CN109279249B

CN109279249B - Goods intensive storage method, device, system and storage medium

Info

Publication number: CN109279249B
Application number: CN201811208950.8A
Authority: CN
Inventors: 孙凯
Original assignee: Beijing Geekplus Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2018-10-17
Filing date: 2018-10-17
Publication date: 2020-06-05
Anticipated expiration: 2038-10-17
Also published as: CN109279249A

Abstract

The embodiment of the invention discloses a method, a device and a system for densely storing goods and a storage medium. The method comprises the following steps: determining a target shelf to which a handling task is directed from a shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3; judging the position type of the target goods shelf in the goods shelf array, and determining a carrying strategy according to the position type; and controlling a self-driven robot to carry the target shelf based on the carrying strategy. Through adopting the technical scheme that this application provided, can realize make full use of storehouse space to reduce the effect of the human cost of storehouse management.

Description

Goods intensive storage method, device, system and storage medium

Technical Field

The embodiment of the invention relates to the technical field of robot control, in particular to a method, a device and a system for densely storing goods and a storage medium.

Background

With the increase of the scarcity degree of the land, particularly the section of the urban land price, the cost of the storehouse which is one of the operation costs also becomes an important cost governing target which influences the economic benefit. Meanwhile, with the rapid increase of the human resource cost, the human resource cost of warehouse management becomes a key cost control target. The existing storehouse management mode can not meet the real intelligent intensive requirement from the aspects of storage intensive degree and management efficiency. Therefore, a scheme which can intensively store goods, greatly save the space of the storeroom and greatly save the manpower for managing the storeroom is urgently needed no matter the storeroom space is saved or the manpower for managing the storeroom is saved.

Disclosure of Invention

The embodiment of the invention provides a goods intensive storage method, a goods intensive storage device, a goods intensive storage system and a storage medium, which can achieve the effects of fully utilizing the space of a storehouse and reducing the labor cost of storehouse management.

In a first aspect, an embodiment of the present invention provides a method for densely storing goods, where the method includes:

determining a target shelf to which a handling task is directed from a shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3;

judging the position type of the target goods shelf in the goods shelf array, and determining a carrying strategy according to the position type;

and controlling a self-driven robot to carry the target shelf based on the carrying strategy.

Further, the determining the position type of the target rack in the rack array and determining a handling strategy according to the position type includes:

if the position of the target shelf is judged to be of a first position type, determining that the carrying strategy is direct carrying according to the first position type; and

the controlling the self-driven robot to carry the target shelf based on the carrying strategy comprises the following steps:

and controlling the self-driven robot to convey the target shelf to a conveying task designated position.

Further, the step of judging the position type of the target shelf in the dense shelf arrangement and determining a carrying strategy according to the position type includes:

if the position of the target shelf is judged to be of a second position type, determining that the carrying strategy is indirect carrying according to the second position type; and

determining an approach shelf according to the position of the target shelf;

and controlling the self-driven robot to move the path shelf away, and then conveying the target shelf to a conveying task designated position.

Further, the controlling the self-driven robot to move the target rack to the transport task designation position after moving the route rack away includes:

controlling a self-driven robot to move the route shelf to a temporary placement area;

controlling a first self-driven robot to move the way shelf away;

and controlling a second self-driven robot to convey the target shelf to a conveying task designated position.

Further, if it is determined that the position of the target shelf is of the second position type, after the self-driven robot is controlled to transport the target shelf based on the transport policy, the method further includes:

controlling a self-driven robot to move the removed route shelf back to an original position of the route shelf or an original position of the target shelf.

In a second aspect, an embodiment of the present invention further provides a dense cargo storage device, where the device includes:

the target shelf determining module is used for determining a target shelf to which the handling task points from the shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3;

the carrying strategy determining module is used for judging the position type of the target goods shelf in the goods shelf array and determining a carrying strategy according to the position type;

and the carrying execution module is used for controlling the self-driven robot to carry the target goods shelf based on the carrying strategy.

Further, the handling strategy determination module comprises:

the first conveying strategy determining unit is used for determining that the conveying strategy is direct conveying according to the first position type if the position of the target shelf is judged to be the first position type;

the carrying execution module comprises:

and a first carrying execution unit for controlling the self-driven robot to carry the target shelf to a carrying task designated position.

