation efficiency of the carrying equipment.

And 230, when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment.

The goods shelves comprise goods shelf main bodies and sensors, and a plurality of goods shelves are sequentially arranged in parallel to form a goods shelf array. The goods shelf main body can be divided into a storage layer and a sorting layer in the vertical direction, and the vertical height of the goods shelf main body can be adjusted according to requirements. The storage and sorting can be arranged in the same vertical area by the goods shelf, so that the space utilization rate is improved, and the site cost is saved. Of course, the sorting area may be left free for the handling equipment to move freely.

Fig. 3 is a schematic structural diagram of a storage layer of a goods shelf in a goods handling method according to a first embodiment of the present invention, where, as shown in fig. 3, the storage layer may include at least one layer and at least one column of storage units, the sizes of the storage units in the same column may be the same, the sizes of the storage units in each column in the same row may be different, and the sizes of the storage units in each column may be adjusted according to the sizes of stored goods, so as to store large goods and small goods. In addition, the storage units in the same column can form a goods channel, and the storage units in the same goods channel store the same goods in a stack mode. The bottom of each storage unit is a telescopic bottom surface, after the telescopic bottom surface of each storage unit is contracted, the goods of each storage unit can drop to the next storage unit along a goods channel, and the goods in the storage unit at the bottommost part of the same goods channel can drop to the carrying equipment below the goods channel. When the handling device reaches the sorting area below the aisle, a load can be ejected from the bottom.

Each storage unit is provided with a combination of various sensors, including an infrared sensor, a radio frequency identification (Radio Frequency Identification, RFID) module and/or a code scanning module and the like. The sensor can be used to determine whether the storage unit stores goods. If the storage unit stores the goods, the sensor combination may acquire the goods information and transmit the goods information to the server for management of the goods.

Specifically, the handling device may send its position information to the server in the course of moving based on the pickup path, and of course, the server may also monitor the moving state of the handling device in real time, and send the pickup arrival information to the shelf when the handling device arrives at the loading lane where the target cargo is stored in the form of a stack. After receiving the arrival information of the goods, the goods shelf can shrink the bottom surface of the bottommost storage unit corresponding to the goods channel so as to put the goods stored in the bottommost storage unit into the carrying equipment. Of course, if the handling device is required to handle a plurality of loads in the lane, the bottom surface of the penultimate storage unit may be continually retracted until a target number of loads are delivered to the handling device.

In practical application, the handling device can directly send the position information of the handling device to the goods shelf storing the target goods in a stacking mode in the moving process of the goods taking path, and send the goods taking arrival information to the goods shelf after the position information is overlapped with the position information of the goods channel storing the target goods.

In addition, after the carrying equipment receives all the target cargoes, the target cargoes can be carried to the sorting openings corresponding to the target cargoes continuously based on the picking paths, so that the picking in the warehouse system is realized.

According to the embodiment of the invention, the goods shelves for storing the target goods in the stack form can put the stored target goods into the carrying equipment without manual participation, so that unmanned putting of the target goods is realized, the carrying equipment can further carry the target goods to the corresponding sorting openings of the target goods, picking and sorting of the target goods contained in the current order are realized, and the picking efficiency is improved.

The cargo handling method provided by the embodiment of the invention comprises the following steps: after the handling equipment is selected, determining a pickup path of the target goods contained in the current order; sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path; and when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the destination position, after the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf storing the target goods in a stacking mode based on the goods taking path, after the carrying equipment arrives at the goods shelf, and after the goods shelf receives the arrival information, the target goods can be put into the carrying equipment based on the goods channel of the stacking goods shelf, the goods taking of the target goods is realized under the condition of no manual participation, the unmanned and informationized storage goods taking is realized, and the efficiency of storage goods taking is improved.

Example two

Fig. 4 is a flowchart of a cargo handling method according to a second embodiment of the present invention, which is embodied on the basis of the above-mentioned embodiments. As shown in fig. 4, in this embodiment, the method may further include:

step 410, after selecting the handling device, determining a pickup path of the target cargo contained in the current order.

Fig. 5 is a flowchart of step 410 in a cargo handling method according to a second embodiment of the present invention, and in one implementation, determining a pickup path of a target cargo included in a current order includes:

step 4110, determining target location information and destination location information of the target good contained in the current order.

