CN112492007A

CN112492007A - Article storing/taking method, apparatus, device and storage medium

Info

Publication number: CN112492007A
Application number: CN202011300117.3A
Authority: CN
Inventors: 谭雄飞
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2020-11-19
Filing date: 2020-11-19
Publication date: 2021-03-12

Abstract

The application discloses a method, a device, equipment and a storage medium for storing/taking articles, and relates to the fields of automatic driving, artificial intelligence, Internet of things and intelligent transportation. The specific implementation scheme is as follows: the server acquires an initial position of a target object and sends the initial position to the target unmanned transport vehicle so that the target unmanned transport vehicle can store/fetch the target object based on the initial position; and receiving the information of the stored/taken articles sent by the target unmanned transport vehicle, and sending the information to the target terminal so that the target terminal displays the information of the stored/taken articles to the target user, and the target user takes out the target articles according to the information of the stored/taken articles. According to the implementation mode, when the article storing/fetching instruction is not received, the initial position of the target article can be automatically detected and obtained, the target unmanned transport vehicle is called to store/fetch the target article, a user does not need to place the target article to be stored according to a specific position and a specific direction, the article storing/fetching efficiency is improved, and the learning cost of the user for storing/fetching the article is reduced.

Description

Article storing/taking method, apparatus, device and storage medium

Technical Field

The application relates to the field of intelligent transportation, in particular to the fields of automatic driving, artificial intelligence and the Internet of things, and particularly relates to a method, a device, equipment and a storage medium for storing/taking articles.

Background

At present, traditional self-propelled parking area is more, and the serious shortage of parking berth, supply and demand unbalance hold the demand that the vehicle figure is more and more difficult to satisfy the parking, in order to respond the parking demand of domestic rapid development and introduce the call that social resource optimizes the parking industry structure, improves car owner's parking and experiences, solves the city difficult problem of parking, and the use of sky parking system will become the inevitable trend of city traffic informationization, automated development.

In the existing three-dimensional parking lot, mechanical parking equipment is mainly used when parking, a driver needs to park a vehicle at a designated steel plate parking position and adjust the vehicle to a corresponding angle, and a machine automatically lifts the vehicle to a proper layer and position. When getting the car, the car owner needs help getting the car according to staff's instruction or software equipment suggestion, and parking efficiency is low, has reduced the parking area flow.

Disclosure of Invention

The present disclosure provides a method, apparatus, device, and storage medium for storing/retrieving an article.

According to a first aspect of the present disclosure, there is provided a method for storing/retrieving an item, applied to a server, including: the server acquires an initial position of a target object and sends the initial position to the target unmanned transport vehicle so that the target unmanned transport vehicle can store/fetch the target object based on the initial position; and receiving the information of the stored/taken articles sent by the target unmanned transport vehicle, and sending the information to the target terminal so that the target terminal displays the information of the stored/taken articles to the target user, and the target user takes out the target articles according to the information of the stored/taken articles displayed by the target terminal.

According to a second aspect of the present disclosure, there is provided a method of storing/retrieving an item, applied to an automated guided vehicle, comprising: the target unmanned transport vehicle receives the initial position of the target item sent by the server; storing/taking the target object based on the initial position, and acquiring information of the stored/taken object; and sending the information of the stored/taken articles to the server so that the server sends the information of the stored/taken articles to the target terminal, and the target terminal displays the information of the stored/taken articles to the target user so that the target user takes out the target articles according to the information of the stored/taken articles displayed by the target terminal.

According to a third aspect of the present disclosure, there is provided a method for storing/retrieving an item, applied to a target terminal, including: the target terminal receives storage/fetching item information sent by the server, wherein the storage/fetching item information is obtained by storing/fetching a target item according to the initial position of the target item sent by the server based on the target unmanned transport vehicle; and displaying the storage/fetching article information to the user so that the user can take out the target article according to the storage/fetching article information.

According to a fourth aspect of the present disclosure, there is provided an article storage/retrieval apparatus comprising: an acquisition unit configured to acquire an initial position of a target item and transmit the initial position to a target automated guided vehicle so that the target automated guided vehicle stores/retrieves the target item based on the initial position; and the receiving unit is configured to receive the storage/fetching object information sent by the target unmanned transport vehicle and send the storage/fetching object information to the target terminal so that the target terminal displays the storage/fetching object information to the target user and the target user fetches the target object according to the storage/fetching object information displayed by the target terminal.

According to a fifth aspect of the present disclosure, there is provided an article storage/retrieval apparatus comprising: a receiving unit configured to receive an initial position of the target item transmitted by the server; a deposit/retrieval control unit configured to deposit/retrieve a target item based on an initial position and acquire deposit/retrieval item information; and a transmitting unit configured to transmit the storage/retrieval item information to the server to cause the server to transmit the storage/retrieval item information to the target terminal to cause the target terminal to display the storage/retrieval item information to the target user to cause the target user to retrieve the target item according to the storage/retrieval item information displayed by the target terminal.

According to a sixth aspect of the present disclosure, there is provided an article storage/retrieval apparatus comprising: a receiving unit configured to receive, by the target terminal, storage/retrieval item information transmitted by the server, wherein the storage/retrieval item information is obtained based on storage/retrieval of a target item by the target automated guided vehicle according to an initial position of the target item transmitted by the server; and a display unit configured to display the storage/retrieval item information to a user so that the user retrieves the target item according to the storage/retrieval item information.

According to a seventh aspect of the present disclosure, there is provided an electronic apparatus for storing/taking an article, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of item access as described above.

According to an eighth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the method of storing/retrieving an item as described above.