Further, the handling strategy determination module comprises:

the second conveying strategy determining unit is used for determining that the conveying strategy is indirect conveying according to the second position type if the position of the target shelf is judged to be the second position type;

the carrying execution module comprises:

an approach shelf determination unit for determining an approach shelf according to the position of the target shelf;

and the second conveying execution unit is used for controlling the self-driven robot to move the path shelf away and then conveying the target shelf to the specified conveying task position.

Further, the second carrying execution unit is specifically configured to:

controlling a first self-driven robot to move the way shelf away;

Further, the carrying execution module further includes:

an approach shelf moving-back unit for controlling the self-driven robot to move the removed approach shelf back to an original position of the approach shelf or an original position of the target shelf.

In a third aspect, a dense cargo storage system, the system comprising: the system comprises a main control end, at least one self-driven robot and a goods shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3;

the main control end comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, and when the processor executes the computer program, the goods intensive storage method provided by any one of the embodiments of the invention is realized.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the goods intensive storage method according to any one of the embodiments provided in the present application.

According to the technical scheme provided by the embodiment of the application, the target shelf to which the carrying task points is determined from the shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3; judging the position type of the target goods shelf in the goods shelf array, and determining a carrying strategy according to the position type; and controlling a self-driven robot to carry the target shelf based on the carrying strategy. Through adopting the technical scheme that this application provided, can realize make full use of storehouse space to reduce the effect of the human cost of storehouse management.

Drawings

FIG. 1 is a schematic system diagram of an unmanned self-service operating system provided in an embodiment of the present invention;

FIG. 2 is a schematic structural view of a shelf with one-way openings according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a self-driven robot provided in an embodiment of the present invention;

FIG. 4 is a schematic flow chart of a method for densely storing goods according to an embodiment of the present invention;

FIG. 5 is a schematic view of a dense rack arrangement provided in an embodiment of the present invention;

FIG. 6 is a schematic flow chart of a method for densely storing goods according to a second embodiment of the present invention;

FIG. 7 is a schematic flow chart of a dense cargo storage method according to a third embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a dense cargo storage device according to a fourth embodiment of the present invention;

FIG. 9 is a schematic view of a dense cargo storage system according to a fifth embodiment of the present invention;

fig. 10 is a schematic structural diagram of a master control end according to a fifth embodiment of the present invention.

Detailed Description

Fig. 1 is a schematic system structure diagram of an unmanned self-service operating system provided in an embodiment of the present invention. Referring to fig. 1, the system 100 includes: the self-propelled robot 110, the control system 120, the storage area 130 and the workstation 140, the storage area 130 is provided with a plurality of storage containers 131, various articles are placed on the storage containers 131, and the plurality of storage containers 131 are arranged in an array form, for example, like shelves in which various commodities are placed, which are seen in supermarkets. Typically, a plurality of workstations 140 are provided on one or more sides (as shown) of the storage area 130. The storage container 131 is a container having a compartment through which items can be stored, such as a shelf, wherein the shelf includes a plurality of compartments and four floor-standing support columns, and at least one compartment is disposed on the compartments of the shelf, and one or more items can be placed in the compartment. In addition, the shelf may be a one-way opening, for example, fig. 2 is a schematic structural diagram of a one-way opening shelf provided in an embodiment of the present invention, such as the one-way opening shelf shown in fig. 2, or may be a two-way opening, and the article in the opening on any side of the two-way opening shelf may be operated by the rotation of the shelf.

The control system 120 is in wireless communication with the self-propelled robot 110, the staff member (or user) generates an order through the console 160, the order is transmitted to the control system 120, the control system 120 responds to the order and initiates work, and the self-propelled robot 110 performs a handling task under the control of the control system 120. For example, taking a storage container as a shelf, the self-driven robot 110 may travel along an empty space (a part of a passage way for the self-driven robot 110) in the middle of the shelf array, move to the bottom of the shelf, lift the shelf using the lifting mechanism, and transport the shelf to the assigned work station 140.

