CN109279249A - A kind of intensive storage method of cargo, device, system and storage medium - Google Patents
A kind of intensive storage method of cargo, device, system and storage medium Download PDFInfo
- Publication number
- CN109279249A CN109279249A CN201811208950.8A CN201811208950A CN109279249A CN 109279249 A CN109279249 A CN 109279249A CN 201811208950 A CN201811208950 A CN 201811208950A CN 109279249 A CN109279249 A CN 109279249A
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- Prior art keywords
- shelf
- mobile robot
- carrying
- target
- powered mobile
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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
-
- 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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The embodiment of the invention discloses a kind of intensive storage method of cargo, device, system and storage mediums.This method comprises: determining target shelf pointed by carrying task from shelf array；Shelf number in any horizontally-arranged and any vertical setting of types of the shelf array is at least 3；Judge target shelf type the location of in the shelf array, and is determined according to the location type and carry strategy；The target shelf are carried based on the carrying policy control self-powered mobile robot.By using technical solution provided herein, may be implemented to make full use of warehouse space, and reduce the effect of the human cost of store management.
Description
Technical field
The present embodiments relate to technical field of robot control more particularly to a kind of intensive storage method of cargo, device,
System and storage medium.
Background technique
Library with climbing up and up for the intensification of soil degree of scarcity, especially Urban Land Price, as one of operating cost
Room cost is also at the important cost management goal for influencing economic benefit.Meanwhile with the rapidly raising of cost of human resources, library
The cost of human resources of real estate management's reason is more at crucial cost management goal.No matter existing store management mode is from storing intensive journey
In terms of degree or the efficiency of management, it is all far from satisfying the intelligent intensiveization needs of reality.Therefore, no matter from save storehouse
Space, or from saving store management manpower, from the point of view of be all badly in need of one kind and can intensively store cargo, it is empty significantly to save storehouse
Between, and can largely save the scheme of store management manpower.
Summary of the invention
The embodiment of the present invention provides a kind of intensive storage method of cargo, device, system and storage medium, may be implemented sufficiently
Using warehouse space, and reduce the effect of the human cost of store management.
In a first aspect, the embodiment of the invention provides a kind of intensive storage methods of cargo, this method comprises:
Target shelf pointed by carrying task are determined from shelf array；The shelf array it is any horizontally-arranged and any
Shelf number in vertical setting of types is at least 3；
Judge target shelf type the location of in the shelf array, and is determined according to the location type
Carry strategy；
The target shelf are carried based on the carrying policy control self-powered mobile robot.
Further, judgement target shelf type the location of in the shelf array, and according to institute
It states location type and determines carrying strategy, comprising:
If judging the position of the target shelf for first position type, according to the first position type, determination is removed
Fortune strategy is directly carrying；And
It is described that the target shelf are carried based on the carrying policy control self-powered mobile robot, comprising:
It controls self-powered mobile robot and the target shelf is transported to carrying task designated position.
Further, judge location type of the target shelf in the intensive shelf arrangements, and according to institute's rheme
It sets type and determines carrying strategy, comprising:
If judging the position of the target shelf for second position type, according to the second position type, determination is removed
Fortune strategy is carrying indirectly；And
It is described that the target shelf are carried based on the carrying policy control self-powered mobile robot, comprising:
According to the position of the target shelf, approach shelf are determined；
After control self-powered mobile robot removes the approach shelf, the target shelf are transported to carrying task and are specified
Position.
Further, after the control self-powered mobile robot removes the approach shelf, the target shelf are carried
To carrying task designated position, comprising:
The approach shelf are removed to and temporarily put region by control self-powered mobile robot；
It controls the self-powered mobile robot and the target shelf is transported to carrying task designated position.
Further, after the control self-powered mobile robot removes the approach shelf, the target shelf are carried
To carrying task designated position, comprising:
The first self-powered mobile robot is controlled to remove the approach shelf；
And it controls the second self-powered mobile robot and the target shelf is transported to carrying task designated position.
Further, if judging the position of the target shelf for second position type, based on the carrying strategy
After controlling the self-powered mobile robot carrying target shelf, the method also includes:
Control self-powered mobile robot by the approach shelf removed move back to the approach shelf origin-location or
The origin-location of the target shelf.
Second aspect, the embodiment of the invention also provides a kind of cargo dense storage device, which includes:
Target shelf determining module, for determining target shelf pointed by carrying task from shelf array；The goods
Shelf number in any horizontally-arranged and any vertical setting of types of frame array is at least 3；
Tactful determining module is carried, for judging target shelf type the location of in the shelf array,
And it is determined according to the location type and carries strategy；
Execution module is carried, for carrying the target shelf based on the carrying policy control self-powered mobile robot.
Further, the tactful determining module of the carrying includes:
First carries policy determining unit, if for judging the position of the target shelf for first position type, root
According to the first position type, determines and carry strategy directly to carry；
The carrying execution module includes:
First carries execution unit, and the target shelf, which are transported to carrying task, for controlling self-powered mobile robot specifies
Position.