According to the technology of the application, the problem that the existing three-dimensional parking lot is low in parking efficiency is solved, when an article storing/taking instruction is not received, the initial position of a target article can be automatically detected and obtained, the target unmanned transport vehicle is called to store/take the target article, the target article to be stored is not required to be placed according to a specific position and a specific direction by a user, the article storing/taking efficiency is improved, and the learning cost of the user for storing/taking the article is reduced.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is an exemplary system architecture diagram in which one embodiment of the present application may be applied;

fig. 2 is a flowchart of embodiment 1 of a method of item access according to the present application;

fig. 3 is a schematic diagram of an application scenario of embodiment 1 of a method of item access according to the present application;

fig. 4 is a flowchart of embodiment 2 of a method of item access according to the present application;

fig. 5 is a flowchart of embodiment 3 of a method of item access according to the present application;

fig. 6 is a flowchart of embodiment 4 of a method of item access according to the present application;

fig. 7 is a flowchart of embodiment 5 of a method of item access according to the present application;

fig. 8 is a schematic structural view of embodiment 1 of an article storing/taking apparatus according to the present application;

fig. 9 is a schematic structural view of embodiment 2 of an article storing/taking apparatus according to the present application;

fig. 10 is a schematic structural view of embodiment 3 of an article storing/taking apparatus according to the present application;

fig. 11 is a block diagram of an electronic device for implementing a method of item access according to an embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 shows an exemplary system architecture 100 to which embodiments of the method of item access or the apparatus of item access of the present application may be applied.

As shown in fig. 1, the system architecture 100 may include a target automated guided vehicle 101, a server 102, and a target terminal 103. The server 102 may be connected to the target automated guided vehicle 101 by a wired or wireless method, and may be connected to the target terminal 103 by a wireless method.

The target automated guided vehicle 101, the server 102, and the target terminal 103 may be different terminal devices. The terminal device may be various electronic devices having a display screen and supporting network communication, including but not limited to a smart phone, a tablet computer, an e-book reader, an MP3 player (Moving Picture Experts Group Audio Layer III, mpeg compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, mpeg compression standard Audio Layer 4), a laptop portable computer, a desktop computer, and the like. Server 102 may be one or more computers by which the travel path of a target automated guided vehicle and the behavior of the target automated guided vehicle may be controlled. Alternatively, the traveling path of the target automated guided vehicle 101 may be set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is attached to the floor, and the target automated guided vehicle 101 moves and operates according to the information provided by the electromagnetic track.

With continued reference to fig. 2, a flow 200 of embodiment 1 of a method of item storage/retrieval according to the present application is shown. It should be noted that the method for storing/retrieving items provided by the embodiment of the present application may be executed by the server 102 in fig. 1. The method for storing/taking the article of the embodiment comprises the following steps:

in step 201, the server obtains an initial position of a target item and sends the initial position to a target automated guided vehicle.

In this embodiment, an executing entity (for example, the server 102 in fig. 1) of the method for storing/retrieving the item may acquire an initial position of the target item through a wired connection or a wireless connection, and send the initial position to the target automated guided vehicle. The target object may be a vehicle or a valuable object, such as a mobile phone, a computer, or a wallet, and the type of the target object is not limited in the present application. The initial position represents a different meaning when storing and removing items. It is to be understood that the initial position may be a position where the user temporarily places the item in a lower layer of the item storing/taking place or a position where the automated guided vehicle finally stores the item in an upper layer of the item storing/taking place. For example, when a car owner wants to park in the three-dimensional parking lot, the initial position is a position where the car owner drives the vehicle into a designated user parking buffer in the lower layer of the parking lot, and the automated guided vehicle acquires the position where the vehicle is transferred into a designated parking vehicle in the upper layer of the parking lot from the initial position; for another example, after the car owner deposits the car in the multistory parking garage, when the car owner wants to pick up the car, the initial position is the position of the car designated to deposit the car corresponding to the car owner in the upper layer of the parking garage; the automated guided vehicle takes out the vehicle from the position and places the vehicle at a preset position in the lower floor of the parking lot.

The execution agent may determine one or more preset automated guided vehicles corresponding to an initial position according to the initial position, determine whether the automated guided vehicle is idle when the initial position corresponds to one preset automated guided vehicle, and determine the automated guided vehicle as a target automated guided vehicle in response to determining that the automated guided vehicle is idle; in response to determining that the automated guided vehicle is transferring other items, other idle automated guided vehicles are invoked as target automated guided vehicles. When the initial position corresponds to a plurality of preset automated guided vehicles, the idle automated guided vehicle is determined as the target automated guided vehicle.

Specifically, the target object may be provided with a locator for sending current position information, and the execution subject may automatically acquire an initial position of the target object falling within a preset supervision range of the execution subject by interacting with the locator on the target object. The execution main body can automatically detect whether the target object exists in the supervision range in real time or at preset time intervals under the condition that the execution main body does not receive a storage/placement instruction sent by a user, and automatically acquires the initial position of the target object and sends the initial position to the target unmanned transport vehicle when the target object exists in the supervision range, so that the target unmanned transport vehicle can store/fetch the target object based on the initial position. The target automated guided vehicle may be a transport vehicle equipped with an electromagnetic or optical on-board automatic navigation device, capable of traveling along a predetermined navigation route, having safety protection and various transfer functions, and may use a rechargeable battery as its power source. Generally, the traveling path and behavior of the automated guided vehicle can be controlled by a computer, or the traveling path is established by using an electromagnetic rail, which is disposed on a floor, and the automated guided vehicle moves and operates according to information brought by the electromagnetic rail.

And step 202, receiving the storage/fetching object information sent by the target unmanned transport vehicle, and sending the storage/fetching object information to the target terminal.

The execution main body can receive the storage/fetching object information sent by the target unmanned transport vehicle after sending the initial position of the target object to the target unmanned transport vehicle, and send the storage/fetching object information to the target terminal, so that the target terminal displays the storage/fetching object information to the target user, and the target user can fetch the target object according to the storage/fetching object information displayed by the target terminal. The storage/retrieval information may include, for example, a storage time, a storage location, a retrieval time, a location where the item is placed after the retrieval, a user ID, and the like. The execution main body may determine a target terminal from the user ID, and transmit the deposit/retrieval item information to the target terminal.

