CN110316509A - A kind of shelf change face method and apparatus - Google Patents
A kind of shelf change face method and apparatus Download PDFInfo
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- CN110316509A CN110316509A CN201810264109.4A CN201810264109A CN110316509A CN 110316509 A CN110316509 A CN 110316509A CN 201810264109 A CN201810264109 A CN 201810264109A CN 110316509 A CN110316509 A CN 110316509A
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- shelf
- face
- transport vehicle
- changes
- work station
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Classifications
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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
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses shelf to change face method and apparatus, is related to field of computer technology.One specific embodiment of this method includes: transport vehicle carrying shelf, and obtains current shelf direction；The shelf direction in task is issued according to current shelf direction and work station, judges whether the transport vehicle for carrying the shelf carries out shelf changing face；If then the arrival of transport vehicle carrying shelf changes millet cake completion shelf and changes face, work station picking is then reached；Otherwise transport vehicle carrying shelf directly reach work station picking.The embodiment can guarantee the correctness in shelf direction when shelf are moved to up to work station.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of shelf to change face method and apparatus.
Background technique
Lifting AGV trolley (automated guided vehicle) carried shelf, there are two faces, can according to the needs of work station picking
Face movement is changed to execute, it is relatively inflexible that the shelf of the prior art change face strategy, after AGV trolley receives console task, first
Shelf are jacked up to storage space, at this moment console will be issued in task from the shelf direction obtained in inventory system and work station and be needed
Shelf direction make difference, calculate the rotation order (rotation angle and direction of rotation) for needing to issue, and be saved in caching,
When millet cake is changed in the arrival of AGV trolley, face is changed in execution, while inventory system being notified to update current shelf direction.
In realizing process of the present invention, at least there are the following problems in the prior art for inventor's discovery:
Once because certain reason causes the shelf direction stored in inventory system and practical shelf physical direction inconsistent,
When next AGV trolley is sent to the shelf for carrying this wrong way again, shelf direction is not right when will lead to arrival work station,
Picking personnel will be very worried.
Summary of the invention
In view of this, the embodiment of the present invention, which provides a kind of shelf, changes face method and apparatus, it can guarantee that shelf are moved to
The correctness in shelf direction when up to work station.Wherein, the work station is used to carry out the cargo on shelf the station of picking
Point.
To achieve the above object, according to an aspect of an embodiment of the present invention, a kind of shelf are provided and change face method, are wrapped
Include: transport vehicle carries shelf, and obtains current shelf direction；The shelf in task are issued according to current shelf direction and work station
Direction, judges whether the transport vehicle for carrying the shelf carries out shelf changing face；If face is changed in then transport vehicle carrying shelf arrival
Point completes shelf and changes face, then reaches work station picking；Otherwise transport vehicle carrying shelf directly reach work station picking.
Optionally, the shelf direction in task is issued according to current shelf direction and work station, judges to carry the shelf
Transport vehicle whether shelf are carried out changing face, comprising:
It calculates current shelf direction and work station issues the difference in the shelf direction in task；
Whether it is 0 according to the difference, judges whether the transport vehicle for carrying the shelf carries out shelf changing face.
Optionally, the arrival of transport vehicle carrying shelf changes face region completion shelf and changes face, comprising:
According to preset planning path, face region is changed in transport vehicle carrying shelf arrival；
Judge that the presently described millet cake that changes with the presence or absence of other transport vehicles that shelf change face are being carried out, is then changing face if it exists
It waits outside region, until then the transport vehicle, which enters, changes millet cake there is no other transport vehicles that shelf change face are being carried out, holds
Row changes face to shelf；Otherwise the transport vehicle, which is directly entered, changes millet cake, and execution changes face to shelf.
Optionally, it is executing to shelf when changing face, further includes:
Block changes millet cake and changes face region；
When the transport vehicle changes face completion to shelf, release changes millet cake and changes face region, and updates institute in inventory system
State the direction of shelf.
In addition, according to an aspect of an embodiment of the present invention, a kind of shelf face change device is provided, including obtain module,
Shelf are carried for transport vehicle, and obtain current shelf direction；Judgment module, for according under current shelf direction and work station
Shelf direction in hair task, judges whether the transport vehicle for carrying the shelf carries out shelf changing face；If then transport vehicle is held
Goods carriage arrival changes millet cake completion shelf and changes face, then reaches work station picking；Otherwise transport vehicle carrying shelf directly reach work
Make station picking.
