TW202317446A - Warehouse scheduling system and method - Google Patents

Warehouse scheduling system and method Download PDF

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TW202317446A
TW202317446A TW111140525A TW111140525A TW202317446A TW 202317446 A TW202317446 A TW 202317446A TW 111140525 A TW111140525 A TW 111140525A TW 111140525 A TW111140525 A TW 111140525A TW 202317446 A TW202317446 A TW 202317446A
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container
order
target
area
buffer
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TW111140525A
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Chinese (zh)
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王夢迪
馬瑛蓬
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大陸商北京極智嘉科技股份有限公司
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Priority claimed from CN202111248974.8A external-priority patent/CN116022492A/en
Priority claimed from CN202122588185.0U external-priority patent/CN216835493U/en
Application filed by 大陸商北京極智嘉科技股份有限公司 filed Critical 大陸商北京極智嘉科技股份有限公司
Publication of TW202317446A publication Critical patent/TW202317446A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The application provides a storage scheduling system and a method thereof, the system comprises a control server, a container fetching and placing device and a cache area, wherein a plurality of cache vehicles are arranged in the cache area, and a control server is configured to determine a target container fetching and placing device, a first order container, a first cache vehicle and a target storage location according to a cache task, and send a container fetching or placing instruction to the target container fetching and placing device, the target container fetching and placing device is arranged in the workstation area and configured to obtain the first order container according to the container fetching or placing instruction, and place the first order container directly on the first cache vehicle carried to the workstation area, or the target container fetching and placing device is configured to obtain a first order container according to a container fetching or placing instruction, transport the first order container from the workstation area to the cache area, and place the first order container at a target storage location of the first cache vehicle.

Description

一種倉儲調度系統及方法A warehouse scheduling system and method

本申請涉及倉儲技術領域，特別涉及一種倉儲調度系統及方法。 The present application relates to the technical field of warehousing, in particular to a warehousing scheduling system and method.

隨著電子商務的快速發展，電子商務在消費者生活中扮演著越來越重要的角色，每年用戶訂單數量呈幾何倍數增長，同時電子商務越來越成熟，用戶對電子商務的服務品質也提出了更高的要求，倉儲調度的處理能力也在經受嚴峻的考驗。 在倉儲調度系統，人工揀選完成後，還需要對揀選完成的訂單容器進行進一步的處理，如合單、暫存、排序等，目前訂單容器後續處理由人工操作完成，作業面積大、人工操作時效低且準確率低，還需要再增加復核環節確保準確率，遇到訂單複雜的情況，其揀後訂單容器的管理難度很大，對復核要求較高。 With the rapid development of e-commerce, e-commerce is playing an increasingly important role in consumers' lives, and the number of user orders increases exponentially every year. Higher requirements have been put forward, and the processing capacity of warehouse scheduling is also undergoing severe tests. In the warehousing scheduling system, after the manual picking is completed, the picked order containers need to be further processed, such as order combination, temporary storage, sorting, etc. Currently, the follow-up processing of the order containers is completed by manual operation, which requires a large operating area and time-limited manual operations. It is low and the accuracy rate is low, and it is necessary to add a review link to ensure the accuracy rate. In the case of complex orders, it is very difficult to manage the order containers after picking, and the requirements for review are high.

有鑒於此，本申請實施例提供了倉儲調度系統及方法，以解決現有技術中存在的技術缺陷。 根據本申請實施例的第一方面，提供了一種倉儲調度系統，所述系統包括控制伺服器、容器取放設備和緩存區域，所述緩存區域設置有多個緩存載具，其中，所述緩存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器； 所述控制伺服器，被配置為根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令； 所述目標容器取放設備，被配置為設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者， 所述目標容器取放設備，被配置為根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 可選的，所述容器取放設備包括容器裝卸機構； 所述控制伺服器，被配置為確定第一容器裝卸機構，並向所述第一容器裝卸機構發送第一容器取放指令； 所述第一容器裝卸機構，被配置為設置於工作站區域，回應於所述第一容器取放指令將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 可選的，所述系統還包括搬運設備； 所述控制伺服器，還被配置為確定搬運所述第一緩存載具的第一搬運設備，並向所述第一搬運設備發送第一搬運指令； 所述第一搬運設備，被配置為回應於所述第一搬運指令，將所述第一緩存載具從所述緩存區域搬運到所述工作站區域，或者，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域。 可選的，所述第一搬運設備被配置為，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域的原緩存位置或者其他緩存位置。 可選的，所述容器取放設備包括用於取放及搬運訂單容器的自主移動機器人； 所述控制伺服器，被配置為確定第一自主移動機器人，並向所述第一自主移動機器人發送容器取放指令； 所述第一自主移動機器人，被配置為回應於所述容器取放指令，取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存貨架的目標存儲位。 可選的，所述系統還包括傳輸線，所述傳輸線包括傳輸線入口和傳輸線出口，其中，所述傳輸線入口用於接收完成訂單任務的訂單容器； 所述目標容器取放設備位於所述傳輸線出口，被配置為從所述傳輸線出口取出所述第一訂單容器。 可選的，所述系統還包括用於取放及搬運庫存容器的自主移動機器人和庫存區域，所述庫存區域設置有多個庫存載具，所述庫存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納倉儲貨物的庫存容器； 所述控制伺服器，還被配置為根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標庫存載具、用於搬運所述目標庫存容器的第二自主移動機器人，並向所述第二自主移動機器人發送第二存取指令； 所述第二自主移動機器人，被配置為回應於所述第二存取指令移動至所述目標庫存載具，從所述目標庫存載具取出所述目標庫存容器並將所述目標庫存容器搬運至所述工作站區域。 可選的，所述系統還包括搬運設備，所述庫存載具包括可移動貨架，所述可移動貨架包括至少一層隔板，所述至少一層隔板將所述可移動貨架分割為至少兩層，所述可移動貨架的隔板上設置有至少一個存儲位； 所述控制伺服器，還被配置為根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標可移動貨架，用於搬運所述目標可移動貨架的第二搬運設備，並向所述第二搬運設備發送第二搬運指令； 所述第二搬運設備，被配置為回應於所述第二搬運指令搬運所述目標可移動貨架至所述工作站區域。 可選的，其特徵在於，所述系統還包括容器裝卸機構； 所述控制伺服器，還被配置為根據發貨任務確定第二訂單容器、所述第二訂單容器所在的第二緩存載具、用於搬運所述第二緩存載具的第三搬運設備和第二容器裝卸機構，並向所述第三搬運設備發送第三搬運指令，向所述第二容器裝卸機構發送第二容器裝卸指令； 所述第三搬運設備，被配置為回應於所述第三搬運指令將所述第二緩存載具從所述緩存區域搬運至所述緩存區域的出口； 所述第二容器裝卸設備設置於所述緩存區域的出口，被配置為回應於所述第二容器裝卸指令從所述第二緩存載具中取出所述第二訂單容器，並放在指定區域。 可選的，其特徵在於，所述系統還包括用於取放及搬運訂單容器的自主移動機器人； 所述控制伺服器，還被配置為根據發貨任務確定第三訂單容器、所述第三訂單容器所在的第三緩存載具、用於搬運所述第三訂單容器的第三自主移動機器人，並向所述第三自主移動機器人發送第三存取指令； 所述第三自主移動機器人，被配置為回應於所述第三存取指令移動至所述第三緩存載具，從所述第三緩存載具中取出所述第三訂單容器，並將所述第三訂單容器搬運至指定區域。 可選的，所述控制伺服器，還被配置為根據訂單容器處理任務確定所述第一訂單容器在所述第一緩存載具中的目標存儲位。 可選的，所述訂單容器處理任務包括將至少兩個訂單容器中的訂單貨物進行合併的任務、將至少兩個訂單容器進行排序的任務中的至少一個。 可選的，所述工作站區域設置有輔助揀選裝置，所述輔助揀選裝置用於在庫存容器抵達工作站區域後，輔助執行從所述庫存容器中揀選訂單貨物至訂單容器的操作。 可選的，所述輔助揀選裝置包括視覺感測器、光柵中的至少一種。 可選的，所述容器裝卸機構包括：架體和取放容器組件； 所述架體包括方向相互垂直的水準方向的X軸軌道和豎直方向的Y軸軌道； 所述Y軸軌道被構造為沿著X軸軌道運動，所述取放容器組件被構造為沿著Y軸軌道運動。 可選的，所述架體包括門架組件； 所述X軸軌道包括地軌結構和設置在門架組件上的天軌結構； 所述Y軸軌道的兩端分別與地軌結構和天軌結構導向配合在一起。 可選的，所述Y軸軌道設置有至少兩個，每個Y軸軌道上設置有至少一個所述取放容器組件。 可選的，所述取放容器組件通過吸取、推動、夾取、抓取、鉤取、抱起、抬升方式中的至少一種取放容器。 根據本申請實施例的第二方面，提供了一種倉儲調度方法，應用於倉儲調度系統，所述系統包括控制伺服器、容器取放設備和緩存區域，所述緩存區域設置有多個緩存載具，其中，所述緩存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器； 所述方法包括： 所述控制伺服器根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令； 所述目標容器取放設備設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者， 所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 可選的，所述容器取放設備包括容器裝卸機構； 所述控制伺服器確定目標容器取放設備，並向所述目標容器取放設備發送容器取放指令，包括： 所述控制伺服器確定第一容器裝卸機構，並向所述第一容器裝卸機構發送第一容器取放指令； 相應的，所述目標容器取放設備設置於工作站區域，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位，包括： 所述第一容器裝卸機構設置於工作站區域，回應於所述第一容器取放指令將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 可選的，所述系統還包括搬運設備； 所述方法還包括： 所述控制伺服器確定搬運所述第一緩存載具的第一搬運設備，並向所述第一搬運設備發送第一搬運指令； 所述第一搬運設備回應於所述第一搬運指令，將所述第一緩存載具從所述緩存區域搬運到所述工作站區域，或者，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域。 可選的，所述方法還包括： 所述第一搬運設備所述第一緩存載具從所述工作站區域搬運回所述緩存區域的原緩存位置或者其他緩存位置。 可選的，所述容器取放設備包括用於取放及搬運訂單容器的自主移動機器人； 所述控制伺服器確定目標容器取放設備，並向所述目標容器取放設備發送容器取放指令，包括： 所述控制伺服器確定第一自主移動機器人，並向所述第一自主移動機器人發送容器取放指令； 相應的，所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位，包括： 所述第一自主移動機器人回應於所述容器取放指令，取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存貨架的目標存儲位。 可選的，所述系統還包括傳輸線，所述傳輸線包括傳輸線入口和傳輸線出口，其中，所述傳輸線入口用於接收完成訂單任務的訂單容器； 所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，包括： 所述目標容器取放設備從所述傳輸線出口取出所述第一訂單容器，其中，所述目標容器取放設備位於所述傳輸線出口。 可選的，所述系統還包括用於取放及搬運庫存容器的自主移動機器人和庫存區域，所述庫存區域設置有多個庫存載具，所述庫存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納倉儲貨物的庫存容器； 所述方法還包括： 所述控制伺服器根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標庫存載具、用於搬運所述目標庫存容器的第二自主移動機器人，並向所述第二自主移動機器人發送第二存取指令； 所述第二自主移動機器人回應於所述第二存取指令移動至所述目標庫存載具，從所述目標庫存載具取出所述目標庫存容器並將所述目標庫存容器搬運至所述工作站區域。 可選的，所述系統還包括搬運設備，所述庫存載具包括可移動貨架，所述可移動貨架包括至少一層隔板，所述至少一層隔板將所述可移動貨架分割為至少兩層，所述可移動貨架的隔板上設置有至少一個存儲位； 所述方法還包括： 所述控制伺服器根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標可移動貨架，用於搬運所述目標可移動貨架的第二搬運設備，並向所述第二搬運設備發送第二搬運指令； 所述第二搬運設備回應於所述第二搬運指令搬運所述目標可移動貨架至所述工作站區域。 可選的，所述系統還包括容器裝卸機構； 所述方法還包括： 所述控制伺服器根據發貨任務確定第二訂單容器、所述第二訂單容器所在的第二緩存載具、用於搬運所述第二緩存載具的第三搬運設備和第二容器裝卸機構，並向所述第三搬運設備發送第三搬運指令，向所述第二容器裝卸機構發送第二容器裝卸指令； 所述第三搬運設備回應於所述第三搬運指令將所述第二緩存載具從所述緩存區域搬運至所述緩存區域的出口； 所述第二容器裝卸設備回應於所述第二容器裝卸指令從所述第二緩存載具中取出所述第二訂單容器，並放在指定區域，其中，所述第二容器裝卸設備設置於所述緩存區域的出口。 可選的，所述系統還包括用於取放及搬運訂單容器的自主移動機器人； 所述方法還包括： 所述控制伺服器根據發貨任務確定第三訂單容器、所述第三訂單容器所在的第三緩存載具、用於搬運所述第三訂單容器的第三自主移動機器人，並向所述第三自主移動機器人發送第三存取指令； 所述第三自主移動機器人回應於所述第三存取指令移動至所述第三緩存載具，從所述第三緩存載具中取出所述第三訂單容器，並將所述第三訂單容器搬運至指定區域。 可選的，所述方法還包括： 所述控制伺服器，還被配置為根據訂單容器處理任務確定所述第一訂單容器在所述第一緩存載具中的目標存儲位。 可選的，所述訂單容器處理任務包括將至少兩個訂單容器中的訂單貨物進行合併的任務、將至少兩個訂單容器進行排序的任務中的至少一個。 本申請實施例提供的倉儲調度系統，包括控制伺服器、容器取放設備和緩存區域，所述緩存區域設置有多個緩存載具，其中，所述緩存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器；所述控制伺服器，被配置為根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令；所述目標容器取放設備，被配置為設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者，所述目標容器取放設備，被配置為根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。通過本申請提供的倉儲調度系統，在將完成揀選且待緩存的訂單容器放置在緩存區域緩存，根據發貨任務確定訂單容器的緩存載具和緩存載具在緩存區域中的位置，以便後續的訂單容器的合併任務或排序任務，節省了人力物力，提高了效率和準確率。 In view of this, the embodiment of the present application provides a warehouse scheduling system and method to solve the technical defects existing in the prior art. According to the first aspect of the embodiments of the present application, a warehouse scheduling system is provided, the system includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer The carrier is provided with at least one storage position, and each storage position can carry at least one order container that can accommodate the order goods; the control server is configured to determine the target container pick-and-place device according to the buffer task, has completed picking and is to be buffered The first order container, the first buffer carrier to be buffered by the first order container, and the target storage position of the first order container in the first buffer carrier, and send to the target container pick-and-place device container pick-and-place instruction; the target container pick-and-place device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container pick-and-place instruction, and place the first order container directly on the The target storage position of the first buffer carrier transported to the workstation area; or, the target container pick-and-place device is configured to acquire the first order container located in the workstation area according to the container pick-and-place instruction, The first order container is transported from the workstation area to the buffer area, and the first order container is placed on a target storage position of the first buffer carrier. Optionally, the container handling device includes a container handling mechanism; the control server is configured to determine a first container handling mechanism, and send a first container handling instruction to the first container handling mechanism; The first container loading and unloading mechanism is configured to be disposed in the workstation area, and to place the first order container on the target storage position of the first buffer carrier in response to the first container pick-and-place instruction. Optionally, the system further includes a transport device; the control server is further configured to determine a first transport device that transports the first buffer carrier, and send a first transport instruction to the first transport device The first transport device is configured to transport the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or to transport the first buffer carrier Transported from the workstation area back to the cache area. Optionally, the first transporting device is configured to transport the first buffering carrier from the workstation area back to the original buffering position or other buffering positions of the buffering area. Optionally, the container pick-and-place equipment includes an autonomous mobile robot for picking, placing and carrying order containers; the control server is configured to determine the first autonomous mobile robot, and send a message to the first autonomous mobile robot container pick-and-place instruction; the first autonomous mobile robot is configured to, in response to the container pick-and-place instruction, obtain the first order container located in the workstation area, and transport the first order container from the workstation area to the the cache area, and place the first order container in the target storage position of the first cache shelf. Optionally, the system further includes a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers that complete order tasks; the target container pick-and-place device is located at the transmission line outlet, configured to remove the first order container from the transfer line outlet. Optionally, the system further includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, the inventory area is provided with a plurality of inventory carriers, and the inventory carriers are provided with at least one storage position, each Each storage location can carry at least one inventory container that can accommodate stored goods; the control server is also configured to determine a target inventory container, a target inventory carrier where the target inventory container is located, and a target inventory carrier for handling the a second autonomous mobile robot of the target inventory container, and sending a second access command to said second autonomous mobile robot; said second autonomous mobile robot, configured to move to said second autonomous mobile robot in response to said second access command A target inventory carrier, from which the target inventory container is taken and transported to the workstation area. Optionally, the system further includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions divides the movable shelf into at least two layers , at least one storage position is arranged on the partition of the movable shelf; the control server is also configured to determine the target inventory container and the target movable shelf where the target inventory container is located according to the order task, for handling The second transport device of the target movable shelf, and sends a second transport instruction to the second transport device; the second transport device is configured to respond to the second transport instruction to transport the target movable shelves to the workstation area. Optionally, it is characterized in that the system further includes a container loading and unloading mechanism; the control server is further configured to determine the second order container and the second buffer carrier where the second order container is located according to the delivery task . The third handling equipment and the second container loading and unloading mechanism used to transport the second buffer carrier, and sending a third handling instruction to the third handling equipment, and sending a second container loading and unloading instruction to the second container loading and unloading mechanism an instruction; the third handling device is configured to move the second buffer carrier from the buffer area to an exit of the buffer area in response to the third handling instruction; the second container handling device is configured to The exit of the buffer area is configured to take out the second order container from the second buffer carrier in response to the second container loading and unloading instruction, and place it in a designated area. Optionally, it is characterized in that the system further includes an autonomous mobile robot for picking, placing and carrying order containers; the control server is further configured to determine a third order container, the third The third buffer carrier where the order container is located, the third autonomous mobile robot used to carry the third order container, and send a third access instruction to the third autonomous mobile robot; the third autonomous mobile robot, configured to move to the third buffer carrier in response to the third access instruction, take out the third order container from the third buffer carrier, and transport the third order container to a designated area. Optionally, the control server is further configured to determine the target storage position of the first order container in the first buffer carrier according to the order container processing task. Optionally, the order container processing task includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers. Optionally, the workstation area is provided with an auxiliary picking device, and the auxiliary picking device is used to assist in the operation of picking order goods from the inventory container into the order container after the inventory container arrives at the workstation area. Optionally, the auxiliary picking device includes at least one of a visual sensor and a grating. Optionally, the container loading and unloading mechanism includes: a frame body and a pick-and-place container assembly; the frame body includes an X-axis track in a horizontal direction and a Y-axis track in a vertical direction in directions perpendicular to each other; the Y-axis track is constructed To orbit along the X-axis, the access container assembly is configured to orbit along the Y-axis. Optionally, the frame body includes a door frame assembly; the X-axis track includes a ground rail structure and a sky rail structure arranged on the door frame assembly; the two ends of the Y-axis track are respectively connected to the ground rail structure and the sky rail Structure guides fit together. Optionally, there are at least two Y-axis tracks, and at least one pick-and-place container assembly is set on each Y-axis track. Optionally, the access container component accesses the container by at least one of suction, push, clamp, grasp, hook, pick up, and lift. According to the second aspect of the embodiment of the present application, there is provided a storage scheduling method applied to a storage scheduling system, the system includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers , wherein, the buffer carrier is provided with at least one storage position, and each storage position can carry at least one order container that can accommodate the order goods; the method includes: the control server determines the target container pick-and-place device according to the buffer task , the first order container that has been picked and is to be buffered, the first buffer carrier that the first order container will be buffered, and the target storage position of the first order container on the first buffer carrier, and send to all The target container pick-and-place device sends a container pick-and-place instruction; the target container pick-and-place device is set in the workstation area, obtains the first order container located in the workstation area according to the container pick-and-place instruction, and puts the first order container directly placed in the target storage position of the first buffer carrier transported to the workstation area; or, the target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, and The first order container is transported from the workstation area to the buffer area, and the first order container is placed on a target storage position of the first buffer carrier. Optionally, the container pick-and-place device includes a container handling mechanism; the control server determines a target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, including: the control server determines The first container loading and unloading mechanism, and sends the first container pick-and-place instruction to the first container handling mechanism; correspondingly, the target container pick-and-place equipment is set in the workstation area, and the first order container is directly placed on the transported The target storage position of the first buffer carrier to the workstation area includes: the first container loading and unloading mechanism is disposed in the workstation area, and the first order container is placed on the first container in response to the first container pick-and-place instruction; The target memory location of the first cache carrier. Optionally, the system further includes a handling device; the method further includes: the control server determining a first handling device that transports the first buffer carrier, and sending the first handling device to the first handling device instruction; the first transport device responds to the first transport instruction, transporting the first buffer carrier from the buffer area to the workstation area, or transporting the first buffer carrier from the The workstation area is moved back to the cache area. Optionally, the method further includes: the first transport device transporting the first buffer carrier from the workstation area back to the original buffer position or other buffer positions of the buffer area. Optionally, the container pick-and-place equipment includes an autonomous mobile robot for pick-and-place and carry order containers; the control server determines the target container pick-and-place equipment, and sends a container pick-and-place instruction to the target container pick-and-place equipment , including: the control server determines the first autonomous mobile robot, and sends a container pick-and-place instruction to the first autonomous mobile robot; correspondingly, the target container pick-and-place device obtains a the first order container in the area, transporting the first order container from the workstation area to the buffer area, and placing the first order container in the target storage position of the first buffer carrier, Including: the first autonomous mobile robot responds to the container pick-and-place instruction, obtains the first order container located in the workstation area, transports the first order container from the workstation area to the buffer area, and transfers the The first order container is placed in the target storage position of the first buffer shelf. Optionally, the system further includes a transmission line, the transmission line includes a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers that complete order tasks; the target container pick-and-place device picks and places the containers according to the Instructing to obtain the first order container located in the workstation area includes: the target container pick-and-place device taking out the first order container from the exit of the transmission line, wherein the target container pick-and-place device is located at the exit of the transmission line. Optionally, the system further includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, the inventory area is provided with a plurality of inventory carriers, and the inventory carriers are provided with at least one storage position, each Each storage location can carry at least one inventory container that can accommodate stored goods; the method also includes: the control server determines the target inventory container according to the order task, the target inventory carrier where the target inventory container is located, and is used for handling all a second autonomous mobile robot of the target inventory container, and send a second access instruction to the second autonomous mobile robot; the second autonomous mobile robot moves to the target inventory container in response to the second access instruction; a tool for removing the target inventory container from the target inventory carrier and transporting the target inventory container to the workstation area. Optionally, the system further includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions divides the movable shelf into at least two layers , at least one storage position is provided on the partition of the movable shelf; the method further includes: the control server determines the target inventory container and the target movable shelf where the target inventory container is located according to the order task, for transporting the target movable rack to the second transport device, and sending a second transport instruction to the second transport device; the second transport device responds to the second transport command to transport the target movable rack to the target the workstation area described above. Optionally, the system further includes a container loading and unloading mechanism; the method further includes: the control server determines the second order container, the second buffer carrier where the second order container is located, and the second order container for transporting the third handling equipment and the second container loading and unloading mechanism for the second buffer carrier, and sending a third handling instruction to the third handling equipment, and sending a second container loading and unloading instruction to the second container loading and unloading mechanism; The third handling equipment responds to the third handling instruction to transport the second buffer carrier from the buffer area to the exit of the buffer area; the second container handling equipment responds to the second container handling The instruction takes out the second order container from the second buffer carrier and places it in a designated area, wherein the second container handling device is arranged at the exit of the buffer area. Optionally, the system further includes an autonomous mobile robot for picking, placing and carrying the order container; the method further includes: the control server determines the third order container according to the delivery task, where the third order container is located; The third buffer carrier, the third autonomous mobile robot used to carry the third order container, and send a third access command to the third autonomous mobile robot; the third autonomous mobile robot responds to the The third access instruction moves to the third buffer carrier, takes out the third order container from the third buffer carrier, and transports the third order container to a designated area. Optionally, the method further includes: the control server, further configured to determine the target storage position of the first order container in the first buffer carrier according to the order container processing task. Optionally, the order container processing task includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers. The storage scheduling system provided by the embodiment of the present application includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one storage location, each Each storage position can carry at least one order container that can accommodate the order goods; the control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first The first cache carrier to be cached by the order container and the target storage position of the first order container on the first cache carrier, and send a container pick and place instruction to the target container pick and place device; the target container pick and place The placing device is configured to be set in the work station area, obtain the first order container located in the work station area according to the container pick-and-place instruction, and place the first order container directly on the first order container transported to the work station area. The target storage location of the buffer carrier; or, the target container pick-and-place device is configured to obtain the first order container located in the workstation area according to the container pick-and-place instruction, and take the first order container from the The workstation area is transported to the buffer area, and the first order container is placed on the target storage position of the first buffer carrier. Through the warehouse scheduling system provided by this application, after the order containers that have been picked and are to be cached are placed in the cache area for cache, the cache carrier of the order container and the position of the cache carrier in the cache area are determined according to the delivery task, so that the subsequent The merging or sorting tasks of order containers save manpower and material resources, and improve efficiency and accuracy.