In one example, the self-driven robot 110 has a lifting mechanism, and has an autonomous navigation function, the self-driven robot 110 can travel to the bottom of the rack and lift the entire rack using the lifting mechanism, so that the rack can move up and down with the lifting mechanism having a lifting function. In one example, the self-driven robot 110 can travel according to the two-dimensional code information captured by the camera and can travel to the underside of the shelf presented by the control system 120 according to the route determined by the control system 120. The self-driven robot 110 carries the rack to the workstation 140, where the worker (or user) 141 removes the item from the rack at the workstation 140. For the rack with the bidirectional opening, the rack can be rotated by the self-driven robot 110 so that the opening direction of the article to be taken faces the person who takes the article, such as a worker or a user.

The control system 120 is a software system with data storage and information processing capabilities running on a control server, and can be connected with a self-driven robot, a hardware input system and other software systems through wireless or wired connection. The control system 120 may include one or more control servers, which may be a centralized control architecture or a distributed computing architecture. The control server has a processor 1201 and a memory 1202, and may have an order pool 1203 in the memory 1202.

The system shown in fig. 1 is applicable to a variety of suitable scenarios, for example, in a picking scenario, after the self-driven robot 110 carries the storage container 131 to the workstation 140, a worker takes an item (which is an order item) from the storage container 131 and puts it into a packing box for packing; for example, in an article storage scenario, regardless of whether the stored articles are temporarily stored or stored for a long period of time, after the self-propelled robot 110 transports the storage container 131 to the workstation 140, the worker or the owner of the articles take the articles out of the storage container 131 or store the articles in the storage container 131. Specifically, in the article storage scenario, in order to ensure privacy and security, one storage container 131 may be dedicated to placing articles of one user, or one bay may be dedicated to placing articles of one user. Of course, besides, the system is also suitable for unmanned access scenes and unmanned supermarket scenes.

Fig. 3 is a schematic structural diagram of a self-driven robot provided in an embodiment of the present invention, and referring to fig. 3, the self-driven robot 110 may include a driving mechanism 1101, by which the self-driven robot 110 can move within a work space, and the self-driven robot 110 may further include a lifting mechanism 1102 for carrying the storage container 131, and the self-driven robot 110 may move below the storage container 131, lift the storage container 131 using the lifting mechanism 1102, and carry to the assigned workstation 140. The lifting mechanism 1102 lifts the entire storage container 131 from the ground when lifted so that the self-driven robot 110 carries the storage container 131, and the lifting mechanism 1102 lowers the storage container 131 on the ground. The object recognition unit 1103 on the self-propelled robot 110 can effectively recognize the storage container 131 when the self-propelled robot 110 lifts the storage container 131.

In the prior art, in order to enable a robot to smoothly carry storage containers in a storage area, the storage containers are generally arranged in one row or two rows to form an array unit, and after an aisle is arranged, the array unit is arranged, and so on. However, such arrangements do not achieve maximum utilization of resources against the current context of expensive use of either the display area or the warehousing area. Therefore, the application provides a goods intensive storage scheme.

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

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

Example one

Fig. 4 is a schematic flowchart of a cargo-intensive storage method according to an embodiment of the present invention, where the cargo-intensive storage method is applicable to a cargo storage situation, and the cargo-intensive storage method may be implemented by a cargo-intensive storage device according to an embodiment of the present invention, where the cargo-intensive storage device may be implemented by software and/or hardware, and may be integrated in a cargo-intensive storage system.

As shown in fig. 4, the method for densely storing goods includes:

s410, determining a target shelf to which a carrying task is directed from a shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3.

The transport task may be determined by an operation desk, for example, at a work station, when some items a need to be stored on a shelf of a storage area, the transport task may be generated by the operation desk. In this case, the handling task may then specify two types of shelves, one being empty and the other being shelves that have already been placed with a items but are not stored full. The two shelves can be determined by the operation table, can be set with priority, and can be determined according to the quantity of the A articles needing to be stored at present. It will be appreciated that for each item stored, information may be entered into the control system, which may ensure that the operator may query the console for which items are stored on each shelf, and may also determine whether each shelf is full of the current storage status. Thus, when the articles need to be stored or some articles need to be taken out from the storage area, the target shelf for the transportation task can be determined through the control platform.

