CN115140486A - Material box taking-out method, material box warehousing method, device, equipment and storage medium - Google Patents

Material box taking-out method, material box warehousing method, device, equipment and storage medium Download PDF

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Publication number
CN115140486A
CN115140486A CN202210820292.8A CN202210820292A CN115140486A CN 115140486 A CN115140486 A CN 115140486A CN 202210820292 A CN202210820292 A CN 202210820292A CN 115140486 A CN115140486 A CN 115140486A
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bin
storage
deep
determining
size
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CN115140486B (en
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章鑫宇
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Hai Robotics Co Ltd
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Hai Robotics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The embodiment of the disclosure provides a method for taking out a material box, a method for putting the material box into a warehouse, a device, equipment and a storage medium, which are applied to an intelligent warehousing system. The workbin taking-out method comprises the following steps: determining the size of a bin of the bin to be taken out and the type of a bin position where the bin to be taken out is stored, wherein the type of the bin position comprises a deep bin position in a double-deep bin position and a shallow bin position in the double-deep bin position; determining a box taking strategy of the material box to be taken out according to the size of the material box and the type of the storage position; and issuing a box taking task based on a box taking strategy of the material box to be taken out so as to control the storage robot to take out the material box to be taken out. According to the technical scheme of the embodiment of the disclosure, the material box can be taken out and put in storage according to different sizes and types of the material box, so that the flexibility of the material box storage and taking of the storage system is improved.

Description

Material box taking-out method, material box warehousing method, device, equipment and storage medium
Technical Field
The disclosure relates to the technical field of intelligent storage, in particular to a method, a device, equipment and a storage medium for taking out and putting in a storage box.
Background
The warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic warehouse-out of goods through system instructions, can continuously run for 24 hours, replaces manual management and operation, improves the warehousing efficiency, and is widely applied and favored.
In the current warehousing system, corresponding to bins with different sizes, the intelligent warehousing system issues carrying tasks to warehousing robots with different sizes, warehouse positions with different sizes are divided in a warehouse, each warehousing robot executes the bin carrying task with a specific size, and the warehouse has low utilization rate and poor task allocation and warehousing flexibility.
Disclosure of Invention
The embodiment of the disclosure provides a bin taking-out method, a bin storing device, bin taking-out equipment and a storage medium, so that the flexibility of a storage system for storing and taking bins is improved.
In a first aspect, an embodiment of the present disclosure provides a bin taking method, where the bin taking method is applied to an intelligent storage system, where bins of at least two sizes are stored in the intelligent storage system, and the bin taking method includes:
determining the size of a bin of the bin to be taken out and the type of a bin position where the bin to be taken out is stored, wherein the type of the bin position comprises a deep bin position in a double-deep bin position and a shallow bin position in the double-deep bin position;
determining a box taking strategy of the material box to be taken out according to the size of the material box and the type of the storage position;
and issuing a box taking task based on a box taking strategy of the material box to be taken out so as to control the storage robot to take out the material box to be taken out.
Optionally, determining a bin fetching strategy for the bin to be fetched according to the bin size and the bin position type includes: determining a reading action aiming at the discharge box to be taken according to the type of the stored storage position; and determining box taking action aiming at the material box to be taken according to the size of the material box and the type of the storage position.
Optionally, determining a reading action for the discharging box to be taken according to the type of the storage space stored includes: when the bin position type is a deep bin position in the double deep bin positions, determining the reading action aiming at the discharging bin to be taken as a deep bin position reading action; and when the type of the storage position is a shallow storage position in the double-deep storage position, determining the reading action aiming at the material box to be taken as the shallow storage position reading action.
Optionally, determining a bin fetching action for the bin to be fetched according to the bin size includes: when the size of the bin meets the first size range and the bin position type is a shallow bin position in the double-deep bin positions, determining a bin taking action for the bin to be taken as a shallow bin position bin taking action; and when the size of the material box meets a second size range or the type of the bin position is a deep bin position in the double-deep-position bin positions, determining the box taking action aiming at the material box to be taken as a deep bin position box taking action.
Optionally, determining a bin fetching strategy for the bin to be fetched according to the size of the bin and the type of the storage space, including: when the bin position type is a deep bin position in the double-deep bin positions, determining that a bin taking strategy of the bin to be taken out comprises a deep bin position reading action and a deep bin position bin taking action; when the bin position type is a shallow bin position in the double-deep bin positions and the bin size is within a first size range, determining that a bin taking strategy of the bin to be taken out comprises a shallow bin position reading action and a shallow bin position bin taking action; and when the bin type is a shallow bin of the double-deep bin and the bin size is in the second size range, determining that the bin taking strategy of the bin to be taken out comprises a shallow bin reading action and a deep bin taking action.
Optionally, based on a bin taking strategy of the bin to be taken out, a bin taking task is issued to control the warehousing robot to take out the bin to be taken out, including: and issuing a box taking task based on the corresponding reading action and the box taking action of the material box to be taken out so as to control the storage robot to take out the material box to be taken out according to the box taking task.
In a second aspect, an embodiment of the present disclosure provides a bin warehousing method, where the bin warehousing method is applied to an intelligent warehousing system, and the bin warehousing method includes:
determining the size of a bin to be put in a bin and the type of a bin position stored in the bin to be put in the bin, wherein the bin position type comprises a deep bin position in a double-deep bin position and a shallow bin position in the double-deep bin position;
determining a storage strategy of the bin to be put in storage according to the bin size and the bin position type of the bin to be put in storage;
and sending a warehousing task to the warehousing robot according to the storage strategy of the workbin to be warehoused so as to control the warehousing robot to warehouse the workbin to be warehoused.
Optionally, determining the bin size of the bin to be put in storage and the type of the storage space where the bin to be put in storage is stored includes: when the bin size of the bin to be put in storage meets a first size range, determining that the type of the storage position stored in the bin to be put in storage is a deep storage position in a double-deep storage position or a shallow storage position in the double-deep storage position; and when the size of the bin to be put in storage meets a second size range, determining that the type of the storage position stored in the bin to be put in storage is a shallow storage position in the two deep storage positions.