For example, taking parking/taking out vehicles of multiple owners in a multistory parking lot as an example, the multistory parking lot may be divided into an upper layer and a lower layer, and the lower layer is assumed to be a user parking area, and the upper layer is an area where an automated guided vehicle parks a vehicle of a user. The automated guided vehicle can be used for loading the vehicle parked on the lower layer into the designated position on the upper layer so as to standardize parking, save the parking time of a user, improve the parking efficiency and improve the flow of the parking lot.

In this example, first, when a vehicle needs to be parked, a plurality of vehicle owners may enter the stereo parking lot in parallel, park their respective vehicles in a designated parking space, and the posture of the parked vehicle is not particularly limited. A plurality of car owners can leave after parking the cars on the lower layer of the parking lot; then, the execution main body detects that the vehicles are parked in the range of the supervised parking lot, automatically acquires the initial positions of all parked vehicles, automatically distributes corresponding unmanned transport vehicles for the parked vehicles, respectively sends the initial positions of all parked vehicles to the corresponding unmanned transport vehicles, so that each unmanned transport vehicle bears and moves each corresponding parked vehicle to the upper layer of the parking lot based on the received initial position of the corresponding parked vehicle, and then sends the parking position and parking time of each corresponding vehicle parked on the upper layer of the parking lot to the execution main body. And after receiving the parking positions and the parking time of the vehicles, the execution main body sends the parking positions and the parking time of the vehicles to the corresponding vehicle owner terminal so that the vehicle owner can look up and know the parking information.

Then, in this example, in a case where the vehicle needs to be taken out, when the preset parking time is reached, the executing agent may automatically transmit a vehicle taking instruction to the corresponding automated guided vehicle, the automated guided vehicle takes out and parks the corresponding vehicle to a preset position according to the received vehicle taking instruction, and then transmits the taken vehicle information to the executing agent. The fetched vehicle information may include the fetched vehicle time, the fetched vehicle parking location, and the corresponding vehicle owner ID. The execution subject may determine the target terminal according to the owner ID and then transmit the picked-up information to the target terminal. After the vehicle owner sees the vehicle taking information displayed by the target terminal, the vehicle owner can find the vehicle according to the position where the vehicle indicated in the vehicle taking information is taken out and placed.

In this embodiment, the execution subject may find the corresponding owner ID according to the license plate number of the vehicle, thereby determining the target terminal. The target terminal can be a mobile phone or a tablet or a notebook computer of the vehicle owner, and the type of the target terminal is not particularly limited in the application. The access/fetch instruction transmitted from the execution main body to the automated guided vehicle may include a vehicle owner ID indicating the target terminal. The determination mode of the target terminal is not specifically limited in the present application.

With continued reference to fig. 3, there is shown a schematic diagram of one application scenario of a method of item access according to the present application. In the application scenario of fig. 3, the server 301 obtains the initial position a of the target item D and transmits the initial position a to the target automated guided vehicle 302, so that the target automated guided vehicle 302 stores/retrieves the target item D based on the initial position a. The server 301 receives the storage/retrieval item information B transmitted from the target automated guided vehicle 302, and transmits the storage/retrieval item information B to the target terminal 303, so that the target terminal 303 displays the storage/retrieval item information B to the target user C, and the target user C retrieves the target item D based on the storage/retrieval item information B displayed by the target terminal 303.

When the article storing/taking instruction is not received, the initial position of the target article can be automatically detected and obtained, the target unmanned transport vehicle is called to store/take the target article, the user does not need to place the target article to be stored according to a specific position and a specific direction, the article storing/taking efficiency is improved, and the learning cost of the user for storing/taking the article is reduced.

With continued reference to fig. 4, a flow 400 of another embodiment of a method of item storage/retrieval according to the present application is shown. It should be noted that the method for storing/retrieving items provided by the embodiment of the present application may be executed by the server 102 in fig. 1. As shown in fig. 4, the method for storing/taking an article of this embodiment may include the following steps:

in step 401, the server obtains an initial position of a target item and sends the initial position to a target automated guided vehicle.

So that the target unmanned transport vehicle can store/take the target object based on the initial position.

The principle of step 401 is similar to that of step 201, and is not described herein again.

Based on the initial position, a first travel route of the target automated guided vehicle is determined, step 402.

The executive agent, upon acquiring the initial position of the target item, may determine a first travel route of the target automated guided vehicle based on the initial position. Specifically, the executive agent may re-determine the location of the target automated guided vehicle after obtaining an initial location of the target item, and then the executive agent may re-plan the first travel route of the target automated guided vehicle to the initial location.

It is to be understood that the execution agent may also pre-store a pre-set route from the automated guided vehicle at each location to a pre-set initial location where each target item is stored, and then the execution agent may call up a route of the pre-stored pre-set route respectively corresponding to the acquired initial location and the determined location of the target automated guided vehicle and determine it as the first travel route.

Specifically, the meaning of the first travel route is different depending on the initial position of each target item (for example, the initial position is on the lower or upper layer of the place where the item is stored/taken).

For example, for each target item, in response to a need to deposit the target item, the first travel route means a route from a lower-level staging position to an upper-level depositing position of a yard where the item is deposited/taken; in response to the need to take out the target item, the first travel route means a route from a storage position of an upper layer of a site where the item is stored/taken to a preset take-out placement position of a lower layer.

Step 403, sending the travel command and the first travel route to the target automated guided vehicle.

The execution subject, upon determining the first travel route, may send a travel instruction and the first travel route to the target automated guided vehicle to cause the target automated guided vehicle to travel to an initial position according to the first travel route. Specifically, the travel instruction may include initial position information indicating a target initial position, that is, destination information of the target automated guided vehicle, so that the target automated guided vehicle arrives at the target initial position to store/retrieve the item based on the destination information.