In this embodiment, the arrangement of the shelves in the shelf array is a dense arrangement, and specifically, the number of shelves in any horizontal row and any vertical row of the dense shelf arrangement is at least 3. However, since the aisle is required to be arranged in the middle of the shelf in the prior art, when the number of the shelves in the transverse row is large, the aisle can be understood as three or more, the number of the shelves in the vertical row can be only two, and otherwise, the carrying of the shelves in the middle vertical row is inconvenient. In the present application, three, four or even more vertical rows of shelves (when the number of horizontal rows of shelves is large) are provided, which is the arrangement of the shelves in the shelf array, and compared with the prior art, the arrangement is dense. Fig. 5 is a schematic diagram of a dense rack arrangement provided in an embodiment of the present invention, in which fig. 5 shows only 8 rows and 4 columns of racks, and aisles are provided around the racks. Specifically, the design can be made according to the range of the storage space and the size of the shelf. After the shelves are arranged densely, the shelves close to the aisle are required to be moved away firstly for the transportation of the shelves without the position close to the aisle, so that the number of the shelves in any transverse row and any vertical row of the dense shelf arrangement is at least 3, preferably 4 rows and multiple columns or 4 rows and multiple columns, and the reason for the arrangement is that when the shelves without the position close to the aisle are transported, only one shelf close to the position close to the aisle is required to be moved away, and the transportation efficiency of the shelves is convenient to control. As shown in the figure, for example, if the shelf D is to be transported, the shelf D can be transported by moving away the shelf E or the shelf F, while the shelf C can be moved by moving only the shelf G, because if two shelves are to be moved by moving the shelf on the left side or the upper side of the shelf C, the efficiency of the self-driven robot in transporting the target shelf is affected. After the arrangement, the distance between the goods shelves is tighter, the occupation of the storage space by the original passage is reduced, and therefore the effects of saving the space and improving the utilization rate of the storage space can be achieved.

And S420, judging the position type of the target goods shelf in the goods shelf array, and determining a carrying strategy according to the position type.

Wherein, the position types of the target shelf in the dense shelf arrangement can comprise: a first location type and a second location type. The first position type can be a shelf which can be directly carried by the self-driven robot according to the carrying task, and the second position type shelf can be a shelf which can not directly complete the carrying task, and the approach shelf is required to be moved away before the target shelf is carried. Thus, the handling strategy may be determined according to the type of location of the target shelf in the dense rack arrangement. The transportation strategy may include direct transportation and indirect transportation, where the direct transportation means directly transporting the target shelf to a position designated by the transportation task, and the indirect transportation means moving away the approach shelf first and then transporting the target shelf. In combination with the above example, if the target shelf is D, the approach shelf may be a shelf E, a shelf F, a shelf G, and a shelf C. It can be confirmed that, after the approach shelf is removed, the self-driven robot can directly move to the position of the target shelf to carry the target shelf.

And S430, controlling the self-driven robot to convey the target shelf based on the conveying strategy.

And after the transportation strategy is determined, controlling the self-driven robot to carry according to the determined transportation strategy. The self-driven robot can issue the carrying strategy corresponding to the carrying task to the self-driven robot, and the self-driven robot can finish the carrying task of the target shelf by identifying the current carrying strategy.

The transport task may include a transport destination address for the target shelf, for example, when the target shelf is transported to a certain workstation, the transport path is determined according to the transport task, and the shelf is moved. Wherein the handling path may be determined according to the position of the rack in the current warehouse and the position of the self-driven robot and other equipment.

Example two

Fig. 6 is a schematic flow chart of a dense cargo storage method according to a second embodiment of the present invention. On the basis of the above embodiments, the present embodiment is optimized as follows: the judging the position type of the target goods shelf in the goods shelf array and determining a carrying strategy according to the position type comprises the following steps: if the position of the target shelf is judged to be of a first position type, determining that the carrying strategy is direct carrying according to the first position type; and the controlling the self-driven robot to carry the target shelf based on the carrying strategy comprises the following steps: and controlling the self-driven robot to convey the target shelf to a conveying task designated position.

As shown in fig. 6, the method for densely storing goods proposed by the present application includes:

s610, determining a target shelf to which a carrying task is directed from a shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3.

And S620, if the position of the target shelf is judged to be the first position type, determining the conveying strategy to be direct conveying according to the first position type.

The position of the target shelf can be determined according to identification in the control system, and it can be understood that information needs to be synchronized to the control system when the shelf is moved each time in the warehousing, so that the control system can conveniently implement the carrying task and control the stock state. Thus, after the target shelf is determined, the type of location of the target shelf in the dense shelf arrangement may be determined.