Optionally, when the bin size of the bin to be put into storage meets the first size range, determining that the type of the storage space stored in the bin to be put into storage is a deep storage space in the two deep storage spaces or a shallow storage space in the two deep storage spaces includes: when the size of a bin of the bin to be warehoused meets a first size range and no bin is stored in a deep bin of a double-deep bin used for storing the bin to be warehoused, determining that the type of the bin to be warehoused stored in the bin to be warehoused is the deep bin of the double-deep bin; and when the size of the bin to be put in the bin meets the first size range, and no bin is stored in the shallow bin of the two deep bin positions for storing the bin to be put in the bin, and a bin is stored in the adjacent deep bin position, determining that the bin position type stored in the bin to be put in the bin is the shallow bin position of the two deep bin positions.
Optionally, determining a storage strategy of the bin to be warehoused according to the bin size and the bin position type of the bin to be warehoused, including: and determining the storage action aiming at the bin to be stored according to the bin position type.
Optionally, determining a storage action for the bin to be stored according to the bin position type includes: when the storage position type is a deep storage position in the double deep storage positions, determining the storage action of the bin to be stored as a deep storage position storage action; and when the storage position type is a shallow storage position in the double-deep storage positions, determining the storage action of the bin to be stored as the shallow storage position storage action.
Optionally, according to a storage policy of the bin to be warehoused, sending a warehousing task to the warehousing robot to control the warehousing robot to warehouse the bin to be warehoused, including: and issuing a warehousing task based on the corresponding storage action of the bin to be warehoused so as to control the warehousing robot to warehouse the bin to be warehoused according to the warehousing task.
Optionally, the method further comprises: and determining the storage space occupation condition according to the size of the bin to be stored in the bin and the target storage space of the bin to be stored, and locking the occupied storage space.
Optionally, determining the storage space occupation condition according to the bin size of the bin to be stored and the target storage space of the bin to be stored, including: when the target bin position of the bin to be warehoused is one of the two deep positions, determining to occupy the target bin position; when the target storage position of the bin to be stored is a shallow storage position in the double deep positions and the size of the bin to be stored meets a first size range, determining to occupy the target storage position; and when the target storage position of the bin to be stored is a shallow storage position in the two deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target storage position and a deep storage position corresponding to the target storage position.
In a third aspect, an embodiment of the present disclosure provides a bin extraction device, where the bin extraction device is applied to an intelligent storage system, where bins of at least two sizes are stored in the intelligent storage system, and the bin extraction device includes:
the first determining module is used for responding to the received warehouse-out request and determining the depth of the position where the bin to be taken out is stored;
the second determining module is used for determining a box taking strategy of the workbin to be taken out according to different depths of the storage positions stored in the workbin;
and the output module is used for sending a carrying task to the warehousing robot based on the box taking strategy of the material box to be taken out corresponding to the ex-warehouse request.
Optionally, the second determining module is specifically configured to determine, according to the type of the storage location, a reading action for the discharge bin to be taken; and determining box taking action aiming at the material box to be taken out according to the size of the material box and the type of the storage position.
Optionally, the second determining module is specifically configured to determine, when the bin position type is a deep bin position in the double-deep bin positions, a reading action for the discharge bin to be taken as a deep bin position reading action; and when the type of the storage position is a shallow storage position in the double-deep storage position, determining the reading action aiming at the material box to be taken as the shallow storage position reading action.
Optionally, the second determining module is specifically configured to determine, when the bin size meets the first size range and the bin position type is a shallow bin position in the two deep bin positions, a bin taking action for the bin to be taken out as a shallow bin position bin taking action; and when the size of the material box meets a second size range or the type of the bin position is a deep bin position in the double-deep-position bin positions, determining the box taking action aiming at the material box to be taken as a deep bin position box taking action.
Optionally, the second determining module is specifically configured to determine that the bin fetching strategy for the bin to be fetched includes a deep bin reading action and a shallow bin fetching action when the bin type is a deep bin of the double-deep bin; when the bin position type is a shallow bin position in the double-deep bin positions and the bin size is within a first size range, determining that a bin taking strategy of the bin to be taken out comprises a shallow bin position reading action and a shallow bin position bin taking action; and when the bin type is a shallow bin of the double-deep bin and the bin size is in the second size range, determining that the bin taking strategy of the bin to be taken out comprises a shallow bin reading action and a deep bin taking action.
Optionally, the output module is specifically configured to issue a bin fetching task based on the reading action and the bin fetching action corresponding to the bin to be fetched, so as to control the warehousing robot to fetch the bin to be fetched according to the bin fetching task.
In a fourth aspect, an embodiment of the present disclosure provides a bin warehousing device, where the bin warehousing device is applied to an intelligent warehousing system, and the bin warehousing device includes:
the first determining module is used for determining the size of a bin of the bin to be warehoused and the type of the bin position stored by the bin to be warehoused, wherein the type of the bin position comprises a deep bin position in a double-deep bin position and a shallow bin position in the double-deep bin position;
the second determining module is used for determining the storage strategy of the bin to be put in storage according to the bin size and the bin position type of the bin to be put in storage;
and the output module is used for sending a warehousing task to the warehousing robot according to the storage strategy of the bin to be warehoused so as to control the warehousing robot to warehouse the bin to be warehoused.
Optionally, the first determining module is specifically configured to determine, when the bin size of the bin to be put into storage meets the first size range, that the bin position type stored in the bin to be put into storage is a deep bin position of the two deep bin positions or a shallow bin position of the two deep bin positions; and when the size of the bin to be put in storage meets a second size range, determining that the type of the storage position stored in the bin to be put in storage is a shallow storage position in the two deep storage positions.
Optionally, the first determining module is specifically configured to determine that the bin position type stored in the bin to be put in storage is a deep bin position of the two deep bin positions when the bin size of the bin to be put in storage satisfies the first size range and no bin is stored in the deep bin positions of the two deep bin positions for storing the bin to be put in storage; and when the size of the bin to be warehoused meets the first size range, and no bin is stored in the shallow bin of the two deep bin positions for storing the bin to be warehoused, and a bin position type stored in the bin to be warehoused is determined to be the shallow bin position of the two deep bin positions.
Optionally, the second determining module is specifically configured to determine, according to the bin location type, a storage action for the bin to be stored.
Optionally, the second determining module is specifically configured to, when the bin position type is a deep bin position in the two deep bin positions, determine a storage action for the bin to be stored as a deep bin position storage action; and when the storage position type is a shallow storage position in the double-deep storage positions, determining the storage action of the bin to be stored as the shallow storage position storage action.