Further, the tactful determining module of the carrying includes:
Second carries policy determining unit, if for judging the position of the target shelf for second position type, root
According to the second position type, determines and carry strategy to carry indirectly；
The carrying execution module includes:
Approach shelf determination unit determines approach shelf for the position according to the target shelf；
Second carries execution unit, for controlling after self-powered mobile robot removes the approach shelf, by the target
Shelf are transported to carrying task designated position.
Further, described second execution unit is carried, is specifically used for:
The approach shelf are removed to and temporarily put region by control self-powered mobile robot；
It controls the self-powered mobile robot and the target shelf is transported to carrying task designated position.
Further, described second execution unit is carried, is specifically used for:
The first self-powered mobile robot is controlled to remove the approach shelf；
And it controls the second self-powered mobile robot and the target shelf is transported to carrying task designated position.
Further, the carrying execution module further include:
Approach shelf are moved back to unit, and the approach shelf removed are moved back to the way for controlling self-powered mobile robot
The origin-location of diameter shelf or the origin-location of the target shelf.
The third aspect, a kind of intensive storage system of cargo, which includes: main control end, at least a self-powered mobile robot
With shelf array；Wherein, the shelf number in any horizontally-arranged and any vertical setting of types of the shelf array is at least 3；
The main control end includes memory, and processor and storage are on a memory and can be in the computer journey of processor operation
Sequence, the processor realize that described in any item cargos as provided by the embodiment of the present invention are close when executing the computer program
Collect storage method.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, are stored thereon with computer journey
Sequence realizes the intensively side of storage of described in any item cargos as provided by the embodiment of the present application when the program is executed by processor
Method.
Technical solution provided by the embodiment of the present application, by determining target pointed by carrying task from shelf array
Shelf；Shelf number in any horizontally-arranged and any vertical setting of types of the shelf array is at least 3；Judge that the target shelf exist
Type the location of in the shelf array, and determined according to the location type and carry strategy；Based on the carrying strategy
It controls self-powered mobile robot and carries the target shelf.By using technical solution provided herein, may be implemented sufficiently
Using warehouse space, and reduce the effect of the human cost of store management.
Detailed description of the invention
Fig. 1 be provided in the embodiment of the present invention it is a kind of nobody self-service operating system system structure diagram；
Fig. 2 is the structural schematic diagram of the unidirectional opening shelf of one kind provided in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the self-powered mobile robot provided in the embodiment of the present invention；
Fig. 4 is the flow diagram for the intensive storage method of cargo that the embodiment of the present invention one provides；
Fig. 5 is a kind of intensive shelf arrangements schematic diagram provided in the embodiment of the present invention；
Fig. 6 is the flow diagram of the intensive storage method of cargo provided by Embodiment 2 of the present invention；
Fig. 7 is the flow diagram for the intensive storage method of cargo that the embodiment of the present invention three provides；
Fig. 8 is the structural schematic diagram for the cargo dense storage device that the embodiment of the present invention four provides；
Fig. 9 is the intensive storage system schematic diagram of a kind of cargo provided in the embodiment of the present invention five；
Figure 10 is a kind of structural schematic diagram of the main control end provided in the embodiment of the present invention five.
Specific embodiment
Fig. 1 be provided in the embodiment of the present invention it is a kind of nobody self-service operating system system structure diagram.Ginseng
See Fig. 1, which includes: self-powered mobile robot 110, control system 120, memory block 130 and work station 140, memory block
130 are provided with multiple storage containers 131, and various articles are placed on storage container 131, are arranged between multiple storage containers 131
At array format, such as the shelf for being placed with extensive stock seen in supermarket are the same.In general, in the side of memory block 130
Or more sides (side as shown in the figure) are provided with multiple work stations 140.Storage container 131 is that one kind has bin and passes through bin
The container of article, such as shelf can be stored, wherein shelf include multiple interlayers and four floor-type support columns, the interlayer of shelf
On be provided at least one bin, one or more articles can be placed in bin.In addition, shelf can be unidirectional opening, example
Such as, Fig. 2 is the structural schematic diagram of the unidirectional opening shelf of one kind provided in the embodiment of the present invention, unidirectional opening as shown in Figure 2
Shelf, be also possible to two-way opening, by the rotation of shelf can be operated in two-way opening shelf it is any one side opening in
Article.
Control system 120 is carried out wireless communication with self-powered mobile robot 110, and staff (or user) passes through station
160 generate order, and the order transmission to control system 120, control system 120 is in response to order and starts to work, from driving machine
Device people 110 executes carrying task under the control of control system 120.For example, by taking storage container is shelf as an example, from driving machine
Device people 110 can travel along the empty space (a part of 110 transit passage of self-powered mobile robot) among shelf array, fortune
Shelf are lifted using lifting mechanism in the bottom for moving shelf, and are transported to the work station 140 being assigned to.