Optionally, the judgment module issues the shelf direction in task according to current shelf direction and work station, judges
Whether the transport vehicle for carrying the shelf carries out shelf changing face, comprising:
It calculates current shelf direction and work station issues the difference in the shelf direction in task；
Whether it is 0 according to the difference, judges whether the transport vehicle for carrying the shelf carries out shelf changing face.
Optionally, the judgment module transport vehicle carrying shelf arrival changes face region completion shelf and changes face, comprising:
According to preset planning path, face region is changed in transport vehicle carrying shelf arrival；
Judge that the presently described millet cake that changes with the presence or absence of other transport vehicles that shelf change face are being carried out, is then changing face if it exists
It waits outside region, until then the transport vehicle, which enters, changes millet cake there is no other transport vehicles that shelf change face are being carried out, holds
Row changes face to shelf；Otherwise the transport vehicle, which is directly entered, changes millet cake, and execution changes face to shelf.
Optionally, the judgment module is being executed to shelf when changing face, further includes:
Block changes millet cake and changes face region；
When the transport vehicle changes face completion to shelf, release changes millet cake and changes face region, and updates institute in inventory system
State the direction of shelf.
Other side according to an embodiment of the present invention, additionally provides a kind of electronic equipment, comprising:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes that any of the above-described shelf change method described in the embodiment of face.
Other side according to an embodiment of the present invention additionally provides a kind of computer-readable medium, is stored thereon with meter
Calculation machine program realizes that any of the above-described shelf change method described in the embodiment of face when described program is executed by processor.
One embodiment in foregoing invention has the following advantages that or the utility model has the advantages that ensure that the carried shelf of transport vehicle arrive
The correctness in direction when up to work station avoids artificial adjustment shelf and required shelf face opposite direction is gone to carry out asking for picking
Topic, and operation cost is reduced, improve picking efficiency.
Further effect possessed by above-mentioned non-usual optional way adds hereinafter in conjunction with specific embodiment
With explanation.
Detailed description of the invention
Attached drawing for a better understanding of the present invention, does not constitute an undue limitation on the present invention.Wherein:
Fig. 1 is the schematic diagram for the main flow that shelf according to an embodiment of the present invention change face method；
Fig. 2 be can refer to according to the present invention embodiment shelf change face method main flow schematic diagram；
Fig. 3 is the schematic diagram of the main modular of shelf face change device according to an embodiment of the present invention；
Fig. 4 is the schematic diagram that the embodiment of the present invention changes millet cake；
Fig. 5 is that the embodiment of the present invention can be applied to exemplary system architecture figure therein；
Fig. 6 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present invention
Figure.
Specific embodiment
Below in conjunction with attached drawing, an exemplary embodiment of the present invention will be described, including the various of the embodiment of the present invention
Details should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art should recognize
It arrives, it can be with various changes and modifications are made to the embodiments described herein, without departing from scope and spirit of the present invention.Together
Sample, for clarity and conciseness, descriptions of well-known functions and structures are omitted from the following description.
Fig. 1 is that shelf according to an embodiment of the present invention change face method, as shown in Figure 1, the shelf change face method includes:
Step S101, transport vehicle carries shelf, and obtains current shelf direction.
In embodiment, transport vehicle can be the various vehicles that can carry shelf and transport, such as AGV trolley is described
Pallet is provided on AGV trolley can be with lifting storage rack to realize carrying, and the pallet on the AGV trolley can be rotated with reality
Face now is changed to shelf.
Step S102 issues the shelf direction in task according to current shelf direction and work station, judges to carry the goods
Whether the transport vehicle of frame carries out shelf changing face, if then carry out step S103 executes step S104 again, is otherwise directly walked
Rapid S104.
Preferably, the difference in the shelf direction in task can be issued by calculating current shelf direction and work station, come
Judge whether the transport vehicle for carrying the shelf carries out shelf changing face.Wherein it is possible to obtain rotation angle by the difference
The direction of rotation and.It does not need to carry out shelf that is, calculating the transport vehicle that the difference obtained carries the shelf if 0
Face is changed, otherwise needs to carry out shelf to change face.
Step S103, transport vehicle carrying shelf arrival change face region completion shelf and change face.
As embodiment, transport vehicle carries shelf arrival and changes face region according to preset planning path.Then, judgement is worked as
The preceding millet cake that changes then is waited changing outside the region of face, directly if it exists with the presence or absence of other transport vehicles that shelf change face are being carried out
Millet cake is changed to there is no other transport vehicles that shelf change face are being carried out, then the transport vehicle enters, shelf are changed in execution
Face；Otherwise the transport vehicle, which is directly entered, changes millet cake, and execution changes face to shelf.