相關申請案之參考：本申請要求於2021年10月26日提交中國專利局、申請號為202111248974.8、發明名稱為“一種倉儲調度系統及方法”以及於2021年10月26日提交中國專利局、申請號為202122588185.0，發明名稱為“一種倉儲調度系統”的中國專利申請的優先權，其全部內容通過引用結合在本申請中。 在下面的描述中闡述了很多具體細節以便於充分理解本申請。但是本申請能夠以很多不同於在此描述的其他方式來實施，本領域技術人員可以在不違背本申請內涵的情況下做類似推廣，因此本申請不受下麵公開的具體實施的限制。 在本申請一個或多個實施例中使用的術語是僅僅出於描述特定實施例的目的，而非旨在限制本申請一個或多個實施例。在本申請一個或多個實施例和所附權利要求書中所使用的單數形式的“一種”、“所述”和“該”也旨在包括多數形式，除非上下文清楚地表示其他含義。還應當理解，本申請一個或多個實施例中使用的術語“和/或”是指並包含一個或多個相關聯的列出專案的任何或所有可能組合。 應當理解，儘管在本申請一個或多個實施例中可能採用術語第一、第二等來描述各種資訊，但這些資訊不應限於這些術語。這些術語僅用來將同一類型的資訊彼此區分開。例如，在不脫離本申請一個或多個實施例範圍的情況下，第一也可以被稱為第二，類似地，第二也可以被稱為第一。取決於語境，如在此所使用的詞語“如果”可以被解釋成為“在……時”或“當……時”或“回應於確定”。 在本申請中，提供了一種倉儲調度系統及方法，在下面的實施例中逐一進行詳細說明。 圖1示出了本申請一實施例提供的倉儲調度系統的系統結構示意圖，該系統包括控制伺服器110、容器取放設備120、緩存區域130，所述緩存區域130中包括多個緩存載具140，緩存載具140中設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器。 控制伺服器110與容器取放設備120無線通信連接，工作人員通過操作臺114操作控制伺服器110工作，所述控制伺服器110為在伺服器上運行的、具有數據存儲、資訊處理能力的軟體系統，可以通過無線與容器取放設備120等連接，控制伺服器110可以包括一個或多個伺服器，可以為集中式控制架構或者分佈式計算架構，控制伺服器110具有處理器111和記憶體112，在記憶體112中可以具有訂單池113，訂單池113中存有訂單資訊。 緩存區域130可以為密集存儲區，也可以為非密集存儲區，在緩存區域130中設置有多個緩存載具140，緩存載具在實際應用中可以是緩存貨架、籠車、託盤支架等等，緩存載具140的具體形式以實際應用為准，在本申請中不做限定，在緩存載具為緩存貨架的情況下，緩存貨架包括至少一層隔板，至少一層隔板將，緩存貨架分割為至少兩層，緩存貨架的隔板上設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器。訂單容器具體是指已經完成訂單揀選任務，裝有訂單貨物的容器。緩存載具中設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器。 在本申請中，控制伺服器，被配置為根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令； 所述目標容器取放設備，被配置為設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者， 所述目標容器取放設備，被配置為根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 其中，在本申請提供的倉儲調度系統中，控制伺服器根據緩存任務確定目標容器取放設備，容器取放設備用於根據容器取放指令將訂單容器取出並放置在載具中，或從載具中取出訂單容器並放置在指定位置。 在實際應用中，當訂單任務中的貨物被揀選到訂單容器中後，還需要對訂單容器進行進一步的處理，例如會有同一個訂單在多個不同的訂單容器中，則需要進行合單處理；例如需要根據訂單的訂單地址將同一個地區的訂單容器集中處理，則需要將先完成揀選的訂單容器做暫存處理；又例如根據送貨路線，對訂單容器進行排序，將後到地址的訂單放在運輸工具靠裏的位置，將先到地址的訂單放在運輸工具靠外的位置等等。 在本申請提供的另一具體實施方式中，目標容器取放設備還可以對訂單容器進行智能調整，確定每個訂單容器的發貨路線、發貨時間、訂單波次等資訊，將具有相同發貨路線或訂單波次的訂單容器放置在同一個緩存載具中，便於後續發貨時，可以集中處理，提高發貨效率，更進一步的，可以將對發貨時效有較高要求的緩存載具放置在靠近發貨區的位置，進一步提高發貨效率。 基於此，控制伺服器，還需要確定訂單容器要緩存的第一緩存載具，以及訂單容器在第一緩存載具中的目標存儲位。具體的，控制伺服器要根據訂單容器處理任務來確定訂單容器在第一緩存載具中的目標存儲位。更進一步的，訂單容器處理任務具體包括將至少兩個訂單容器中的訂單貨物進行合併的任務、將至少兩個訂單容器進行排序的任務中的至少一個。同時控制伺服器還會確定目標容器取放設備，並向目標容器取放設備發送容器取放指令。 容器取放設備具體是指用於取出放入訂單容器的設備。目標容器取放設備可以配置於工作站區域，根據容器取放指令從工作站區域取出第一訂單容器，並將第一訂單容器放置在被搬運到工作站區域的第一緩存載具的目標存儲位；目標容器取放設備，還可以是可以自主移動的設備，根據容器取放指令從工作站區域取出第一訂單容器後，將第一訂單容器從工作站區域搬運至緩存區域，並放置在位於緩存區域的第一緩存載具的目標存儲位。下麵分別用兩個不同的場景對目標容器取放設備的應用做進一步解釋說明。 在本申請提供的一具體應用場景中，以目標容器取放設備被配置於工作站區域為例進行解釋說明，該目標容器取放設備包括容器裝卸機構150，控制伺服器，進一步被配置為確定第一容器裝卸機構，並向第一容器裝卸機構發送第一容器取放指令；第一容器裝卸機構，被配置為設置於工作站區域，回應於所述第一容器取放指令將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 具體的，參見圖2，圖2示出了本申請一實施例體用的容器裝卸機構的示意圖，架體7包括相互垂直的X軸軌道71和Y軸軌道72，X軸軌道71和Y軸軌道72設置在豎直的平面上。具體地，Y軸軌道被構造為沿著X軸軌道運動，取送容器組件2被構造為沿著Y軸軌道運動。 在一種實施方式中,架體7包括門架組件，X軸軌道71包括地軌結構和設置在門架組件上的天軌結構。X軸軌道71沿水準方向延伸，Y軸軌道72沿豎直方向延伸。Y軸軌道72可以是立柱結構，Y軸軌道72的兩端分別與地軌結構和天軌結構導向配合在一起，Y軸軌道72沿著地軌結構和天軌結構水準運動。 具體地，兩個X軸軌道71上分別設置有X軸移動板，X軸移動板能夠沿著X軸軌道71水準方向移動，Y軸軌道72的兩端分別固定連接於兩個X軸移動板上。Y軸軌道72設置有Y軸移動板，Y軸移動板能夠沿著Y軸軌道72在豎直方向移動，取送容器組件固定連接在Y軸移動板上。X軸移動板、Y軸移動板上可以進一步安裝導向組件，並且通過導向組件沿著相應的X軸軌道71、Y軸軌道72滑動。 架體7上還設置有驅動系統，驅動系統包括X軸驅動單元以及Y軸驅動單元。其中，X軸驅動單元用於驅動Y軸軌道72沿著X軸軌道71運動，Y軸驅動單元用於驅動取送容器組件沿著Y軸軌道72運動，由此可將取送容器組件運動至相應的位置，例如與貨架上的目標位置相對應。驅動系統可以包括驅動電機、傳動齒輪、傳動鏈，絲杠組件等，本領域技術人員能夠基於現有技術進行設置，以實現驅動系統的上述功能。 在本公開一個實施方式中，Y軸軌道72可以設置有至少兩個，至少兩個Y軸軌道72在上下兩條X軸軌道71之間相對獨立運動。每個Y軸軌道上設置有至少一個取送容器組件，每個Y軸軌道上的取送容器組件均可以獨立運動，提高了裝卸機構的工作效率。 本實施例中，裝卸機構用於轉運可移動貨架上的容器，取送容器組件能夠沿著X軸軌道71和Y軸軌道72在架體7上移動，移動至可移動貨架的目標位置。 在實際應用中，取放容器組件2通過吸取、推動、夾取、抓取、鉤取、抱起、抬升方式中的至少一種取放容器。 容器裝卸機構150設置於工作站區域，回應於第一容器取放指令，獲取第一訂單容器，並將第一訂單容器通過取放容器組件放置在第一緩存載具的目標存儲位中。 本申請提供的倉儲調度系統，還包括有搬運設備160，所述控制伺服器，還被配置為確定搬運所述第一緩存載具的第一搬運設備，並向所述第一搬運設備發送第一搬運指令； 所述第一搬運設備，被配置為回應於所述第一搬運指令，將所述第一緩存載具從所述緩存區域搬運到所述工作站區域，或者，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域。 在實際應用中，緩存區域130中的緩存載具140是可以被搬運的，容器裝卸機構150固定在工作站區域無法移動，因此，可以由第一搬運設備160將第一緩存載具從緩存區域搬運到工作站區域，或者將已經裝好第一訂單容器的第一緩存載具從工作站區域搬運回緩存區域。 更進一步的，當第一搬運設備160將第一緩存載具搬回緩存區域的情況下，可以將第一緩存載具從工作站區域搬運回緩存區域的原緩存位置，也可以將第一緩存載具從工作站區域搬運至緩存區域的其他緩存位置。 緩存載具搬運回緩存區域的其他緩存位置具體可以根據預設條件來確定，例如根據訂單的優先順序來確定緩存載具的緩存位置，優先順序高的訂單容器在緩存區域中的緩存位置距離緩存區域出口的距離越近，以便優先順序高的訂單容器可以被優先、及時、快速地處理。 在本申請提供的另一具體應用場景中，以目標容器取放設備包括用於取放及搬運訂單容器的自主移動機器人170（AMR）為例進行解釋說明，自主移動機器人170可以從指定位置取出訂單容器，可以將訂單容器放入指定位置，也可以搬運訂單容器在兩個指定位置件移動。 具體的，控制伺服器，被配置為確定第一自主移動機器人，並向所述第一自主移動機器人發送容器取放指令； 第一自主移動機器人，被配置為回應於所述容器取放指令，取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存貨架的目標存儲位。 在本實施方式提供的應用場景中，控制伺服器在根據緩存任務確定目標容器取放設備為第一自主移動機器人，並向第一自主移動機器人發送容器取放指令，在此場景下，無需由搬運設備將緩存載具搬運至工作站區域，第一自主移動機器人回應於容器取放指令，在工作站區域取得第一訂單容器，並搬運第一訂單容器從該工作站區域移動至緩存區域，將第一訂單容器放置在位於緩存區域的第一緩存貨架的目標存儲位。 通過自主移動機器人170將訂單容器直接搬運至緩存區域的緩存載具中，避免了搬運設備搬運緩存載具移動在倉儲場景中移動慢的問題，適用於少數的訂單容器需要放到緩存區域的場景。 綜上兩種應用場景，容器裝卸機構和搬運設備配合將訂單容器放入到緩存區域的方式，適用於大量訂單容器的場景；自主移動機器人將訂單容器搬運至緩存載具的方式，適用於少量訂單容器的場景，在實際應用中，可以根據實際情況來自由選擇容器取放設備，在本申請中對此不做具體限定。 通常情況下，訂單任務是在工作站區域完成的訂單揀選任務，完成訂單揀選任務之後，會有裝有訂單貨物的訂單容器，需要將訂單容器放入到緩存區域，為了提高訂單容器的存入效率，在本申請提供的倉儲調度系統中還包括有傳輸線，該傳輸線用於傳輸完成訂單任務的訂單容器，傳輸線有傳輸線入口和傳輸線出口，其中，傳輸線入口用於接收完成訂單任務的訂單容器；所述目標容器取放設備位於所述傳輸線出口，從所述傳輸線出口取出所述第一訂單容器。 在本申請提供的一具體實施方式中，容器取放設備為容器裝卸機構150，容器裝卸機構150從傳輸線出口處取出訂單容器，並放置在緩存載具140上，由搬運設備160將緩存載具140搬運至緩存區域。 在本申請提供的另一具體實施方式中，容器取放設備具體為自主移動機器人170，自主移動機器人170從傳輸線出口處取出訂單容器，移動至緩存區域，將訂單容器放置在位於緩存區域的緩存載具的目標存儲位中。 在實際應用中，本申請提供的倉儲調度系統還包括用於取放及搬運庫存容器的自主移動機器人和庫存區域，在庫存區域中設置有多個庫存載具，庫存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納倉儲貨物的庫存容器； 所述控制伺服器，還被配置為根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標庫存載具、用於搬運所述目標庫存容器的第二自主移動機器人，並向所述第二自主移動機器人發送第二存取指令； 所述第二自主移動機器人，被配置為回應於所述第二存取指令移動至所述目標庫存載具，從所述目標庫存載具取出所述目標庫存容器並將所述目標庫存容器搬運至所述工作站區域。 具體的，倉儲調度系統出了包括訂單任務完成之後的緩存區域，還包括有存儲貨物的庫存區域，在庫存區域中設置有多個庫存載具，庫存載具具體可以為可移動貨架、固定貨架、託盤支架等等，庫存載具的具體形式，在本申請中不做限定，以實際應用為准。在庫存載具中設置有存儲位，存儲位上存放有庫存容器。 控制伺服器根據訂單任務，確定訂單任務命中的目標庫存容器，同時確定目標庫存容器所在的目標庫存載具，用於搬運目標庫存容器的第二自主移動機器人，並向該第二自主移動機器人發送第二存取指令。 第二自主移動機器人回應於第二存取指令，移動至目標庫存載具處，將目標庫存載具從目標庫存容器中取出，並將目標庫存容器搬運至工作站區域進行訂單揀選。 在實際應用中，當庫存載具為可移動貨架的情況下，有時多個訂單會命中同一個可移動貨架的多個目標庫存容器，為了提高搬運效率，本申請提供的倉儲調度系統中還包括有搬運設備，控制伺服器根據訂單任務確定目標庫存容器、目標庫存容器所在的目標可移動貨架，用於搬運該目標可移動貨架的第二搬運設備，並向第二搬運設備發送第二搬運指令。 第二搬運設備，回應於該第二搬運指令，移動至目標可移動貨架處，搬運該目標可移動貨架至所述工作站區域。 經過自主移動機器人或搬運設備的操作，將目標庫存容器搬運至工作站區域後，在工作站區域完成訂單揀選任務，具體的是，將目標庫存容器中的訂單貨物揀選至訂單容器中。在工作站區域設置有輔助揀選裝置，該輔助揀選裝置用於在目標庫存容器抵達工作站區域後，輔助人工執行從庫存容器中將訂單貨物揀選至目標訂單容器的操作。 具體的，輔助揀選裝置包括有視覺感測器、光柵中的至少一種，更進一步的，視覺傳感包括有攝像頭。 本申請提供的倉儲調度系統，在將訂單容器緩存到緩存區域之後，還需要進一步的對訂單容器中的貨物執行發貨任務，將訂單容器從緩存區域130中取出並搬運至緩存區域出口處，在緩存區域出口處將訂單容器放置在發貨區域180，在發貨區域180完成訂單的發貨任務。 在將訂單容器搬運至發貨區的應用場景中，可以將訂單容器所在的緩存載具搬運至緩存區域出口，也可以只將訂單容器搬運至緩存區域出口，具體應用，以控制伺服器的分配為准，下麵將分別介紹兩種應用場景下的是如何將訂單容器搬運至緩存區域出口。 在本申請提供的一應用場景中，以將訂單容器所在的緩存載具搬運至緩存區域出口為例進行解釋說明，在此場景下，在緩存區域出口還會設置有容器裝卸機構，用於裝卸訂單容器。具體的，所述控制伺服器，還被配置為根據發貨任務確定第二訂單容器、所述第二訂單容器所在的第二緩存載具、用於搬運所述第二緩存載具的第三搬運設備和第二容器裝卸機構，並向所述第三搬運設備發送第三搬運指令，向所述第二容器裝卸機構發送第二容器裝卸指令； 所述第三搬運設備，被配置為回應於所述第三搬運指令將所述第二緩存載具從所述緩存區域搬運至所述緩存區域的出口； 所述第二容器裝卸設備設置於所述緩存區域的出口，被配置為回應於所述第二容器裝卸指令從所述第二緩存載具中取出所述第二訂單容器，並放在指定區域。 在本實施例的應用場景中，控制伺服器根據發貨任務確定第二訂單容器，第二訂單容器所在的第二緩存載具，同時確定用於搬運第二緩存載具的第三搬運設備和第二容器裝卸機構，並向並向所述第三搬運設備發送第三搬運指令，向所述第二容器裝卸機構發送第二容器裝卸指令。本實施例的應用場景中，適用於發貨任務命中了同一個緩存載具上的多個訂單容器的情況，將緩存載具搬運至緩存區域出口，方便訂單容器的出貨任務。 第三搬運設備，回應於該第三搬運指令，移動至緩存區域中第二緩存載具處，並將第二緩存載具搬運至緩存區域的出口。第二容器裝卸設備被設置於該緩存區域的出口，根據第二容器裝卸指令，從第二緩存載具中取出第二訂單容器，並將第二訂單容器放置在指定區域，這裏的指定區域可以是發貨區域180。 在本申請提供的另一應用場景中，以將訂單容器搬運至緩存出口為例進行解釋說明。本申請提供給的倉儲調度系統中，還包括用於取放或搬運訂單容器的自主移動機器人，所述控制伺服器，還被配置為根據發貨任務確定第三訂單容器、所述第三訂單容器所在的第三緩存載具、用於搬運所述第三訂單容器的第三自主移動機器人，並向所述第三自主移動機器人發送第三存取指令； 所述第三自主移動機器人，被配置為回應於所述第三存取指令移動至所述第三緩存載具，從所述第三緩存載具中取出所述第三訂單容器，並將所述第三訂單容器搬運至指定區域。 在本實施例的應用場景中，控制伺服器根據發貨任務確定第三訂單容器，同時確定第三訂單容器所在的第三緩存載具和用於搬運第三訂單容器的第三自主移動機器人，並向第三自主移動機器人發送第三存取指令。本實施例的應用場景應用於發貨任務命中了少量訂單容器的場景，為了提高訂單容器的發貨效率，僅需要自主移動機器人將訂單容器搬運至指定區域即可。 第三自主移動機器人回應於第三存取指令，移動至緩存區域的第三緩存載具處，從第三緩存載具中取出第三訂單容器，並將第三訂單容器搬運至指定區域（如緩存區域的出口）。 本申請實施例提供的倉儲調度系統，包括控制伺服器、容器取放設備和緩存區域，所述緩存區域設置有多個緩存載具，其中，所述緩存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器；所述控制伺服器，被配置為根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令；所述目標容器取放設備，被配置為設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者，所述目標容器取放設備，被配置為根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。通過本申請提供的倉儲調度系統，在將完成揀選且待緩存的訂單容器放置在緩存區域緩存，根據發貨任務確定訂單容器的緩存載具和緩存載具在緩存區域中的位置，以便後續的訂單容器的合併任務或排序任務，節省了人力物力，提高了效率和準確率。 其次，本申請提供給的倉儲調度系統，還可以自動接駁後續的訂單容器出貨任務，有效減少合單、搬運所需要的人工，節省人力，同時在緩存區域還可以使用密集存儲貨架，極大提升緩存能力，減少緩存面積，降低倉儲調度的成本。 下麵，結合幾個具體實施例來對本申請提供的倉儲調度系統做進一步解釋說明。需要注意的是，在下述實施例中，均以在工作站區域完成了訂單揀選任務為例，在本申請中，對從庫存區域將庫存容器搬運至工作站區域完成訂單揀選的任務不做限定。 實施例一 在本實施例中提供的倉儲調度系統，包括控制伺服器、運輸線、緩存區域、搬運設備、容器裝卸機構，緩存區域中設置有多個緩存貨架，緩存貨架中包括至少一個隔板，隔板上設置有至少一個存儲位，每個存儲位可承載至少一個訂單容器，運輸線包括運輸線入口和運輸線出口。 控制伺服器根據緩存任務確定已完成揀選且待緩存的目標訂單容器、該目標訂單容器將要緩存的目標緩存貨架，以及目標訂單容器在目標緩存貨架上的目標存儲位，同時確定目標容器裝卸機構和用於搬運目標緩存貨架的目標搬運設備，向目標容器裝卸機構發送容器取放指令和向目標搬運設備發送貨架搬運指令。 工作站區域的工作人員或運輸裝置將目標訂單容器放置在運輸線入口，使得目標訂單容器在運輸線中運輸。 目標搬運設備回應於貨架搬運指令，從緩存區域中將目標緩存貨架搬運至目標容器裝卸機構的貨架停靠位。 目標容器裝卸機構位於運輸線出口，根據容器取放指令從運輸線出口處獲取目標訂單容器，並將目標訂單容器放置在目標緩存貨架的目標存儲位。 目標搬運設備在目標訂單容器被放置在目標緩存貨架的目標存儲位後，將目標緩存貨架搬運回緩存區域，完成訂單容器的緩存任務。 實施例二 在本實施例中提供的倉儲調度系統，包括控制伺服器、運輸線、緩存區域、自主移動機器人，緩存區域中設置有多個緩存貨架，緩存貨架中包括至少一個隔板，隔板上設置有至少一個存儲位，每個存儲位可承載至少一個訂單容器，運輸線包括運輸線入口和運輸線出口。 控制伺服器根據緩存任務確定已完成揀選且待緩存的目標訂單容器、該目標訂單容器將要緩存的目標緩存貨架，以及目標訂單容器在目標緩存貨架上的目標存儲位，同時確定用於搬運目標訂單容器的目標自主移動機器人，並向所述目標自主移動機器人發送容器取放指令。 目標自主移動機器人回應於容器取放指令，移動至所述運輸線出口，取出目標訂單容器，並將所述目標訂單容器搬運至緩存區域的目標緩存貨架處，將目標訂單容器放置於所述目標緩存貨架的目標存儲位。 同時確定目標容器裝卸機構和用於搬運目標緩存貨架的目標搬運設備，向目標容器裝卸機構發送容器取放指令和向目標搬運設備發送貨架搬運指令。 在下述實施例中，對從緩存區域中的訂單容器執行出貨任務的應用場景做進一步解釋說明。 實施例三 在本實施例中提供的倉儲調度系統，包括控制伺服器、緩存區域、搬運設備、容器裝卸機構，緩存區域中設置有多個緩存貨架，緩存貨架中包括至少一個隔板，隔板上設置有至少一個存儲位，每個存儲位可承載至少一個訂單容器，容器裝卸機構位於緩存區域出口。 控制伺服器根據發貨任務確定目標訂單容器、目標訂單容器所在的目標緩存貨架，目標緩存貨架在緩存區域的貨架緩存位置，同時確定目標容器裝卸機構和目標搬運設備，並向所述目標容器裝卸機構發送容器裝卸指令和向目標搬運設備發送貨架搬運指令。 目標搬運設備，回應於貨架搬運指令，移動至緩存區域的目標緩存貨架處，將存儲有目標訂單容器的目標緩存貨架從緩存區域中搬運至緩存區域出口。 目標容器裝卸設備位於緩存區域出口，回應於容器裝卸指令，從目標緩存貨架中取出目標訂單容器，並放置在發貨區域。 實施例四 在本實施例中提供的倉儲調度系統，包括控制伺服器、緩存區域、自主移動機器人，緩存區域中設置有多個緩存貨架，緩存貨架中包括至少一個隔板，隔板上設置有至少一個存儲位，每個存儲位可承載至少一個訂單容器。 控制伺服器根據發貨任務確定目標訂單容器、目標訂單容器所在的目標緩存貨架，目標緩存貨架在緩存區域的貨架緩存位置，同時確定目標自主移動機器人，向目標自主移動機器人發送容器裝卸指令。 目標自主移動機器人回應於該容器裝卸指令，移動至緩存區域的貨架緩存位置，從目標緩存貨架中取出目標訂單容器，並將該目標訂單容器搬運至緩存區域出口。 實施例五 參見圖3，圖3示出本申請一實施例提供的另一倉儲調度系統的系統結構示意圖，如圖3所示，在本實施例中提供的倉儲調度系統，包括控制伺服器、庫存區域、緩存區域130、容器裝卸機構150、搬運設備160、自主移動機器人170、發貨區域180，庫存區域和緩存區域位於同一個區域，如圖3所示，圖中的靠近工作站區域的一側的區域為庫存區域，靠近容器裝卸機構150一側的區域為緩存區域130。在緩存區域130中設置有多個緩存貨架，緩存貨架中包括至少一個隔板，隔板上設置有至少一個存儲位，每個存儲位可承載至少一個訂單容器。 控制伺服器根據揀選任務確定目標庫存容器、目標訂單容器所在的目標庫存貨架，同時確定目標搬運設備，向目標搬運設備發送搬運指令。 目標搬運設備移動至庫存區域中的目標庫存貨架，從目標庫存貨架中取出目標庫存容器，並將目標庫存容器搬運至工作站區域進行訂單揀選，將貨物揀選至目標訂單容器。並將目標訂單容器運輸至容器裝卸機構。 控制伺服器根據緩存任務確定目標訂單容器所在的目標緩存貨架、目標緩存貨架在緩存區域的貨架緩存位置，同時確定第一目標自主移動機器人，向第一目標自主移動機器人發送容器緩存指令。 第一目標自主移動機器人回應於容器緩存指令，移動至容器裝卸機構處，由容器裝卸機構將目標訂單容器裝載至第一目標自主移動機器人上，再由第一目標自主移動機器人將目標訂單容器運至緩存區域的目標緩存貨架上。 控制伺服器根據發貨任務確定目標訂單容器、目標訂單容器所在的目標緩存貨架，目標緩存貨架在緩存區域的貨架緩存位置，同時確定第二目標自主移動機器人，向第二目標自主移動機器人發送容器裝卸指令。 第二目標自主移動機器人回應於該容器裝卸指令，移動至緩存區域的貨架緩存位置，從目標緩存貨架中取出目標訂單容器，並將該目標訂單容器搬運至緩存區域出口。 目標容器裝卸設備位於緩存區域出口，回應於容器裝卸指令，從目標緩存貨架中取出目標訂單容器，並放置在發貨區域。 參見圖4，圖4示出了本申請一實施例提供的倉儲調度方法的流程圖。所述倉儲調度方法應用於倉儲調度系統，所述系統包括控制伺服器、容器取放設備和緩存區域、所述緩存區域設置有多個緩存載具，其中，所述緩存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器。具體的，所述方法包括步驟402-404： 步驟402：所述控制伺服器根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令。 步驟404：所述目標容器取放設備設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者，所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 在本申請提供的一可選實施方式中，所述容器取放設備包括容器裝卸機構； 所述控制伺服器確定目標容器取放設備，並向所述目標容器取放設備發送容器取放指令，包括： 所述控制伺服器確定第一容器裝卸機構，並向所述第一容器裝卸機構發送第一容器取放指令； 相應的，所述目標容器取放設備設置於工作站區域，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位，包括： 所述第一容器裝卸機構設置於工作站區域，回應於所述第一容器取放指令將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 在本申請提供的一可選實施方式中，所述系統還包括搬運設備； 所述方法還包括： 所述控制伺服器確定搬運所述第一緩存載具的第一搬運設備，並向所述第一搬運設備發送第一搬運指令； 所述第一搬運設備回應於所述第一搬運指令，將所述第一緩存載具從所述緩存區域搬運到所述工作站區域，或者，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域。 在本申請提供的一可選實施方式中，所述方法還包括： 所述第一搬運設備所述第一緩存載具從所述工作站區域搬運回所述緩存區域的原緩存位置或者其他緩存位置。 在本申請提供的一可選實施方式中，所述容器取放設備包括用於取放及搬運訂單容器的自主移動機器人； 所述控制伺服器確定目標容器取放設備，並向所述目標容器取放設備發送容器取放指令，包括： 所述控制伺服器確定第一自主移動機器人，並向所述第一自主移動機器人發送容器取放指令； 相應的，所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位，包括： 所述第一自主移動機器人回應於所述容器取放指令，取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存貨架的目標存儲位。 在本申請提供的一可選實施方式中，所述系統還包括傳輸線，所述傳輸線包括傳輸線入口和傳輸線出口，其中，所述傳輸線入口用於接收完成訂單任務的訂單容器； 所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，包括： 所述目標容器取放設備從所述傳輸線出口取出所述第一訂單容器，其中，所述目標容器取放設備位於所述傳輸線出口。 在本申請提供的一可選實施方式中，所述系統還包括用於取放及搬運庫存容器的自主移動機器人和庫存區域，所述庫存區域設置有多個庫存載具，所述庫存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納倉儲貨物的庫存容器； 所述方法還包括： 所述控制伺服器根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標庫存載具、用於搬運所述目標庫存容器的第二自主移動機器人，並向所述第二自主移動機器人發送第二存取指令； 所述第二自主移動機器人回應於所述第二存取指令移動至所述目標庫存載具，從所述目標庫存載具取出所述目標庫存容器並將所述目標庫存容器搬運至所述工作站區域。 在本申請提供的一可選實施方式中，所述系統還包括搬運設備，所述庫存載具包括可移動貨架，所述可移動貨架包括至少一層隔板，所述至少一層隔板將所述可移動貨架分割為至少兩層，所述可移動貨架的隔板上設置有至少一個存儲位； 所述方法還包括： 所述控制伺服器根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標可移動貨架，用於搬運所述目標可移動貨架的第二搬運設備，並向所述第二搬運設備發送第二搬運指令； 所述第二搬運設備回應於所述第二搬運指令搬運所述目標可移動貨架至所述工作站區域。 在本申請提供的一可選實施方式中，所述系統還包括容器裝卸機構； 所述方法還包括： 所述控制伺服器根據發貨任務確定第二訂單容器、所述第二訂單容器所在的第二緩存載具、用於搬運所述第二緩存載具的第三搬運設備和第二容器裝卸機構，並向所述第三搬運設備發送第三搬運指令，向所述第二容器裝卸機構發送第二容器裝卸指令； 所述第三搬運設備回應於所述第三搬運指令將所述第二緩存載具從所述緩存區域搬運至所述緩存區域的出口； 所述第二容器裝卸設備回應於所述第二容器裝卸指令從所述第二緩存載具中取出所述第二訂單容器，並放在指定區域，其中，所述第二容器裝卸設備設置於所述緩存區域的出口。 在本申請提供的一可選實施方式中，所述系統還包括用於取放及搬運訂單容器的自主移動機器人； 所述方法還包括： 所述控制伺服器根據發貨任務確定第三訂單容器、所述第三訂單容器所在的第三緩存載具、用於搬運所述第三訂單容器的第三自主移動機器人，並向所述第三自主移動機器人發送第三存取指令； 所述第三自主移動機器人回應於所述第三存取指令移動至所述第三緩存載具，從所述第三緩存載具中取出所述第三訂單容器，並將所述第三訂單容器搬運至指定區域。 在本申請提供的一可選實施方式中，所述方法還包括： 所述控制伺服器，還被配置為根據訂單容器處理任務確定所述第一訂單容器在所述第一緩存載具中的目標存儲位。 在本申請提供的一可選實施方式中，所述訂單容器處理任務包括將至少兩個訂單容器中的訂單貨物進行合併的任務、將至少兩個訂單容器進行排序的任務中的至少一個。 本申請實施例提供的倉儲調度方法，應用於倉儲調度系統，通過本申請提供的倉儲調度系統，在將完成揀選且待緩存的訂單容器放置在緩存區域緩存，根據發貨任務確定訂單容器的緩存載具和緩存載具在緩存區域中的位置，以便後續的訂單容器的合併任務或排序任務，節省了人力物力，提高了效率和準確率。 其次，本申請提供給的倉儲調度方法，還可以自動接駁後續的訂單容器出貨任務，有效減少合單、搬運所需要的人工，節省人力，同時在緩存區域還可以使用密集存儲貨架，極大提升緩存能力，減少緩存面積，降低倉儲調度的成本。 上述對本申請特定實施例進行了描述。其他實施例在所附權利要求書的範圍內。在一些情況下，在權利要求書中記載的動作或步驟可以按照不同於實施例中的順序來執行並且仍然可以實現期望的結果。另外，在附圖中描繪的過程不一定要求示出的特定順序或者連續順序才能實現期望的結果。在某些實施方式中，多任務處理和並行處理也是可以的或者可能是有利的。 需要說明的是，對於前述的各方法實施例，為了簡便描述，故將其都表述為一系列的動作組合，但是本領域技術人員應該知悉，本申請並不受所描述的動作順序的限制，因為依據本申請，某些步驟可以採用其他順序或者同時進行。其次，本領域技術人員也應該知悉，說明書中所描述的實施例均屬於優選實施例，所涉及的動作和模組並不一定都是本申請所必須的。 在上述實施例中，對各個實施例的描述都各有側重，某個實施例中沒有詳述的部分，可以參見其他實施例的相關描述。 以上公開的本申請優選實施例只是用於幫助闡述本申請。可選實施例並沒有詳盡敘述所有的細節，也不限制該發明僅為所述的具體實施方式。顯然，根據本申請的內容，可作很多的修改和變化。本申請選取並具體描述這些實施例，是為了更好地解釋本申請的原理和實際應用，從而使所屬技術領域技術人員能很好地理解和利用本申請。本申請僅受權利要求書及其全部範圍和等效物的限制。 References to related applications: This application is required to be submitted to the China Patent Office on October 26, 2021, the application number is 202111248974.8, and the title of the invention is "A Warehouse Scheduling System and Method" The priority of the Chinese patent application with the application number 202122588185.0 and the title of the invention "a storage scheduling system", the entire content of which is incorporated in this application by reference. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar promotions without violating the connotation of the present application. Therefore, the present application is not limited by the specific implementation disclosed below. Terms used in one or more embodiments of the present application are for the purpose of describing specific embodiments only, and are not intended to limit the one or more embodiments of the present application. As used in one or more embodiments of this application and the appended claims, the singular forms "a", "the", and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and/or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items. It should be understood that although the terms first, second, etc. may be used to describe various pieces of information in one or more embodiments of the present application, these pieces of information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second, and similarly, second may also be referred to as first, without departing from the scope of one or more embodiments of the present application. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination." In this application, a storage scheduling system and method are provided, which will be described in detail in the following embodiments one by one. Figure 1 shows a schematic diagram of the system structure of a warehouse scheduling system provided by an embodiment of the present application, the system includes a control server 110, a container pick-and-place device 120, and a buffer area 130, and the buffer area 130 includes multiple buffer carriers 140. At least one storage position is set in the buffer carrier 140, and each storage position can carry at least one order container capable of accommodating the order goods. The control server 110 is wirelessly connected with the container pick-and-place equipment 120, and the staff operates the control server 110 through the console 114. The control server 110 is a software that runs on the server and has data storage and information processing capabilities. The system can be connected to the container pick-and-place equipment 120 through wireless, and the control server 110 can include one or more servers, which can be a centralized control architecture or a distributed computing architecture. The control server 110 has a processor 111 and a memory 112. There may be an order pool 113 in the memory 112, and the order information is stored in the order pool 113. The cache area 130 can be a dense storage area or a non-intensive storage area. A plurality of cache carriers 140 are arranged in the cache area 130. The cache carriers can be cache shelves, cage cars, pallet supports, etc. in practical applications. The specific form of the buffer carrier 140 is subject to the actual application, and it is not limited in this application. There are at least two layers, and at least one storage position is provided on the partition of the buffer shelf, and each storage position can carry at least one order container that can accommodate the order goods. The order container specifically refers to the container that has completed the order picking task and contains the order goods. At least one storage position is provided in the buffer carrier, and each storage position can carry at least one order container capable of accommodating the order goods. In the present application, the control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first buffer carrier that the first order container is to be buffered, and all The first order container is in the target storage position of the first buffer carrier, and sends a container pick-and-place instruction to the target container pick-and-place device; the target container pick-and-place device is configured to be set in the workstation area, according to The container pick-and-place instruction obtains the first order container located in the workstation area, and directly places the first order container in the target storage position of the first buffer carrier transported to the workstation area; or, the The target container pick-and-place device is configured to acquire the first order container located in the workstation area according to the container pick-and-place instruction, transport the first order container from the workstation area to the buffer area, and transfer the The first order container is placed in the target storage position of the first buffer carrier. Wherein, in the warehouse dispatching system provided by this application, the control server determines the target container pick-and-place device according to the cache task, and the container pick-and-place device is used to take out the order container and place it in the carrier according to the container pick-and-place instruction, or Take out the order container from the tool and place it in the designated place. In practical applications, after the goods in the order task are picked into the order container, the order container needs to be further processed. For example, if the same order is in multiple different order containers, it needs to be combined. ; For example, according to the order address of the order, the order containers in the same area need to be processed together, and the order container that has been picked first needs to be temporarily stored; Place orders on the inside of the carrier, place orders with first-to-addresses on the outside of the carrier, and so on. In another specific embodiment provided by this application, the target container pick-and-place device can also intelligently adjust the order container, determine the delivery route, delivery time, order wave and other information of each order container, and will have the same delivery The order containers of the delivery route or order wave are placed in the same cache carrier, which is convenient for subsequent delivery, and can be processed in a centralized manner to improve delivery efficiency. Further, the cache carrier with higher requirements on delivery time can be The tools are placed close to the delivery area to further improve delivery efficiency. Based on this, the control server also needs to determine the first buffer carrier to be buffered for the order container, and the target storage position of the order container in the first buffer carrier. Specifically, the control server needs to determine the target storage position of the order container in the first buffer carrier according to the order container processing task. Furthermore, the order container processing task specifically includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers. At the same time, the control server will also determine the target container pick-and-place device, and send a container pick-and-place instruction to the target container pick-and-place device. Container pick-and-place equipment specifically refers to equipment used to take out and put into order containers. The target container pick-and-place device may be configured in the workstation area, and take out the first order container from the workstation area according to the container pick-and-place instruction, and place the first order container in the target storage position of the first buffer carrier that is transported to the workstation area; The container pick-and-place device can also be a device that can move autonomously. After the first order container is taken out from the workstation area according to the container pick-and-place instruction, the first order container is transported from the workstation area to the cache area, and placed in the first order container located in the cache area. A target memory location of a cache carrier. The following uses two different scenarios to further explain the application of the target container pick-and-place device. In a specific application scenario provided by this application, the target container pick-and-place device is configured in the workstation area as an example for explanation. The target container pick-and-place device includes a container handling mechanism 150, a control server, and is further configured to determine the first a container handling mechanism, and sends a first container handling instruction to the first container handling mechanism; the first container handling mechanism is configured to be arranged in the workstation area, and responds to the first container handling instruction to place the first order A container is placed in the target storage location of the first cache carrier. Specifically, referring to FIG. 2, FIG. 2 shows a schematic diagram of a container loading and unloading mechanism used in an embodiment of the present application. The frame body 7 includes X-axis rails 71 and Y-axis rails 72 that are perpendicular to each other. The X-axis rails 71 and the Y-axis The rails 72 are arranged on a vertical plane. Specifically, the Y-axis track is configured to move along the X-axis track, and the fetching container assembly 2 is configured to move along the Y-axis track. In one embodiment, the frame body 7 includes a door frame assembly, and the X-axis track 71 includes a ground rail structure and a sky rail structure arranged on the door frame assembly. The X-axis rail 71 extends in the horizontal direction, and the Y-axis rail 72 extends in the vertical direction. The Y-axis track 72 can be a column structure, and the two ends of the Y-axis track 72 are guided and matched with the ground rail structure and the sky rail structure respectively, and the Y-axis track 72 moves horizontally along the ground rail structure and the sky rail structure. Specifically, the two X-axis rails 71 are provided with X-axis moving plates respectively, and the X-axis moving plates can move along the horizontal direction of the X-axis rails 71, and the two ends of the Y-axis rails 72 are fixedly connected to the two X-axis moving plates respectively. superior. The Y-axis track 72 is provided with a Y-axis moving plate, which can move vertically along the Y-axis track 72, and the fetching container assembly is fixedly connected to the Y-axis moving plate. The X-axis moving plate and the Y-axis moving plate can be further installed with guide assemblies, and slide along the corresponding X-axis rails 71 and Y-axis rails 72 through the guide assemblies. A drive system is also provided on the frame body 7, and the drive system includes an X-axis drive unit and a Y-axis drive unit. Wherein, the X-axis drive unit is used to drive the Y-axis track 72 to move along the X-axis track 71, and the Y-axis drive unit is used to drive the fetching and delivery container assembly to move along the Y-axis track 72, so that the fetching and delivery container assembly can be moved to The corresponding position corresponds, for example, to the target position on a shelf. The driving system may include a driving motor, a transmission gear, a transmission chain, a lead screw assembly, etc., and those skilled in the art can make settings based on the prior art to realize the above-mentioned functions of the driving system. In one embodiment of the present disclosure, at least two Y-axis rails 72 may be provided, and at least two Y-axis rails 72 relatively independently move between the upper and lower X-axis rails 71 . Each Y-axis track is provided with at least one pick-and-deliver container assembly, and each pick-and-deliver container assembly on each Y-axis track can move independently, which improves the working efficiency of the loading and unloading mechanism. In this embodiment, the loading and unloading mechanism is used to transfer the containers on the movable shelf, and the fetching container assembly can move on the frame body 7 along the X-axis track 71 and the Y-axis track 72 to the target position of the movable shelf. In practical applications, the access container assembly 2 accesses the container by at least one of suction, push, clamping, grasping, hooking, hugging, and lifting. The container loading and unloading mechanism 150 is disposed in the workstation area, and responds to the first container pick-and-place command, acquires the first order container, and places the first order container in the target storage position of the first buffer carrier through the pick-and-place container assembly. The warehouse dispatching system provided in the present application further includes a handling device 160, and the control server is further configured to determine the first handling device that transports the first buffer carrier, and send the first handling device to the first handling device. a transport instruction; the first transport device is configured to transport the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or to transport the first A cache carrier is transported from the workstation area back to the cache area. In practical applications, the buffer carrier 140 in the buffer area 130 can be transported, and the container loading and unloading mechanism 150 is fixed in the workstation area and cannot be moved. Therefore, the first buffer carrier can be transported from the buffer area by the first transport device 160 to the workstation area, or transport the first buffer carrier with the first order container loaded back to the buffer area from the workstation area. Furthermore, when the first transport device 160 moves the first buffer carrier back to the buffer area, the first buffer carrier can be transported from the workstation area back to the original buffer position of the buffer area, or the first buffer carrier can be transported back to the buffer area. other cache locations where tools are moved from the workstation area to the cache area. The other cache positions of the cache carrier transported back to the cache area can be determined according to preset conditions, for example, the cache position of the cache carrier is determined according to the priority order of the order, and the cache position distance of the order container with a high priority order in the cache area is The closer the area exit is, so that the order containers with high priority can be processed in a timely and fast manner. In another specific application scenario provided by this application, the target container pick-and-place equipment includes an autonomous mobile robot 170 (AMR) for picking, placing and handling order containers as an example. The autonomous mobile robot 170 can take out For the order container, the order container can be placed in the designated position, and the order container can also be moved between two designated positions. Specifically, the control server is configured to determine the first autonomous mobile robot, and sends a container pick-and-place instruction to the first autonomous mobile robot; the first autonomous mobile robot is configured to respond to the container pick-and-place instruction, Obtaining the first order container located in the workstation area, transporting the first order container from the workstation area to the buffer area, and placing the first order container in a target storage position of the first buffer shelf. In the application scenario provided by this embodiment, the control server determines that the target container pick-and-place device is the first autonomous mobile robot according to the cache task, and sends a container pick-and-place instruction to the first autonomous mobile robot. The handling equipment transports the buffer carrier to the workstation area, and the first autonomous mobile robot responds to the container pick-and-place command, obtains the first order container in the workstation area, and moves the first order container from the workstation area to the buffer area, and transfers the first order container to the buffer area. The order container is placed on the target storage position of the first cache shelf located in the cache area. The autonomous mobile robot 170 directly transports the order container to the cache carrier in the cache area, which avoids the problem of slow movement in the storage scene when the handling equipment transports the cache carrier, and is suitable for scenarios where a small number of order containers need to be placed in the cache area . To sum up the above two application scenarios, the container loading and unloading mechanism and the handling equipment cooperate to put the order container into the cache area, which is suitable for the scene of a large number of order containers; the autonomous mobile robot transports the order container to the cache carrier, which is suitable for a small In the scenario of order containers, in practical applications, the container pick-and-place equipment can be freely selected according to the actual situation, which is not specifically limited in this application. Usually, the order task is an order picking task completed in the workstation area. After the order picking task is completed, there will be an order container containing the order goods, and the order container needs to be placed in the cache area. In order to improve the storage efficiency of the order container , the warehouse dispatching system provided by the present application also includes a transmission line, which is used to transmit the order container that completes the order task, and the transmission line has a transmission line inlet and a transmission line outlet, wherein the transmission line entrance is used to receive the order container that completes the order task; The target container pick-and-place device is located at the exit of the transmission line, and the first order container is taken out from the exit of the transmission line. In a specific embodiment provided by this application, the container pick-and-place device is a container loading and unloading mechanism 150. The container loading and unloading mechanism 150 takes out the order container from the exit of the transmission line and places it on the buffer carrier 140. The buffer carrier 140 is moved by the handling device 160. 