In one example, self-powered mobile robot 110 has lifting mechanism, and has the function of independent navigation, from driving
Robot 110 can be travelled to bottom shelf, and be lifted entire shelf using lifting mechanism, enable shelf with having
The lifting mechanism of elevating function moves up and down.In one example, self-powered mobile robot 110 can take according to camera
Two-dimensional barcode information traveling, and can be according under the shelf that the route running that control system 120 determines is prompted to control system 120
Face.Shelf are transported to work station 140 by self-powered mobile robot 110, and staff (or user) 141 is from goods at work station 140
Article is taken out on frame.For the shelf of two-way opening, shelf can be rotated by self-powered mobile robot 110, make item to get product institute
Opening direction face to take the people of article, such as staff or user.
Control system 120 is software system run in control server, with data storage, information processing capability
System, can be by wirelessly or non-wirelessly connecting with self-powered mobile robot, hardware input system, other software systems.Control system 120 can
It can be centerized fusion framework or distributed computing architecture to include one or more control servers.Control server
With processor 1201 and memory 1202, order pond 1203 can have in memory 1202.
System shown in FIG. 1 is applicable to a variety of suitable scenes, for example, in sorting scene, in self-powered mobile robot
After storage container 131 is transported to work station 140 by 110, staff takes out article from storage container 131, and (article is to order
Single article) and be put into packing box and be packaged；For another example no matter the article for Bao Guaning is temporarily to protect in article keeping scene
Pipe or long-term keeping, after storage container 131 is transported to work station 140 by self-powered mobile robot 110, staff or article
Owner is stored in storage container 131 from taking-up article on storage container 131 or by article.It illustrates, is protected in article
In pipe scene, in order to guarantee that privacy and safety, a storage container 131 can specially place the article of a user, or
One bin specially places the article of a user.Certainly, in addition to this, which applies also for unmanned access scene and nothing
People supermarket scene.
Fig. 3 is a kind of structural schematic diagram of the self-powered mobile robot provided in the embodiment of the present invention, referring to Fig. 3, from driving
Robot 110 may include driving mechanism 1101, and by the driving mechanism 1101, self-powered mobile robot 110 can be empty in work
Interior movement, self-powered mobile robot 110 can also include the lifting mechanism 1102 for carrying storage container 131, from driving machine
Device people 110 can move to the lower section of storage container 131, lift storage container 131 using lifting mechanism 1102, and be transported to by
The work station 140 being assigned to.Lifting mechanism 1102 lifts entire storage container 131 from ground when rising, so that from driving
Storage container 131 is carried by robot 110, and lifting mechanism 1102 puts it on the ground storage container 131 when declining.Self-powered movement machine
Target identification component 1103 on people 110, can be effectively to storage when self-powered mobile robot 110 lifts storage container 131
Container 131 is identified.
In the prior art, in order to allow robot smoothly to carry the storage container of memory block, then generally storage is held
Device is set as a column or two are classified as an array element, after passageway is arranged, then an array element is arranged, and so on.So
And for now either display area still store in a warehouse region use cost valuableness background under, such setting is not done
It is maximally utilized to resource.Therefore present applicant proposes a kind of intensive storage schemes of cargo.
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although each step is described as the processing of sequence by flow chart, many of these
Step can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of each step can be rearranged.When its operation
Processing can be terminated when completion, it is also possible to have the additional step being not included in attached drawing.Handle the side of can correspond to
Method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 4 is the flow diagram for the intensive storage method of cargo that the embodiment of the present invention one provides, and the present embodiment is applicable
The case where cargo stores, this method cargo dense storage device provided by the embodiment of the present invention execute, the device
It can be realized, and can be integrated in the intensive storage system of cargo by the mode of software and/or hardware.
As shown in figure 4, the intensive storage method of cargo includes:
S410, target shelf pointed by carrying task are determined from shelf array；Shelf array it is any it is horizontally-arranged and appoint
Shelf number in one vertical setting of types is at least 3.
Wherein, carrying task, which can be by station, determines, such as at work station, has some A articles to need at present
It stores to the shelf of memory block, then carrying task can be generated by station.So in this case, task is carried
It can specify two kinds of shelf, one is empty shelf, another kind is to be placed with A article but without storing full shelf.It is right
In both shelf, it can be determined by station, priority also can be set, it can also be according to the A object for needing to store at present
The numbers of product determines.It is understood that the storage for every kind of article, can data input to control system,
It can guarantee that staff can inquire which the article that each shelf are stored has by station in this way, while can be with
Determine the current storage status of each shelf, if stored full.Can thus there be article to need storage or needs
When taking out certain articles from memory block, the target shelf of carrying task are determined by operation bench.