Further, it is executing to shelf when changing face, then block changes millet cake and changes face region, to the transport vehicle to goods
When frame changes face completion, release changes millet cake and changes face region, and updates the direction of shelf described in inventory system.Also it is worth explanation
It is as shown in figure 4, transport vehicle, which can enter, changes millet cake progress shelf operation on the other side, and to change the default size area of millet cake surrounding
To change face region, such as it is to change millet cake, and the box for changing millet cake surrounding is then to change face region that oblique line portion is decorated in Fig. 4.
To, it is ensured that the waiting of less transport vehicle, the transport vehicle for not needing to change face, which can normally be come into, changes face region, needs
The vehicle for changing face, which can be introduced into, changes face region, alleviates and changes face area peripheral edge traffic pressure, improves transport vehicle running efficiency.
Step S104, transport vehicle carry shelf and reach work station picking.
According to above embodiment, it can be seen that even if the shelf anisotropy recorded in inventory system before, the present invention
The record of mistake can be updated correct, and mistake will not occur for shelf face when transport vehicle is actually reached work station.
It can refer to embodiment as of the invention one, as shown in Fig. 2, the shelf change face method to include:
Current shelf direction is obtained after the completion of the movement of step S201, AGV trolley lifting storage rack.
Current shelf direction and work station are issued the shelf direction in task and do difference by step S202.
In embodiment, current shelf direction and work station issue the shelf direction in task and do difference, can be revolved
The spinning movement that gyration and direction of rotation, i.e. pallet on AGV trolley need to be implemented.Preferably, utilizing AGV car top
Camera obtains current shelf direction.Wherein, the datum level in shelf direction is direction of the shelf with respect to work station.
Step S203 judges whether to need to carry out shelf to change surface treatment, if then carrying out step according to the difference
Otherwise S204 carries out step S208.
Wherein, progress shelf are not needed if the difference is 0 and change surface treatment, are otherwise needed to carry out shelf and are changed at face
Reason.
Step S204, according to preset planning path, face region is changed in the carrying shelf arrival of AGV trolley.
Step S205, judgement currently change millet cake with the presence or absence of other AGV trolleies that shelf change face are being carried out, if it exists then
It is waited changing outside the region of face, until executing step S206 there is no other AGV trolleies that shelf change face are being carried out；Otherwise straight
It connects and executes step S206.
Step S206, AGV trolley, which enters, changes millet cake, executes the face of changing to shelf, while block changes millet cake and changes face region.
That is, other AGV trolleies can only be waited changing outside the region of face, to avoid shelf are hit during face of changing.
Step S207, when AGV trolley changes face completion, release changes millet cake and changes face region, and updates institute in inventory system
State the direction of shelf.
Step S208, according to preset planning path, AGV trolley carries shelf and reaches work station (sorting point) progress picking
Processing, that is, unload.
Fig. 3 is shelf face change device according to an embodiment of the present invention, as shown in figure 3, the shelf face change device 300 includes
Obtain module 301 and judgment module 302.Wherein, obtaining module 301 can make transport vehicle carry shelf, and obtain current shelf
Direction.Then, judgment module 302 issues the shelf direction in task according to current shelf direction and work station, judges to carry institute
Whether the transport vehicle for stating shelf carries out shelf changing face；If then the arrival of transport vehicle carrying shelf changes millet cake completion shelf and changes face,
Then work station picking is reached；Otherwise transport vehicle carrying shelf directly reach work station picking.
Preferably, judgment module 302 issues the shelf direction in task according to current shelf direction and work station, judgement is held
When carrying the transport vehicles of the shelf and whether carrying out changing face to shelf, current shelf direction can be calculated and work station issues in task
Shelf direction difference, carry the transport vehicles of the shelf if difference is 0 and do not need that shelf are carried out to change face, if difference is not
The transport vehicle for carrying the shelf for 0 needs to carry out shelf to change face.
As another embodiment, the carrying shelf arrival of 302 transport vehicle of judgment module changes face region and completes shelf when changing face
Specific implementation process include:
Step 1: according to preset planning path, face region is changed in transport vehicle carrying shelf arrival.
Step 2: judge the presently described millet cake that changes with the presence or absence of carrying out other transport vehicles that shelf change face, if it exists
It then carries out step 3 and carries out step 4 again, otherwise directly carry out step 4.
