CN110182529A

CN110182529A - Go out warehousing control method and handling system for shelf array

Info

Publication number: CN110182529A
Application number: CN201910288976.6A
Authority: CN
Inventors: 高廷玉; 雷刚; 杨大伟
Original assignee: Shanghai Quicktron Intelligent Technology Co Ltd
Current assignee: Shanghai Quicktron Intelligent Technology Co Ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2019-08-30
Anticipated expiration: 2039-04-11
Also published as: CN110182529B

Abstract

The present invention provides a kind of warehousing control method out for shelf array, comprising: receives the outbound task of target shelf；According to position of the target shelf in the shelf array, it determines and carries strategy, if wherein the carrying strategy includes: when not having to stop shelf or barrier on the target shelf at least one of them direction, directly to carry out by the target shelf；Otherwise, it determines the removal path of the target shelf, and when the target shelf have a plurality of removal path, a removal path is therefrom selected, the blocking shelf on the removal path are removed, then remove the target shelf；The carrying strategy is executed, the target shelf are removed.

Description

Go out warehousing control method and handling system for shelf array

Technical field

The present invention relates to warehousing control method and the carryings out of intelligent storage field more particularly to a kind of shelf dense arrangement System and storage medium.

Background technique

With the high speed development of China's electric business industry, also there is diversified demand in the links of logistics, by sorting The packages system of robot composition is come into being, which also has and ring immediately while guaranteeing that packages are efficient It should be with distributed flexibility.In current logistic storage field, automatic guide vehicle (AGV) is more and more used to come Instead of or supplement hand labor.Automatic guide vehicle can receive article carrying task automatically, under program, reach first Position obtains article, and then the second position is arrived in walking, and article is unloaded, continues to execute other tasks.

In addition, soil is as a kind of resource, and it is increasingly rare, constantly rise in particular with the land price in city, storehouse The cost of land in library also becomes the important indicator of costs for influencing the economic benefit of enterprise or logistics company.Current store management mould The intelligence that formula origin is not able to satisfy reality goes out the demand being put in storage

The content of background technology part is only the technology that inventor is known, not the existing skill of natural representative this field Art.

Summary of the invention

In view of this, the present invention proposes a kind of warehousing control method out for shelf array, comprising: receive target shelf Outbound task；According to position of the target shelf in the shelf array, determines and carry strategy, wherein the carrying plan If slightly including: when not having to stop shelf or barrier on the target shelf at least one of them direction, directly by institute Target shelf are stated to carry out；Otherwise, it determines the removal path of the target shelf, and when the target shelf have a plurality of shifting When outbound path, a removal path is therefrom selected, the blocking shelf on the removal path are removed, then by the target goods Frame removes；The carrying strategy is executed, the target shelf are removed.

According to an aspect of the present invention, described the step of removing target shelf includes: using automatic guide vehicle by institute State the removal of target shelf.

According to an aspect of the present invention, the warehousing control method out further include: determine on the removal path Stop the target position of shelf, and the blocking shelf on the removal path are transported on corresponding target position.

According to an aspect of the present invention, the outflow location of the determining blocking shelf removed on path include based on The one or more selection target position for stopping shelf in lower condition: target position does not stop outbound task；Selection is deep Spend most deep empty storage location；Select the empty storage position nearest apart from oneself.

According to an aspect of the present invention, the step of one removal path of the selection includes: to calculate every removal path The summation of upper each removal load for stopping shelf, selection remove the comprehensive the smallest removal path of load.

According to an aspect of the present invention, the removal load includes stopping shelf number, moving distance, number of turns Weighted sum.

According to an aspect of the present invention, the warehousing control method out further include: according to certain from task queue Sequence takes out an outbound task, determines that the sequence factor of task includes: the priority of outbound task, when the waiting of outbound task Between, the position of the corresponding target shelf of outbound task and/or execution complexity.

According to an aspect of the present invention, the warehousing control method out further include: after determining carrying strategy, produce Raw task groups, the task groups include the blocking shelf removed on the removal path and remove the target shelf；And According to the task group assignment automatic guide vehicle.

According to an aspect of the present invention, if at least two stop the target position of shelf in a half-duplex channel, Then target position is set to for at least two blockings shelf inlet of the half-duplex channel, and according to the arrival entrance The precedence at place is filled at the most deep position of the half-duplex channel.

The invention further relates to a kind of controlling equipments for shelf array, comprising: target shelf determination unit, for receiving The outbound task of target shelf simultaneously determines position of the target shelf in shelf array；Policy making unit is carried, root is configured to According to position of the target shelf in the shelf array, determines and carry strategy, if wherein the carrying strategy includes: institute When stating on target shelf at least one of them direction without shelf or barrier is stopped, directly the target shelf are carried Out；Otherwise, it determines the removal path of the target shelf, and when the target shelf have a plurality of removal path, therefrom A removal path is selected, the blocking shelf on the removal path are removed；And execution unit, with the carrying policy development Unit coupling, and be configured to control automatic guide vehicle according to the carrying strategy.

According to an aspect of the present invention, the policy making unit of carrying is configured to determine the resistance on the removal path The outflow location of shelf is kept off, and the blocking shelf on the removal path are transported on corresponding outflow location, wherein described The step of selecting one to remove path includes: to calculate every summation for removing each removal load for stopping shelf on path, choosing It selects and removes the comprehensive the smallest removal path of load, the removal load includes moving distance, the weighted sum of number of turns.

The invention further relates to a kind of handling systems, comprising: shelf array, including multiple shelf；Control system receives The outbound task of target shelf simultaneously determines position of the target shelf in shelf array, and according to the target shelf in the goods Position in frame array determines and carries strategy, if wherein the carrying strategy includes: a target shelf side wherein When not having blocking shelf or barrier upwards, directly the target shelf are carried out from the direction；Otherwise, it determines described The removal path of target shelf, and when the target shelf have a plurality of removal path, therefrom select optimal one to remove Path removes the blocking shelf on the removal path；One or more automatic guide vehicles are coupled with the control system, And the carrying strategy is received, according to the carrying strategy, execute carrying task.

The invention further relates to a kind of computer readable storage mediums, are stored thereon with computer program, wherein the calculating Machine program is realized when being executed by processor goes out warehousing control method as described above.

Go out warehousing control method for shelf array the invention further relates to a kind of, comprising: receive the storage of target shelf Task；Obtain the available storage location in the shelf array；According to the type of the available storage location, the target is determined The target position of shelf；The target position is transported to by the target shelf.