And step 404, acquiring the placing posture of the target object, and generating an automatic alignment instruction based on the placing posture.

The execution main body can acquire the placing posture of the target object after sending the traveling instruction and the first traveling route to the target unmanned transport vehicle, and generates an automatic alignment instruction based on the placing posture. Specifically, the field for storing the articles can be divided into an upper layer and a lower layer, and the lower layer is used for temporarily storing the articles for a user; the upper layer is used for the unmanned transport vehicle to store the articles temporarily stored by the user according to the specification. When the user temporarily stores the target object in the lower layer, the target object can be not placed neatly, and only the object needs to be stored according to a general convenient placing posture, so that the placing posture of the target object needs to be acquired by the execution main body, the adjusting direction and the adjusting distance of the target unmanned carrying vehicle when the target unmanned carrying vehicle is aligned with the target object are determined based on the placing posture, and an automatic aligning instruction is generated based on the adjusting direction and the adjusting distance.

In step 405, an auto-alignment command is sent to the target automated guided vehicle.

The execution agent, upon generating the auto-alignment command, may send the auto-alignment command to the target automated guided vehicle to cause the target automated guided vehicle traveling to the initial position to automatically align and carry the target item according to the received auto-alignment command.

At step 406, a target access position is determined, and a second travel route of the target automated guided vehicle is determined based on the initial position and the target access position.

The execution agent, upon sending the auto-alignment command to the target automated guided vehicle, may determine a target access location, and determine a second travel route for the target automated guided vehicle based on the initial location and the target access location. Specifically, in the present embodiment, a plurality of positions where the automated guided vehicle stores the articles are provided in the upper layer of the site where the articles are stored/taken, and a plurality of preset positions where the articles are placed/taken out are provided in the lower layer. Specifically, the execution subject may confirm which positions in the upper layer of the place where the articles are stored/taken are free and available for storing the articles, and determine any one of the free positions as the target storage position. The execution subject can confirm which positions in the lower layer of the space where the articles are stored/taken are free and can be used for placing the taken articles, and determine any one of the positions of these spaces as the target taking-out position.

The meaning of the second travel route is also different when the user deposits and removes items. In particular, in response to a user needing to deposit a target item (e.g., detecting that the user has placed the item in a buffer in a lower level of a venue for item deposit/retrieval), the executive agent may re-plan the second travel route of the target automated guided vehicle based on the determined target deposit location and initial location. Or the executing body may find a preset route corresponding to the initial position and the target storage position from among the pre-stored routes as the second traveling route of the target automated guided vehicle. The present application does not limit the specific manner of determining the second travel route of the target automated guided vehicle.

The executive agent responds to the user's need to take out the target item (for example, the preset item storage time is up, and automatically triggers the executive agent to send an item taking-out instruction), wherein the target item is positioned in the upper layer of the item storing/taking place, the initial position is also in the upper layer, and the executive agent can re-plan the second travel route of the unmanned transport vehicle from the initial position of the target item storing in the upper layer to the target taking-out position according to the target taking-out position and the initial position. Or the execution main body may find a route corresponding to the initial position and the target retrieval position from pre-stored preset routes and determine the route as the second travel route. As for how the automated guided vehicle reaches the initial position of the target object storage in the upper layer, the present application is not limited thereto, and it can be understood that the automated guided vehicle can return to the lower layer to stand by after storing the target object in the target storage position in the upper layer of the object storage/retrieval yard along the first traveling route, so as to respond to the storage command of other objects in time.

Step 407, send the access/fetch command, the travel command, and the second travel route to the target automated guided vehicle.

The executive agent, upon determining the second travel route of the target automated guided vehicle, may send the access/retrieval instruction, the travel instruction, and the second travel route to the target automated guided vehicle. Specifically, the execution subject sends a deposit instruction, a travel instruction, and a second travel route corresponding to the deposited item to the target automated guided vehicle in response to a user needing to deposit the target item (e.g., detecting that the user places the item in a buffer area of a lower floor of a lot where the item is deposited/taken). The execution main body responds to the requirement of a user for taking out a target item (for example, a preset item storage time is reached, the execution main body is automatically triggered to send an item taking-out instruction), the execution main body sends a taking-out instruction, a traveling instruction and a second traveling route corresponding to the taken-out item to the target unmanned transport vehicle, so that the target unmanned transport vehicle which is automatically aligned and bears the target item can travel to a target storing/taking position (or a target storing position/a target taking-out position) along the second traveling route corresponding to the stored/taken-out item according to the storing/taking instruction, and the target item can be stored/taken to the target storing/taking position, wherein the symbol "/" represents "or".

In the embodiment, the route of the target unmanned transport vehicle when the target unmanned transport vehicle deposits or takes out the object is planned, so that the target unmanned transport vehicle can accurately send the instruction for depositing or taking out the object to the target unmanned transport vehicle, the target unmanned transport vehicle can accurately deposit or take out the object based on the received instruction, the efficiency of depositing/taking out the object is improved, the flow rate of depositing/taking out the object is improved, and the learning cost of depositing/taking the object in the field for depositing/taking the object by a user is reduced. In this application, can be three-dimensional place in the place that article were deposited/were got, for example, can be three-dimensional parking area, this three-dimensional parking area can be divided into two-layer from top to bottom, and the lower floor is used for supplying the user to place the target article temporarily, and the upper strata is used for supplying unmanned transport vehicle to carry out the standard with the target article that bears and deposits.

And step 408, receiving the storage/fetching article information sent by the target unmanned transport vehicle, and sending the storage/fetching article information to the target terminal.

The execution main body can receive the storage/fetching information sent by the target unmanned transport vehicle after sending the storage/fetching instruction, the traveling instruction and the second traveling route to the target unmanned transport vehicle, and send the storage/fetching information to the target terminal, so that the target terminal displays the storage/fetching information to the target user, and the target user can fetch the target object according to the storage/fetching information displayed by the target terminal.