140 transport to the cache area. In another specific embodiment provided by this application, the container pick-and-place device is specifically an autonomous mobile robot 170. The autonomous mobile robot 170 takes out the order container from the exit of the transmission line, moves to the buffer area, and places the order container in the buffer area located in the buffer area. in the target memory location of the vehicle. In practical applications, the warehouse dispatching system provided by the application also includes an autonomous mobile robot and an inventory area for picking, placing and handling inventory containers. Multiple inventory carriers are set in the inventory area, and the inventory carrier is provided with at least one storage Each storage position can carry at least one inventory container that can accommodate stored goods; the control server is also configured to determine the target inventory container according to the order task, the target inventory carrier where the target inventory container is located, and for a second autonomous mobile robot carrying the target inventory container, and sending a second access instruction to the second autonomous mobile robot; the second autonomous mobile robot is configured to move in response to the second access instruction to the target inventory carrier, removing the target inventory container from the target inventory carrier and transporting the target inventory container to the workstation area. Specifically, the warehousing scheduling system includes the cache area after the order task is completed, and also includes the inventory area for storing goods. There are multiple inventory carriers in the inventory area. The inventory carriers can be movable shelves and fixed shelves. , tray bracket, etc., the specific form of the inventory carrier is not limited in this application, and the actual application shall prevail. A storage position is set in the inventory carrier, and an inventory container is stored on the storage position. According to the order task, the control server determines the target inventory container hit by the order task, and at the same time determines the target inventory carrier where the target inventory container is located, and is used to carry the second autonomous mobile robot of the target inventory container, and sends to the second autonomous mobile robot Second access instruction. In response to the second access command, the second autonomous mobile robot moves to the target inventory carrier, takes the target inventory carrier out of the target inventory container, and transports the target inventory container to the workstation area for order picking. In practical applications, when the inventory carrier is a movable shelf, sometimes multiple orders will hit multiple target inventory containers on the same movable shelf. In order to improve the handling efficiency, the storage scheduling system provided by this application also includes Including handling equipment, the control server determines the target inventory container and the target movable shelf where the target inventory container is located according to the order task, the second handling equipment used to transport the target movable shelf, and sends the second handling equipment to the second handling equipment instruction. The second conveying device, in response to the second conveying instruction, moves to the target movable shelf, and conveys the target movable shelf to the workstation area. After the operation of the autonomous mobile robot or handling equipment, the target inventory container is transported to the workstation area, and the order picking task is completed in the workstation area, specifically, the order goods in the target inventory container are picked into the order container. An auxiliary picking device is provided in the workstation area, and the auxiliary picking device is used to assist manual operations of picking order goods from the inventory container to the target order container after the target inventory container arrives at the workstation area. Specifically, the auxiliary picking device includes at least one of a visual sensor and a grating, and further, the visual sensor includes a camera. In the warehouse scheduling system provided by this application, after the order container is cached in the cache area, it is necessary to further execute the delivery task for the goods in the order container, and take out the order container from the cache area 130 and transport it to the exit of the cache area. The order container is placed in the delivery area 180 at the exit of the buffer area, and the delivery task of the order is completed in the delivery area 180 . In the application scenario where the order container is transported to the delivery area, the cache carrier where the order container is located can be transported to the exit of the cache area, or only the order container can be transported to the exit of the cache area. The specific application is to control the allocation of servers For the sake of reference, the following will introduce how to move the order container to the exit of the cache area in the two application scenarios. In an application scenario provided by this application, it is explained by taking the buffer carrier where the order container is transported to the outlet of the buffer area as an example. In this scenario, a container loading and unloading mechanism is also set at the outlet of the buffer area for loading and unloading The order container. Specifically, the control server is further configured to determine the second order container, the second buffer carrier where the second order container is located, and the third buffer carrier used to transport the second buffer carrier according to the delivery task. handling equipment and a second container handling mechanism, and send a third handling instruction to the third handling equipment, and send a second container handling instruction to the second container handling mechanism; the third handling equipment is configured to respond to The third transport instruction transports the second buffer carrier from the buffer area to the exit of the buffer area; the second container handling device is arranged at the exit of the buffer area and is configured to respond to the The second container loading and unloading instruction takes out the second order container from the second buffer carrier and places it in a designated area. In the application scenario of this embodiment, the control server determines the second order container and the second buffer carrier where the second order container is located according to the delivery task, and at the same time determines the third handling equipment and The second container loading and unloading mechanism sends a third handling instruction to and to the third handling equipment, and sends a second container loading and unloading instruction to the second container loading and unloading mechanism. In the application scenario of this embodiment, it is applicable to the situation that the delivery task hits multiple order containers on the same cache carrier, and the cache carrier is transported to the exit of the cache area to facilitate the delivery task of the order container. The third conveying device, in response to the third conveying instruction, moves to the second buffer carrier in the buffer area, and transports the second buffer carrier to the exit of the buffer area. The second container loading and unloading equipment is arranged at the exit of the buffer area, and according to the second container loading and unloading instruction, the second order container is taken out from the second buffer carrier, and the second order container is placed in a designated area, where the designated area can be is the shipping area 180. In another application scenario provided by this application, an explanation is given by taking the transport of the order container to the cache export as an example. The warehouse scheduling system provided by this application also includes an autonomous mobile robot for picking and placing or carrying order containers, and the control server is also configured to determine the third order container, the third order container, and the third order container according to the delivery task. The third buffer carrier where the container is located, the third autonomous mobile robot used to carry the third order container, and send a third access instruction to the third autonomous mobile robot; the third autonomous mobile robot is configured to move to the third buffer carrier in response to the third access instruction, take out the third order container from the third buffer carrier, and transport the third order container to a designated area . In the application scenario of this embodiment, the control server determines the third order container according to the delivery task, and at the same time determines the third buffer carrier where the third order container is located and the third autonomous mobile robot used to carry the third order container, And send a third access instruction to the third autonomous mobile robot. The application scenario of this embodiment is applied to a scenario where a delivery task hits a small number of order containers. In order to improve the delivery efficiency of order containers, only an autonomous mobile robot is required to transport the order containers to a designated area. The third autonomous mobile robot responds to the third access command, moves to the third buffer carrier in the buffer area, takes out the third order container from the third buffer carrier, and transports the third order container to the designated area (such as Cache area egress). The storage scheduling system provided by the embodiment of the present application includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one storage location, each Each storage position can carry at least one order container that can accommodate the order goods; the control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first The first cache carrier to be cached by the order container and the target storage position of the first order container on the first cache carrier, and send a container pick and place instruction to the target container pick and place device; the target container pick and place The placing device is configured to be set in the work station area, obtain the first order container located in the work station area according to the container pick-and-place instruction, and place the first order container directly on the first order container transported to the work station area. The target storage location of the buffer carrier; or, the target container pick-and-place device is configured to obtain the first order container located in the workstation area according to the container pick-and-place instruction, and take the first order container from the The workstation area is transported to the buffer area, and the first order container is placed on the target storage position of the first buffer carrier. Through the warehouse scheduling system provided by this application, after the order containers that have been picked and are to be cached are placed in the cache area for cache, the cache carrier of the order container and the position of the cache carrier in the cache area are determined according to the delivery task, so that the subsequent The merging or sorting tasks of order containers save manpower and material resources, and improve efficiency and accuracy. Secondly, the storage scheduling system provided by this application can also automatically connect the subsequent order container shipment tasks, effectively reducing the labor required for order consolidation and handling, and saving manpower. At the same time, dense storage shelves can also be used in the cache area, which greatly Improve the cache capacity, reduce the cache area, and reduce the cost of storage scheduling. In the following, the storage scheduling system provided by the present application will be further explained in combination with several specific embodiments. It should be noted that in the following embodiments, the order picking task is completed in the workstation area as an example. In this application, there is no limitation on the task of transporting the inventory container from the inventory area to the workstation area to complete the order picking task. Embodiment 1 The warehouse dispatching system provided in this embodiment includes a control server, a transportation line, a buffer area, a handling device, and a container loading and unloading mechanism. The buffer area is provided with a plurality of buffer shelves, and the buffer rack includes at least one partition , at least one storage position is arranged on the partition, and each storage position can carry at least one order container, and the transport line includes a transport line entrance and a transport line exit. According to the cache task, the control server determines the target order container that has been picked and is to be cached, the target cache shelf that the target order container will be cached, and the target storage position of the target order container on the target cache shelf, and at the same time determines the target container loading and unloading mechanism and The target handling equipment used to transport the target buffer shelf sends a container pick-and-place instruction to the target container loading and unloading mechanism and sends a shelf handling instruction to the target handling equipment. Workers or transportation devices in the workstation area place the target order container at the entrance of the transportation line, so that the target order container is transported in the transportation line. The target handling equipment responds to the rack handling instruction, and transports the target buffer rack from the buffer area to the rack docking position of the target container loading and unloading mechanism. The target container loading and unloading mechanism is located at the exit of the transport line, obtains the target order container from the exit of the transport line according to the container pick-and-place instruction, and places the target order container in the target storage position of the target buffer shelf. After the target order container is placed on the target storage position of the target cache shelf, the target handling device transports the target cache shelf back to the cache area to complete the cache task of the order container. Embodiment 2 The warehouse dispatching system provided in this embodiment includes a control server, a transportation line, a cache area, and an autonomous mobile robot. A plurality of cache shelves are arranged in the cache area, and the cache shelf includes at least one clapboard, and the clapboard At least one storage position is provided on the top, each storage position can carry at least one order container, and the transport line includes a transport line entrance and a transport line exit. According to the cache task, the control server determines the target order container that has been picked and is to be cached, the target cache shelf to be cached by the target order container, and the target storage position of the target order container on the target cache shelf, and at the same time determines the The target autonomous mobile robot of the container sends a container pick-and-place instruction to the target autonomous mobile robot. The target autonomous mobile robot responds to the container pick-and-place instruction, moves to the exit of the transportation line, takes out the target order container, and transports the target order container to the target cache shelf in the buffer area, and places the target order container on the target The destination storage slot for the cache shelf. At the same time, the target container loading and unloading mechanism and the target handling equipment used to transport the target buffer shelf are determined, and the container pick-and-place instruction is sent to the target container handling mechanism and the shelf handling instruction is sent to the target handling equipment. In the following embodiments, the application scenario of executing the shipping task from the order container in the cache area is further explained. Embodiment 3 The warehouse dispatching system provided in this embodiment includes a control server, a buffer area, a handling device, and a container loading and unloading mechanism. A plurality of buffer shelves are arranged in the buffer area, and the buffer rack includes at least one partition, and the partition At least one storage position is provided on the top, and each storage position can carry at least one order container, and the container handling mechanism is located at the exit of the buffer area. The control server determines the target order container, the target cache shelf where the target order container is located, the shelf cache position of the target cache shelf in the cache area, and simultaneously determines the target container loading and unloading mechanism and target handling equipment, and loads and unloads