Optionally, the output module is specifically configured to issue a warehousing task based on a storage action corresponding to the bin to be warehoused, so as to control the warehousing robot to warehouse the bin to be warehoused according to the warehousing task.
Optionally, the output module is further configured to determine a storage space occupation situation according to the bin size of the bin to be stored and the target storage space of the bin to be stored, and lock the occupied storage space.
Optionally, the output module is specifically configured to determine that the target bin position is occupied when the target bin position of the bin to be warehoused is a deep bin position of the two deep bin positions; when the target storage position of the bin to be stored is a shallow storage position in the double deep positions and the size of the bin to be stored meets a first size range, determining to occupy the target storage position; and when the target storage position of the bin to be stored is a shallow storage position in the double deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target storage position and a deep storage position corresponding to the target storage position.
In a fifth aspect, an embodiment of the present disclosure further provides a control device, where the control device includes:
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 control apparatus to perform a bin extraction method according to the first aspect of the disclosure; alternatively, the instructions are executable by the at least one processor to cause the control apparatus to perform a bin binning method according to the second aspect of the disclosure.
In a sixth aspect, the disclosed embodiments further provide a computer-readable storage medium, where computer-executable instructions are stored, and when executed by a processor, the computer-executable instructions are used to implement the bin unloading method according to the first aspect of the present disclosure; alternatively, the computer executable instructions when executed by the processor are for implementing a bin warehousing method as the second aspect of the present disclosure.
In a seventh aspect, the disclosed embodiments also provide a computer program product, which contains computer executable instructions, when executed by a processor, for implementing the bin unloading method according to the first aspect of the present disclosure; alternatively, the computer executable instructions when executed by the processor are for implementing a bin warehousing method as the second aspect of the present disclosure.
According to the method, the device, the equipment and the storage medium for taking out the workbin, the size of the workbin to be taken out and the type of the storage position stored in the workbin to be taken out are determined, and then a box taking strategy of the workbin to be taken out is determined according to the size of the workbin and the type of the storage position; and issuing a box taking task based on a box taking strategy of the material box to be taken out so as to control the storage robot to take out the material box to be taken out. From this, only having under the condition of a storehouse position size, can depositing the workbin of unidimensional to can make same storage robot get to the workbin of different workbin sizes and put, effectively promote the storage utilization ratio, and promote storage flexibility and workbin transport flexibility.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a view of an application scenario of a bin unloading method according to an embodiment of the disclosure;
FIG. 2 is a flow chart of a bin extraction method provided by one embodiment of the disclosure;
FIG. 3 is a flow diagram of a bin extraction method provided by yet another embodiment of the present disclosure;
FIG. 4a is a top view of the picking mechanism of the embodiment of FIG. 3 during deep garage level picking;
FIG. 4b is a diagram illustrating the correspondence between the bin picking strategy and bin size and bin position type in the embodiment shown in FIG. 3;
fig. 5 is a flowchart of a bin warehousing method according to yet another embodiment of the disclosure;
fig. 6 is a flowchart of a bin warehousing method according to yet another embodiment of the disclosure;
FIG. 7 is a schematic diagram of a bin extraction apparatus according to yet another embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a bin storing device according to another embodiment of the disclosure;
fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present disclosure.
Specific embodiments of the present disclosure have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.
The following describes the technical solutions of the present disclosure and how to solve the above technical problems in detail with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.
In the existing warehousing system, for a warehouse with bins of different sizes, the warehouse is divided into a plurality of different partitions, for example, each bin position in the partition for storing small-size bins is small, each bin position in the partition for storing large-size bins is large, and since the number of large-size bins and the number of small-size bins stored in the warehouse in real time are not fixed, the storage number of bins with partitions may be far smaller than the designed maximum storage number (for example, the warehouse area a includes 100 large bin positions, the warehouse area B includes 100 small bin positions, but in a certain time period, there may be only 10 large bins but 110 small bins in the warehouse area), and the overall storage density is small. And when the intelligent warehousing system carries out material handling, different types of warehousing robots can be selected according to the size and the subareas of the material box, and the warehousing and the box taking tasks of the material box are sent out, so that the material box handling is completed. However, since the warehousing robot is generally configured to only perform the task of transporting the bins corresponding to a specific size range, when the sizes of the bins are different, a plurality of different warehousing robots are required to be configured to transport the bins, so that the robot is in a large demand and the task execution flexibility is poor.
In order to solve the problem, an embodiment of the present disclosure provides a bin taking method, which determines a corresponding bin taking strategy according to a size of a bin and a type of a storage space, and then sends a specific carrying task to a storage robot based on the bin taking strategy, so that the storage robot takes out the bin corresponding to the storage space in a targeted manner, and the problem of poor flexibility of bin storage and taking of a storage system is effectively solved.
The following explains an application scenario of the embodiment of the present disclosure:
fig. 1 is an application scenario diagram of a bin extraction method according to an embodiment of the disclosure. As shown in fig. 1, in the process of taking out the bin, the intelligent warehousing system 100 sends a handling task to the warehousing robot 130 according to the bin type (the bin positions on the shelves in the warehouse area are both double deep bin positions including a deep bin position and a shallow bin position, wherein the deep bin position is the same as and opposite to the shallow bin position on the shelf, the shallow bin position is close to the warehousing robot on the shelf, the deep bin position is far from the warehousing robot on the shelf, and the shallow bin position is between the deep bin position and the warehousing robot) and the bin size of the bin 110 on the warehouse shelf 120, so that the warehousing robot 130 finishes the handling of the bin 110.
It should be noted that the bin, the inventory rack and the warehousing robot in the scenario shown in fig. 1 are only illustrated as an example, but the disclosure is not limited thereto, that is, the number of the bin, the inventory rack and the warehousing robot may be any.
The bin unloading method provided by the present disclosure is described in detail below by specific embodiments.
FIG. 2 is a flow chart of a bin extraction method provided by one embodiment of the present disclosure. The bin taking-out method is applied to an intelligent warehousing system. As shown in fig. 2, the bin unloading method provided by this embodiment includes the following steps:
step S201, determining the size of the bin to be taken out and the type of the storage position where the bin to be taken out is stored.
The library position type comprises a deep library position in the double deep library positions and a shallow library position in the double deep library positions.