Step 3: waiting changing outside the region of face, until there is no carrying out other transport vehicles that shelf change face.
Step 4: the transport vehicle, which enters, changes millet cake, and execution changes face to shelf.
It in preferably embodiment, is executing to shelf when changing face, is needing to block and change millet cake and change face region, to described
When transport vehicle changes face completion to shelf, then discharges and change millet cake and change face region, and update the direction of shelf described in inventory system.
It should be noted that in the specific implementation content of shelf face change device of the present invention, shelf described above are changed
It has been described in detail in the method for face, therefore has no longer illustrated in this duplicate contents.
Fig. 5 shows the exemplary system that face method or shelf face change device can be changed using the shelf of the embodiment of the present invention
Framework 500.Or Fig. 5 shows and can change the exemplary of face method or shelf face change device using the shelf of the embodiment of the present invention
System architecture 400.
As shown in figure 5, system architecture 500 may include terminal device 501,502,503, network 504 and server 505.
Network 504 between terminal device 501,502,503 and server 505 to provide the medium of communication link.Network 504 can be with
Including various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be used terminal device 501,502,503 and be interacted by network 504 with server 505, to receive or send out
Send message etc..Various telecommunication customer end applications, such as the application of shopping class, net can be installed on terminal device 501,502,503
(merely illustrative) such as the application of page browsing device, searching class application, instant messaging tools, mailbox client, social platform softwares.
Terminal device 501,502,503 can be the various electronic equipments with display screen and supported web page browsing, packet
Include but be not limited to smart phone, tablet computer, pocket computer on knee and desktop computer etc..
Server 505 can be to provide the server of various services, such as utilize terminal device 501,502,503 to user
The shopping class website browsed provides the back-stage management server (merely illustrative) supported.Back-stage management server can be to reception
To the data such as information query request analyze etc. processing, and by processing result (such as target push information, product letter
Breath -- merely illustrative) feed back to terminal device.
It is generally executed by server 505 it should be noted that shelf provided by the embodiment of the present invention change face method, accordingly
Ground, shelf face change device are generally positioned in server 505.
It should be understood that the number of terminal device, network and server in Fig. 5 is only schematical.According to realization need
It wants, can have any number of terminal device, network and server.
Below with reference to Fig. 6, it illustrates the computer systems 600 for the terminal device for being suitable for being used to realize the embodiment of the present invention
Structural schematic diagram.Terminal device shown in Fig. 6 is only an example, function to the embodiment of the present invention and should not use model
Shroud carrys out any restrictions.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various movements appropriate and processing.In RAM603, also it is stored with system 600 and operates required various programs and data.
CPU601, ROM 602 and RAM603 is connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to bus
604。
I/O interface 605 is connected to lower component: the importation 606 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 608 including hard disk etc.；
And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net executes communication process.Driver 610 is also connected to I/O interface 605 as needed.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 610, in order to read from thereon
Computer program be mounted into storage section 608 as needed.
Particularly, disclosed embodiment, the process described above with reference to flow chart may be implemented as counting according to the present invention
Calculation machine software program.For example, embodiment disclosed by the invention includes a kind of computer program product comprising be carried on computer
Computer program on readable medium, the computer program include the program code for method shown in execution flow chart.?
In such embodiment, which can be downloaded and installed from network by communications portion 609, and/or from can
Medium 611 is dismantled to be mounted.When the computer program is executed by central processing unit (CPU) 601, system of the invention is executed
The above-mentioned function of middle restriction.
It should be noted that computer-readable medium shown in the present invention can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the present invention, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In invention, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned
Any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule
The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Being described in module involved in the embodiment of the present invention can be realized by way of software, can also be by hard
The mode of part is realized.Described module also can be set in the processor, for example, can be described as: a kind of processor packet
It includes and obtains module and judgment module.Wherein, the title of these modules does not constitute the limit to the module itself under certain conditions
It is fixed.
As on the other hand, the present invention also provides a kind of computer-readable medium, which be can be
Included in equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying equipment.Above-mentioned calculating
Machine readable medium carries one or more program, when said one or multiple programs are executed by the equipment, makes
Obtaining the equipment includes: transport vehicle carrying shelf, and obtains current shelf direction；It is issued and is appointed according to current shelf direction and work station
Shelf direction in business, judges whether the transport vehicle for carrying the shelf carries out shelf changing face；If then transport vehicle carries goods
Frame arrival changes face region completion shelf and changes face, then reaches work station picking；Otherwise transport vehicle carrying shelf directly reach work
It stands picking.