The principle of step 408 is similar to that of step 202, and is not described here again.

With continued reference to fig. 5, a flow 500 of embodiment 3 of a method of item storage/retrieval according to the present application is shown. It should be noted that the method for sharing data provided in the embodiment of the present application may be performed by the target automated guided vehicle 101 in fig. 1. The method for storing/taking the article of the embodiment comprises the following steps:

in step 501, the target automated guided vehicle receives an initial position of a target item transmitted by a server.

In this embodiment, an executing agent of the method for storing/retrieving an item (e.g., the target automated guided vehicle 101 in fig. 1) may receive an initial position of the target item from the server by means of a wired connection or a wireless connection. The target automated guided vehicle may be a transport vehicle equipped with an electromagnetic or optical on-board automatic navigation device, capable of traveling along a predetermined navigation route, having safety protection and various transfer functions, and may use a rechargeable battery as its power source. Generally, the traveling path and behavior of the automated guided vehicle can be controlled by a computer, or the traveling path is established by using an electromagnetic rail, which is disposed on a floor, and the automated guided vehicle moves and operates according to information brought by the electromagnetic rail. The target object may be a vehicle or a valuable object, such as a mobile phone, a computer, or a wallet, and the type of the target object is not limited in the present application. The initial position represents a different meaning when storing and removing items. It is to be understood that the initial position may be a position where the user temporarily places the item in a lower layer of the item storing/taking place or a position where the automated guided vehicle finally stores the item in an upper layer of the item storing/taking place. For example, when a car owner wants to park in the three-dimensional parking lot, the initial position is a position where the car owner drives the vehicle into a designated user parking buffer in the lower layer of the parking lot, and the automated guided vehicle acquires the position where the vehicle is transferred into a designated parking vehicle in the upper layer of the parking lot from the initial position; for another example, after the car owner deposits the car in the multistory parking garage, when the car owner wants to pick up the car, the initial position is the position of the car designated to deposit the car corresponding to the car owner in the upper layer of the parking garage; the automated guided vehicle takes out the vehicle from the position and places the vehicle at a preset position in the lower floor of the parking lot.

Step 502, based on the initial position, storing/fetching the target object and acquiring the storing/fetching object information.

In this embodiment, after receiving the initial position of the target item, the target automated guided vehicle may store/retrieve the target item based on the initial position, and acquire the storage/retrieval item information. Specifically, in this embodiment, after receiving the initial position of the target object, the execution main body may reach the initial position, carry the target object at the initial position to transport to a preset storing/fetching position in an object storing/fetching field, and store/fetch the target object. One or more of the preset access positions can be provided, and the execution body can optionally select one of the preset access positions to access. The preset access position may be a position corresponding to the type of the target object, for example, if the target object is a valuable daily article such as a mobile phone and a wallet, the preset access position may be a locker, and if the target object is a large-sized article such as an automobile, the preset access position may be a parking space in a place where the object is accessed/accessed.

The execution main body can acquire the storage/fetching item information of the target item after the target item is stored/fetched. The storage/retrieval information may include, for example, a storage time, a storage location, a retrieval time, a location where the item is placed after the retrieval, a user ID, and the like.

Step 503, sending the storage/fetching information to the server.

The execution main body may send the storage/retrieval item information to the server after acquiring the storage/retrieval item information, so that the server sends the storage/retrieval item information to the target terminal indicated by the user ID, so that the target terminal displays the storage/retrieval item information to the target user, and the target user retrieves the target item according to the storage/retrieval item information displayed by the target terminal.

The automated guided vehicle of the embodiment moves to the initial position according to the initial position of the target object sent by the server, transfers the target object to the target storing/fetching position, acquires the storing/fetching object information and feeds the storing/fetching object information back to the server, so that the server sends the storing/fetching object information to the target terminal indicated by the user ID in the storing/fetching object information, the target terminal displays the storing/fetching object information to the target user, the target user fetches the target object according to the storing/fetching object information displayed by the target terminal, and therefore automatic object storing/fetching operation is achieved based on the automated guided vehicle, the user does not need to place the target object to be stored according to a specific position and direction, the object storing/fetching efficiency is improved, and the learning cost of the user for storing/fetching the object is reduced.

With continued reference to fig. 6, a flow 600 of embodiment 4 of a method of item storage/retrieval according to the present application is shown. It should be noted that the method for storing/taking items provided in the embodiment of the present application may be performed by the target automated guided vehicle 101 in fig. 1. The method for storing/taking the article of the embodiment comprises the following steps:

step 601, the target automated guided vehicle receives the initial position of the target item sent by the server.

And step 602, storing/taking the target object based on the initial position, and acquiring the information of the stored/taken object.

The principle of step 601 to step 602 is similar to that of step 501 to step 502, and is not described here again.

Specifically, step 602 can also be realized by steps 6021 to 6023:

step 6021, receiving the traveling instruction and the first traveling route sent by the server, and traveling to the initial position according to the first traveling route.

After receiving the initial position of the target object sent by the server, the execution main body can receive the traveling instruction and the first traveling route sent by the server, and travel to the initial position according to the first traveling route. Wherein the first travel route is determined based on the initial position of the target item acquired by the server. The travel instruction may be used to trigger a travel operation of the execution subject. Of course, the travel instruction may include information indicating the first travel route, and the execution subject may travel to the initial position only according to the travel instruction sent by the server. In the application, the execution subject may receive the first travel route sent by the server in the form of a visual map, and travel to the initial position according to the guidance of the first travel route. Of course, in the present application, the first travel route may also be received and recognized by the execution subject in the form of voice broadcasting. The travel instructions may also be presented in the form of a voice announcement. For example, the execution main body receives a travel instruction of a voice broadcast, for example, the execution main body receives a travel instruction in a voice form: the voice broadcasting system is awakened by 'starting to travel', and according to a first traveling route of voice broadcasting: "go straight 20 meters, go 5 meters left turn to destination", travel to the initial position of the target item.