Specifically, since the bins in the stock usually have a plurality of different sizes, in the case that there is only one bin size in the stock area, there may be a case that some bins occupy one bin, and some bins occupy both the deep bin and the shallow bin of the two deep bins, so that it is necessary to determine the size of the bin to be taken out to determine the execution action of the taking mechanism when the bin is taken out.
Meanwhile, when the workbin only occupies one of the two deep warehouse positions, the specific warehouse position type where the workbin is to be taken out needs to be determined, so that the specific moving position and distance of the goods taking mechanism used for taking out the workbin by the storage robot are determined, the workbin is guaranteed to be effectively taken out, the situation that the workbin (of the deep warehouse position) cannot be taken out due to the wrong moving position and distance of the goods taking mechanism of the storage robot is avoided, or the workbin (of the shallow warehouse position) is pushed to collide with other workbins (of the deep warehouse position) is avoided, the workbin is damaged, and the completion of a workbin carrying task is influenced.
And S202, determining a box taking strategy of the to-be-taken box according to the size of the box and the type of the storage position.
Specifically, the box taking strategy is used for representing specific execution actions of the warehousing robot determined by the intelligent warehousing system server, and according to different box taking strategies, the warehousing robot can take different specific actions to take out bins with different sizes and different positions, for example, the protruding amount of the goods taking mechanism in the direction from the shallow position to the deep position is determined according to the size of the shallow position in the double-deep position, and the goods taking operation is carried out. The box taking strategy can be used for independently determining the specific size of each box and the type of the storage position stored in each box, so that each storage robot can be effectively ensured to take out the boxes with different sizes and types of the storage positions stored in each box, and the flexibility of distributing the box carrying tasks by the intelligent storage system server is improved.
And step S203, issuing a box taking task based on a box taking strategy of the material box to be taken out so as to control the warehousing robot to take out the material box to be taken out.
Specifically, after the box taking strategy is determined, a corresponding box taking task is generated based on the specific action of the storage robot determined by the box taking strategy. Meanwhile, the box taking task also comprises the specific shelf position of the box to be taken out in the stock area, such as a 02 # double-deep-position stock position of the No. 2 shelf of the serial number 2. The warehousing robot can finish the goods taking of the corresponding material box to be taken out according to the specific goods shelf position and the specific action.
Furthermore, the box taking strategy comprises two parts of a reading action and a box taking action adopted by the warehousing robot. In addition, the specific shelf position where the warehousing robot needs to move, namely the shelf position where the double-deep-position storage position corresponding to the bin to be taken out is located. Since the stock location is fixed, the specific shelf location of the bins of different sizes and stored in the same stock location but in different stock location types is not changed, and the stock location information is part of the information required by the bin fetching task.
The reading action is used for determining the specific position of the bin by reading information (such as 3D point cloud information, dimension information and the like) of the bin when a bin taking task is executed by a goods taking mechanism (or any other mechanism with a function of moving the bin) of the warehousing robot, and then adjusting the goods taking mechanism to accurately obtain the bin.
After the warehousing robot finishes the reading action, the information acquired through the reading action aligns the goods taking mechanism of the warehousing robot to the material box, and then the box taking is executed according to the box taking action (different types of box taking actions are different, for example, the mechanical arm of the fork is different in extension length).
According to the method for taking out the workbin, the size of the workbin to be taken out and the type of the storage position where the workbin to be taken out is stored are determined, and then a box taking strategy of the workbin to be taken out is determined according to the size of the workbin and the type of the storage position; and based on the box taking strategy of the material box to be taken out, a box taking task is issued to control the storage robot to take out the material box to be taken out. From this, can make same storage robot take out different workbin sizes, deposit in the workbin of different storehouse position types, and not be subject to workbin size and deposit the position degree of depth in storehouse to show the flexibility that provides the task distribution, guarantee simultaneously to take out the stability of workbin, and then effectively improve storage handling efficiency.
Fig. 3 is a flowchart of a bin unloading method according to an embodiment of the disclosure. As shown in fig. 3, the bin unloading method provided by this embodiment includes the following steps:
step S301, determining the size of the bin to be taken out and the type of the storage position where the bin to be taken out is stored.
The library position type comprises a deep library position in the double deep library positions and a shallow library position in the double deep library positions.
Specifically, the content of this step is the same as that of step S201 in the embodiment shown in fig. 2, and is not repeated here.
Step S302, when the type of the bin is a deep bin of the double-deep bin, determining the reading action aiming at the discharging box to be taken as a deep bin reading action.
Step S303, when the type of the storage position is a shallow storage position in the double-deep storage position, determining the reading action aiming at the material box to be taken as the shallow storage position reading action.
And determining a reading action aiming at the material box to be taken out according to the type of the stored storage position.
In the deep-library-bit reading action and the shallow-library-bit reading action, the reading depth of executing equipment (such as an image sensor, a camera and the like) for the reading action is different, the reading reference point is different, and the reading focus of the camera is different, the focal distance is different and the like.
Specifically, the parameter settings corresponding to the deep library position reading action and the shallow library position reading action are set before delivery, and only need to be executed according to a task policy.
And S304, when the size of the bin meets the first size range and the bin position type is a shallow bin position in the double-deep bin positions, determining a bin taking action for the bin to be taken as a shallow bin position bin taking action.
Specifically, in addition to determining the reading action, it is also necessary to determine a box taking action for the box to be taken out according to the size of the box and the type of the storage space. The bin taking action is used for indicating the specific posture which needs to be adjusted by the picking mechanism of the storage robot and is used for taking the bin to be taken out of the shelf and the action of moving the bin out of the shelf, and when the bin taking action is completed, the bin is already positioned on the storage robot (possibly in a basket carried by the storage robot and possibly still positioned on the picking mechanism) and is out of the range of the shelf.
In the box taking action, before the material box is moved out of the shelf, the clamping mode or the specific posture of the material box is determined according to the different sizes of the material box to be taken out, including the specific telescopic state of the material taking mechanism, if the material taking mechanism comprises a bottom fork arm which penetrates through the lower part of the material box and extends forwards or side clamping arms which clamp the material box from two sides, the bottom clamping arm and the side clamping arms need to extend to the extent of stably clamping the material box according to the different sizes of the material box.