the target container The organization sends container loading and unloading instructions and sends shelf handling instructions to the target handling equipment. The target handling device moves to the target buffer rack in the buffer area in response to the rack transfer instruction, and transfers the target buffer rack storing the target order container from the buffer area to the buffer area exit. The target container loading and unloading device is located at the exit of the buffer area, responds to the container loading and unloading instruction, takes the target order container from the target buffer shelf, and places it in the shipping area. Embodiment 4 The storage scheduling system provided in this embodiment includes a control server, a cache area, and an autonomous mobile robot. A plurality of cache shelves are arranged in the cache area, and at least one partition is included in the cache shelf, and the partition is provided with At least one storage location, each storage location can carry at least one order container. The control server determines the target order container, the target cache shelf where the target order container is located, and the shelf cache position of the target cache shelf in the cache area according to the delivery task, and at the same time determines the target autonomous mobile robot, and sends container loading and unloading instructions to the target autonomous mobile robot. The target autonomous mobile robot responds to the container loading and unloading instruction, moves to the shelf cache position in the cache area, takes out the target order container from the target cache shelf, and transports the target order container to the exit of the cache area. Embodiment 5 Referring to FIG. 3, FIG. 3 shows a schematic diagram of the system structure of another storage scheduling system provided by an embodiment of the present application. As shown in FIG. 3, the storage scheduling system provided in this embodiment includes a control server, Inventory area, buffer area 130, container loading and unloading mechanism 150, handling equipment 160, autonomous mobile robot 170, delivery area 180, the inventory area and buffer area are located in the same area, as shown in Figure 3, the one near the workstation area in the figure The area on the side is the inventory area, and the area near the container loading and unloading mechanism 150 is the buffer area 130 . A plurality of buffering shelves are arranged in the buffering area 130, and the buffering racks include at least one partition, and at least one storage position is arranged on the partition, and each storage position can carry at least one order container. The control server determines the target inventory container and the target inventory shelf where the target order container is located according to the picking task, and at the same time determines the target handling equipment, and sends a handling instruction to the target handling equipment. The target handling equipment moves to the target inventory shelf in the inventory area, takes out the target inventory container from the target inventory shelf, and transports the target inventory container to the workstation area for order picking, and picks the goods into the target order container. And transport the target order container to the container handling facility. The control server determines the target cache shelf where the target order container is located and the shelf cache position of the target cache shelf in the cache area according to the cache task, and at the same time determines the first target autonomous mobile robot, and sends a container cache instruction to the first target autonomous mobile robot. The first target autonomous mobile robot responds to the container cache instruction and moves to the container loading and unloading mechanism, and the container loading and unloading mechanism loads the target order container onto the first target autonomous mobile robot, and then the first target autonomous mobile robot transports the target order container to the target cache shelf in the cache area. The control server determines the target order container and the target cache shelf where the target order container is located according to the delivery task, and the shelf cache position of the target cache shelf in the cache area, and at the same time determines the second target autonomous mobile robot, and sends the container to the second target autonomous mobile robot Loading and unloading instructions. The second target autonomous mobile robot responds to the container loading and unloading instruction, moves to the shelf cache position in the cache area, takes out the target order container from the target cache shelf, and transports the target order container to the exit of the cache area. The target container loading and unloading device is located at the exit of the buffer area, responds to the container loading and unloading instruction, takes the target order container from the target buffer shelf, and places it in the shipping area. Referring to FIG. 4 , FIG. 4 shows a flowchart of a storage scheduling method provided by an embodiment of the present application. The warehouse scheduling method is applied to a warehouse scheduling system, and the system includes a control server, a container pick-and-place device and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one Storage slots, each of which can hold at least one order container that can hold the order item. Specifically, the method includes steps 402-404: Step 402: The control server determines the target container pick-and-place device, the first order container that has been picked and is to be cached, and the first order container to be cached according to the cache task. The first buffer carrier and the first order container are in the target storage position of the first buffer carrier, and send a container pick-and-place instruction to the target container pick-and-place device. Step 404: The target container pick-and-place device is set in the work station area, obtains the first order container located in the work station area according to the container pick-and-place instruction, and directly places the first order container in the work station area transported to the work station area. The target storage location of the first buffer carrier; or, the target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, and transfers the first order container from the The workstation area is transported to the buffer area, and the first order container is placed on the target storage position of the first buffer carrier. In an optional embodiment provided in the present application, the container pick-and-place device includes a container handling mechanism; the control server determines a target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, It includes: the control server determines the first container loading and unloading mechanism, and sends a first container pick-and-place instruction to the first container handling mechanism; correspondingly, the target container pick-and-place device is set An order container is directly placed on the target storage position of the first buffer carrier transported to the workstation area, comprising: the first container loading and unloading mechanism is arranged in the workstation area, responding to the first container pick-and-place instruction The first order container is placed in the target storage position of the first buffer carrier. In an optional implementation manner provided in the present application, the system further includes a handling device; the method further includes: the control server determines the first handling device that transports the first buffer carrier, and sends the The first transport equipment sends a first transport instruction; the first transport equipment responds to the first transport instruction, transports the first buffer carrier from the buffer area to the workstation area, or transfers the The first buffer carrier is transported from the workstation area back to the buffer area. In an optional implementation manner provided in the present application, the method further includes: the first transport device transporting the first buffer carrier from the workstation area back to the original buffer position or other buffer positions of the buffer area . In an optional embodiment provided in the present application, the container pick-and-place equipment includes an autonomous mobile robot for pick-and-place and carry order containers; the control server determines the target container pick-and-place equipment, and sends the target container The pick-and-place device sends the container pick-and-place instruction, including: the control server determines the first autonomous mobile robot, and sends the container pick-and-place instruction to the first autonomous mobile robot; correspondingly, the target container pick-and-place device according to the The container picking and placing instruction obtains the first order container located in the workstation area, transports the first order container from the workstation area to the buffer area, and places the first order container in the first The target storage position of the cache carrier includes: the first autonomous mobile robot responds to the container pick-and-place instruction, obtains the first order container located in the workstation area, and transports the first order container from the workstation area to the cache area, and place the first order container on the target storage position of the first cache shelf. In an optional embodiment provided in the present application, the system further includes a transmission line, and the transmission line includes a transmission line inlet and a transmission line outlet, wherein the transmission line inlet is used to receive order containers that complete order tasks; the target container is taken from The placing device obtains the first order container located in the workstation area according to the container pick-and-place instruction, including: the target container pick-and-place device takes out the first order container from the exit of the transmission line, wherein the target container takes Putting equipment is located at the exit of the transfer line. In an optional embodiment provided by the present application, the system further includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, the inventory area is provided with a plurality of inventory carriers, and the inventory carriers At least one storage position is provided, and each storage position can carry at least one inventory container capable of accommodating stored goods; the method further includes: the control server determines the target inventory container according to the order task, and the target where the target inventory container is located an inventory carrier, a second autonomous mobile robot for carrying the target inventory container, and sending a second access instruction to the second autonomous mobile robot; the second autonomous mobile robot responds to the second access Instructions move to the target inventory carrier, remove the target inventory container from the target inventory carrier, and transport the target inventory container to the workstation area. In an optional embodiment provided by the present application, the system further includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions divides the The movable shelf is divided into at least two layers, and at least one storage position is provided on the partition of the movable shelf; the method also includes: the control server determines the target inventory container according to the order task, and the target inventory container is located The target movable shelf is used to transport the second handling equipment of the target movable shelf, and sends a second handling instruction to the second handling equipment; the second handling equipment responds to the second handling instruction to carry The target movable racks to the workstation area. In an optional implementation manner provided by the present application, the system further includes a container loading and unloading mechanism; the method further includes: the control server determines the second order container according to the delivery task, and the location where the second order container is located; The second buffer carrier, the third handling equipment used to transport the second buffer carrier, and the second container loading and unloading mechanism, and send a third handling instruction to the third handling equipment, and send a third handling instruction to the second container loading and unloading mechanism sending a second container loading and unloading instruction; the third handling equipment responds to the third handling instruction to transport the second buffer carrier from the buffer area to the exit of the buffer area; the second container handling equipment Responding to the second container loading and unloading instruction, the second order container is taken out from the second buffer carrier and placed in a designated area, wherein the second container handling device is arranged at an exit of the buffer area. In an optional embodiment provided by the present application, the system further includes an autonomous mobile robot for picking, placing and carrying the order container; the method further includes: the control server determines the third order container according to the delivery task , the third buffer carrier where the third order container is located, the third autonomous mobile robot used to carry the third order container, and send a third access instruction to the third autonomous mobile robot; Three autonomous mobile robots move to the third buffer carrier in response to the third access command, take out the third order container from the third buffer carrier, and transport the third order container to specific area. In an optional implementation manner provided in the present application, the method further includes: the control server, further configured to determine the number of the first order container in the first buffer carrier according to the order container processing task. Destination storage bit. In an optional implementation manner provided in the present application, the order container processing task includes at least one of a task of merging order items in at least two order containers and a task of sorting at least two order containers. The storage scheduling method provided by the embodiment of the application is applied to the storage scheduling system. Through the storage scheduling system provided by the application, the order containers that have been picked and are to be cached are placed in the cache area and cached, and the cache of the order container is determined according to the delivery task. The position of the carrier and the cache carrier in the cache area is convenient for subsequent merging or sorting tasks of order containers, which saves manpower and material resources, and improves efficiency and accuracy. Secondly, the warehousing scheduling method provided by this application can also automatically connect subsequent order container shipment tasks, effectively reducing the labor required for order consolidation and handling, and saving manpower. At the same time, dense storage shelves can also be used in the cache area, which greatly Improve the cache capacity, reduce the cache area, and reduce the cost of storage scheduling. The foregoing describes specific embodiments of the present application. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments. It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by this application. In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments. The preferred embodiments of the present application disclosed above are only used to help clarify the present application. Alternative embodiments are not exhaustive in all detail, nor are the inventions limited to specific implementations described. Obviously, many modifications and changes can be made according to the content of this application. This application selects and specifically describes these embodiments in order to better explain the principles and practical applications of this application, so that those skilled in the art can well understand and use this application. This application is to be limited only by the claims, along with their full scope and equivalents.