Step 6022, receiving the automatic aligning instruction sent by the server, and automatically aligning and carrying the target object according to the automatic aligning instruction.

After the execution main body moves to the initial position of the target object, the execution main body can receive an automatic alignment instruction sent by the server, and automatically aligns and bears the target object according to the automatic alignment instruction. Wherein the automatic alignment instruction is generated based on the placing posture of the target object acquired by the server. Specifically, the execution subject may be according to a voice-broadcasted auto-alignment instruction: and the target object is aligned and carried by lifting 10 cm, moving 2 cm to the left, moving 1 cm to the left and finishing alignment.

Step 6023, receiving the access instruction, the travel instruction and the second travel route sent by the server, automatically aligning and carrying the target automated guided vehicle of the target object to travel to the target access position along the second travel route according to the access instruction, and accessing/fetching the target object to the target access position.

After the execution main body aligns and bears the target object, the execution main body can receive the access instruction, the traveling instruction and the second traveling route sent by the server, automatically align and bear the target unmanned transport vehicle of the target object, travel to the target access position of the object access site along the second traveling route according to the access instruction, and access/fetch the target object to the target access position. Wherein the second route of travel is determined based on the initial location of the target item and the determined target deposit/retrieval location obtained by the server.

For example, in a scenario of storing vehicles in the multistory parking facility, the target automated guided vehicle carries the target vehicle to an upper preset parking space of the multistory parking facility along the second traveling route based on the storage command, the traveling command and the second traveling route, unloads the target vehicle to the preset parking space for storage, and then returns to a parking area of the lower automated guided vehicle for standby, so as to respond to the storage command of other vehicles in time.

It is understood that one target vehicle may correspond to one or more automated guided vehicles. When a plurality of target vehicles need to be stored in the three-dimensional parking lot, the preset unmanned transport vehicles corresponding to the pit positions can reach the initial positions of the target vehicles at the same time, and the target vehicles are automatically aligned and loaded to sequentially move to the preset parking spaces in the upper layer of the three-dimensional parking lot for storage.

The automatic target article alignment of this embodiment through unmanned transport vehicle need not the user and puts target article according to specific position and direction, when there are numerous target article to deposit/get, can save user's time, has improved the efficiency that article were deposited/got.

Step 603, sending the storage/fetching information to the server.

After the execution main body stores/fetches the target object, the storage/fetching object information can be obtained and sent to the server, so that the server sends the storage/fetching object information to the target terminal, the target terminal displays the storage/fetching object information to the target user, and the target user can fetch the target object according to the storage/fetching object information displayed by the target terminal.

The principle of step 603 is similar to that of step 503, and is not described here again.

With continued reference to fig. 7, a flow 700 of embodiment 5 of a method of item storage/retrieval according to the present application is shown. It should be noted that the method for storing/retrieving an item provided in the embodiment of the present application may be executed by the target terminal 103 in fig. 1. The method for storing/taking the article of the embodiment comprises the following steps:

in step 701, the target terminal receives the storage/retrieval item information sent by the server.

In this embodiment, the article storage/retrieval information is obtained by storing/retrieving the target article based on the initial position of the target article transmitted from the server by the target automated guided vehicle.

Step 702, displaying the article storing/fetching information to the user, so that the user can fetch the target article according to the article storing/fetching information.

In this embodiment, the target terminal may be a mobile phone, a computer, or the like of the user, and the type of the target terminal is not specifically limited in this application. The target terminal can display the storage/fetching information to the user after receiving the storage/fetching information sent by the server. The storage/retrieval information may include, for example, a storage time, a storage location, a retrieval time, a location where the item is placed after the retrieval, a user ID, and the like. The user can take out the target object according to the position where the object is placed after being taken out from the storage/taking object information displayed by the target terminal.

In the embodiment, after receiving the information of the article to be stored/taken sent by the server, the target terminal displays the information of the article to be stored/taken to the user, so that the user can accurately and quickly find the target article or take out the target article, the efficiency of storing/taking the article by the user is improved, the waiting time of the user is saved, and the flow of storing/taking the article is improved.

With further reference to fig. 8, as an implementation of the methods shown in the above figures, the present application provides an embodiment 1 of an article storage/retrieval apparatus, where the embodiment 1 of the apparatus corresponds to the embodiment 1 of the method shown in fig. 2, and the apparatus can be applied to various electronic devices.

As shown in fig. 8, the article depositing/removing apparatus 800 of the present embodiment includes: an acquisition unit 801 and a receiving unit 802.

An acquisition unit 801 configured to acquire an initial position of the target item and transmit the initial position to the target automated guided vehicle so that the target automated guided vehicle stores/retrieves the target item based on the initial position.

A receiving unit 802 configured to receive the storage/retrieval item information transmitted by the target automated guided vehicle and transmit the storage/retrieval item information to the target terminal, so that the target terminal displays the storage/retrieval item information to the target user, so that the target user retrieves the target item according to the storage/retrieval item information displayed by the target terminal.

In some optional implementations of this embodiment, the means for storing/retrieving items further includes what is not shown in fig. 8: a first travel route determination unit configured to determine a first travel route of the target automated guided vehicle based on the initial position; a transmitting unit configured to transmit a travel instruction and a first travel route to the target automated guided vehicle to cause the target automated guided vehicle to travel to an initial position according to the first travel route.

In some optional implementations of this embodiment, the means for storing/retrieving items further includes what is not shown in fig. 8: an automatic alignment instruction generation unit configured to acquire a placement posture of a target article, and generate an automatic alignment instruction based on the placement posture; the sending unit is further configured to: and sending an automatic alignment command to the target automated guided vehicle so that the target automated guided vehicle which moves to the initial position automatically aligns and carries the target object according to the received automatic alignment command.