Illustratively, along the extending direction of the picking mechanism, if the depth of the bin to be taken out is 1 meter, and the depth of the shallow storage position is 0 to 0.6 meter, and the depth of the deep storage position is 0.6 meter to 1.2 meter, the corresponding specific posture of the picking mechanism is that the length of the picking mechanism extending into the lower part of the bin or the length of the picking mechanism extending into the two sides of the bin is more than 1 meter and less than 1.2 meters, otherwise the bin is easy to overturn or slide, and the completion of the carrying task is influenced, and if the depth of the bin to be taken out is only 0.5 meter, the length of the picking mechanism extending into the lower part of the bin or the length of the picking mechanism extending into the two sides of the bin is not more than 0.6 meter, otherwise the picking mechanism collides with the bin on the other storage position in the other double-deep storage positions or the bin on the other goods shelf.
Therefore, in order to be convenient for the storage robot to execute, the storage robot is divided into two ranges according to different sizes of the workbins, and two different box taking actions are respectively adopted to ensure the carrying safety of the workbins.
The first size range is used for indicating that the size of the bin is smaller than or equal to the maximum size of the two deep bin positions or the maximum size of the two shallow bin positions, and the second size range is used for indicating that the size of the bin is larger than the first size range and smaller than or equal to the maximum size of the two deep bin positions and the maximum size of the two shallow bin positions which can be placed together.
And (3) taking the box from the shallow storage position corresponding to the first size range, namely taking the specific posture that the goods taking mechanism clamps the material box with the maximum size smaller than or equal to the maximum size of the shallow storage position in the double-deep storage position, and then taking the material box out of the shelf (for example, the length of the goods taking mechanism penetrating into the lower part or two sides of the material box is equal to the maximum depth of the shallow storage position).
And S305, when the size of the bin meets a second size range or the bin position type is a deep bin position in the double-deep bin positions, determining a bin taking action for the bin to be taken as a deep bin position bin taking action.
Specifically, the deep bin position picking motion corresponding to the deep bin position in the double deep bin positions in the second size range or the bin position type is used for indicating that the size of a bin which can be clamped by the specific posture of the picking mechanism is larger than the maximum size of the shallow bin position and is smaller than or equal to the maximum size which can be placed when the shallow bin position and the deep bin position are used as combined bin positions, and then the bin is picked out from the shelf (for example, the length of the picking mechanism penetrating into the lower part or two sides of the bin is equal to the sum of the maximum depths of the deep bin position and the shallow bin position).
As shown in fig. 4a, it is a top view of the picking mechanism when performing a deep-warehouse picking action, wherein when the picking mechanism 411 of the warehousing robot 410 picks a box 420, the picking mechanism 411 has a length a deep into the warehouse, and a is equal to the sum of the deep-warehouse depth L1 and the shallow-warehouse depth L2.
In summary, as shown in fig. 4b, which is a schematic diagram of a correspondence relationship between a bin fetching strategy and bin sizes and bin positions, it may be determined that possible bin fetching strategies include:
and when the bin position type is a deep bin position in the double-deep bin positions, determining that the bin taking strategy of the bin to be taken out comprises a deep bin position reading action and a deep bin position bin taking action.
And determining that the box taking strategy of the box to be taken out comprises a shallow storage position reading action and a shallow storage position box taking action when the type of the storage position is a shallow storage position in the double-deep storage position and the size of the box is in a first size range.
And thirdly, when the type of the storage position is a shallow storage position in the double deep storage positions and the size of the bin is in a second size range, determining that the bin fetching strategy for the bin to be fetched comprises a shallow storage position reading action and a deep storage position bin fetching action.
Specifically, the corresponding box taking action of the material box corresponding to the deep bin occupying the two deep bin positions is fixed and is necessarily the box taking action corresponding to the deep bin position; if the size of the memory meets the first size range, the corresponding reading action is taken as a deep storage position reading action; if the bins of both the deep and shallow positions are occupied, the bin size satisfies a second size range corresponding to the shallow position reading and deep position fetching actions.
After the size of the bin and the specific type of the storage position where the bin is stored are determined, the corresponding reading action and the bin taking action can be directly determined, and then a bin taking strategy when the storage robot carries the bin is determined, so that a corresponding instruction can be sent to the storage robot to finish taking out the bin.
And S306, issuing a box taking task based on the reading action and the box taking action corresponding to the box to be taken out so as to control the warehousing robot to take out the box to be taken out according to the box taking task.
Specifically, after the corresponding box taking task is determined based on the reading action and the box taking action, the storage robot can take out the material box only by operating based on the corresponding reading action and the box taking action contained in the box taking task.
Furthermore, the warehousing robot is already positioned at the goods shelf position corresponding to the double-deep-position storage position where the bin is located before executing the bin taking task, and at the moment, the bin taking mechanism on the warehousing robot only needs to be moved to finish taking out the bin.
According to the method for taking out the workbin, after the size of the workbin to be taken out and the type of the corresponding storage position of the workbin to be taken out are determined, the reading action of taking out the workbin is determined according to the type of the storage position stored in the workbin, the box taking action when the workbin is taken out is determined according to the size of the workbin, a box taking strategy aiming at the workbin to be taken out is further comprehensively determined, and a box taking task is issued based on the box taking strategy of the workbin to be taken out so as to control a storage robot to take out the workbin to be taken out. From this, can make same storage robot to different workbins sizes, deposit in the workbin of different storehouse position types, adopt corresponding reading action and get the case action, accomplish taking out of workbin, and do not be subject to workbin size and deposit the position degree of depth of storehouse to show the flexibility that provides the task distribution, guarantee to take out the stability of workbin simultaneously, and then effectively improve storage handling efficiency.
Fig. 5 is a flowchart of a bin warehousing method according to an embodiment of the disclosure. The bin warehousing method is applied to the intelligent warehousing system. As shown in fig. 5, the bin warehousing method provided by this embodiment includes the following steps:
step S501, the size of the bin to be put in storage and the storage position type stored in the bin to be put in storage are determined.
Specifically, when the bin is put in storage, firstly, the storage type which can be stored is determined according to the size of the bin to be put in storage, and the storage position which can be used for placing the bin to be put in storage is determined according to the storage position type of the bin to be put in storage and the storage state of each double-deep storage position.
Further, the type of the storage positions which can be stored is determined according to the size of the bin to be stored, namely, the bin to be stored is determined according to the size of the bin to be stored, and only the deep storage position or the shallow storage position in the two deep storage positions needs to be occupied, or the deep storage position and the shallow storage position in the two deep storage positions need to be occupied simultaneously.