In the embodiment of the present invention, the mode of determining the picking paths of the handling devices after the target goods are distributed to the handling devices is the same, and the server is used to distribute the target goods to one handling device, and determining the picking paths of the handling devices is described as an example.

In one embodiment, determining target location information and destination location information for a target good contained in a current order includes: and determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo.

In particular, the current location of the aisle in the rack storing the target goods may be determined as target location information, and each of the target goods may include at least one due to the at least one of the target goods. Thus, at least one lane of at least one shelf may store a target good, and thus, the current order may correspond to at least one target location information to instruct the handling device to move to each lane to receive the target good.

Preferably, determining the destination location information according to the destination address of the target cargo includes: and determining a sorting opening corresponding to the target goods according to the corresponding relation between the destination address and the sorting opening, and determining sorting position information of the sorting opening as the destination position information.

Specifically, the destination address may include province information, and correspondence between province information and sorting ports may be stored in the server, for example, the black dragon river province, the Liaoning province, and the Jilin province may correspond to the first sorting port, the Beijing city, the Tianjin city, and the Hebei province may correspond to the second sorting port, and so on. In practical applications, the destination address may further include region information, where a correspondence between the region information and the sorting ports may be stored in the server, for example, an eastern region may correspond to the first sorting port, an northwest region may correspond to the second sorting port, an northwest region may correspond to the third sorting port, and so on. The server can determine the province information contained in the destination address, and further determine the sorting port corresponding to the destination address according to the province information and the corresponding relation between the province information and the sorting port. Of course, the server may store sorting position information, which is position information of each sorting slot, and after determining a sorting slot corresponding to a destination address, the sorting position information of the sorting slot may be determined as destination position information.

In the embodiment of the invention, the current position of the goods channel in the goods shelf storing the target goods can be determined as the target position information, and the sorting position information of the sorting mouth corresponding to the destination of the target goods can be determined as the target position information, so that the goods taking path can be determined conveniently.

Step 4120, determining a pick-up path of the handling device according to the first initial position information, the target position information and the destination position information of the handling device.

After the handling device is selected, the selected handling device may send its own first initial position information to the server.

Specifically, the server may sequentially connect the first initial position information of the handling apparatus, the target position information of each target cargo, and the destination position information of each target cargo, and the sequentially connected first initial position, each target position information, and each destination position information may constitute a plurality of pre-selected cargo paths.

The distance information of each target cargo from the conveying equipment can be sequentially connected with the position information of each target cargo, and the distance information of each target cargo received by the distance conveying equipment from each sorting opening can be sequentially connected with the position information of each target cargo.

In the embodiment of the invention, the shortest path in the plurality of pre-selected cargo paths can be determined as the cargo taking path.

As mentioned above, in practical applications, the pick-up path may be a space-time path. The server may determine time information of the handling apparatus from the first initial position to each of the target position information and time information to each of the sorting gates based on the speed of the handling apparatus, the first initial position information, each of the target position information and distance information between the sorting gates, and determine a plurality of pre-selected cargo paths based on each of the target position information and time information to each of the sorting gates and to the sorting gates. Of course, the shortest time space path among the plurality of pre-selected cargo paths may be determined as the pickup path.

In one embodiment, after determining the pick path of the target good contained in the current order, the method further comprises: determining whether the goods taking path and other current space-time paths have position conflict at the same time; if the goods taking path and other current space-time paths are determined to have position conflict at the same time, taking the goods of the target goods contained in the next order; otherwise, continuing to send the pick-up path to the handling device.

Specifically, after determining the picking path, other space-time paths of the same warehouse in the warehouse system can be searched, whether the picking path has position conflict with the current other space-time paths at the same time or not is determined, and specifically, whether each piece of position information in the picking path coincides with the corresponding time information of each piece of position information in the current other space-time paths or not is determined. If the position conflict exists between the goods taking path and the current other space-time paths at the same time, taking the goods of the target goods contained in the next order; otherwise, continuing to send the pick-up path to the handling device.

It should be noted that, the server may receive an order pool sent by other systems, for example, a shopping platform, where a preset number of orders may be stored in the order pool, if a pickup path of a current order has a position conflict with other current space-time paths at the same time, return the current order to the order pool, and redetermine a pickup path of a next order until the determined pickup path does not have a position conflict with the other current space-time paths at the same time. Of course, the order returned to the order pool may be processed after being placed on the next order, or the processing order may be determined randomly.