According to an aspect of the present invention, the type of the available storage includes four classes: the first kind is that three faces are available in stock The available storage location of frame and/or barrier, the second class are the available storage location that there are shelf and/or barrier in two sides, third Class is to have the available storage location of shelf and/or barrier on one side, and the 4th class is that surrounding does not have the available of shelf and/or barrier Storage location.

According to an aspect of the present invention, the step of target position of the determining target shelf includes: according to following excellent First grade selects available storage location: the first kind, the second class, third class, the 4th class, wherein when having multiple can be used to deposit in same class When storage space is set, the target position apart from shortest available storage location as target shelf is selected.

According to an aspect of the present invention, described the step of target shelf are transported to target position includes: to pass through control The target shelf are transported to the target position by automatic guide vehicle.

According to an aspect of the present invention, it is described go out warehousing control method further include: select from the target shelf away from From nearest automatic guide vehicle, the target shelf are transported to the target position.

According to an aspect of the present invention, the warehousing control method out further include: according to certain from task queue Priority takes out an inbound task, determines the priority of task because being known as: the priority of task itself, task creation time And/or waiting time, execute complexity.

Go out storage control equipment for shelf array the invention further relates to a kind of, comprising: inbound task receiving unit is used In the inbound task for receiving target shelf；Policy making unit is carried, is configured to: obtaining the available storage in the shelf array Position, and according to the type of the available storage location, determine the target position of the target shelf；And automatic guide vehicle, match It is set to and the target shelf is transported to the target position.

According to an aspect of the present invention, the type of the available storage includes four classes: the first kind is that three faces have The available storage location of shelf and/or barrier, the second class are the available storage location that there are shelf and/or barrier in two sides, Third class is an available storage location for having shelf and/or barrier, and the 4th class is that surrounding does not have shelf and/or barrier Available storage location.

The invention further relates to a kind of handling systems, comprising: shelf array, including multiple shelf；Control system is used for The inbound task of target shelf is received, and obtains the available storage location in the shelf array, and according to described with storage The type of position determines the target position of the target shelf；One or more automatic guide vehicles, with the control system coupling It closes, is configured to the target shelf being transported to the target position.

Go out storage dispatching method for shelf array the invention further relates to a kind of, comprising: receive at least two scheduling and appoint Business, judge the scheduler task for outbound task or inbound task, wherein every scheduler task include shelf information and preferentially Grade；To at least two scheduler tasks, automatic guide vehicle is distributed；Plan the execution route of at least two scheduler tasks； At least two scheduler tasks are executed using the automatic guide vehicle, wherein if the priority of outbound scheduler task is higher than The priority of the storage scheduler task, then the target position evacuation of inbound task opens the execution route of outbound task.

According to an aspect of the present invention, wherein it is described planning at least two scheduler tasks execution route the step of wrap It includes: for inbound task, available storage location being selected according to the most deep principle of depth.

According to an aspect of the present invention, the storage dispatching method out further include: when the automatic guide vehicle is completed After the inbound task, check whether there is the deeper available storage location of depth around the target position, if so, using should The corresponding shelf of the inbound task are transported to the deeper available storage location of the depth by automatic guide vehicle.

According to an aspect of the present invention, the step of execution route of at least two scheduler tasks of the planning includes: pair In outbound task, determines and carry strategy, if wherein the carrying strategy includes: target shelf at least one of them side When not having blocking shelf or barrier upwards, directly the target shelf are carried out；Otherwise, it determines the target shelf Removal path a removal path is therefrom selected, by the removal and when the target shelf have a plurality of removal path Blocking shelf on path remove.

According to an aspect of the present invention, the step of execution route of at least two scheduler tasks of the planning further include: It determines the outflow location of the blocking shelf on the removal path, and the blocking shelf on the removal path is transported to correspondence Outflow location on.

According to an aspect of the present invention, the outflow location of the determining blocking shelf removed on path include based on Lower condition selects outflow location: shelf being stopped not select to hinder oneself to move away from the empty storage location in path；Shelf are stopped preferentially to select Select the most deep empty storage location of depth；Shelf are stopped preferentially to select the empty storage position nearest apart from oneself.

According to an aspect of the present invention, the removal load includes moving distance, the weighted sum of number of turns.

According to an aspect of the present invention, the warehousing control method out further include: according to certain from task queue Priority takes out scheduler task, determines the priority of task because being known as: the priority of task itself, the creation time of task And/or waiting time, shelf location execute complexity.

The invention further relates to a kind of handling systems, comprising: shelf array, including multiple shelf；One or more is certainly Dynamic guide car；Control system receives at least two scheduler tasks, judges that the scheduler task is still put in storage for outbound task and appoints Business, wherein every scheduler task includes shelf information and priority；To at least two scheduler tasks, automatic guidance is distributed Vehicle；Plan the execution route of at least two scheduler tasks；At least two scheduling are executed using the automatic guide vehicle Task, wherein if the priority of outbound scheduler task is higher than the priority of the storage scheduler task, the mesh of inbound task Cursor position cannot be located on the execution route of outbound task, wherein the control system is coupled with the automatic guide vehicle, it is described Automatic guide vehicle receives the carrying strategy, according to the carrying strategy, executes carrying task.

Detailed description of the invention

The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:

Fig. 1 shows the frame of warehousing system structure and application scenarios according to an embodiment of the present invention；

Fig. 2 shows the array arrangement modes of shelf/pallet according to an embodiment of the present invention；

Fig. 3 shows a kind of warehousing control method out for shelf array according to a first aspect of the present invention；

Fig. 4 shows the warehousing control method out of a preferred embodiment according to a first aspect of the present invention；

The method of determination of carrying strategy according to a first aspect of the present invention has been illustrated in Fig. 5；

Fig. 6 shows one and calculates the embodiment for stopping shelf target point；

Fig. 7 shows the controlling equipment for shelf array of one embodiment according to a first aspect of the present invention；

Fig. 8 shows a kind of warehousing control method out for shelf array according to a second aspect of the present invention；

Fig. 9 shows warehousing control method out according to a preferred embodiment；

The storage control that goes out for shelf array that Figure 10 shows one embodiment according to a second aspect of the present invention is set It is standby；

Figure 11 shows a kind of storage dispatching method out for shelf array according to a third aspect of the present invention；With

Figure 12 is shown according to a preferred embodiment of the present invention.

Specific embodiment

Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes. Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.