Further, the inventory status of the double-deep position storage position is used for indicating whether the bins are stored in the double-deep position storage position or not. When the work bin is not stored in the double-deep-position storage position, the work bin to be stored in the double-deep-position storage position (no matter the deep storage position or the shallow storage position) can be placed in the work bin; when the bins are stored in the deep positions of the two deep positions, the bins to be stored in the corresponding shallow positions of the two deep positions can still be placed in the shallow positions of the two deep positions, wherein the bins to be stored in the shallow positions are smaller in size (only the shallow positions need to be occupied); when the bins are stored in the shallow bin positions of the two deep bin positions, the bins to be stored cannot be placed in the corresponding two deep bin positions (the bins of the shallow bin positions can be moved out and then placed in the corresponding deep bin positions, but the bins to be stored are preferably placed in the double deep bin positions of the shallow bin positions where the bins are not stored due to the fact that operation is complicated).
And step S502, determining a storage strategy of the bin to be warehoused according to the bin size and the bin position type of the bin to be warehoused.
Specifically, after the size of the bin to be warehoused and the type of the bin specifically stored in the double-deep-level bin are determined, the specific action required by the warehousing robot when the bin is warehoused, namely the storage strategy of the bin to be warehoused, can be determined.
According to different sizes of the bins and different types of the storage positions, the same type of storage robot can finish the storage of different types of bins, so that the flexibility of bin storage task allocation is improved.
And S503, sending a warehousing task to the warehousing robot according to the storage strategy of the workbin to be warehoused so as to control the warehousing robot to warehouse the workbin to be warehoused.
Specifically, the intelligent warehousing system server sends specific warehousing tasks to corresponding warehousing robots according to the storage strategy, so that the warehousing robots can take specific actions according to the warehousing tasks to accurately finish warehousing treatment of to-be-warehoused workbins with different sizes and corresponding to different warehouse location types, accuracy of the warehousing robots in performing warehousing of the workbins can be improved, and flexibility of the intelligent warehousing system in distributing workbin carrying tasks can be improved.
According to the bin warehousing method provided by the embodiment of the disclosure, after the bin size and the corresponding storage position type of the bin to be warehoused are determined, the storage strategy of the bin to be warehoused is determined according to the bin size and the storage position type of the bin to be warehoused, and a warehousing task is sent to the warehousing robot according to the storage strategy of the bin to be warehoused so as to control the warehousing robot to warehouse the bin to be warehoused. Therefore, specific storage position types of the bins with different sizes on the goods shelf can be determined, actions of taking and placing the bins to be stored, which need to be taken by the same storage robot correspondingly, are determined in a targeted manner, so that the storage robot can finish storage of the bins with different sizes and different storage position types without being limited by bin sizes and storage position depths, thereby obviously providing flexibility of task allocation, simultaneously ensuring accuracy of the storage robot in storage of the bins, and further effectively improving storage and carrying efficiency.
Fig. 6 is a flowchart of a bin warehousing method according to an embodiment of the present disclosure. As shown in fig. 6, the bin warehousing method provided by this embodiment includes the following steps:
step S601, when the size of the bin to be stored meets a first size range, determining that the type of the bin stored in the bin to be stored is a deep bin position in the two deep bin positions or a shallow bin position in the two deep bin positions.
Specifically, after the size of the bin to be warehoused is determined, the type of the bin position occupied by the bin to be warehoused can be determined. If the bin to be warehoused meets the first size range, the bin to be warehoused only needs to occupy one of the deep bin position or the shallow bin position in the double-deep bin.
In some embodiments, after determining the size of the bin to be put in storage, the server of the intelligent warehousing system determines a specific bin for placing the bin to be put in storage according to the type of the bin to be occupied by the bin to be put in storage and the stock state of each two-deep-level bin, if the bin to be put in storage needs to occupy both a deep bin and a shallow bin of the two-deep-level bins, it needs to determine that the stock state is the two-deep-level bin in which no bin is placed in both the deep bin and the shallow bin, and both the corresponding deep bin and the corresponding shallow bin are used as the bin for placing the bin to be put in storage.
Further, the bin to be put in storage can be placed in a deep storage position and can be placed in a shallow storage position, and the bin storage device comprises two conditions:
in the first situation, when the size of the bin to be warehoused meets the first size range and no bin is stored in the deep bin of the double-deep-position bin for storing the bin to be warehoused, the type of the bin to be warehoused is determined to be the deep bin of the double-deep-position bin.
Specifically, the specific storage position of the bin to be stored can be determined according to the occupation state of the double-deep-position storage positions for placing the bin to be stored and the type of the storage positions stored in the bin to be stored.
When the bin is not stored in the deep bin of the double deep bin positions for placing the bin to be stored and the bin to be stored only occupies one of the deep bin position or the shallow bin position, the bin to be stored is preferentially stored in the deep bin position of the double deep bin positions so as to keep the shallow bin position of the corresponding double deep bin position in a state capable of placing materials, so that more bins can be placed on the shelf, and the storage efficiency is improved.
And secondly, when the size of the bin to be warehoused meets the first size range, no bin is stored in the shallow bin of the two deep bin positions for storing the bin to be warehoused, and a bin is stored in the adjacent deep bin position, determining that the specific bin position stored in the bin to be warehoused is the shallow bin position of the two deep bin positions.
Specifically, when the workbin is placed at the deep stock position of the two deep stock positions and the workbin is not placed at the shallow stock position, the workbin to be put in the warehouse can be determined to be placed at the shallow stock position of the two deep stock positions.
If the bins are placed in the shallow bin positions of the two deep bin positions, the deep bin positions, where the bins are not placed in the other shallow bin positions, are preferentially selected to place the bins to be warehoused, or the bins in the shallow bin positions are taken out, the bins to be warehoused are placed in the deep bin positions, and then the bins in the shallow bin positions are placed back to the original positions.
And step S602, when the size of the bin to be stored meets a second size range, determining that the type of the bin position stored in the bin to be stored is a shallow bin position in the two deep bin positions.
Specifically, when the size of the bin to be put into storage meets the second size range, the bin to be put into storage needs to occupy both the deep bin position and the shallow bin position of the two deep bin positions, at this time, the two deep bin positions for placing the bin to be put into storage must be in an empty state in which no bin is placed in either the deep bin position or the shallow bin position, and otherwise, the bin to be put into storage cannot be put down. At this moment, from the angle of placing the workbin by the storage robot, the workbin is only required to be placed at the shallow position of the two deep position warehouse positions, and the workbin deviates from one end of the storage robot and is located at the deep position of the two deep position warehouse positions.