In the embodiment of the invention, the server can determine the shortest empty path without the conflict space-time path as the picking path, and can lock the picking path so as to use the picking path as other current space-time paths of the next picking path determined by the next order, thereby being convenient for determining the next picking path.

Step 420, sending the picking path to the handling device, so that the handling device moves based on the picking path.

Step 420 has been described in detail in the first embodiment, and will not be described in detail here.

And 430, when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment.

Preferably, the shelf includes at least one lane arranged vertically, each lane includes at least one storage unit, and each storage unit of each lane stores goods in a stack form, and when the transporting apparatus reaches the shelf, the shelf delivers the target goods close to the transporting apparatus.

In the embodiment of the invention, when the carrying device reaches the goods channel storing the target goods in the goods shelf, the goods shelf can control to open the bottom surface of the bottommost storage unit of the goods channel so as to put the goods stored in the bottommost storage unit into the carrying device.

Step 440, after determining the replenishment instruction, determining a replenishment path according to the selected handling device and the replenishment instruction, and sending the replenishment path to the handling device, so that the handling device carries the to-be-replenished goods from the upstream replenishment port of the to-be-replenished goods to the to-be-replenished goods shelf based on the replenishment path.

The server may generate the replenishment instruction in an idle period, where the idle period refers to that the number of the handling devices in an idle state is greater than a preset value, where the preset value may be determined according to the total number of the handling devices, and specifically may determine 70% of the total number of the handling devices as the preset value. If the number of empty handling devices is greater than 70% of the total number of handling devices, a restocking instruction is generated. Of course, the server may also generate the replenishment instruction after receiving the replenishment information input by the manager based on the terminal device. In addition, the shelf can determine whether the shelf is out of stock according to the sensor combination, and the server can generate a replenishment instruction after acquiring the out-of-stock instruction sent by the shelf. The selected handling device may be any empty handling device.

In one embodiment, determining a restocking path based on the selected handling equipment and the restocking instruction includes: determining upstream position information corresponding to an upstream replenishment port of the to-be-replenished goods contained in the replenishment instruction and to-be-replenished goods position information corresponding to a to-be-replenished goods shelf of the to-be-replenished goods; and determining the replenishment path according to the second initial position information, the upstream position information and the to-be-replenished position information of the selected carrying equipment.

Specifically, the replenishment instruction may include type information of the cargo to be replenished, and a storage position of the type cargo may be determined according to the type information, so as to determine an upstream replenishment port corresponding to the storage position and upstream position information of the upstream replenishment port. The restocking instruction may further include a lane of the shelf to be restocked, and further may determine position information of the lane as position information of the shelf to be restocked.

In the embodiment of the invention, the carrying equipment can supplement goods to be supplemented in at least one goods channel at a time.

As before, the pick-up path may also be determined based on the second initial location information, the upstream location information, and the to-be-restocked location information of the selected handling device.

Specifically, the server may sequentially connect the second initial position information of the handling apparatus, the upstream position information of each to-be-restocked cargo, and the to-be-restocked position information of each to-be-restocked cargo, and the sequentially connected second initial position information, each upstream position information, and each to-be-restocked position information may form a plurality of pre-selected restocking paths.

The system comprises a plurality of upstream replenishment port distance conveying equipment, a replenishment rack, a replenishment port distance conveying equipment and a replenishment port distance conveying equipment, wherein the upstream position information can be sequentially connected according to the distance information of the replenishment port distance conveying equipment, and the replenishment position information can be sequentially connected according to the distance information of the replenishment port distance conveying equipment.

Likewise, the shortest path of the plurality of preselected restocking paths may be determined to be the restocking path.

As mentioned above, in practical application, the restocking path may be a space-time path. The server may determine time information of the handling device from the second initial position to each upstream restocking port and time information of the restocking path to each upstream restocking port according to the speed of the handling device, the second initial position information, and distance information between each upstream restocking port and the restocking path to the restocking rack, and determine a plurality of preselected restocking paths according to each upstream position information and time information to the upstream restocking port, and each restocking position information and time information to the restocking rack.

Of course, the shortest empty path among the plurality of preselected restocking paths may also be determined as the restocking path.