In the present embodiment, the arrangement mode of shelf is dense arrangement mode in shelf array, specially intensive shelf row
Shelf number in any horizontally-arranged and any vertical setting of types of column is at least 3.Wherein it is possible to which there are a horizontally-arranged or vertical setting of types
In shelf number be two situations, but since passageway is arranged in prior art needs among shelf, so working as horizontally-arranged goods
When frame number is more, it can be understood as three or three or more herein, vertical setting of types shelf number is merely able to be two, otherwise in
Between the carrying of shelf of vertical setting of types will be quite not convenient.And it can be erected being arranged to three, four or even more in the application
Arrange shelf (when horizontally-arranged shelf number is more), here it is the arrangement modes of shelf in shelf array, compared with the existing technology and
Speech is intensive arrangement.Fig. 5 is a kind of intensive shelf arrangements schematic diagram provided in the embodiment of the present invention, wherein in Fig. 5
A kind of shelf of 8 rows 4 column are only gived, and the surrounding of shelf is provided with passageway.Specifically, can be according to the model of storage space
It encloses and the sizes of shelf designs.After being intensively arranged due to shelf, needed for not closing on the carrying of shelf of passageway position
The shelf for closing on passageway are first removed, therefore, the shelf number in any horizontally-arranged and any vertical setting of types of intensive shelf arrangements is extremely
It is less 3, preferably 4 row's multiple rows or multiple rows of 4 column, in this way the reason of setting are can not close on passageway position carrying
Shelf when, as long as the shelf for closing on passageway position are removed, convenient for the control of the handling efficiency to shelf.Such as figure
It is shown, such as that need to carry is shelf D, then can be carried shelf D to realize by removing shelf E or shelf F,
And for shelf C, then be merely able to moving goods rack G, to be moved to shelf C, the reason is that if by the left of moving goods rack C or
Shelf on the upside of person then need to remove two shelf, then the efficiency for carrying target shelf to self-powered mobile robot can have an impact.
In this way arrange after, the distance between shelf are even closer, the original passageway of this reduction for storage space occupancy, so as to
Space is saved to reach, improves the effect of storage space utilization rate.
S420, judge target shelf type the location of in shelf array, and determined according to location type and carry plan
Slightly.
Wherein, location type of the target shelf in intensive shelf arrangements may include: first position type and second
Set type.Wherein first position type can be the shelf that can be directly carried by self-powered mobile robot according to carrying task, and
The shelf of second position type then can be the shelf that can not be done directly carrying task, must before being transported to target shelf
Approach shelf must be removed just can be with.Therefore, it can be determined according to location type of the target shelf in intensive shelf arrangements
Carry strategy.Wherein, carrying strategy may include direct carrying and carries indirectly, and directly carrying, which refers to, directly removes target shelf
It is transported to position specified by carrying task, and is carried indirectly, is to have to first remove approach shelf, then carry out target shelf
Carrying.Wherein, during approach shelf can be carrying target shelf, the shelf for needing first to be removed show in conjunction with above-mentioned
Example, if target shelf are D, approach shelf can be shelf E, shelf F and shelf G and shelf C.It is ensured that
After removing approach shelf, self-powered mobile robot can directly be moved to the position of target shelf, to target shelf into
Row is carried.
S430, target shelf are carried based on carrying policy control self-powered mobile robot.
After determining carrying strategy, then controls self-powered mobile robot and carried according to identified carrying strategy.Its
In, it can be by carrying policy distribution corresponding to carrying task to self-powered mobile robot, self-powered mobile robot is current by identification
Carrying strategy complete to the carrying tasks of target shelf.
Wherein, carrying task may include the carrying destination address to target shelf, such as be carried to certain work station, then root
Transport path is determined according to carrying task, realizes the movement to shelf.Wherein, transport path can be according to the goods in current storage
The positions of rack position and self-powered mobile robot and other equipment determines.
Technical solution provided by the embodiment of the present application, by determining target pointed by carrying task from shelf array
Shelf；Shelf number in any horizontally-arranged and any vertical setting of types of the shelf array is at least 3；Judge that the target shelf exist
Type the location of in the shelf array, and determined according to the location type and carry strategy；Based on the carrying strategy
It controls self-powered mobile robot and carries the target shelf.By using technical solution provided herein, may be implemented sufficiently
Using warehouse space, and reduce the effect of the human cost of store management.
Embodiment two
Fig. 6 is the flow diagram of the intensive storage method of cargo provided by Embodiment 2 of the present invention.The present embodiment is above-mentioned
On the basis of embodiment, optimization are as follows: judgement target shelf type the location of in the shelf array, and root
It is determined according to the location type and carries strategy, comprising: if judging the position of the target shelf for first position type, basis
The first position type determines and carries strategy directly to carry；And it is described based on the carrying policy control from driving machine
Device people carries the target shelf, comprising: the target shelf are transported to carrying task specific bit by control self-powered mobile robot
It sets.
As shown in fig. 6, the intensive storage method of cargo that the application proposes includes:
S610, target shelf pointed by carrying task are determined from shelf array；Shelf array it is any it is horizontally-arranged and appoint
Shelf number in one vertical setting of types is at least 3.
If S620, judging that the position of target shelf for first position type, according to first position type, determines and carries plan
Slightly directly carry.
Wherein, the positions of target shelf can be according to identifying in control system and determine, it is possible to understand that, in storage
The movement of shelf is required synchronizing information to control system each time, so that control system is for the reality of carrying task
It applies, the control to inventory status.Therefore, after determining target shelf, so that it may determine target shelf in intensive shelf arrangements
Location type.
It is worth noting that in conjunction with above-mentioned example, as shown in figure 5, if being goods in the target shelf for determining carrying task
When frame C, shelf D and shelf E are because of certain reason, and not in intensive shelf queue, then self-powered mobile robot can pass through original
The position of shelf D and shelf E to shelf C carry out dismemberent carrying, and in this case, the location type of shelf C is first
Set type.Simultaneously it will also be appreciated that the location type of each shelf can constantly be changed in intensive shelf queue
, it can be first position type, or second position type.