2:取送容器組件 7:架體 71:X軸軌道 72:Y軸軌道 110:控制伺服器 111:處理器 112:記憶體 113:訂單池 114:操作臺 120:容器取放設備 130:緩存區域 140:緩存載具 150:容器裝卸機構 160:搬運設備 170:自主移動機器人 180:發貨區域 402:所述控制伺服器根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令。 404:所述目標容器取放設備設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者，所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 2: Take and deliver container components 7: frame body 71: X-axis track 72: Y-axis track 110:Control server 111: Processor 112: Memory 113: Order pool 114: Operating table 120: Container pick and place equipment 130: cache area 140: cache vehicle 150: container handling mechanism 160: Handling equipment 170: Autonomous Mobile Robots 180: delivery area 402: The control server determines the target container pick-and-place device, the first order container that has been picked and is to be cached, the first cache carrier that the first order container will be cached, and the first order container according to the cache task at the target storage position of the first cache carrier, and send a container pick-and-place instruction to the target container pick-and-place device. 404: The target container pick-and-place device is set in the work station area, obtains the first order container located in the work station area according to the container pick-and-place instruction, and directly places the first order container on the work station area transported to the work station area. the target storage location of the first buffer carrier; or, the target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, and takes the first order container from the workstation The area is transported to the buffer area, and the first order container is placed on the target storage position of the first buffer carrier.