In some optional implementations of this embodiment, the means for storing/retrieving items further includes what is not shown in fig. 8: a second travel route determination unit configured to determine a target access position, determine a second travel route of the target automated guided vehicle based on the initial position and the target access position; the sending unit is further configured to: and sending the access command, the travel command and the second travel route to the target automated guided vehicle, so that the target automated guided vehicle which is automatically aligned and carries the target item travels to the target access position along the second travel route according to the access command, and the target item is accessed to the target access position.

It should be understood that units 801 to 802 recited in the apparatus 800 for article storage/retrieval correspond to respective steps in the method described with reference to fig. 2. Thus, the operations and features described above with respect to embodiment 1 of the method for storing/retrieving an item are also applicable to the apparatus 800 and the units included therein, and are not described again here.

With further reference to fig. 9, as an implementation of the methods shown in the above figures, the present application provides an embodiment 2 of an article storage/retrieval apparatus, where the embodiment 2 of the apparatus corresponds to the embodiment 3 of the method shown in fig. 5, and the apparatus can be applied to various electronic devices.

As shown in fig. 9, the article storage/retrieval apparatus 900 of the present embodiment includes: a receiving unit 901, an access control unit 902, and a transmitting unit 903.

A receiving unit 901 configured to receive the initial position of the target item sent by the server.

An access control unit 902 configured to access/take the target item based on the initial position and acquire access/take item information.

A sending unit 903 configured to send the storage/retrieval item information to the server, so that the server sends the storage/retrieval item information to the target terminal, so that the target terminal displays the storage/retrieval item information to the target user, and so that the target user takes out the target item according to the storage/retrieval item information displayed by the target terminal.

In some optional implementations of this embodiment, the access control unit 902 is further configured to: and receiving a traveling instruction and a first traveling route sent by the server, and traveling to an initial position according to the first traveling route, wherein the first traveling route is determined based on the initial position of the target item acquired by the server.

In some optional implementations of this embodiment, the access control unit 902 is further configured to: and receiving an automatic alignment instruction sent by the server, and automatically aligning and bearing the target object according to the automatic alignment instruction, wherein the automatic alignment instruction is generated based on the placing posture of the target object obtained by the server.

In some optional implementations of this embodiment, the access control unit 902 is further configured to: and receiving an access instruction, a travel instruction and a second travel route sent by the server, automatically aligning and carrying the target unmanned transport vehicle of the target item, traveling to a target access position along the second travel route according to the access instruction, and accessing/fetching the target item to the target access position, wherein the second travel route is determined based on the initial position of the target item acquired by the server and the determined target access position.

It should be understood that units 901 to 903, which are described in the article storage/retrieval apparatus 900, respectively correspond to the respective steps in the method described with reference to fig. 5. Thus, the operations and features described above for embodiment 3 of the method for storing/retrieving items are also applicable to the apparatus 900 and the units included therein, and are not described again here.

With further reference to fig. 10, as an implementation of the methods shown in the above figures, the present application provides an embodiment 3 of an article storage/retrieval apparatus, where the apparatus embodiment 3 corresponds to the method embodiment 5 shown in fig. 7, and the apparatus may be applied to various electronic devices.

As shown in fig. 10, the apparatus 1000 for sharing data of the present embodiment includes: a receiving unit 1001 and a display unit 1002.

A receiving unit 1001 configured to receive, by the target terminal, storage/retrieval item information transmitted by the server, wherein the storage/retrieval item information is obtained based on the target automated guided vehicle storing/retrieving the target item according to the initial position of the target item transmitted by the server.

A display unit 1002 configured to display the storage/retrieval item information to a user so that the user retrieves the target item according to the storage/retrieval item information.

It should be understood that units 1001 to 1002 recited in the article storage/retrieval device 1000 correspond to respective steps in the method described with reference to fig. 7. Thus, the operations and features described above for embodiment 5 of the method for storing/retrieving an item are also applicable to the apparatus 1000 and the units included therein, and are not described again here.

According to an embodiment of the present application, an electronic device and a readable storage medium for storing/taking an item are also provided.

Fig. 11 is a block diagram of an electronic device according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 11, the electronic apparatus includes: one or more processors 1101, a memory 1102, and interfaces for connecting the various components, including a high speed interface and a low speed interface. The various components are interconnected using different buses 1105 and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses 1105 may be used, along with multiple memories and multiple memories, if desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 11, a processor 1101 is taken as an example.

The memory 1102 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of item access provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the method of item access provided herein.

The memory 1102, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and units, such as program instructions/units corresponding to the method of article storage/retrieval in the embodiment of the present application (for example, the acquisition unit 801 and the reception unit 802 shown in fig. 8 or the reception unit 901, the storage/retrieval control unit 902 and the transmission unit 903 shown in fig. 9 or the reception unit 1001 and the display unit 1002 shown in fig. 10). The processor 1101 executes various functional applications of the server and data processing, i.e., implements the method of article access in the above-described method embodiments, by executing non-transitory software programs, instructions, and modules stored in the memory 1102.

The memory 1102 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device for article storage/retrieval, and the like. Further, the memory 1102 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 1102 may optionally include memory located remotely from processor 1101, which may be connected to an electronic device for item access via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the method of item storage/retrieval may further include: an input device 1103 and an output device 1104. The processor 1101, memory 1102, input device 1103, and output device 1104 may be connected by a bus 1105 or other means, such as by bus 1105 in fig. 11.

The input device 1103 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of the electronic apparatus of the method of item access, such as a touch screen, keypad, mouse, track pad, touch pad, pointer, one or more mouse buttons, track ball, joystick, or like input device. The output devices 1104 may include a display device, auxiliary lighting devices (e.g., LEDs), tactile feedback devices (e.g., vibrating motors), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

According to the technical scheme of the embodiment of the application, when the article storing/taking instruction is not received, the initial position of the target article can be automatically detected and obtained, the target unmanned transport vehicle is called to store/take the target article, the target article to be stored does not need to be placed in a specific position and direction by a user, the article storing/taking efficiency is improved, and the learning cost of storing/taking the article by the user is reduced.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for storing/taking articles is applied to a server and comprises the following steps:

acquiring an initial position of a target item and sending the initial position to a target unmanned transport vehicle so that the target unmanned transport vehicle can store/fetch the target item based on the initial position;

receiving the information of the stored/taken articles sent by the target unmanned transport vehicle, and sending the information to a target terminal so that a target user can take out the target articles according to the information of the stored/taken articles displayed by the target terminal.