In addition, in one embodiment, can position determining by forms such as codings for obtaining shelf and tracking shelf,
Even if in this way, position of the shelf in intensive shelf queue is changed, but still can be determined according to the task of carrying practical
The target shelf needed.That is, position of the shelf in shelf queue can be and be synchronized to marks such as the codings of shelf
In control system.
According to first position type, determines and carry strategy directly to carry, it can be understood as self-powered mobile robot carries mesh
Mark shelf, which need not move through, removes other shelf, but can directly carry target shelf.
Target shelf are transported to carrying task designated position by S630, control self-powered mobile robot.
Wherein, carrying task designated position can be some work station, can also be other positions, and it is specified to carry task
Position can be just to be had determined when carrying task creation, can be carried midway in self-powered mobile robot and be changed.Work as mesh
When the location type for marking shelf is first position type, then controls self-powered mobile robot target shelf are transported to carrying task and refer to
Positioning is set.
On the basis of the above embodiments, the position for providing a kind of target shelf is first position type to the present embodiment
Shelf mode of transport.This mode of transport needs preferentially to determine the position of target shelf for previous mode of transport
Whether first position type is met, it, will not be because of the position of target shelf to ensure to during the carrying mission dispatching with shelf
Setting directly to carry, and only the task of carrying can not carry out.It ensures and shelf is removed by self-powered mobile robot
The operation stability of fortune.
Embodiment three
Fig. 7 is the flow diagram for the intensive storage method of cargo that the embodiment of the present invention three provides.The present embodiment is above-mentioned
On the basis of embodiment, optimization are as follows: judge location type of the target shelf in the intensive shelf arrangements, and according to institute
It states location type and determines carrying strategy, comprising: if judging the position of the target shelf for second position type, according to
Second position type determines and carries strategy to carry indirectly；And it is described based on the carrying policy control self-powered mobile robot
Carry the target shelf, comprising: according to the position of the target shelf, determine approach shelf；Controlling self-powered mobile robot will
After the approach shelf are removed, the target shelf are transported to carrying task designated position.
As shown in fig. 7, the intensive storage method of cargo includes:
S710, target shelf pointed by carrying task are determined from shelf array；Shelf array it is any it is horizontally-arranged and appoint
Shelf number in one vertical setting of types is at least 3.
If S720, judging that the position of target shelf for second position type, according to second position type, determines and carries plan
Slightly carry indirectly.
Wherein, second position type can be determined as the position that self-powered mobile robot can not directly carry target shelf
Set type, that is to say, that inside of the target shelf in intensive shelf arrangements.So in this case, by removing for target shelf
Fortune strategy is determined as carrying strategy indirectly.
Strategy is wherein carried indirectly are as follows: a target shelf are as carrying task final purpose, from self-powered mobile robot position
Locate to target shelf can by least approach shelf path after, approach shelf are removed, then target shelf carry
To carrying task designated place.
S730, according to the position of target shelf, determine approach shelf.
Wherein, according to the position of target shelf, approach shelf are determined, when the less goods of the row or column of intensive shelf arrangements
When frame quantity is 3 or 4, then it can determine that approach shelf are up to one, only approach shelf can not be unique, can be with
Determine that is used as an approach shelf according to the position of self-powered mobile robot.When the less shelf of the row or column of intensive shelf arrangements
When quantity is greater than 4, then approach shelf can be for 2 or more.
After S740, control self-powered mobile robot remove approach shelf, target shelf are transported to carrying task specific bit
It sets.
After determining approach shelf, approach shelf are removed, so that it may target shelf be carried, complete to carry and appoint
Business.
The present embodiment on the basis of the various embodiments described above, provides a kind of position class of target shelf in above-described embodiment
Type is the method for carrying of second position type, and the present embodiment solves the problems, such as to carry out shelf the carrying of concentrated type storage, energy
Enough realizations, which carry shelf by self-powered mobile robot, can stablize progress, and may be implemented intensively to store shelf,
Save the effect of storage space.
Based on the above technical solution, optionally, after control self-powered mobile robot removes approach shelf, by target
Shelf are transported to carrying task designated position, comprising: approach shelf are removed to and temporarily put region by control self-powered mobile robot；Control
Target shelf are transported to carrying task designated position by self-powered mobile robot.Wherein, temporarily putting region can be inside memory block,
It can also be outside memory block.In order to improve the handling efficiency of self-powered mobile robot, it is preferred that temporarily put region setting and depositing
The inside of storage area is not close place with intensive shelf arrangements.The benefit that the technical program is arranged in this way is can be by one
Self-powered mobile robot completes the carrying of internal shelf, makes full use of self-powered mobile robot resource, the driving certainly that no setting is required excessively
Robot reduces the input cost of intelligent storage.