Technical solution according to an embodiment of the present invention can guarantee shelf direction when shelf are moved to up to work station
Correctness.
Above-mentioned specific embodiment, does not constitute a limitation on the scope of protection of the present invention.Those skilled in the art should be bright
It is white, design requirement and other factors are depended on, various modifications, combination, sub-portfolio and substitution can occur.It is any
Made modifications, equivalent substitutions and improvements etc. within the spirit and principles in the present invention, should be included in the scope of the present invention
Within.
Claims (10)
1. a kind of shelf change face method characterized by comprising
Transport vehicle carries shelf, and obtains current shelf direction；
Issue the shelf direction in task according to current shelf direction and work station, judge to carry the shelf transport vehicle whether
Shelf are carried out to change face；
If then the arrival of transport vehicle carrying shelf changes millet cake completion shelf and changes face, work station picking is then reached；Otherwise transport vehicle
Carrying shelf directly reach work station picking.
2. the method according to claim 1, wherein being issued in task according to current shelf direction and work station
Shelf direction, judges whether the transport vehicle for carrying the shelf carries out shelf changing face, comprising:
It calculates current shelf direction and work station issues the difference in the shelf direction in task；
If the difference is 0, the transport vehicle for carrying the shelf does not need to carry out changing face to shelf；If the difference is not 0,
The transport vehicle for then carrying the shelf needs to carry out shelf to change face.
3. being changed the method according to claim 1, wherein face region completion shelf are changed in transport vehicle carrying shelf arrival
Face, comprising:
According to preset planning path, face region is changed in transport vehicle carrying shelf arrival；
Judge that the presently described millet cake that changes with the presence or absence of other transport vehicles that shelf change face are being carried out, is then changing face region if it exists
Outer waiting, until then the transport vehicle, which enters, changes millet cake, execution pair there is no other transport vehicles that shelf change face are being carried out
Shelf change face；Otherwise the transport vehicle, which is directly entered, changes millet cake, and execution changes face to shelf.
4. according to the method described in claim 3, it is characterized in that, executing to shelf when changing face, further includes:
Block changes millet cake and changes face region；
When the transport vehicle changes face completion to shelf, release changes millet cake and changes face region, and updates goods described in inventory system
The direction of frame.
5. a kind of shelf face change device characterized by comprising
Module is obtained, carries shelf for transport vehicle, and obtain current shelf direction；
Judgment module judges to carry the goods for issuing the shelf direction in task according to current shelf direction and work station
Whether the transport vehicle of frame carries out shelf changing face；If then the arrival of transport vehicle carrying shelf changes millet cake completion shelf and changes face, then
Reach work station picking；Otherwise transport vehicle carrying shelf directly reach work station picking.
6. device according to claim 5, which is characterized in that the judgment module is according to current shelf direction and work station
The shelf direction in task is issued, judges whether the transport vehicle for carrying the shelf carries out shelf changing face, comprising:
It calculates current shelf direction and work station issues the difference in the shelf direction in task；
If the difference is 0, the transport vehicle for carrying the shelf does not need to carry out changing face to shelf；If the difference is not 0,
The transport vehicle for then carrying the shelf needs to carry out shelf to change face.
7. device according to claim 5, which is characterized in that the judgment module transport vehicle carrying shelf reach the area Huan Mian
It completes shelf and changes face in domain, comprising:
According to preset planning path, face region is changed in transport vehicle carrying shelf arrival；
Judge that the presently described millet cake that changes with the presence or absence of other transport vehicles that shelf change face are being carried out, is then changing face region if it exists
Outer waiting, until then the transport vehicle, which enters, changes millet cake, execution pair there is no other transport vehicles that shelf change face are being carried out
Shelf change face；Otherwise the transport vehicle, which is directly entered, changes millet cake, and execution changes face to shelf.
8. device according to claim 7, which is characterized in that the judgment module is being executed to shelf when changing face, also
Include:
Block changes millet cake and changes face region；
When the transport vehicle changes face completion to shelf, release changes millet cake and changes face region, and updates goods described in inventory system
The direction of frame.
9. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method as described in any in claim 1-4.
10. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor
The method as described in any in claim 1-4 is realized when row.
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| CN201810264109.4A CN110316509B (en) | 2018-03-28 | 2018-03-28 | Goods shelf surface changing method and device |
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| CN201810264109.4A CN110316509B (en) | 2018-03-28 | 2018-03-28 | Goods shelf surface changing method and device |
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