In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", " go up ", " under ", " preceding ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " bottom ", " interior ", " outside ", " Clockwise ", " counterclockwise " wait the orientation or positional relationship of instructions to be based on the orientation or positional relationship shown in the drawings, merely to Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second " are only For descriptive purposes, it is not understood to indicate or imply relative importance or implicitly indicates the number of indicated technical characteristic Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more spy Sign.In the description of the present invention, " multiple " are meant that two or more, unless otherwise specifically defined.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected: can To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.

In the present invention unless specifically defined or limited otherwise, fisrt feature second feature its " upper " or it " under " It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first spy Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists Second feature " under ", " lower section " and it is " following " including fisrt feature right above second feature and oblique upper, or be merely representative of First feature horizontal height is less than second feature.

Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter, This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with Recognize the application of other techniques and/or the use of other materials.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.

The frame of warehousing system structure and application scenarios in the embodiment of the present invention is briefly described referring initially to Fig. 1.Such as Fig. 1 institute Show, warehousing system includes the upstream management system 1 of client, and shelf/pallet dispatches system 2, robot control system 3 and message Middleware, warehouse shelf/pallet 4 carry automatic guide vehicle 5, database server 6 etc..

Various articles or container can be placed on warehouse shelf/pallet 4.Common shelf/pallet for example including it is multiple every Layer and supporting leg can be used for placing article or container (usually hopper) on each interlayer.Have between the supporting leg of bottom Gap is walked and is carried for automatic guide vehicle 5.Shelf/pallet 4 can usually arrange in array fashion, such as such as Fig. 2 institute Show.

Automatic guide vehicle (AGV) 5 is a kind of robot for capableing of autonomous operation, according to operation or can carry instruction, The independent navigation in warehouse floor.It is configured with battery, motor and wheel on automatic guide vehicle, is able to carry out advance, retrogressing, turning Etc. various motor performances.Automatic guide vehicle 5 and have lifting mechanism, can travel to the bottom of shelf/pallet 4, pass through act It rises mechanism entirely to lift shelf/pallet 4, then be transported to desired position (setting 7 of example as shown in figure 1), it is appropriate to carry out Operation, such as sorting etc. operation.According to a kind of mode realized, automatic guide vehicle 5 has camera, can take ground Texture or two dimensional code, thus allow for navigation operation.Robot control system 3 in Fig. 1 is for automatic guidance The system that vehicle 5 is controlled, such as the information such as specific work order, path planning are sent to automatic guide vehicle 5.Ability Field technique personnel are appreciated that robot control system 3 can be a system independently of automatic guide vehicle 5, can also collect At in automatic guide vehicle 5.

The working method of warehousing system briefly described below.User generates outbound task by management system 1 and is issued to Scheduling system 2, scheduling system 2 are put into task pool after receiving task, and scheduling system compiles task according to task priority Degree of teasing and ridicule generates shelf/pallet schedule sequences, and sends to robot control system 3, and driving carries automatic guide vehicle 5 to goods 2 sequence of frame/pallet executes, and generates outbound to the task of setting 7, after task reaches setting 7, outbound task release is drawn automatically Guide-car.For task after the completion of setting operation, user generates inbound task by management system 1, and scheduling system receives task After start to dispatch and send to robot control system 3, robot control system driving carries automatic guide vehicle to being put in storage Shelf/pallet 2 executes in-stockroom operation, and automatic guide vehicle 5 is released after task storage.

According to the different settable different carrying strategies of business scenario in shelf/pallet scheduling system.Shelf/pallet tune It is communicated between degree system and robot control system by message-oriented middleware, reaches the production and consumption of message.

The operation data of the basic data in warehouse, scheduling system and robot control system is stored in database server In 6, to achieve the purpose that data persistence, the loss of data in system operation is prevented.

Fig. 2 is as exemplary warehouse shelf alignment placement.As shown in Fig. 2, warehouse is divided into memory block, shelf in memory block Such as it can be put by the way of dense arrangement (for example including more than laterally and/or longitudinally two rows of and two rows arranging).In addition to Memory block, there are also setting regions and robot goods carriage travel region.Warehouse shelf dense arrangement improves warehouse item Filling rate has saved the cost of warehouse usable floor area waste.It is also able to satisfy warehouse simultaneously and normally goes out storage Job Operations.

In order to make it easy to understand, in the present invention, " outbound ", which refers to, leaves in shelf array position belonging to itself for shelf carrying It sets, " storage ", which refers to, returns to the position in shelf array for shelf carrying.

First aspect

The first aspect of the present invention is related to a kind of warehousing control method 100 out for shelf array.As shown in figure 3, going out Warehousing control method 100 includes:

In step S101, the outbound task of target shelf is received.Outbound task can be directly from upstream management system Mission dispatching is also possible to select an outbound task from the task pool of scheduling system.These are all in protection model of the invention In enclosing.

It determines according to position of the target shelf in the shelf array in step S102 and carries strategy.Wherein institute If stating and carrying strategy includes: not have to stop shelf or when barrier on the target shelf at least one of them direction, Directly the target shelf are carried out；Otherwise, it determines the removal path of the target shelf, and work as the target shelf When having a plurality of removal path, a removal path is therefrom selected, the blocking shelf on the removal path are removed, then by institute State the removal of target shelf.

It is illustrated by taking Fig. 5 as an example, in shelf 1-48, shelf 1-8 and shelf 9,17,25,33,41 are at least one Do not have the shelf or barrier (such as warehouse boundary, wall or other kinds of barrier) stopped on direction.Therefore such as Fruit target shelf are one of 1-8,9,17,25,33,41, then carrying strategy can directly carry.And if target goods Frame is other shelf, then can not directly carry, it is thus necessary to determine that removes path, and is needed in a plurality of removal path when necessary really A fixed optimal removal path.At this point, carrying strategy includes: to remove the blocking shelf of use removed on path, then incite somebody to action Target shelf remove.In addition, when judging whether target shelf can directly remove, it is only necessary to judge that the front and back of target shelf is left Whether right four direction, which has, stops shelf or barrier, without judging diagonal four direction.Scheduling system can be real When inquire the position distribution situation or distribution map of current shelf in warehouse, to be judged accordingly, details are not described herein again.

Note that in the present invention, " target shelf " refer to a carrying task directly against shelf, " stopping shelf " is Refer to the shelf for stopping the target shelf to be moved out of.