It is to be noted that, in connection with the above example, as shown in fig. 5, if the shelf D and the shelf E are not in the dense shelf queue for some reason when it is determined that the target shelf of the transfer task is the shelf C, the self-driven robot may transfer the shelf C delicately by the positions of the original shelf D and the shelf E, in which case the position type of the shelf C is the first position type. It is also understood that the location type of each shelf in the dense shelf queue may be continuously variable, and may be a first location type or a second location type.

Additionally, in one embodiment, the location of the racks may be determined and tracked by obtaining a code or the like for the racks so that the actual desired target rack may be determined based on the handling task even if the location of the racks in the dense rack queue changes. That is, the position of the shelf in the shelf queue may be synchronized to the control system with a code or the like identifying the shelf.

According to the first position type, the handling strategy is determined to be direct handling, and it can be understood that the self-driven robot can handle the target shelf directly without moving other shelves.

And S630, controlling the self-driven robot to convey the target shelf to the conveying task designated position.

The conveying task designated position can be a certain work station or other positions, can be determined when the conveying task is established, and can be changed in the middle of conveying of the self-driven robot. And when the position type of the target shelf is the first position type, controlling the self-driven robot to convey the target shelf to the conveying task designated position.

In the present embodiment, on the basis of the above-described embodiments, a rack carrying manner in which the position of the target rack is the first position type is provided. In this type of conveyance method, it is necessary to determine, with priority over the conventional conveyance method, whether or not the position of the target rack matches the first position type, so as to ensure that the conveyance task cannot be performed because the position of the target rack cannot be directly conveyed during the delivery of the conveyance task to the rack. The operation stability of carrying the goods shelf through the self-driven robot is ensured.

EXAMPLE III

Fig. 7 is a schematic flow chart of a dense cargo storage method according to a third embodiment of the present invention. On the basis of the above embodiments, the present embodiment is optimized as follows: judging the position type of the target shelf in the dense shelf arrangement, and determining a carrying strategy according to the position type, wherein the method comprises the following steps: if the position of the target shelf is judged to be of a second position type, determining that the carrying strategy is indirect carrying according to the second position type; and the controlling the self-driven robot to carry the target shelf based on the carrying strategy comprises the following steps: determining an approach shelf according to the position of the target shelf; and controlling the self-driven robot to move the path shelf away, and then conveying the target shelf to a conveying task designated position.

As shown in fig. 7, the method for densely storing goods includes:

s710, determining a target shelf to which a carrying task is directed from a shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3.

And S720, if the position of the target shelf is judged to be the second position type, determining the conveying strategy to be indirect conveying according to the second position type.

The second position type may be determined as a position type where the self-driven robot cannot directly carry the target shelf, that is, the target shelf is inside the dense shelf array. In this case, therefore, the conveyance strategy of the target rack is determined as the indirect conveyance strategy.

Wherein the indirect handling strategy is: and taking a target shelf as the final purpose of the carrying task, removing the path shelf after the path from the position of the driving robot to the least path shelf which can be passed by the target shelf, and carrying the target shelf to the appointed place of the carrying task.

And S730, determining a path shelf according to the position of the target shelf.

The approach shelf is determined according to the position of the target shelf, when the number of shelves with fewer rows or columns in the dense shelf arrangement is 3 or 4, the approach shelf can be determined to be at most one, only the approach shelf can be not unique, and one approach shelf can be determined according to the position of the self-driven robot. When the number of shelves in the row or column of the dense shelf arrangement is more than 4, the route shelf may be 2 or more.

And S740, controlling the self-driven robot to move the approach shelf away, and then conveying the target shelf to the specified position of the conveying task.

After the approach shelf is determined, the approach shelf is moved away, and the target shelf can be transported to finish the transportation task.

In the embodiment, on the basis of the above embodiments, the carrying method that the position type of the target shelf is the second position type is provided, and this embodiment solves the carrying problem of intensive storage of the shelves, can stably carry the shelves by the self-driven robot, and can realize the effects of intensive storage of the shelves and storage space saving.