After determining the restocking path, further comprising: determining whether the position conflict exists between the replenishment path and the current other space-time paths at the same time; if the position conflict exists between the replenishment path and the current other space-time paths at the same time, replenishing the next cargo to be replenished; otherwise, continuing to send the replenishment path to the handling device.

Specifically, after determining the replenishment path, other space-time paths of the same warehouse in the warehouse system can be searched, whether the replenishment path has position conflict with the current other space-time paths at the same time or not is determined, and specifically, whether each piece of position information in the replenishment path coincides with the corresponding time information of each piece of position information in the current other space-time paths or not can be determined. If the position conflict exists between the replenishment path and the current other space-time paths at the same time, replenishing the next cargo to be replenished; otherwise, continuing to send the replenishment path to the handling device.

In the embodiment of the invention, the server can determine the shortest empty path without the conflict space-time path as the pick-and-replenishment path, and can lock the replenishment path so as to determine other paths to be replenished. Of course, determination of the pick path is also facilitated.

And 450, when the carrying equipment arrives at the goods shelf to be supplemented, sending goods arrival information to the goods shelf to be supplemented so that the goods shelf to be supplemented supplements the goods to be supplemented to the goods shelf to be supplemented.

Wherein, to-be-restocked goods shelves store the restocked goods in a stack mode.

Similarly, the handling device can send its position information to the server based on the movement process of the replenishment path, and of course, the server can also monitor the movement state of the handling device in real time and send the replenishment arrival information to the shelf when the handling device arrives at the lane of the shelf to be replenished. After the goods shelf receives the goods replenishment arrival information, the goods shelf can grab the goods to be replenished loaded by the carrying equipment based on the grabbing equipment and shrink the bottom surface of the bottommost storage unit of the corresponding goods channel so as to store the goods to be replenished based on the bottommost storage unit. Of course, if a plurality of goods to be restocked are required to be restocked, the bottom surface of the penultimate storage unit can be continuously contracted until all the goods to be restocked are restored to the freight channel. In practical application, the handling equipment can directly send the position information of the handling equipment to the goods shelf to be replenished based on the movement process of the goods replenishing path, and send the arrival information of the goods replenishing to the goods shelf after the position information is overlapped with the position information of the goods channel of the goods shelf to be replenished.

According to the embodiment of the invention, the goods to be supplemented can be supplemented to the goods channel of the goods shelf to be supplemented under the condition of no human participation, so that unmanned goods supplementation is realized, and the goods supplementing efficiency is improved.

In the cargo handling method provided by the second embodiment of the invention, after the handling equipment is selected, determining the cargo taking path of the target cargo contained in the current order; sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path; and when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the destination position, after the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf storing the target goods in a stacking mode based on the goods taking path, after the carrying equipment arrives at the goods shelf, and after the goods shelf receives the arrival information, the target goods can be put into the carrying equipment based on the goods channel of the stacking goods shelf, the goods taking of the target goods is realized under the condition of no manual participation, the unmanned and informationized storage goods taking is realized, and the efficiency of storage goods taking is improved. In addition, the goods supplementing of the target goods is realized based on similar processes under the condition of no human participation, unmanned and informationized storage goods supplementing is realized, and the storage goods supplementing efficiency is improved.

Fig. 6 is a flowchart of an implementation of a cargo handling method according to a second embodiment of the present invention, and an implementation of the implementation is shown in an exemplary manner. As shown in fig. 6, includes:

after the handling device is selected, the target location information and the destination location information of the target cargo included in the current order are determined 610.

Step 620, determining a pickup path of the handling device according to the first initial position information, the target position information and the destination position information of the handling device.

Step 630, determining whether the pickup path and other current space-time paths have position conflicts at the same time; if the goods taking path and other current space-time paths are determined to have position conflict at the same time, taking the goods of the target goods contained in the next order; otherwise, continuing to send the pick-up path to the handling device.

Step 640, sending the pick-up path to the handling device, so that the handling device moves based on the pick-up path.

And 650, sending goods arrival information to the goods shelf when the carrying equipment arrives at the goods shelf storing the target goods in a stack mode, so that the goods shelf puts the target goods to the carrying equipment.

Step 660, determining a replenishment path according to the selected conveying equipment and the replenishment instruction after determining the replenishment instruction, and sending the replenishment path to the conveying equipment, so that the conveying equipment conveys the to-be-replenished goods from the upstream replenishment port of the to-be-replenished goods to the to-be-replenished goods shelf based on the replenishment path.