In step S103, the carrying strategy is executed, the target shelf are removed, such as pass through automatic guide vehicle AGV 5 remove the target shelf.Certainly, if being related to shelf being stopped to remove in the carrying strategy, can also lead to Crossing automatic guide vehicle AGV will stop shelf to be removed.

Below with reference to Fig. 4, describe a preferred embodiment according to a first aspect of the present invention goes out warehousing control method 200。

As shown in figure 4, in step S201, when up-stream system (client management system 1 of example as shown in figure 1) is needed target goods When frame is transported to setting progress access operation from shelf array, up-stream system needs are sent to scheduling system in a manner of task 2 (outbound scheduler tasks) of system, scheduling system is uniformly put into task pool after receiving task, facilitates subsequent scheduling.One is appointed It is engaged in for example may include: mission number, shelf code, the information such as priority also can according to need increase other information.

In step S202, specifying information of the system according to task, the priority of COMPREHENSIVE CALCULATING task, from task pool are dispatched In take a suitable task to dispatch.For example, scheduling system can be according to the priority of task, task creation time or etc. To the time, shelf location (such as can inquire to obtain by shelf code), the factors such as complexity are executed, to appointing in task pool Business is ranked up, or therefrom a task is selected to implement to be scheduled.

Specifically, scheduling system can select next pending task according to priority from task pool, high is excellent First grade, which is generally meant that, to be first carried out.In addition, certain priority might mean that task needs to be performed immediately, then having this excellent The task of first grade must be detected from task pool immediately, and arrange to execute.Alternatively, scheduling system can refer to the waiting time It selects next pending task from task pool, such as selects having waited maximum duration of the task from task pool, connect Get off and arrange to execute, can be stored in task pool to avoid a certain task be not performed too long and in this way.Alternatively, scheduling system System can be according to the position of shelf and/or the complexity of execution, to determine next pending task.For example, for outbound tune Degree task can arrange to execute task corresponding to the shelf that those can directly be carried first.With reference to Fig. 5, for example, if goods Frame 5 and 21 requires to carry out outbound operation, then (can be by whether having according to the complexity of the position of shelf and/or outbound Stop shelf and stop the number of shelf to assess), in that case it can be decided that the outbound of shelf 5 is first carried out, shelf 21 are then executed Outbound task.Certainly, those skilled in the art are also it is contemplated that factors above is combined together, according to certain constraint item Part selects next pending task from task pool.

Next, determining optimal carrying strategy in step S203.Optimal carrying strategy is described below.For example, for wanting The task of outbound carries strategy if target shelf are not stopped by other shelf directly to carry out target shelf Library does not need the movement routine of calculating task.If target shelf are stopped by other blocking shelf, the optimal shifting of calculating task is needed Dynamic path is as optimal carrying strategy.According to a preferred embodiment, the optimal movement routine of calculating task is mainly in view of mesh The number that mark shelf are blocked in all directions, calculating task target shelf are in for stopping shelf present on four direction Number takes and stops the smallest path of number as optimal path.

Additionally preferably can by breadth first search combination shelf stop number number and shelf carry strategy really Fixed optimal movement routine.If there are multiple mobile paths, need to assess every movement routine, selects an optimal mobile road Diameter.Such as every summation for removing each removal load for stopping shelf on path can be calculated, it is comprehensive most that selection removes load Small removal path.Remove load for example can be stop shelf number, move away from stop shelf moving distance, move away from blocking goods The weighted sum of the number of turns of frame can also only consider the wherein combination to a factor or Multiple factors.It can be according to specific The needs of occasion select corresponding evaluation index.Reference Fig. 5 is provided into the embodiment for calculating optimal movement routine hereinafter.

Need to calculate blocking shelf (if any) after the optimal movement routine of outbound task determines in step S204 Target point stops shelf for keeping in when executing outbound task.It needs to consider when calculating the target point for stopping shelf: stopping goods It erects a little minimum to the transport distance of target point；The target point of shelf is stopped not stop the path of outbound task；The target of shelf Point depth is most deep, does not generate hollow；Preferential selection is apart from nearest target point.A calculating will be provided with reference to Fig. 6 hereinafter to stop The embodiment of shelf target point.Preferably, it is applicable in conditions above in the following order: first filtering out and do not stop outbound task road The idle storage point of diameter；Then the most deep idle storage point of selected depth, then pass through the most short determination one empty storage point of distance.

In the present invention, " hollow " is referred in storage region, not close to some empty storage location four of path position There are shelf in the position in direction.After generating hollow storage location, the sky storage location is almost unavailable, therefore can reduce warehouse Shelf cargo storage density.So needing to avoid generating hollow storage location.

When calculating transport distance, manhatton distance formula: the absolute value of the difference of starting point coordinate and terminal point coordinate can refer to The sum of be transport distance.

In step S205, after stopping the target point of shelf to determine, the optimal movement routine that outbound task determines is to appoint The mode of business group exists, and task groups include: the target point that shelf will be stopped to be transported to blocking shelf, removes target shelf.Task The execution of group needs that idle one or more automatic guide vehicle AGV is selected to carry to execute shelf.The selection free time draws automatically The guide-car AGV factor to be considered can include: the distance of automatic guide vehicle, idle state and are being held the number of task group task Capable task number etc..

In step S206, after the floor truck of outbound task group determines, start the carrying for executing shelf, shelf are transported to Behind target position, the floor truck of the group task discharges.Up-stream system report task completion status is given simultaneously.

Next, checking in the presence of after unfinished task, above-mentioned process is continued cycling through, until all tasks in task pool All it is transported to target position.

Below with reference to Fig. 5 description set the goal really according to a preferred embodiment shelf movement routine method (step S203).As shown in Figure 5: No. 28 shelf are issued in a manner of task as target shelf.By calculating No. 28 shelf of discovery by it Its shelf stops.

Calculate the blocking cost in No. 28 shelf four direction paths are as follows: (on, it is right, under, it is left) the blocking number of four direction Respectively (3,4,2,3)；

By calculating or inquiring map, finds right and lower section is wall, remove corresponding optional path, residue can routing Diameter are as follows: (on, left) stops cost to be respectively (3,3), cost relatively after, replace the smallest direction of valence: top or left, it is right The shelf number answered are as follows: 20 or 27；

Calculate the blocking cost in the four direction path of No. 20 shelf are as follows: (on, it is right, under, it is left) the blocking number of four direction Mesh is respectively (2,4,3,3)；

By calculating or inquiring map, finds right and lower section is wall, remove corresponding optional path, residue can routing Diameter are as follows: (on, left) stops cost to be respectively (2,3), cost relatively after, replace the smallest direction of valence: top, corresponding shelf Number are as follows: 12；

Calculate the blocking cost in No. 12 shelf four direction paths: (on, it is right, under, it is left) the blocking number point of four direction It Wei (Isosorbide-5-Nitrae, 4,3)；

By calculating or inquiring map, finds right and lower section is wall, remove corresponding optional path, residue can routing Diameter are as follows: (on, left) stops cost to be respectively (1,3), cost relatively after, replace the smallest direction of valence: top, corresponding shelf Number are as follows: 4.Therefore a feasible path is obtained are as follows: 4- > 12- > 20- > 28.