Based on the above technical solution, optionally, after control self-powered mobile robot removes approach shelf, by target
Shelf are transported to carrying task designated position, comprising: the first self-powered mobile robot of control removes approach shelf；And control second
Target shelf are transported to carrying task designated position by self-powered mobile robot.Wherein, the first self-powered mobile robot is by approach shelf
After removing, it can remain that the approach shelf are carrying state, in this way, the first self-powered mobile robot can be dynamic in passageway position
State is mobile, avoids the work for influencing other self-powered mobile robots, and the benefit being arranged in this way is it is not necessary that the area Zan Fang is arranged in memory block
Domain reduces cost brought by occupied area.Meanwhile it can be improved in the case where there are more self-powered mobile robots in memory block
The utilization rate of self-powered mobile robot, and the efficiency that self-powered mobile robot pair is carried with target shelf can be improved, it saves and carries
Time.
Based on the above technical solution, optionally, if judge the position of target shelf for second position type,
After carrying policy control self-powered mobile robot carrying target shelf, method further include: will be moved by self-powered mobile robot
The approach shelf opened move back to the origin-location of approach shelf or the origin-location of target shelf.The technical program is above-mentioned each
On the basis of technical solution, a kind of scheme for putting back to approach shelf is provided, wherein the institute of original target shelf can be put back to
In position, the position of original approach shelf itself can also be put back into.And it can be by synchronizing information to control system.It puts
The benefit for going back to the position of target shelf is can directly can to put back to original in target shelf after loading or unloading
The position of approach shelf, without moving approach shelf again.Being by the benefit that approach shelf put back to itself original position can
Not have to the position progress frequent updating to each shelf, avoid causing control system shelf because of shelf location frequent updating
The case where position mistake of statistics, improves the operation stability of intelligent storage.
Example IV
Fig. 8 is the structural schematic diagram for the cargo dense storage device that the embodiment of the present invention four provides.As shown in figure 8, cargo
Dense storage device, comprising:
Target shelf determining module 810, for determining target shelf pointed by carrying task from shelf array；It is described
Shelf number in any horizontally-arranged and any vertical setting of types of shelf array is at least 3；
Tactful determining module 820 is carried, for judging target shelf class the location of in the shelf array
Type, and determined according to the location type and carry strategy；
Execution module 830 is carried, for carrying the target shelf based on the carrying policy control self-powered mobile robot.
Technical solution provided by the embodiment of the present application, by determining target pointed by carrying task from shelf array
Shelf；Shelf number in any horizontally-arranged and any vertical setting of types of the shelf array is at least 3；Judge that the target shelf exist
Type the location of in the shelf array, and determined according to the location type and carry strategy；Based on the carrying strategy
It controls self-powered mobile robot and carries the target shelf.By using technical solution provided herein, may be implemented sufficiently
Using warehouse space, and reduce the effect of the human cost of store management.
On the basis of the various embodiments described above, optionally, carrying tactful determining module 820 includes:
First carries policy determining unit, if for judging the position of target shelf for first position type, according to the
One location type determines and carries strategy directly to carry；
Carrying execution module 830 includes:
First carries execution unit, and target shelf are transported to carrying task specific bit for controlling self-powered mobile robot
It sets.
On the basis of the various embodiments described above, optionally, carrying tactful determining module 820 includes:
Second carries policy determining unit, if for judging the position of target shelf for second position type, according to the
Two location types determine and carry strategy to carry indirectly；
Carrying execution module 830 includes:
Approach shelf determination unit determines approach shelf for the position according to target shelf；
Second carries execution unit, and for controlling after self-powered mobile robot removes approach shelf, target shelf are carried
To carrying task designated position.
On the basis of the various embodiments described above, optionally, second carries execution unit, is specifically used for:
Approach shelf are removed to and temporarily put region by control self-powered mobile robot；
It controls self-powered mobile robot and target shelf is transported to carrying task designated position.
On the basis of the various embodiments described above, optionally, second carries execution unit, is specifically used for:
The first self-powered mobile robot is controlled to remove approach shelf；
And it controls the second self-powered mobile robot and target shelf is transported to carrying task designated position.
On the basis of the various embodiments described above, optionally, execution module 830 is carried further include:
Approach shelf are moved back to unit, and the approach shelf removed are moved back to approach shelf for controlling self-powered mobile robot
Origin-location or the origin-location of target shelf.
Method provided by any embodiment of the invention can be performed in the said goods, has the corresponding functional module of execution method
And beneficial effect.
Embodiment five
Fig. 9 is the intensive storage system schematic diagram of a kind of cargo provided in the embodiment of the present invention five.Main control end 910, at least
One self-powered mobile robot 920 and intensive shelf arrangements 930；Wherein, in any horizontally-arranged and any vertical setting of types of intensive shelf arrangements
Shelf number be at least 3；
Wherein, main control end 910 include memory, processor and storage on a memory and can processor operation calculating
Machine program realizes that the cargo as provided by any one of the embodiment of the present invention is intensively deposited when processor executes above-mentioned computer program
Method for storing.