Step 670, when the handling device arrives at the goods shelf to be restocked, sending the goods arrival information to the goods shelf to be restocked, so that the goods shelf to be restocked supplements the goods to be restocked to the goods shelf to be restocked.

In the implementation manner of the cargo handling method provided by the second embodiment of the invention, after the handling equipment is selected, determining the target position information and the target position information of the target cargo contained in the current order; determining a pickup path of the handling equipment according to the first initial position information, the target position information and the destination position information of the handling equipment; determining whether the goods taking path and other current space-time paths have position conflict at the same time; if the goods taking path and other current space-time paths are determined to have position conflict at the same time, taking the goods of the target goods contained in the next order; otherwise, continuing to send the goods taking path to the carrying equipment; sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path; when the carrying equipment arrives at a goods shelf storing the target goods in a stacking form, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment; after the replenishment instruction is determined, a replenishment path is determined according to the selected conveying equipment and the replenishment instruction, and the replenishment path is sent to the conveying equipment, so that the conveying equipment conveys the to-be-replenished goods to the to-be-replenished goods shelf from the upstream replenishment port of the to-be-replenished goods based on the replenishment path; when the carrying equipment arrives at the goods shelf to be supplemented, goods supplementing arrival information is sent to the goods shelf to be supplemented, so that the goods shelf to be supplemented supplements goods to be supplemented to the goods shelf to be supplemented. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the destination position, after the fact that the taking path and the current other space-time paths do not have position conflicts in the same time is determined, the taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf in which the target goods are stored in a stacking mode based on the taking path, after the carrying equipment arrives at the goods shelf, the goods shelf receives the arrival information, the target goods can be put into the carrying equipment based on the goods channel of the stacking type goods shelf, taking of the target goods is achieved under the condition of no human participation, unmanned and information storage taking are achieved, and storage taking efficiency is improved. And the goods supplementing of the target goods can be realized based on similar processes under the condition of no human participation, unmanned and informationized storage goods supplementing is realized, and the storage goods supplementing efficiency is improved.

Example III

Fig. 7 is a block diagram of a cargo handling device according to a third embodiment of the present invention, where the device may be adapted to the situation of unmanned cargo taking in intelligent warehouse, so as to improve cargo taking efficiency. The apparatus may be implemented in software and/or hardware and is typically integrated in a computer device.

As shown in fig. 7, the apparatus includes: a determining module 710, configured to determine a pickup path of the target cargo included in the current order after the handling device is selected; a first sending module 720, configured to send the pick-up path to the handling device, so that the handling device moves based on the pick-up path; and a second sending module 730, configured to send, when the handling device arrives at a shelf storing the target cargo in a stack form, pickup arrival information to the shelf, so that the shelf delivers the target cargo to the handling device.

In the cargo handling device provided in the third embodiment, after a handling device is selected, determining a pickup path of a target cargo included in a current order; sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path; and when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment. According to the technical scheme, after the idle carrying equipment for taking goods is selected, the goods taking path of the carrying equipment can be determined according to the position information of the carrying equipment, the position information of the target goods contained in the current order and the destination position, after the goods taking path is sent to the carrying equipment, the carrying equipment can go to the goods shelf storing the target goods in a stacking mode based on the goods taking path, after the carrying equipment arrives at the goods shelf, and after the goods shelf receives the arrival information, the target goods can be put into the carrying equipment based on the goods channel of the stacking goods shelf, the goods taking of the target goods is realized under the condition of no manual participation, the unmanned and informationized storage goods taking is realized, and the efficiency of storage goods taking is improved.

On the basis of the embodiment, the goods shelf comprises at least one goods channel which is vertically arranged, each goods channel comprises at least one storage unit, each storage unit of each goods channel stores goods in a stack mode, and when the carrying equipment reaches the goods shelf, the goods shelf puts the target goods close to the carrying equipment.

Based on the above embodiment, the determining module 710 is specifically configured to: after the handling equipment is selected, determining target position information and target position information of target goods contained in the current order; and determining a goods taking path of the carrying equipment according to the first initial position information, the target position information and the destination position information of the carrying equipment.