Calculate the blocking cost in No. 27 shelf four direction paths are as follows: (on, it is right, under, it is left) the blocking number of four direction Respectively (3,5,2,2)；

By calculating or inquiring map, finds right and lower section is wall, remove corresponding optional path, residue can routing Diameter are as follows: (on, left) stops cost to be respectively (3,2), cost relatively after, replace the smallest direction of valence: left, corresponding shelf Number are as follows: 26；

Calculate the blocking cost in No. 26 shelf four direction paths are as follows: (on, it is right, under, it is left) the blocking number of four direction Respectively (3,6,2,1)；

By calculating or inquiring map, finds right and lower section is wall, remove corresponding optional path, residue can routing Diameter are as follows: (on, left) stops cost to be respectively (3,1), cost relatively after, replace the smallest direction of valence: left, corresponding shelf Number are as follows: 25.Therefore a feasible path is obtained are as follows: 25- > 26- > 27- > 28.

Assess the mobile cost of two paths, it is assumed that remove No. 25, No. 26, the cost of No. 27 shelf to another memory block It is smaller, less than the cost for removing No. 4, No. 12, No. 20 shelf, therefore, optimal movement routine are as follows: 25- > 26- > 27- > 28.This Place is also contemplated that Multiple factors when assessing the mobile cost of two paths, such as moves away from the number of turns for stopping shelf to need, Move away from the distance etc. for stopping shelf.Details are not described herein again.

Fig. 6 shows the one embodiment for determining the target point for stopping shelf.

Assuming that shelf 40 as the target shelf to outbound, need that shelf 32 will be stopped to be moved out to the other empty storages in memory block Position, shelf 10 are moved to setting as target shelf, need that shelf 9 will be stopped to be moved out to the other empty storage positions in memory block It sets.It needs to stop shelf 32 and 9 to find aiming spot.

Firstly, finding one's respective area sky storage location: (8,16,24,41,42,43,44)；

Filtering obstruction shelf 40 are moved to the path of assignment point: (8,16,24), remaining feasible empty storage location: (41,42,43,44)；

According to the most deep strategy of depth, the target position of shelf 32 is distributed to are as follows: 44；Distribute to the target position of shelf 9 are as follows: 43。

Preferably, it is contemplated that the uncertainty of shelf 32 and the arrival of shelf 9 target position avoids generation shelf 9 from preferentially arriving It reaches, shelf 32 can not just reach the situation of storage location 44, and the target position of shelf 32 and shelf 9 is all are as follows: 41；

A kind of situation are as follows: shelf 32 first reach storage location 41, then shelf 32 continue to be forwarded to target position 44, shelf Storage location 41 is reached after 9, shelf 9 continue to be forwarded to target position 43；

Another situation are as follows: shelf 9 first reach storage location 41, then shelf 9 continue to be forwarded to target position 44, shelf Storage location 41 is reached after 32, shelf 32 continue to be forwarded to target position 43.

It in other words, is described at least two if at least two stop the target position of shelf in a half-duplex channel It is a that shelf is stopped to set target position to the inlet of the half-duplex channel, and according to the precedence for reaching the inlet, It is filled at the most deep position of the half-duplex channel respectively.In the present invention, " half-duplex channel " is to indicate that entrance and exit only has one A shelf location channel, such as 41,42,43,44 channels indicated and the channel of 8,16,24 expressions in Fig. 6.

Fig. 7 shows the controlling equipment 300 for shelf array of one embodiment according to a first aspect of the present invention.Such as Shown in Fig. 7, controlling equipment 300 includes: outbound task receiving unit 301, carries policy making unit 302 and execution unit 303。

Wherein outbound task and determining target shelf of the outbound task receiving unit 301 for example for receiving target shelf exist Position in shelf array；

It carries policy making unit 302 and is configured to the position according to the target shelf in the shelf array, determine Strategy is carried, if wherein the carrying strategy includes: not have to stop on the target shelf at least one of them direction When shelf or barrier, directly the target shelf are carried out；Otherwise, it determines the removal path of the target shelf, and And when the target shelf have a plurality of removal path, a removal path is therefrom selected, by the blocking on the removal path Shelf remove；

Execution unit 303 is coupled with the carrying policy making unit, and is configured to according to the carrying strategy, and control is certainly Dynamic guide car carries strategy to execute, and completes carrying task.

It will be appreciated by those skilled in the art that target shelf determination unit 301, carrying policy making unit 302 and execution Unit 303 can be realized by way of software, hardware or software and hardware combining.

Carrying policy making unit 302 is configured to can be performed other steps in control method 100 and 200 as described above Suddenly.For example, the policy making unit of carrying is configured to determine the outflow location of the blocking shelf on the removal path, and will Blocking shelf on the removal path are transported on corresponding outflow location, wherein the step of one removal path of the selection It include: to calculate every summation for removing each removal load for stopping shelf on path, selection removes the comprehensive the smallest shifting of load Outbound path, the load that removes includes number, moving distance, the weighted sum of number of turns for stopping shelf.

The first aspect of the disclosure further relates to a kind of handling system, comprising:

Shelf array, including multiple shelf；

Control system receives the outbound task of target shelf and determines position of the target shelf in shelf array, and root According to position of the target shelf in the shelf array, determines and carry strategy, if wherein the carrying strategy includes: institute It states target shelf not having on a direction wherein when stopping shelf or barrier, directly by the target shelf from the direction Carrying comes out；Otherwise, it determines the removal path of the target shelf, and when the target shelf have a plurality of removal path, An optimal removal path is therefrom selected, the blocking shelf on the removal path are removed；

One or more automatic guide vehicles are coupled with the control system, and receive the carrying strategy, are removed according to described Fortune strategy, executes carrying task.

The first aspect of the disclosure further relates to a kind of computer readable storage medium, is stored thereon with computer program, Described in computer program realized when being executed by processor as described above go out warehousing control method 100 or 200.