Figure 10 is a kind of structural schematic diagram of the main control end provided in the embodiment of the present invention five.Figure 10, which is shown, to be suitable for being used to
Realize the block diagram of the exemplary main control end 1012 of embodiment of the present invention.The main control end 1012 that Figure 10 is shown is only one and shows
Example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in Figure 10, main control end 1012 is showed in the form of universal computing device.The component of main control end 1012 can wrap
Include but be not limited to: one or more processor or processing unit 1016, memory 1028 connect different system component (packets
Include memory 1028 and processing unit 1016) bus 1018.
Bus 1018 indicates one of a few class bus structures or a variety of, including memory bus or memory control
Device, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture
(MAC) bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) are total
Line.
Main control end 1012 typically comprises a variety of computer system readable media.These media can be and any can be led
Control the usable medium that end 1012 accesses, including volatile and non-volatile media, moveable and immovable medium.
Memory 1028 may include the computer system readable media of form of volatile memory, such as arbitrary access is deposited
Reservoir (RAM) 1030 and/or cache memory 1032.Main control end 1012 may further include it is other it is removable/can not
Mobile, volatile/non-volatile computer system storage medium.Only as an example, storage system 1034 can be used for reading and writing
Immovable, non-volatile magnetic media (Figure 10 do not show, commonly referred to as " hard disk drive ").Although being not shown in Figure 10,
The disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, and non-easy to moving
The CD drive that the property lost CD (such as CD-ROM, DVD-ROM or other optical mediums) is read and write.In these cases, each
Driver can be connected by one or more data media interfaces with bus 1018.Memory 1028 may include at least one
A program product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform
The function of various embodiments of the present invention.
Program/utility 1040 with one group of (at least one) program module 1042 can store and for example store
In device 1028, such program module 1042 includes but is not limited to operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.Program mould
Block 1042 usually executes function and/or method in embodiment described in the invention.
Main control end 1012 can also be with one or more external equipments 1014 (such as keyboard, sensing equipment, display 1024
Deng) communication, can also be enabled a user to one or more equipment interact with main control end 1012 communicate, and/or with make this
Any equipment (such as network interface card, modem etc. that main control end 1012 can be communicated with one or more of the other calculating equipment
Deng) communication.This communication can be carried out by input/output (I/O) interface 1022.Also, main control end 1012 can also pass through
Network adapter 1020 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, example
Such as internet) communication.As shown, network adapter 1020 is communicated by bus 1018 with other modules of main control end 1012.
It should be understood that main control end 1012 can be combined using other hardware and/or software module although being not shown in Figure 10, including but
Be not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive with
And data backup storage system etc..
Processing unit 1016 by the program that is stored in memory 1028 of operation, thereby executing various function application and
Data processing, such as realize the intensive storage method of cargo provided by the embodiment of the present invention, comprising:
Target shelf pointed by carrying task are determined from shelf array；The shelf array it is any horizontally-arranged and any
Shelf number in vertical setting of types is at least 3；
Judge target shelf type the location of in the shelf array, and is determined according to the location type
Carry strategy；
The target shelf are carried based on the carrying policy control self-powered mobile robot.
Embodiment six
The embodiment of the present application also provides a kind of storage medium comprising computer executable instructions, computer executable instructions
When being executed by computer processor for executing a kind of intensive storage method of cargo, this method comprises:
Target shelf pointed by carrying task are determined from shelf array；The shelf array it is any horizontally-arranged and any
Shelf number in vertical setting of types is at least 3；
Judge target shelf type the location of in the shelf array, and is determined according to the location type
Carry strategy；
The target shelf are carried based on the carrying policy control self-powered mobile robot.
Storage medium --- any various types of memory devices or storage equipment.Term " storage medium " is intended to wrap
It includes: install medium, such as CD-ROM, floppy disk or magnetic tape equipment；Computer system memory or random access memory, such as
DRAM, DDR RAM, SRAM, EDO RAM, blue Bath (Rambus) RAM etc.；Nonvolatile memory, such as flash memory, magnetic medium
(such as hard disk or optical storage)；Register or the memory component of other similar types etc..Storage medium can further include other
Memory of type or combinations thereof.In addition, storage medium can be located at program in the computer system being wherein performed, or
It can be located in different second computer systems, second computer system is connected to computer by network (such as internet)
System.Second computer system can provide program instruction to computer for executing.Term " storage medium " may include can
To reside in different location two or more storage mediums of (such as in the different computer systems by network connection).
Storage medium can store the program instruction (such as being implemented as computer program) that can be performed by one or more processors.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present application
Executable instruction is not limited to cargo as above and intensively stores operation, and cargo provided by the application any embodiment can also be performed
Relevant operation in intensive storage method.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments here, be able to carry out for a person skilled in the art it is various it is apparent variation, again
Adjustment and substitution are without departing from protection scope of the present invention.Therefore, although by above embodiments to the present invention carried out compared with
For detailed description, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, can be with
Including more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of intensive storage method of cargo characterized by comprising
Target shelf pointed by carrying task are determined from shelf array；Any horizontally-arranged and any vertical setting of types of the shelf array
In shelf number be at least 3；
Judge target shelf type the location of in the shelf array, and is determined and carried according to the location type
Strategy；
The target shelf are carried based on the carrying policy control self-powered mobile robot.