圖1是本申請一實施例提供的倉儲調度系統的系統結構示意圖； 圖2是本申請一實施例提供的容器裝卸機構的示意圖； 圖3是本申請一實施例提供的另一倉儲調度系統的系統結構示意圖； 圖4是本申請一實施例提供的倉儲調度方法的流程圖。 Fig. 1 is a schematic diagram of the system structure of a warehouse dispatching system provided by an embodiment of the present application; Fig. 2 is a schematic diagram of a container loading and unloading mechanism provided by an embodiment of the present application; Fig. 3 is a schematic diagram of the system structure of another storage scheduling system provided by an embodiment of the present application; Fig. 4 is a flowchart of a warehouse scheduling method provided by an embodiment of the present application.

110:控制伺服器 110:Control server

111:處理器 111: Processor

112:記憶體 112: memory

113:訂單池 113: Order pool

114:操作臺 114: Operating table

120:容器取放設備 120: Container pick and place equipment

130:緩存區域 130: cache area

140:緩存載具 140: cache vehicle

150:容器裝卸機構 150: container handling mechanism

160:搬運設備 160: Handling equipment

170:自主移動機器人 170: Autonomous Mobile Robots

180:發貨區域 180: delivery area

Claims (30)

一種倉儲調度系統，其特徵在於，所述系統包括控制伺服器、容器取放設備和緩存區域，所述緩存區域設置有多個緩存載具，其中，所述緩存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器； 所述控制伺服器，被配置為根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令； 所述目標容器取放設備，被配置為設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者， 所述目標容器取放設備，被配置為根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 A storage scheduling system, characterized in that the system includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier is provided with at least one storage location , each storage location can carry at least one order container that can hold the order goods; The control server is configured to determine the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first buffer carrier to be buffered by the first order container, and the first container according to the buffering task. The order container is in the target storage location of the first buffer carrier, and a container pick-and-place instruction is sent to the target container pick-and-place device; The target container pick-and-place device is configured to be set in the workstation area, obtain the first order container located in the workstation area according to the container pick-and-place instruction, and directly place the first order container in the workstation area to be transported the target memory location of the first cache carrier; or, The target container pick-and-place device is configured to acquire the first order container located in the workstation area according to the container pick-and-place instruction, transport the first order container from the workstation area to the buffer area, and placing the first order container on a target storage position of the first buffer carrier. 如請求項1所述的倉儲調度系統，其特徵在於，所述容器取放設備包括容器裝卸機構； 所述控制伺服器，被配置為確定第一容器裝卸機構，並向所述第一容器裝卸機構發送第一容器取放指令； 所述第一容器裝卸機構，被配置為設置於工作站區域，回應於所述第一容器取放指令將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 The storage dispatching system according to claim 1, wherein the container picking and placing equipment includes a container loading and unloading mechanism; The control server is configured to determine a first container handling mechanism, and send a first container pick-and-place instruction to the first container handling mechanism; The first container loading and unloading mechanism is configured to be disposed in the workstation area, and place the first order container on the target storage position of the first buffer carrier in response to the first container pick and place command. 如請求項2所述的倉儲調度系統，其特徵在於，所述系統還包括搬運設備； 所述控制伺服器，還被配置為確定搬運所述第一緩存載具的第一搬運設備，並向所述第一搬運設備發送第一搬運指令； 所述第一搬運設備，被配置為回應於所述第一搬運指令，將所述第一緩存載具從所述緩存區域搬運到所述工作站區域，或者，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域。 The storage scheduling system as described in claim 2, wherein the system also includes handling equipment; The control server is further configured to determine a first transport device that transports the first buffer carrier, and send a first transport instruction to the first transport device; The first transport device is configured to transport the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or transport the first buffer carrier from the The workstation area is moved back to the cache area. 如請求項3所述的倉儲調度系統，其特徵在於，所述第一搬運設備被配置為，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域的原緩存位置或者其他緩存位置。The warehouse scheduling system according to claim 3, wherein the first transport device is configured to transport the first buffer carrier from the workstation area back to the original buffer position of the buffer area or other cache location. 如請求項1所述的倉儲調度系統，其特徵在於，所述容器取放設備包括用於取放及搬運訂單容器的自主移動機器人； 所述控制伺服器，被配置為確定第一自主移動機器人，並向所述第一自主移動機器人發送容器取放指令； 所述第一自主移動機器人，被配置為回應於所述容器取放指令，取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存貨架的目標存儲位。 The warehouse dispatching system as described in claim 1, wherein the container pick-and-place equipment includes an autonomous mobile robot for picking, placing and handling order containers; The control server is configured to determine the first autonomous mobile robot, and send a container pick-and-place instruction to the first autonomous mobile robot; The first autonomous mobile robot is configured to obtain the first order container located in the workstation area in response to the container pick-and-place instruction, transport the first order container from the workstation area to the buffer area, and placing the first order container on the target storage position of the first buffer shelf. 如請求項1所述的倉儲調度系統，其特徵在於，所述系統還包括傳輸線，所述傳輸線包括傳輸線入口和傳輸線出口，其中，所述傳輸線入口用於接收完成訂單任務的訂單容器； 所述目標容器取放設備位於所述傳輸線出口，被配置為從所述傳輸線出口取出所述第一訂單容器。 The storage scheduling system according to claim 1, wherein the system further includes a transmission line, the transmission line includes a transmission line entrance and a transmission line exit, wherein the transmission line entrance is used to receive order containers for completing order tasks; The target container pick and place device is located at the exit of the transfer line and is configured to remove the first order container from the exit of the transfer line. 如請求項1所述的倉儲調度系統，其特徵在於，所述系統還包括用於取放及搬運庫存容器的自主移動機器人和庫存區域，所述庫存區域設置有多個庫存載具，所述庫存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納倉儲貨物的庫存容器； 所述控制伺服器，還被配置為根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標庫存載具、用於搬運所述目標庫存容器的第二自主移動機器人，並向所述第二自主移動機器人發送第二存取指令； 所述第二自主移動機器人，被配置為回應於所述第二存取指令移動至所述目標庫存載具，從所述目標庫存載具取出所述目標庫存容器並將所述目標庫存容器搬運至所述工作站區域。 The warehouse dispatching system as described in claim 1, is characterized in that, the system also includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, and the inventory area is provided with a plurality of inventory carriers, the The inventory carrier is provided with at least one storage location, and each storage location can carry at least one inventory container that can accommodate stored goods; The control server is further configured to determine the target inventory container, the target inventory carrier on which the target inventory container is located, and the second autonomous mobile robot used to carry the target inventory container according to the order task, and send a message to the first 2. The autonomous mobile robot sends a second access command; The second autonomous mobile robot is configured to move to the target inventory carrier in response to the second access instruction, take out the target inventory container from the target inventory carrier, and carry the target inventory container to the workstation area in question. 如請求項7所述的倉儲調度系統，其特徵在於，所述系統還包括搬運設備，所述庫存載具包括可移動貨架，所述可移動貨架包括至少一層隔板，所述至少一層隔板將所述可移動貨架分割為至少兩層，所述可移動貨架的隔板上設置有至少一個存儲位； 所述控制伺服器，還被配置為根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標可移動貨架，用於搬運所述目標可移動貨架的第二搬運設備，並向所述第二搬運設備發送第二搬運指令； 所述第二搬運設備，被配置為回應於所述第二搬運指令搬運所述目標可移動貨架至所述工作站區域。 The storage scheduling system according to claim 7, wherein the system also includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions The movable shelf is divided into at least two layers, and at least one storage position is arranged on the partition of the movable shelf; The control server is also configured to determine the target inventory container and the target movable shelf where the target inventory container is located according to the order task, and is used to transport the second handling device of the target movable shelf, and send the Second, the handling equipment sends the second handling instruction; The second transporting device is configured to transport the target movable shelf to the workstation area in response to the second transporting instruction. 如請求項1-7中任意一項所述的倉儲調度系統，其特徵在於，所述系統還包括容器裝卸機構； 所述控制伺服器，還被配置為根據發貨任務確定第二訂單容器、所述第二訂單容器所在的第二緩存載具、用於搬運所述第二緩存載具的第三搬運設備和第二容器裝卸機構，並向所述第三搬運設備發送第三搬運指令，向所述第二容器裝卸機構發送第二容器裝卸指令； 所述第三搬運設備，被配置為回應於所述第三搬運指令將所述第二緩存載具從所述緩存區域搬運至所述緩存區域的出口； 所述第二容器裝卸設備設置於所述緩存區域的出口，被配置為回應於所述第二容器裝卸指令從所述第二緩存載具中取出所述第二訂單容器，並放在指定區域。 The storage scheduling system according to any one of claim items 1-7, wherein the system also includes a container loading and unloading mechanism; The control server is further configured to determine the second order container, the second buffer carrier where the second order container is located, the third handling device for handling the second buffer carrier and a second container loading and unloading mechanism, and sending a third handling instruction to the third handling device, and sending a second container loading and unloading instruction to the second container loading and unloading mechanism; The third transport device is configured to transport the second buffer carrier from the buffer area to an exit of the buffer area in response to the third transfer instruction; The second container loading and unloading device is arranged at the exit of the buffer area, and is configured to take out the second order container from the second buffer carrier in response to the second container loading and unloading instruction, and place it in a designated area . 如請求項1-7中任意一項所述的倉儲調度系統，其特徵在於，所述系統還包括用於取放及搬運訂單容器的自主移動機器人； 所述控制伺服器，還被配置為根據發貨任務確定第三訂單容器、所述第三訂單容器所在的第三緩存載具、用於搬運所述第三訂單容器的第三自主移動機器人，並向所述第三自主移動機器人發送第三存取指令； 所述第三自主移動機器人，被配置為回應於所述第三存取指令移動至所述第三緩存載具，從所述第三緩存載具中取出所述第三訂單容器，並將所述第三訂單容器搬運至指定區域。 The storage scheduling system according to any one of claim items 1-7, wherein the system also includes an autonomous mobile robot for picking, placing and handling order containers; The control server is further configured to determine a third order container, a third buffer carrier where the third order container is located, and a third autonomous mobile robot for carrying the third order container according to the delivery task, and sending a third access instruction to the third autonomous mobile robot; The third autonomous mobile robot is configured to move to the third buffer carrier in response to the third access instruction, take out the third order container from the third buffer carrier, and transfer the The above-mentioned third order container is transported to the designated area. 如請求項1所述的倉儲調度系統，其特徵在於，所述控制伺服器，還被配置為根據訂單容器處理任務確定所述第一訂單容器在所述第一緩存載具中的目標存儲位。The warehouse scheduling system according to claim 1, wherein the control server is further configured to determine the target storage position of the first order container in the first buffer carrier according to the order container processing task . 如請求項11所述的倉儲調度系統，其特徵在於，所述訂單容器處理任務包括將至少兩個訂單容器中的訂單貨物進行合併的任務、將至少兩個訂單容器進行排序的任務中的至少一個。The warehouse scheduling system according to claim 11, wherein the order container processing task includes at least one of the task of merging order goods in at least two order containers and the task of sorting at least two order containers one. 如請求項7或8所述的倉儲調度系統，其特徵在於，所述工作站區域設置有輔助揀選裝置，所述輔助揀選裝置用於在庫存容器抵達工作站區域後，輔助執行從所述庫存容器中揀選訂單貨物至訂單容器的操作。The warehouse dispatching system according to claim 7 or 8, wherein the workstation area is provided with an auxiliary picking device, and the auxiliary picking device is used to assist in carrying out the storage from the inventory container after the inventory container arrives at the workstation area. The operation of picking order items into order containers. 如請求項13所述的倉儲調度系統，其特徵在於，所述輔助揀選裝置包括視覺感測器、光柵中的至少一種。The storage scheduling system according to claim 13, wherein the auxiliary picking device includes at least one of a visual sensor and a light barrier. 如請求項2所述的倉儲調度系統，其特徵在於，所述容器裝卸機構包括：架體和取放容器組件； 所述架體包括方向相互垂直的水準方向的X軸軌道和豎直方向的Y軸軌道； 所述Y軸軌道被構造為沿著X軸軌道運動，所述取放容器組件被構造為沿著Y軸軌道運動。 The storage scheduling system according to claim 2, wherein the container loading and unloading mechanism includes: a frame body and a pick-and-place container assembly; The frame body includes an X-axis track in a horizontal direction and a Y-axis track in a vertical direction in directions perpendicular to each other; The Y-axis track is configured to move along the X-axis track, and the pick-and-place container assembly is configured to move along the Y-axis track. 如請求項15所述的倉儲調度系統，其特徵在於，所述架體包括門架組件； 所述X軸軌道包括地軌結構和設置在門架組件上的天軌結構； 所述Y軸軌道的兩端分別與地軌結構和天軌結構導向配合在一起。 The storage scheduling system according to claim 15, wherein the frame body includes a door frame assembly; The X-axis track includes a ground track structure and a sky track structure arranged on the gantry assembly; The two ends of the Y-axis track are respectively guided and matched with the ground track structure and the sky track structure. 