2. The method of claim 1, wherein the method further comprises:

determining a first travel route for a target automated guided vehicle based on the initial position;

sending a travel instruction and the first travel route to a target automated guided vehicle to cause the target automated guided vehicle to travel to the initial position according to the first travel route.

3. The method of claim 2, wherein the method further comprises:

acquiring the placing posture of a target object, and generating an automatic alignment instruction based on the placing posture;

sending the auto-alignment instruction to a target automated guided vehicle to cause the target automated guided vehicle traveling to the initial position to automatically align and carry the target item according to the received auto-alignment instruction.

4. The method of claim 3, wherein the method further comprises:

determining a target access location, determining a second travel route for a target automated guided vehicle based on the initial location and the target access location;

sending an access command, a travel command, and the second travel route to a target automated guided vehicle to cause a target automated guided vehicle that is automatically aligned with and carries the target item to travel to the target access location along the second travel route according to the access command and to access the target item to the target access location.

5. A method for storing/taking an article, applied to an automated guided vehicle, includes:

the target unmanned transport vehicle receives the initial position of the target item sent by the server;

storing/taking the target object based on the initial position, and acquiring information of the stored/taken object;

and sending the information of the stored/taken articles to a server so that the server sends the information of the stored/taken articles to a target terminal, and a target user takes out the target articles according to the information of the stored/taken articles displayed by the target terminal.

6. The method of claim 5, wherein said accessing the target item based on the initial location comprises:

and receiving a traveling instruction and a first traveling route sent by the server, and traveling to the initial position according to the first traveling route, wherein the first traveling route is determined based on the initial position of the target item acquired by the server.

7. The method of claim 6, wherein said accessing said target item based on said initial location further comprises:

and receiving an automatic alignment instruction sent by a server, and automatically aligning and bearing the target object according to the automatic alignment instruction, wherein the automatic alignment instruction is generated based on the placing posture of the target object obtained by the server.

8. The method of claim 7, wherein said accessing said target item based on said initial location further comprises:

receiving an access instruction, a travel instruction and a second travel route sent by a server, automatically aligning and carrying the target unmanned transport vehicle of the target item to travel to a target access position along the second travel route according to the access instruction, and accessing/fetching the target item to the target access position, wherein the second travel route is determined based on the initial position of the target item acquired by the server and the determined target access position.

9. A method for storing/taking articles is applied to a target terminal and comprises the following steps:

receiving storage/fetching article information sent by a server, wherein the storage/fetching article information is obtained by storing/fetching a target article according to an initial position of the target article sent by the server based on a target unmanned transport vehicle;

and displaying the information of the storage/fetching articles to a user so that the user can take out the target articles according to the information of the storage/fetching articles.

10. An article storage/retrieval apparatus comprising:

an acquisition unit configured to acquire an initial position of a target item and transmit the initial position to a target automated guided vehicle so that the target automated guided vehicle stores/retrieves the target item based on the initial position;

the receiving unit is configured to receive the storage/fetching information sent by the target unmanned transport vehicle and send the storage/fetching information to the target terminal so that the target terminal displays the storage/fetching information to a target user and the target user fetches the target object according to the storage/fetching information displayed by the target terminal.

11. The apparatus of claim 10, wherein the apparatus further comprises:

a first travel route determination unit configured to determine a first travel route of a target automated guided vehicle based on the initial position;

a transmitting unit configured to transmit a travel instruction and the first travel route to a target automated guided vehicle to cause the target automated guided vehicle to travel to the initial position according to the first travel route.

12. The apparatus of claim 11, wherein the apparatus further comprises:

an automatic alignment instruction generation unit configured to acquire a pose of a target article and generate an automatic alignment instruction based on the pose;

the sending unit is further configured to: sending the auto-alignment instruction to a target automated guided vehicle to cause the target automated guided vehicle traveling to the initial position to automatically align and carry the target item according to the received auto-alignment instruction.

13. The apparatus of claim 12, wherein the apparatus further comprises:

a second travel route determination unit configured to determine a target access position, determine a second travel route of a target automated guided vehicle based on the initial position and the target access position;

the sending unit is further configured to: sending an access command, a travel command, and the second travel route to a target automated guided vehicle to cause a target automated guided vehicle that is automatically aligned with and carries the target item to travel to the target access location along the second travel route according to the access command and to access the target item to the target access location.

14. An article storage/retrieval apparatus comprising:

a receiving unit configured to receive an initial position of the target item transmitted by the server;

a storage/retrieval control unit configured to store/retrieve the target item based on the initial position and acquire storage/retrieval item information;

and the sending unit is configured to send the storage/fetching article information to the server so as to enable the server to send the storage/fetching article information to the target terminal, so that the target user can take out the target article according to the storage/fetching article information displayed by the target terminal.

15. The apparatus of claim 14, wherein the access control unit is further configured to:

16. The apparatus of claim 15, wherein the access control unit is further configured to:

17. The apparatus of claim 16, wherein the access control unit is further configured to:

18. An article storage/retrieval apparatus comprising:

a receiving unit configured to receive, by a target terminal, deposit/retrieve item information transmitted by a server, wherein the deposit/retrieve item information is obtained based on a target automated guided vehicle depositing/retrieving a target item according to an initial position of the target item transmitted by the server;

a display unit configured to display the storage/retrieval item information to a user so that the user retrieves the target item according to the storage/retrieval item information.

19. An electronic device for storing/taking an article, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.