The first aspect of the disclosure further relates to a kind of for the method for carrying for stopping shelf multiple in shelf array, comprising:

Determine available storage location collection in the shelf array；

The storage location for stopping shelf can be stopped by falling those from the available position concentration filter；

According to depth-first strategy, concentrating from the available position is that the multiple blocking shelf set target storage position It sets.

The description of following second aspect and the third aspect is incorporated by reference in its entirety.

Second aspect

Below with reference to a kind of warehousing control method out for shelf array of Fig. 8 description according to a second aspect of the present invention 400。

As shown in figure 8, receiving the inbound task of target shelf in step S401.Inbound task for example including (task number, Priority, shelf code) etc. multivariate datas.

In step S402, the available storage location in the shelf array is obtained.By calculating or inquiring map, can obtain Take available storage location in current shelf array.

The target position of the target shelf is determined according to the type of the available storage location in step S403.Specifically , it can carry out being divided into following four classes according to the depth of free storage location.First kind sky store position: three faces have shelf and/ Or barrier；Second class sky stores position: there are shelf and/or barrier in two sides；Third class sky store position: have on one side shelf and/or Barrier；4th class sky stores position: not having shelf and/or barrier around.Empty storage position is preferentially selected from the first kind.If depositing In the empty storage location of multiple first kind, the empty storage position being closer with target shelf is selected according to the most short principle of distance It sets as target position.If the empty storage position without the condition that meets in the first kind, then selected from the second class, and so on, it is Inbound task selects a suitable target position.

In step S404, the target shelf are transported to the target position, such as carry out by unmanned guide car Carry operation.

Fig. 9 shows the storage scheduling flow for going out warehousing control method 500 and implementing according to a preferred embodiment.

As shown in figure 9, up-stream system needs to remove the shelf (shelf to be put in storage) that setting operation is completed in step S501 It transports in the memory block in warehouse, needs to issue scheduling system in the mode of task (task number, priority, shelf code), dispatch System is put into task pool after receiving inbound task.

In step S502, specifying information of the system according to inbound task is dispatched, the priority of COMPREHENSIVE CALCULATING task, from appointing Business takes a suitable task to dispatch in pond.Scheduling system for example can be according to the successive determining task of task sending time Priority determines being executed for a task.Alternatively, scheduling system can priority according to task, task creation time Or the waiting time, target position, execute the factors such as complexity, the task in task pool is ranked up, or therefrom selects One task is implemented to be scheduled.

Specifically, scheduling system can select next pending task, such as certain according to priority from task pool A little priority mean that task is performed immediately, then the task with the priority must be detected from task pool immediately Out, it and arranges to execute.Alternatively, scheduling system can refer to waiting time to select next pending appoint from task pool Business, such as having waited maximum duration of the task is selected from task pool, it next arranges to execute, can appoint in this way to avoid a certain item Business is stored in task pool not to be performed too long and.Alternatively, scheduling system can answering according to shelf target position and/or execution Miscellaneous degree, to determine next pending task.Certainly, those skilled in the art are also it is contemplated that factors above is incorporated in Together, next pending task is selected from task pool according to certain constraint condition.

In step S503, the target area of calculating task.According to the sequence of shelf in memory block, multiple areas can be divided into Domain calculates the shelf distribution density (storing position number in existing shelf number/region) in each region, selects the lesser area of density Domain.

In step S504, the target position of task is determined.After determining target area, the idle storage position in the region is screened It sets, is classified according to the depth of free storage location, such as following four classes can be divided into.First kind sky stores position: three faces are all There are shelf and/or barrier；Second class sky stores position: there are shelf and/or barrier in two sides；Third class sky stores position: having on one side Shelf and/or barrier；4th class sky stores position: not having shelf and/or barrier around.Preferentially sky is selected to deposit from the first kind Storage space.Multiple empty storage locations of the first kind if it exists select one shorter with target shelf distance according to the most short principle of distance Empty position.If the empty storage position without the condition that meets in the first kind, then selected from the second class, and so on, appoint for storage One suitable target position of business selection.If can not find in a target area and meet above-mentioned four classes sky storage position, that A target area, such as the smallest region of shelf distribution density in remaining target area can be reselected.

In step S505, after inbound task determines target position, idle floor truck is selected, according to nearest apart from task Principle determines the nearest idle floor truck of distance shelf to be put in storage.

In step S506, after inbound task floor truck determines, start to execute storage carrying task.It preferably can be simultaneously Report the task status in implementation procedure (jacking shelf, start to move, and shelf are put down, mobile to complete).Inbound task is moved to Behind the target position of memory block, up-stream system task is reported to complete, while floor truck discharges.

Finally, checking in the presence of after unfinished task, continue cycling through above-mentioned process, until all tasks in task pool all It is transported to target position.

The storage control that goes out for shelf array that Figure 10 shows one embodiment according to a second aspect of the present invention is set Standby 600.As shown in Figure 10, controlling equipment 600 includes: inbound task receiving unit 601, carries policy making unit 602 and enter Library execution unit 603.

Wherein inbound task receiving unit 601 is used to receive the inbound task of target shelf；Carry policy making unit 602 Be configured to obtain the available storage location in the shelf array, and according to the type of the available storage location, determine described in The target position of target shelf；Storage execution unit 603 is coupled with policy making unit 602 is carried, and is configured to the mesh Mark shelf are transported to the target position, complete inbound task.

It will be appreciated by those skilled in the art that inbound task receiving unit 601, carrying policy making unit 602 and storage Execution unit 603 can be realized by way of software, hardware or software and hardware combining.

According to a preferred embodiment, the type of the available storage includes four classes: the first kind is that three faces have The available storage location of shelf and/or barrier, the second class are the available storage location that there are shelf and/or barrier in two sides, Third class is an available storage location for having shelf and/or barrier, and the 4th class is that surrounding does not have shelf and/or barrier Available storage location.

According to a preferred embodiment, the step of target position of the determining target shelf includes: according to following excellent First grade selects available storage location: the first kind, the second class, third class, the 4th class, wherein when having multiple can be used to deposit in same class When storage space is set, the target position apart from shortest available storage location as target shelf is selected.

The second aspect of the disclosure further relates to a kind of handling system, comprising: shelf array, including multiple shelf；Control System processed for receiving the inbound task of target shelf, and obtains the available storage location in the shelf array, and according to institute The type for stating available storage location determines the target position of the target shelf；One or more automatic guide vehicles, with the control System coupling processed, is configured to the target shelf being transported to the target position.The control system is configured on executable That states goes out warehousing control method 400 or 500.