And step S603, determining the storage action of the bin to be stored according to the bin position type.
Specifically, the storing action is used for expressing the action of extending the goods taking mechanism to a specified storage position and then placing a bin on the goods taking mechanism on the specified storage position. After the material box is placed, the goods taking mechanism is retracted to a default state.
Because storage positions of the bins are different, the storage actions can be different, and therefore the corresponding storage actions need to be determined according to the types of the storage positions of the bins to be stored.
Further, the storage actions corresponding to different storage location types include the following cases:
and in the first case, when the storage position type is a deep storage position in the double-deep storage position, determining the storage action of the bin to be stored as the deep storage position storage action.
Specifically, the deep warehouse location storage action is used for indicating that the goods taking mechanism of the warehousing robot stores the bins to the deep warehouse locations of the double-deep warehouse locations, and when the bins to be warehoused need to be stored in the deep warehouse locations of the double-deep warehouse locations, the corresponding storage action can be determined as the deep warehouse location storage action.
And in the second situation, when the type of the storage position is a shallow storage position in the double-deep storage position, determining the storage action of the bin to be stored as a shallow storage position storage action.
Specifically, the shallow storage location storing action is used for indicating that the material box is stored to the shallow storage location of the double-deep storage location by the goods taking mechanism of the warehousing robot.
And the shallow storage position storage action is adopted for the condition that the bin is in the first size range and only occupies the shallow storage positions in the double-deep storage positions, or the bin is in the second size range and simultaneously occupies the shallow storage positions and the deep storage positions in the double-deep storage positions.
And step S604, issuing a warehousing task based on the corresponding storage action of the bin to be warehoused so as to control the warehousing robot to warehouse the bin to be warehoused according to the warehousing task.
Specifically, the warehousing task comprises the storage action to be executed by the warehousing robot, and the positions of the double-deep-position warehouse positions corresponding to the bin to be put into the warehouse are on the goods shelf, so that the warehousing robot can finish the warehousing and storage process of the bin to be put into the warehouse according to the warehousing task.
And step S605, determining the occupation condition of the bin position according to the bin size of the bin to be warehoused and the target bin position of the bin to be warehoused, and locking the occupied bin position.
Specifically, when a warehousing task is issued, the occupied double-deep-position warehouse positions in the intelligent warehousing system are required to be set to be in a locking state synchronously, so that the situation that the bins to be warehoused are continuously allocated to avoid system errors is avoided.
Further, for bins and bin bit types of different sizes, different bin bit occupancy conditions may exist, which specifically include the following:
and under the first condition, when the target storage position of the bin to be stored is one of the two deep positions, determining to occupy the target storage position.
Specifically, when the bin to be put in storage only needs to occupy the deep bin position of the two deep bin positions but does not need to occupy the shallow bin position, the size of the bin to be put in storage is in the first size range, so that the bin can be still placed in the shallow bin position, and the deep bin position only needs to be set in a locking state so as to continuously distribute the bin to the shallow bin position.
And secondly, when the target storage position of the bin to be stored is a shallow storage position in the double-deep position and the size of the bin to be stored meets the first size range, determining to occupy the target storage position.
Specifically, when the size of the bin to be put into storage is limited to the first size range and only the shallow storage position of the two deep storage positions is occupied, the shallow storage position needs to be set to be in a locking state.
In some embodiments, since the positions of the bins that have been put in storage are generally not allowed to be adjusted, if no bin is placed in the dual-deep-position bin where the bin is to be put in storage, the deep bin positions of the dual-deep-position bin where the bin to be put in storage are set to be in a locked state. Thereby avoiding the situation that the work bin needs to be moved due to the fact that the work bin is distributed to the deep bin position in the double deep bin positions.
In some embodiments, if the bin is placed at the deep bin position of the dual-deep bin position where the bin is located, the state of the deep bin position of the dual-deep bin position does not need to be changed.
And thirdly, when the target storage position of the bin to be stored is a shallow storage position in the double deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target storage position and a deep storage position corresponding to the target storage position.
Specifically, when the size of the bin to be put in storage meets the second size range, the bin to be put in storage needs to occupy the deep bin position and the shallow bin position of the two deep bin positions at the same time, so that although the target bin position is set to be the shallow bin position of the two deep bin positions when the bin to be put in storage is placed, the deep bin position and the shallow bin position of the two deep bin positions need to be set to be in a locking state at the same time.
According to the bin warehousing method provided by the embodiment of the disclosure, the storage position type of the bin to be warehoused is determined according to the bin size of the bin to be warehoused, the storage action is determined according to the storage position type corresponding to the bin, then, a warehousing task is generated based on the storage action, and the storage position corresponding to the bin is locked. Therefore, specific storage position types stored on the goods shelf can be determined according to the bins with different sizes, the storage actions which need to be taken by the same storage robot correspondingly are determined in a targeted mode, the storage robot can complete storage of the bins with different sizes and different storage position types, corresponding storage positions can be locked, subsequent distribution of the bins to be stored is facilitated, and storage carrying efficiency is effectively improved.
Fig. 7 is a schematic structural diagram of a bin extraction device according to an embodiment of the disclosure. As shown in fig. 7, the bin extraction device 700 includes: a first determination module 710, a second determination module 720, and an output module 730. Wherein:
the first determining module 710 is used for responding to the received warehouse-out request, and determining the depth of the warehouse space for storing the bin to be taken out;
the second determining module 720 is used for determining a box taking strategy of the material box to be taken out according to different storage position depths of the material box;
and the output module 730 is used for sending a carrying task to the warehousing robot according to the box taking strategy of the to-be-taken material box corresponding to the ex-warehouse request.
Optionally, the second determining module 720 is specifically configured to determine, according to the type of the storage location, a reading action for the discharging box to be taken; and determining box taking action aiming at the material box to be taken out according to the size of the material box and the type of the storage position.
Optionally, the second determining module 720 is specifically configured to, when the bin position type is a deep bin position in the two deep bin positions, determine a reading action for the discharge bin to be taken as a deep bin position reading action; and when the type of the storage position is a shallow storage position in the double-deep storage position, determining the reading action aiming at the material box to be taken as the shallow storage position reading action.