On the basis of the above technical solution, optionally, after the self-driven robot is controlled to move the approach shelf away, the target shelf is transported to a specified location of the transport task, including: controlling the self-driven robot to move the access goods shelf to the temporary storage area; and controlling the self-driven robot to convey the target goods shelf to the specified conveying task position. The pause area may be inside the storage area or outside the storage area. In order to improve the carrying efficiency of the self-propelled robot, it is preferable that the temporary storage area is provided in a place not closely aligned with the dense rack arrangement inside the storage area. The advantage that this technical scheme set up like this can be accomplished the transport of inside goods shelves by a self-driven robot, and make full use of self-driven robot resource need not to set up too much self-driven robot, has reduced the input cost of intelligent storage.

On the basis of the above technical solution, optionally, after the self-driven robot is controlled to move the approach shelf away, the target shelf is transported to a specified location of the transport task, including: controlling the first self-driven robot to move the access shelf away; and controlling the second self-driven robot to convey the target shelf to the conveying task designated position. The first self-driven robot can move in the aisle dynamically to avoid influencing the work of other self-driven robots, and the temporary storage area does not need to be arranged in the storage area, so that the cost caused by the occupied area is reduced. Meanwhile, under the condition that a plurality of self-driven robots are arranged in the storage area, the utilization rate of the self-driven robots is improved, the carrying efficiency of the self-driven robots to the target goods shelf is improved, and the carrying time is saved.

On the basis of the foregoing technical solution, optionally, if it is determined that the position of the target rack is of the second position type, after the self-driven robot is controlled based on the transportation policy to transport the target rack, the method further includes: the removed route shelf is moved back to the original position of the route shelf or the original position of the target shelf by the self-driven robot. On the basis of the technical schemes, the technical scheme provides a scheme for replacing the path shelf, wherein the original position of the target shelf can be replaced, and the original position of the path shelf can also be replaced. And may synchronize the information to the control system. The advantage of replacing the target shelf is that the target shelf can be directly replaced to the original position of the path shelf after being loaded or unloaded, and the path shelf does not need to be moved again. The advantage of replacing the approach shelf to the original position is that the position of each shelf does not need to be updated frequently, thereby avoiding the situation of wrong counting of the shelf position of the control system caused by frequent updating of the shelf position and improving the operation stability of the intelligent warehouse.

Example four

Fig. 8 is a schematic structural diagram of a dense cargo storage device according to a fourth embodiment of the present invention. As shown in fig. 8, the cargo dense storage device includes:

a target shelf determination module 810, configured to determine a target shelf to which the handling task is directed from the shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3;

a carrying strategy determining module 820, configured to determine a type of a position where the target shelf is located in the shelf array, and determine a carrying strategy according to the type of the position;

and a carrying execution module 830 for controlling the self-driven robot to carry the target shelf based on the carrying strategy.

On the basis of the foregoing embodiments, optionally, the handling policy determining module 820 includes:

a first transportation strategy determining unit, configured to determine, if the position of the target shelf is determined to be the first position type, that the transportation strategy is direct transportation according to the first position type;

the carrying execution module 830 includes:

and a first carrying execution unit for controlling the self-driven robot to carry the target shelf to the carrying task designated position.

a second transportation strategy determining unit, configured to determine, if the position of the target shelf is determined to be of the second position type, that the transportation strategy is indirect transportation according to the second position type;

the carrying execution module 830 includes:

an approach shelf determination unit for determining an approach shelf according to a position of the target shelf;

and a second carrying execution unit for controlling the self-driven robot to carry the target shelf to the carrying task designated position after removing the approach shelf.

On the basis of the foregoing embodiments, optionally, the second carrying execution unit is specifically configured to:

controlling the self-driven robot to move the access goods shelf to the temporary storage area;

and controlling the self-driven robot to convey the target goods shelf to the specified conveying task position.

controlling the first self-driven robot to move the access shelf away;

and controlling the second self-driven robot to convey the target shelf to the conveying task designated position.

On the basis of the foregoing embodiments, optionally, the carrying executing module 830 further includes:

and an approach shelf moving-back unit for controlling the self-driven robot to move the removed approach shelf back to the original position of the approach shelf or the original position of the target shelf.