The second aspect of the disclosure further relates to a kind of computer readable storage medium, is stored thereon with computer program, Described in computer program realized when being executed by processor as described above go out warehousing control method 400 or 500.

The description of above-mentioned first aspect and the following third aspect is incorporated by reference in its entirety.

The third aspect

Below with reference to a kind of storage dispatching method out for shelf array of Figure 11 description according to a third aspect of the present invention 700.As shown in figure 11, storage dispatching method 700 includes: out

In step S701, at least two scheduler tasks are received, judges that the scheduler task is still put in storage for outbound task and appoints Business, wherein every scheduler task includes shelf information and priority.

Scheduling system takes at least two according to the specifying information of task, the priority of COMPREHENSIVE CALCULATING task from task pool Item suitable task is dispatched.For example, scheduling system can be according to the priority of task, task creation time or when having waited Between, shelf location (such as can inquire to obtain by shelf code), execute the factors such as complexity, to the task in task pool into Row sequence, or one or two task is therefrom selected to implement to be scheduled.

Specifically, scheduling system can select next or two pending tasks according to priority from task pool, Such as certain priority mean that task is performed immediately, then the task with the priority must be immediately from task pool It is detected, and arranges to execute.Alternatively, to can refer to the waiting time next pending to select from task pool for scheduling system Task, such as having waited maximum duration of the task is selected from task pool, it next arranges to execute, it in this way can be to avoid a certain item Task is stored in task pool and is not performed too long and.Alternatively, scheduling system can be according to the position of shelf and/or answering for execution Miscellaneous degree, to determine next pending task.For example, can arrange to execute those first for outbound scheduler task Task corresponding to the shelf that can directly carry.

Automatic guide vehicle is distributed at least two scheduler tasks in step S702.

In step S703, the execution route of at least two scheduler tasks is planned.Wherein for inbound task, including it is right Shelf to be put in storage determine described in step S403 and S504 in target position, such as second aspect of the present invention, herein no longer It repeats.

In step S704, at least two scheduler tasks are executed using the automatic guide vehicle, wherein if outbound tune The priority of degree task is higher than the priority of the storage scheduler task, then ensures that the target position of inbound task is not located at outbound On the execution route of task, that is, avoid the execution route of outbound task.

Describe a preferred embodiment with reference to Figure 12: it, which can be realized out, is put in storage mixture operation, avoids generating hollow.

Object of the shelf 50 as inbound task, task priority is higher, and shelf 28 are the object of outbound task, and task is excellent First grade is lower.

2 tasks are received in scheduling flow, according to task priority, first dispatch shelf 50.

Screen the empty storage location of memory block: (4,12,20)

According to the strategy of the most deep selection empty position of depth, the target position of shelf 50 is determined are as follows: 20

Shelf 50 select idle floor truck to start to execute.

Shelf 28 distribute idle trolley and start to execute due to not having blocking shelf.

A kind of situation, the arrival of shelf 50 target position: 20, shelf 28 start to execute not yet, and 28 task of shelf is adjusted again Degree.

A kind of situation, the arrival of shelf 50 target position: 20, shelf 28 have begun execution and have left original position, at this time goods Whether frame 50 will detect on the four direction of former target position depth deeper empty storage location, finds 28 shelf after testing It has been moved off, there is free storage location, therefore, the actual target locations of shelf 50 are as follows: 28

Under warehouse shelf/pallet dense arrangement layout, it is the industry that often will appear that shelf/pallet, which goes out to be put in storage mixture operation, Business scene.

1, it receives shelf/pallet and goes out storage or outbound task, be put into task pool and wait scheduling.

2, a task is taken according to task priority

3, if inbound task, the region and target position of storage are calculated.

4, inbound task is distributed idle floor truck and is executed.

5, it if outbound task, calculates the movement routine of outbound task and assesses an optimal movement routine.

If 6, existing in optimal movement routine and stopping shelf/pallet, calculates and stop shelf/pallet target position.

7, stop shelf/pallet to distribute idle floor truck and execute.

If outbound task is distributed idle floor truck and is executed 8, there is no shelf/pallet is stopped in optimal movement routine.

9, after task is transported to target position by floor truck, trolley resource release, task is completed.

If 10, outbound task and inbound task generate business deadlock in handling process, deadlock is unlocked using evacuation mode.

If 11, the priority of outbound task is higher than inbound task, the path of outbound shelf cannot be by storage shelf as mesh Cursor position.

According to a preferred embodiment, it is described planning at least two scheduler tasks execution route the step of include: pair In inbound task, available storage location is selected according to the most deep principle of depth.Such as by taking Figure 12 as an example, it is assumed that only exist for shelf 50 inbound task, then use the most deep principle of depth, then will select position 20 as target position, rather than position 12.

According to a preferred embodiment, it is put in storage dispatching method 700 out further include: described in completing when the automatic guide vehicle After inbound task, that is, after the shelf wait be put in storage are transported to target position, continue checking around the target position whether There is the deeper available storage location of depth, if so, being transported to the corresponding shelf of the inbound task using the automatic guide vehicle The deeper available storage location of depth.

According to a preferred embodiment, it is described planning at least two scheduler tasks execution route the step of include: pair In outbound task, determines and carry strategy, if wherein the carrying strategy includes: target shelf at least one of them side When not having blocking shelf or barrier upwards, directly the target shelf are carried out；Otherwise, it determines the target shelf Removal path a removal path is therefrom selected, by the removal and when the target shelf have a plurality of removal path Blocking shelf on path remove.

According to a preferred embodiment, it is described planning at least two scheduler tasks execution route the step of further include: It determines the outflow location of the blocking shelf on the removal path, and the blocking shelf on the removal path is transported to correspondence Outflow location on.

According to a preferred embodiment, the outflow location of the determining blocking shelf removed on path include based on Lower condition selects outflow location: shelf being stopped not select to hinder oneself to move away from the empty storage location in path；Shelf are stopped preferentially to select Select the most deep empty storage location of depth；Shelf are stopped preferentially to select the empty storage position nearest apart from oneself.

According to a preferred embodiment, the step of one removal path of the selection includes: to calculate every removal path The summation of upper each removal load for stopping shelf, selection remove the comprehensive the smallest removal path of load.

According to a preferred embodiment, the removal load includes moving distance, the weighted sum of number of turns.