On the basis of the above embodiment, determining the target location information and the destination location information of the target cargo contained in the current order includes: determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo; wherein determining the destination location information according to the destination address of the target cargo includes: and determining a sorting opening corresponding to the target goods according to the corresponding relation between the destination address and the sorting opening, and determining sorting position information of the sorting opening as the destination position information.

On the basis of the foregoing embodiment, the pickup path is a space-time path, and correspondingly, the apparatus further includes: the conflict determination module is used for determining whether the goods taking path and the current other space-time paths have position conflict at the same time; if the goods taking path and other current space-time paths are determined to have position conflict at the same time, taking the goods of the target goods contained in the next order; otherwise, continuing to send the pick-up path to the handling device.

On the basis of the above embodiment, the device further includes: the replenishment path sending module is used for determining a replenishment path according to the selected carrying equipment and the replenishment instruction after determining the replenishment instruction, and sending the replenishment path to the carrying equipment so that the carrying equipment carries the to-be-replenished goods from an upstream replenishment port of the to-be-replenished goods to a to-be-replenished goods shelf based on the replenishment path; and the replenishment module is used for sending replenishment arrival information to the to-be-replenished goods shelf when the carrying equipment arrives at the to-be-replenished goods shelf, so that the to-be-replenished goods shelf supplements the to-be-replenished goods to the to-be-replenished goods shelf, wherein the to-be-replenished goods shelf stores the replenishment goods in a stack mode.

The replenishment device provided by the embodiment of the invention can execute the replenishment method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 8 is a schematic structural diagram of a server according to a fourth embodiment of the present invention. Fig. 8 shows a block diagram of an exemplary server 8 suitable for use in implementing embodiments of the present invention. The server 8 shown in fig. 8 is only an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

As shown in fig. 8, the server 8 is in the form of a general purpose computing electronic device. The components of the server 8 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus. The server 8 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by server 8 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The server 8 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive"). Although not shown in fig. 8, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The server 8 may also be in communication with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the server 8, and/or any devices (e.g., network card, modem, etc.) that enable the server 8 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the server 8 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, via a network adapter 20. As shown in fig. 8, the network adapter 20 communicates with the other modules of the server 8 via the bus 18. It should be appreciated that although not shown in fig. 8, other hardware and/or software modules may be used in connection with server 8, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, implementing the cargo handling method provided by the present embodiment, the method includes:

After the handling equipment is selected, determining a pickup path of the target goods contained in the current order;

sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path;

and when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment.

Of course, those skilled in the art will appreciate that the processor may implement the solution of the cargo handling method provided by any embodiment of the present invention.

Example five

An embodiment ten of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for handling goods, such as provided by the embodiment of the present invention, the method comprising:

after the handling equipment is selected, determining a pickup path of the target goods contained in the current order;

sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path;

and when the carrying equipment arrives at a goods shelf storing the target goods in a stacking mode, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment.

The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (7)

1. A method of handling cargo, the method comprising:

after the handling equipment is selected, determining a pickup path of the target goods contained in the current order;

sending the pick-up path to the handling device to cause the handling device to move based on the pick-up path;

when the carrying equipment arrives at a goods shelf storing the target goods in a stacking form, sending goods arrival information to the goods shelf so that the goods shelf puts the target goods into the carrying equipment;

the method for enabling the goods shelf to put the target goods into the carrying equipment comprises the following steps:

The goods shelf is controlled to open the bottom surface of the bottommost storage unit of the goods channel storing the target goods so as to throw the goods stored in the bottommost storage unit into the carrying equipment;

the picking path is a space-time path, and correspondingly, after determining the picking path of the target goods contained in the current order, the method further comprises the following steps:

determining whether the goods taking path and other current space-time paths have position conflict at the same time;

if the goods taking path and other current space-time paths are determined to have position conflict at the same time, taking the goods of the target goods contained in the next order;

otherwise, continuing to send the goods taking path to the carrying equipment;

wherein the method further comprises:

determining the shortest empty path without conflict space-time paths as the goods taking path, and locking the goods taking path to take the goods taking path as the current other space-time paths of the next goods taking path determined by the next order;

wherein the method further comprises:

after the replenishment instruction is determined, a replenishment path is determined according to the selected conveying equipment and the replenishment instruction, and the replenishment path is sent to the conveying equipment, so that the conveying equipment conveys the to-be-replenished goods to the to-be-replenished goods shelf from the upstream replenishment port of the to-be-replenished goods based on the replenishment path;