2. the method according to claim 1, wherein the judgement target shelf are in the shelf array
Location type, and determined according to the location type and carry strategy, comprising:
If judging, the position of the target shelf for first position type, according to the first position type, determines and carries plan
Slightly directly carry；And
It is described that the target shelf are carried based on the carrying policy control self-powered mobile robot, comprising:
It controls self-powered mobile robot and the target shelf is transported to carrying task designated position.
3. the method according to claim 1, wherein judging the target shelf in the intensive shelf arrangements
Location type, and according to the location type determine carry strategy, comprising:
If judging, the position of the target shelf for second position type, according to the second position type, determines and carries plan
Slightly carry indirectly；And
It is described that the target shelf are carried based on the carrying policy control self-powered mobile robot, comprising:
According to the position of the target shelf, approach shelf are determined；
After control self-powered mobile robot removes the approach shelf, the target shelf are transported to carrying task specific bit
It sets.
4. according to the method described in claim 3, it is characterized in that, the control self-powered mobile robot moves the approach shelf
After opening, the target shelf are transported to carrying task designated position, comprising:
The approach shelf are removed to and temporarily put region by control self-powered mobile robot；
It controls the self-powered mobile robot and the target shelf is transported to carrying task designated position.
5. according to the method described in claim 3, it is characterized in that, the control self-powered mobile robot moves the approach shelf
After opening, the target shelf are transported to carrying task designated position, comprising:
The first self-powered mobile robot is controlled to remove the approach shelf；
And it controls the second self-powered mobile robot and the target shelf is transported to carrying task designated position.
6. according to the method described in claim 3, it is characterized in that, if judging the position of the target shelf for second position class
Type, then after carrying the target shelf based on the carrying policy control self-powered mobile robot, the method also includes:
The approach shelf removed are moved back to the origin-location of the approach shelf or described by control self-powered mobile robot
The origin-location of target shelf.
7. a kind of cargo dense storage device characterized by comprising
Target shelf determining module, for determining target shelf pointed by carrying task from shelf array；The shelf battle array
Shelf number in any horizontally-arranged and any vertical setting of types of column is at least 3；
Tactful determining module is carried, for judging target shelf type the location of in the shelf array, and root
It is determined according to the location type and carries strategy；
Execution module is carried, for carrying the target shelf based on the carrying policy control self-powered mobile robot.
8. device according to claim 7, which is characterized in that the tactful determining module of the carrying includes:
First carries policy determining unit, if for judging the position of the target shelf for first position type, according to institute
First position type is stated, determines and carries strategy directly to carry；
The carrying execution module includes:
First carries execution unit, and the target shelf are transported to carrying task specific bit for controlling self-powered mobile robot
It sets.
9. a kind of intensive storage system of cargo characterized by comprising main control end, at least a self-powered mobile robot and shelf
Array；Wherein, the shelf number in any horizontally-arranged and any vertical setting of types of the shelf array is at least 3；
The main control end includes memory, processor and storage on a memory and can in the computer program of processor operation,
The processor is realized when executing the computer program such as the intensive side of storage of cargo of any of claims 1-6
Method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as cargo of any of claims 1-6 intensive storage method is realized when execution.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208950.8A CN109279249B (en) | 2018-10-17 | 2018-10-17 | Goods intensive storage method, device, system and storage medium |
| AU2019318657A AU2019318657B2 (en) | 2018-08-10 | 2019-08-08 | Dense storage-based article moving method and device, storage medium and dense storage system |
| JP2020521352A JP6799198B1 (en) | 2018-08-10 | 2019-08-08 | Goods transfer methods, devices, storage media and high density storage systems based on high density storage |
| KR1020217007275A KR102321857B1 (en) | 2018-08-10 | 2019-08-08 | High-density storage-based material transport method and equipment, storage medium and high-density storage system |
| PCT/CN2019/099860 WO2020030063A1 (en) | 2018-08-10 | 2019-08-08 | Dense storage-based article moving method and device, storage medium and dense storage system |
| CA3109329A CA3109329C (en) | 2018-08-10 | 2019-08-08 | Dense storage-based article moving method and device, storage medium and dense storage system |
| MX2021001667A MX2021001667A (en) | 2018-08-10 | 2019-08-08 | Dense storage-based article moving method and device, storage medium and dense storage system. |
| EP19847180.7A EP3835236A4 (en) | 2018-08-10 | 2019-08-08 | Dense storage-based article moving method and device, storage medium and dense storage system |
| US16/926,457 US11104003B2 (en) | 2018-08-10 | 2020-07-10 | Method and device for moving an article based on dense storage, storage medium, and dense storage system |
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|---|---|---|---|
| CN201811208950.8A CN109279249B (en) | 2018-10-17 | 2018-10-17 | Goods intensive storage method, device, system and storage medium |
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| CN109279249A true CN109279249A (en) | 2019-01-29 |
| CN109279249B CN109279249B (en) | 2020-06-05 |
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| CN201811208950.8A Active CN109279249B (en) | 2018-08-10 | 2018-10-17 | Goods intensive storage method, device, system and storage medium |
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