According to a preferred embodiment, described goes out warehousing control method 700 further include: according to one from task queue Determine priority and take out scheduler task, determines the priority of task because being known as: the priority of task itself, the depth (quilt of task The number of blocking), task issues time, the urgency level (difference for issuing time and current time) of task.

The third aspect of the present invention further relates to a kind of handling system, comprising:

Shelf array, including multiple shelf；

One or more automatic guide vehicles；

Control system, receive at least two scheduler tasks, judge the scheduler task for outbound task or inbound task, Wherein every scheduler task includes shelf information and priority；To at least two scheduler tasks, automatic guide vehicle is distributed；Rule Draw the execution route of at least two scheduler tasks；At least two scheduler tasks are executed using the automatic guide vehicle, Wherein, if the priority of outbound scheduler task is higher than the priority of the storage scheduler task, the target position of inbound task Setting cannot be located on the execution route of outbound task,

Wherein the control system is coupled with the automatic guide vehicle, and the automatic guide vehicle receives the carrying strategy, According to the carrying strategy, carrying task is executed.

The third aspect of the disclosure further relates to a kind of computer readable storage medium, is stored thereon with computer program, Described in computer program realized when being executed by processor as described above go out warehousing control method 700.

The description of above-mentioned first aspect and second aspect is incorporated by reference in its entirety.

The storage dispatching method out according to disclosure first aspect, second aspect, the third aspect is respectively described above, this Field technical staff is appreciated that although above-mentioned first aspect, second aspect, the third aspect emphasize particularly on different fields a little, but mutually it Between can combine.

For example, above-mentioned first aspect lays particular emphasis on the outbound control of shelf, second aspect lays particular emphasis on the storage control of shelf, the Tripartite surface side overweights out storage mixing control.But the technical characteristic of above-mentioned various aspects can be combined and fit between each other With.For example, the control method or feature of the outbound of first aspect can be applied to second aspect and the third aspect, second aspect Warehousing control method or feature can be applied to first aspect and the third aspect, and the storage composite character that goes out of the third aspect can also be with Applied to first aspect and second aspect.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention, Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims

1. a kind of go out warehousing control method for shelf array, comprising:

Receive the outbound task of target shelf；

According to position of the target shelf in the shelf array, determines and carry strategy, wherein the carrying strategy includes: If do not have blocking shelf or barrier on the target shelf at least one of them direction, directly by the target goods Shelf for conveying comes out；Otherwise, it determines the removal path of the target shelf, and when the target shelf have a plurality of removal path When, a removal path is therefrom selected, the blocking shelf on the removal path are removed, then move the target shelf Out；

The carrying strategy is executed, the target shelf are removed.

2. warehousing control method out according to claim 1, which is characterized in that described the step of removing target shelf wraps It includes: being removed the target shelf using automatic guide vehicle.

3. warehousing control method out according to claim 1 or 2, which is characterized in that further include: determine the removal path On blocking shelf target position, and by it is described removal path on blocking shelf be transported on corresponding target position.

4. warehousing control method out according to claim 3, which is characterized in that the determining blocking goods removed on path The outflow location of frame includes based on the one or more selection target position for stopping shelf in the following conditions: target position Do not stop outbound task；The most deep empty storage location of selected depth；Select the empty storage position nearest apart from oneself.

5. it is according to claim 3 go out warehousing control method, which is characterized in that the step of one removal path of the selection It include: to calculate every summation for removing each removal load for stopping shelf on path, selection removes the comprehensive the smallest shifting of load Outbound path.

6. warehousing control method out according to claim 5, which is characterized in that the removal load includes stopping shelf number Mesh, moving distance, the weighted sum of number of turns.

7. it is according to claim 1 or 2 go out warehousing control method, which is characterized in that further include: from task queue according to Certain sequence takes out an outbound task, determines that the sequence factor of task includes: the priority of outbound task, outbound task etc. To the time, the position of the corresponding target shelf of outbound task and/or execution complexity.

8. warehousing control method out according to claim 1 or 2, which is characterized in that further include: strategy is carried determining Afterwards, task groups are generated, the task groups include the blocking shelf removed on the removal path and remove the target shelf； And according to the task group assignment automatic guide vehicle.

9. warehousing control method out according to claim 3, which is characterized in that if at least two stop the target of shelf Position then sets target position in a half-duplex channel for at least two blockings shelf entrance of the half-duplex channel Place, and according to the precedence for reaching the inlet, it is filled at the most deep position of the half-duplex channel.

10. a kind of controlling equipment for shelf array, comprising:

Target shelf determination unit, for receiving the outbound task of target shelf and determining position of the target shelf in shelf array It sets；

Policy making unit is carried, the position according to the target shelf in the shelf array is configured to, determines and carries plan Slightly, if wherein the carryings strategy include: on the target shelf at least one of them direction do not have blocking shelf or When barrier, directly the target shelf are carried out；Otherwise, it determines the removal path of the target shelf, and work as institute When stating target shelf has a plurality of removal path, a removal path is therefrom selected, the blocking shelf on the removal path are moved Out；With

Execution unit is coupled with the carrying policy making unit, and is configured to control automatic guidance according to the carrying strategy Vehicle.

11. equipment as claimed in claim 10, wherein the carrying policy making unit is configured to determine the removal path On blocking shelf outflow location, and by it is described removal path on blocking shelf be transported on corresponding outflow location, Described in selection one remove path the step of include: calculate every remove path on it is each stop shelf removal load it is total With selection removes the comprehensive the smallest removal path of load, and the removal load includes moving distance, the weighted sum of number of turns.

12. a kind of handling system, comprising:

Shelf array, including multiple shelf；

Control system receives the outbound task of target shelf and determines position of the target shelf in shelf array, and according to institute Position of the target shelf in the shelf array is stated, determines and carries strategy, if wherein the carrying strategy includes: the mesh It marks shelf not having on a direction wherein when stopping shelf or barrier, directly carries the target shelf from the direction Out；Otherwise, it determines the removal path of the target shelf, and when the target shelf have a plurality of removal path, therefrom An optimal removal path is selected, the blocking shelf on the removal path are removed；

One or more automatic guide vehicles are coupled with the control system, and receive the carrying strategy, according to the carrying plan Slightly, carrying task is executed.

13. a kind of computer readable storage medium, is stored thereon with computer program, wherein the computer program is processed It is realized when device executes and goes out warehousing control method as claimed in any one of claims 1-9 wherein.