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

EXAMPLE five

Fig. 9 is a schematic view of a dense cargo storage system according to a fifth embodiment of the present invention. A main control terminal 910, at least one self-driven robot 920 and a dense rack arrangement 930; the number of shelves in any transverse row and any vertical row of the dense shelf arrangement is at least 3;

the main control terminal 910 includes a memory, a processor, and a computer program stored in the memory and capable of being executed by the processor, and when the processor executes the computer program, the processor implements the method for densely storing goods according to any one of the embodiments of the present invention.

Fig. 10 is a schematic structural diagram of a master control end according to a fifth embodiment of the present invention. Figure 10 illustrates a block diagram of an exemplary master 1012 suitable for use in implementing embodiments of the present invention. The master 1012 shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present invention.

As shown in fig. 10, the master 1012 is in the form of a general purpose computing device. The components of the master 1012 may include, but are not limited to: one or more processors or processing units 1016, a memory 1028, and a bus 1018 that couples the various system components (including the memory 1028 and the processing unit 1016).

Bus 1018 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Master 1012 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by the master 1012 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 1028 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)1030 and/or cache memory 1032. The master 1012 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 1034 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 10, commonly referred to as a "hard drive"). Although not shown in FIG. 10, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be connected to the bus 1018 via one or more data media interfaces. Memory 1028 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

Program/utility 1040 having a set (at least one) of program modules 1042, can be stored, for instance, in memory 1028, such program modules 1042 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. The program modules 1042 generally perform the functions and/or methodologies of the described embodiments of the invention.

The master 1012 may also communicate with one or more external devices 1014 (e.g., keyboard, pointing device, display 1024, etc.), with one or more devices that enable a user to interact with the master 1012, and/or with any devices (e.g., network card, modem, etc.) that enable the master 1012 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 1022. Also, the host 1012 can communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 1020. As shown, the network adapter 1020 communicates with the other modules of the master 1012 over the bus 1018. It should be appreciated that although not shown in FIG. 10, other hardware and/or software modules may be used in conjunction with the master 1012, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 1016 executes programs stored in the memory 1028 to execute various functional applications and data processing, for example, to implement the cargo intensive storage method provided by the embodiment of the present invention, including:

EXAMPLE six

Embodiments of the present application also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for dense cargo storage, the method comprising:

Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.

Of course, the storage medium provided in the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the above goods-intensive storage operation, and may also perform related operations in the goods-intensive storage method provided in any embodiments of the present application.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for densely storing goods, comprising:

controlling a self-driven robot to carry the target shelf based on the carrying strategy;

determining an approach shelf according to the position of the target shelf;

controlling the self-driven robot to move the approach shelf away, and then carrying the target shelf to a carrying task designated position;

wherein the controlling the self-driven robot to move the route shelf away from the target shelf to a transport task designation position includes:

controlling a first self-driven robot to move the way shelf away;

controlling a second self-driven robot to convey the target shelf to a conveying task designated position;

after the first self-driven robot moves away the path shelf, the path shelf is always kept in a carrying state so as to dynamically move in the aisle position, and the influence on the work of other self-driven robots is avoided.

2. The method of claim 1, wherein said determining a type of location at which the target shelf is located in the array of shelves and determining a handling strategy based on the type of location comprises:

3. The method of claim 1, wherein if the position of the target shelf is determined to be of the second position type, after controlling a self-propelled robot to transport the target shelf based on the transport strategy, the method further comprises:

4. A dense cargo storage unit, comprising:

the carrying execution module is used for controlling the self-driven robot to carry the target goods shelf based on the carrying strategy;

wherein the handling policy determination module comprises:

the carrying execution module comprises:

the second conveying execution unit is used for controlling the self-driven robot to move the path shelf away and then conveying the target shelf to a conveying task designated position;

the second carrying execution unit is specifically configured to:

controlling a first self-driven robot to move the way shelf away;

5. The apparatus of claim 4, wherein the handling strategy determination module comprises:

the carrying execution module comprises:

6. The apparatus of claim 4, wherein the handling execution module further comprises:

7. A dense cargo storage system, comprising: the system comprises a main control end, at least one self-driven robot and a goods shelf array; the number of the shelves in any transverse row and any vertical row of the shelf array is at least 3;

the main control end comprises a memory, a processor and a computer program which is stored on the memory and can be run by the processor, and when the processor executes the computer program, the goods intensive storage method as claimed in any one of claims 1 to 3 is realized.

8. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method for the dense storage of goods according to any one of claims 1 to 3.