Feeding control method, control device, feeding device and warehousing system

The invention provides a feeding control method, a control device, a feeding device and a storage system. The feeding control method is applied to the feeding device, the feeding device is used for transporting goods to a carrying robot, the feeding device comprises a storage unit, a goods inlet and outlet and a rolling conveying piece are arranged on the storage unit, and the rolling conveying piece is provided with an outer contour surface capable of making rolling contact with goods in the storage unit. The method comprises the steps that a feeding instruction is received; and the rolling conveying piece is controlled to rotate in the direction towards the goods inlet and outlet according to the feeding instruction so as to convey the goods in the storage unit to the outer side of the goods inlet and outlet. According to the feeding control method, in the feeding process, the automation degree is good, and the operation efficiency is high. 本发明提供一种上料控制方法、控制装置、上料装置及仓储系统。上料控制方法应用于上料装置，上料装置用于向搬运机器人运输货物，上料装置包括存