如請求項16所述的倉儲調度系統，其特徵在於，所述Y軸軌道設置有至少兩個，每個Y軸軌道上設置有至少一個所述取放容器組件。The storage scheduling system according to claim 16, wherein there are at least two Y-axis tracks, and at least one pick-and-place container assembly is set on each Y-axis track. 如請求項15所述的倉儲調度系統，其特徵在於，所述取放容器組件通過吸取、推動、夾取、抓取、鉤取、抱起、抬升方式中的至少一種取放容器。The warehouse dispatching system according to claim 15, wherein the pick-and-place container assembly uses at least one of suction, push, clamp, grasp, hook, pick-up, and lift to pick-and-place containers. 一種倉儲調度方法，其特徵在於，應用於倉儲調度系統，所述系統包括控制伺服器、容器取放設備和緩存區域，所述緩存區域設置有多個緩存載具，其中，所述緩存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納訂單貨物的訂單容器； 所述方法包括： 所述控制伺服器根據緩存任務確定目標容器取放設備、已完成揀選且待緩存的第一訂單容器、所述第一訂單容器將要緩存的第一緩存載具以及所述第一訂單容器在所述第一緩存載具的目標存儲位，並向所述目標容器取放設備發送容器取放指令； 所述目標容器取放設備設置於工作站區域，根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位；或者， 所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 A warehouse scheduling method, characterized in that it is applied to a warehouse scheduling system, the system includes a control server, a container pick-and-place device, and a buffer area, and the buffer area is provided with a plurality of buffer carriers, wherein the buffer carrier At least one storage position is provided, and each storage position can carry at least one order container capable of accommodating the order goods; The methods include: The control server determines the target container pick-and-place device, the first order container that has been picked and is to be buffered, the first buffer carrier that the first order container is to be buffered, and the location of the first order container according to the buffering task. the target storage location of the first cache carrier, and send a container pick-and-place instruction to the target container pick-and-place device; The target container pick-and-place device is set in the workstation area, obtains the first order container located in the workstation area according to the container pick-and-place instruction, and directly places the first order container on the first order container transported to the workstation area. a target memory location of a cache carrier; or, The target container pick-and-place device acquires the first order container located in the workstation area according to the container pick-and-place instruction, transports the first order container from the workstation area to the buffer area, and transfers the second order container to the storage area. An order container is placed in the target storage location of the first buffer carrier. 如請求項19所述的倉儲調度方法，其特徵在於，所述容器取放設備包括容器裝卸機構； 所述控制伺服器確定目標容器取放設備，並向所述目標容器取放設備發送容器取放指令，包括： 所述控制伺服器確定第一容器裝卸機構，並向所述第一容器裝卸機構發送第一容器取放指令； 相應的，所述目標容器取放設備設置於工作站區域，將所述第一訂單容器直接放置在被搬運到工作站區域的所述第一緩存載具的目標存儲位，包括： 所述第一容器裝卸機構設置於工作站區域，回應於所述第一容器取放指令將所述第一訂單容器放置在所述第一緩存載具的目標存儲位。 The storage scheduling method according to claim 19, wherein the container picking and placing equipment includes a container loading and unloading mechanism; The control server determines the target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, including: The control server determines the first container loading and unloading mechanism, and sends the first container loading and unloading instruction to the first container loading and unloading mechanism; Correspondingly, the target container pick-and-place device is set in the workstation area, and the first order container is directly placed on the target storage position of the first buffer carrier transported to the workstation area, including: The first container loading and unloading mechanism is arranged in the workstation area, and responds to the first container pick-and-place command to place the first order container on the target storage position of the first buffer carrier. 如請求項20所述的倉儲調度方法，其特徵在於，所述系統還包括搬運設備； 所述方法還包括： 所述控制伺服器確定搬運所述第一緩存載具的第一搬運設備，並向所述第一搬運設備發送第一搬運指令； 所述第一搬運設備回應於所述第一搬運指令，將所述第一緩存載具從所述緩存區域搬運到所述工作站區域，或者，將所述第一緩存載具從所述工作站區域搬運回所述緩存區域。 The storage scheduling method according to claim 20, wherein the system further includes handling equipment; The method also includes: The control server determines a first transport device that transports the first buffer carrier, and sends a first transport instruction to the first transport device; The first transport device transports the first buffer carrier from the buffer area to the workstation area in response to the first transport instruction, or transports the first buffer carrier from the workstation area Move back to the cache area. 如請求項21所述的倉儲調度方法，其特徵在於，所述方法還包括： 所述第一搬運設備所述第一緩存載具從所述工作站區域搬運回所述緩存區域的原緩存位置或者其他緩存位置。 The storage scheduling method according to claim 21, wherein the method further includes: The first transport device transports the first buffer carrier from the workstation area back to the original buffer position or other buffer positions in the buffer area. 如請求項19所述的倉儲調度方法，其特徵在於，所述容器取放設備包括用於取放及搬運訂單容器的自主移動機器人； 所述控制伺服器確定目標容器取放設備，並向所述目標容器取放設備發送容器取放指令，包括： 所述控制伺服器確定第一自主移動機器人，並向所述第一自主移動機器人發送容器取放指令； 相應的，所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從所述工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存載具的目標存儲位，包括： 所述第一自主移動機器人回應於所述容器取放指令，取得位於工作站區域的所述第一訂單容器，將所述第一訂單容器從工作站區域搬運到所述緩存區域，並將所述第一訂單容器放置在所述第一緩存貨架的目標存儲位。 The storage scheduling method according to claim 19, wherein the container pick-and-place equipment includes an autonomous mobile robot for picking, placing and handling order containers; The control server determines the target container pick-and-place device, and sends a container pick-and-place instruction to the target container pick-and-place device, including: The control server determines the first autonomous mobile robot, and sends a container pick-and-place instruction to the first autonomous mobile robot; Correspondingly, the target container pick-and-place device acquires the first order container located in the workstation area according to the container pick-and-place instruction, transports the first order container from the workstation area to the buffer area, and The first order container is placed in the target storage position of the first buffer carrier, including: The first autonomous mobile robot responds to the container pick-and-place instruction, obtains the first order container located in the workstation area, transports the first order container from the workstation area to the buffer area, and transfers the second order container to the storage area. An order container is placed on the target storage position of the first buffer shelf. 如請求項19所述的倉儲調度方法，其特徵在於，所述系統還包括傳輸線，所述傳輸線包括傳輸線入口和傳輸線出口，其中，所述傳輸線入口用於接收完成訂單任務的訂單容器； 所述目標容器取放設備根據所述容器取放指令取得位於工作站區域的所述第一訂單容器，包括： 所述目標容器取放設備從所述傳輸線出口取出所述第一訂單容器，其中，所述目標容器取放設備位於所述傳輸線出口。 The storage scheduling method according to claim 19, wherein the system further includes a transmission line, the transmission line includes a transmission line entrance and a transmission line exit, wherein the transmission line entrance is used to receive order containers for completing order tasks; The target container pick-and-place device obtains the first order container located in the workstation area according to the container pick-and-place instruction, including: The target container pick-and-place device takes out the first order container from the transmission line exit, wherein the target container pick-and-place device is located at the transmission line exit. 如請求項19所述的倉儲調度方法，其特徵在於，所述系統還包括用於取放及搬運庫存容器的自主移動機器人和庫存區域，所述庫存區域設置有多個庫存載具，所述庫存載具設置有至少一個存儲位，每個存儲位可承載至少一個可容納倉儲貨物的庫存容器； 所述方法還包括： 所述控制伺服器根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標庫存載具、用於搬運所述目標庫存容器的第二自主移動機器人，並向所述第二自主移動機器人發送第二存取指令； 所述第二自主移動機器人回應於所述第二存取指令移動至所述目標庫存載具，從所述目標庫存載具取出所述目標庫存容器並將所述目標庫存容器搬運至所述工作站區域。 The storage scheduling method according to claim 19, wherein the system further includes an autonomous mobile robot and an inventory area for picking, placing and carrying inventory containers, and the inventory area is provided with a plurality of inventory carriers, the The inventory carrier is provided with at least one storage location, and each storage location can carry at least one inventory container that can accommodate stored goods; The method also includes: The control server determines the target inventory container, the target inventory carrier where the target inventory container is located, and the second autonomous mobile robot used to carry the target inventory container according to the order task, and sends a message to the second autonomous mobile robot. the second access instruction; the second autonomous mobile robot moves to the target inventory carrier in response to the second access command, retrieves the target inventory container from the target inventory carrier and transports the target inventory container to the workstation area. 如請求項25所述的倉儲調度方法，其特徵在於，所述系統還包括搬運設備，所述庫存載具包括可移動貨架，所述可移動貨架包括至少一層隔板，所述至少一層隔板將所述可移動貨架分割為至少兩層，所述可移動貨架的隔板上設置有至少一個存儲位； 所述方法還包括： 所述控制伺服器根據訂單任務確定目標庫存容器、所述目標庫存容器所在的目標可移動貨架，用於搬運所述目標可移動貨架的第二搬運設備，並向所述第二搬運設備發送第二搬運指令； 所述第二搬運設備回應於所述第二搬運指令搬運所述目標可移動貨架至所述工作站區域。 The storage scheduling method according to claim 25, wherein the system further includes handling equipment, the inventory carrier includes a movable shelf, and the movable shelf includes at least one layer of partitions, and the at least one layer of partitions The movable shelf is divided into at least two layers, and at least one storage position is arranged on the partition of the movable shelf; The method also includes: The control server determines the target inventory container and the target movable shelf where the target inventory container is located according to the order task, and is used to transport the second handling equipment of the target movable shelf, and sends the second handling equipment to the second handling equipment. 2. Handling instructions; The second transport device transports the target movable rack to the workstation area in response to the second transport command. 如請求項19-25中任意一項所述的倉儲調度方法，其特徵在於，所述系統還包括容器裝卸機構； 所述方法還包括： 所述控制伺服器根據發貨任務確定第二訂單容器、所述第二訂單容器所在的第二緩存載具、用於搬運所述第二緩存載具的第三搬運設備和第二容器裝卸機構，並向所述第三搬運設備發送第三搬運指令，向所述第二容器裝卸機構發送第二容器裝卸指令； 所述第三搬運設備回應於所述第三搬運指令將所述第二緩存載具從所述緩存區域搬運至所述緩存區域的出口； 所述第二容器裝卸設備回應於所述第二容器裝卸指令從所述第二緩存載具中取出所述第二訂單容器，並放在指定區域，其中，所述第二容器裝卸設備設置於所述緩存區域的出口。 The storage scheduling method according to any one of claim items 19-25, wherein the system also includes a container loading and unloading mechanism; The method also includes: The control server determines the second order container, the second buffer carrier where the second order container is located, the third handling device for handling the second buffer carrier, and the second container loading and unloading mechanism according to the delivery task , and send a third handling instruction to the third handling device, and send a second container handling instruction to the second container handling mechanism; The third transport device transports the second buffer carrier from the buffer area to an exit of the buffer area in response to the third transfer instruction; The second container handling device takes out the second order container from the second buffer carrier in response to the second container handling instruction, and places it in a designated area, wherein the second container handling device is set at The egress of the cache area. 如請求項19-25中任意一項所述的倉儲調度方法，其特徵在於，所述系統還包括用於取放及搬運訂單容器的自主移動機器人； 所述方法還包括： 所述控制伺服器根據發貨任務確定第三訂單容器、所述第三訂單容器所在的第三緩存載具、用於搬運所述第三訂單容器的第三自主移動機器人，並向所述第三自主移動機器人發送第三存取指令； 所述第三自主移動機器人回應於所述第三存取指令移動至所述第三緩存載具，從所述第三緩存載具中取出所述第三訂單容器，並將所述第三訂單容器搬運至指定區域。 The storage scheduling method according to any one of claim items 19-25, wherein the system further includes an autonomous mobile robot for picking, placing and handling order containers; The method also includes: The control server determines the third order container, the third buffer carrier where the third order container is located, and the third autonomous mobile robot used to carry the third order container according to the delivery task, and sends to the first The three autonomous mobile robots send the third access instruction; The third autonomous mobile robot moves to the third buffer carrier in response to the third access instruction, takes out the third order container from the third buffer carrier, and transfers the third order container The container is moved to the designated area. 如請求項19所述的倉儲調度方法，其特徵在於，所述方法還包括： 所述控制伺服器，還被配置為根據訂單容器處理任務確定所述第一訂單容器在所述第一緩存載具中的目標存儲位。 The storage scheduling method according to claim 19, wherein the method further includes: The control server is further configured to determine the target storage position of the first order container in the first buffer carrier according to the order container processing task. 如請求項29所述的倉儲調度方法，其特徵在於，所述訂單容器處理任務包括將至少兩個訂單容器中的訂單貨物進行合併的任務、將至少兩個訂單容器進行排序的任務中的至少一個。The warehouse scheduling method according to claim 29, wherein the order container processing task includes at least one of the task of merging the order goods in at least two order containers and the task of sorting at least two order containers one.
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