When the carrying equipment arrives at the goods shelf to be supplemented, goods supplementing arrival information is sent to the goods shelf to be supplemented, so that the goods shelf to be supplemented supplements the goods to be supplemented to the goods shelf to be supplemented, and the goods shelf to be supplemented stores the goods to be supplemented in a stacking mode;

wherein determining a restocking path according to the selected handling equipment and the restocking instruction comprises:

determining upstream position information corresponding to an upstream replenishment port of the to-be-replenished goods contained in the replenishment instruction and to-be-replenished goods position information corresponding to a to-be-replenished goods shelf of the to-be-replenished goods;

and determining the replenishment path according to the second initial position information, the upstream position information and the to-be-replenished position information of the selected carrying equipment.

2. The method of claim 1, wherein the pallet includes at least one lane disposed vertically, each lane includes at least one storage unit, and each storage unit of each lane stores a load in a stack, the pallet delivering the target load proximate the handling apparatus to the handling apparatus when the handling apparatus reaches the pallet.

3. The method of claim 1, wherein determining a pickup path for a target good included in the current order comprises:

determining target position information and destination position information of target goods contained in the current order;

and determining a goods taking path of the carrying equipment according to the first initial position information, the target position information and the destination position information of the carrying equipment.

4. The method of claim 3, wherein determining target location information and destination location information for the target good contained in the current order comprises:

determining the current position of the target cargo as the target position information, and determining the target position information according to the target address of the target cargo;

wherein determining the destination location information according to the destination address of the target cargo includes:

and determining a sorting opening corresponding to the target goods according to the corresponding relation between the destination address and the sorting opening, and determining sorting position information of the sorting opening as the destination position information.

5. A cargo handling device, comprising:

the determining module is used for determining a picking path of the target goods contained in the current order after the handling equipment is selected;

The first sending module is used for sending the goods taking path to the carrying equipment so as to enable the carrying equipment to move based on the goods taking path;

the second sending module is used for sending goods arrival information to the goods shelf when the carrying equipment arrives at the goods shelf storing the target goods in a stacking mode, so that the goods shelf puts the target goods into the carrying equipment;

the method for enabling the goods shelf to put the target goods into the carrying equipment comprises the following steps:

the goods shelf is controlled to open the bottom surface of the bottommost storage unit of the goods channel storing the target goods so as to throw the goods stored in the bottommost storage unit into the carrying equipment;

wherein, the pick-up path is a space-time path, and correspondingly, the device further comprises:

the conflict determination module is used for determining whether the goods taking path and the current other space-time paths have position conflict at the same time; if the goods taking path and other current space-time paths are determined to have position conflict at the same time, taking the goods of the target goods contained in the next order; otherwise, continuing to send the goods taking path to the carrying equipment;

Wherein the apparatus further comprises:

determining the shortest empty path without conflict space-time paths as the goods taking path, and locking the goods taking path to take the goods taking path as the current other space-time paths of the next goods taking path determined by the next order;

wherein the apparatus further comprises:

the replenishment path sending module is used for determining a replenishment path according to the selected carrying equipment and the replenishment instruction after determining the replenishment instruction, and sending the replenishment path to the carrying equipment so that the carrying equipment carries the to-be-replenished goods from an upstream replenishment port of the to-be-replenished goods to a to-be-replenished goods shelf based on the replenishment path;

the goods supplementing module is used for sending goods supplementing reaching information to the goods to be supplemented by the goods to be supplemented to the goods to be supplemented when the carrying equipment reaches the goods to be supplemented to the goods to be supplemented, wherein the goods to be supplemented store the goods to be supplemented in a stacking mode;

the replenishment path sending module is specifically configured to:

determining upstream position information corresponding to an upstream replenishment port of the to-be-replenished goods contained in the replenishment instruction and to-be-replenished goods position information corresponding to a to-be-replenished goods shelf of the to-be-replenished goods;

And determining the replenishment path according to the second initial position information, the upstream position information and the to-be-replenished position information of the selected carrying equipment.

6. A server comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of cargo handling of any of claims 1-4 when the program is executed by the processor.

7. A storage medium containing computer-executable instructions, which when executed by a computer processor are for performing the method of cargo handling of any of claims 1-4.