Optionally, the second determining module 720 is specifically configured to determine, when the bin size meets the first size range and the bin position type is a shallow bin position in the two deep bin positions, a bin taking action for the bin to be taken out as a shallow bin position bin taking action; and when the size of the material box meets the second size range, determining that the box taking action aiming at the material box to be taken out is taken as the deep storage position box taking action.
Optionally, the second determining module 720 is specifically configured to determine that the bin fetching strategy for the bin to be fetched includes a deep bin reading action and a deep bin fetching action when the bin type is a deep bin in a dual-deep bin or the bin type is a deep bin in a dual-deep bin; when the bin position type is a shallow bin position in the double-deep bin positions and the bin size is within a first size range, determining that a bin taking strategy of the bin to be taken out comprises a shallow bin position reading action and a shallow bin position bin taking action; and when the bin type is a shallow bin of the double-deep bin and the bin size is in the second size range, determining that the bin taking strategy of the bin to be taken out comprises a shallow bin reading action and a deep bin taking action.
Optionally, the output module 730 is specifically configured to issue a bin fetching task based on the reading action and the bin fetching action corresponding to the bin to be fetched, so as to control the warehousing robot to fetch the bin to be fetched according to the bin fetching task.
In this embodiment, the workbin taking-out device can determine the corresponding workbin taking-out strategy in a targeted manner based on the size and the storage location type of the workbin to be taken out through the combination of the modules, so that the same storage robot can be guaranteed to be stably taken out of the workbins with different sizes and stored in different storage location types, the task distribution flexibility of the intelligent storage system is effectively improved, and the storage management efficiency is further improved.
Fig. 8 is a schematic structural diagram of a bin warehousing device provided by an embodiment of the present disclosure. As shown in fig. 8, the bin entering device 800 includes: a first determination module 810, a second determination module 820, and an output module 830. Wherein:
the first determining module 810 is configured to determine a bin size of a bin to be put in storage and a bin position type stored in the bin to be put in storage, where the bin position type includes a deep bin position in a double-deep bin position and a shallow bin position in the double-deep bin position;
the second determining module 820 is used for determining a storage strategy of the bin to be put in storage according to the bin size and the bin position type of the bin to be put in storage;
and the output module 830 is configured to send a warehousing task to the warehousing robot according to the storage policy of the bin to be warehoused, so as to control the warehousing robot to warehouse the bin to be warehoused.
Optionally, the first determining module 810 is specifically configured to, when the bin size of the bin to be put into storage meets the first size range, determine that the type of the storage space stored in the bin to be put into storage is a deep storage space in the two deep storage spaces or a shallow storage space in the two deep storage spaces; and when the size of the bin to be put into storage meets the second size range, determining that the type of the storage position stored in the bin to be put into storage is a shallow storage position in the two deep storage positions.
Optionally, the first determining module 810 is specifically configured to, when the bin size of the bin to be put into storage meets the first size range and no bin is stored in a deep bin of a dual-deep bin for storing the bin to be put into storage, determine that the bin type stored in the bin to be put into storage is a deep bin of the dual-deep bin; and when the size of the bin to be put in the bin meets the first size range, and no bin is stored in the shallow bin of the two deep bin positions for storing the bin to be put in the bin, and a bin is stored in the adjacent deep bin position, determining that the bin position type stored in the bin to be put in the bin is the shallow bin position of the two deep bin positions.
Optionally, the second determining module 820 is specifically configured to determine the storage action for the bin to be stored according to the bin position type.
Optionally, the second determining module 820 is specifically configured to, when the bin position type is a deep bin position in the two deep bin positions, determine a storage action for the bin to be stored as a deep bin position storage action; and when the storage position type is a shallow storage position in the double-deep storage positions, determining the storage action of the bin to be stored as the shallow storage position storage action.
Optionally, the output module 830 is specifically configured to issue a warehousing task based on a storage action corresponding to the bin to be warehoused, so as to control the warehousing robot to warehouse the bin to be warehoused according to the warehousing task.
Optionally, the output module 830 is further configured to determine a storage space occupation situation according to the bin size of the bin to be stored and the target storage space of the bin to be stored, and lock the occupied storage space.
Optionally, the output module 830 is specifically configured to determine that the target bin position is occupied when the target bin position of the bin to be warehoused is a deep bin position of the two deep bin positions; when the target storage position of the bin to be stored is a shallow storage position in the double deep positions and the size of the bin to be stored meets a first size range, determining to occupy the target storage position; and when the target storage position of the bin to be stored is a shallow storage position in the two deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target storage position and a deep storage position corresponding to the target storage position.
In this embodiment, the bin warehousing device can determine the corresponding bin position type based on the size of the bin to be warehoused by combining the modules, and then determine the corresponding bin storage strategy in a targeted manner, so as to ensure that the same warehousing robot can stably store bins with different sizes and corresponding different bin positions, thereby effectively improving the task allocation flexibility of the intelligent warehousing system and further improving the warehousing management efficiency.
Fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present disclosure, and as shown in fig. 9, the control device 900 includes: a memory 910 and a processor 920.
The memory 910 stores, among other things, computer programs that may be executed by the at least one processor 920. The computer program is executed by at least one processor 920 to cause a control apparatus to implement a material retrieval method as provided in any of the embodiments above or a material warehousing method as provided in any of the embodiments above.
Wherein the memory 910 and the processor 920 may be connected by a bus 930.
The related descriptions may be understood by referring to the related descriptions and effects corresponding to the method embodiments, which are not repeated herein.
An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement a material taking method as provided in any one of the above method embodiments or a material warehousing method as provided in any one of the above embodiments.
The computer readable storage medium may be, among others, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
An embodiment of the present disclosure provides a computer program product, which contains computer executable instructions, when executed by a processor, for implementing a material taking method as in the above method embodiment or a material warehousing method as provided in any of the above embodiments.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (19)

1. The bin taking-out method is applied to an intelligent storage system, bins with at least two sizes are stored in the intelligent storage system, and the bin taking-out method comprises the following steps:
determining the size of a bin to be taken out and the type of a bin position stored in the bin to be taken out, wherein the type of the bin position comprises a deep bin position in a double-deep bin position and a shallow bin position in the double-deep bin position;
determining a box taking strategy for the material box to be taken out according to the size of the material box and the type of the storage position;
and issuing a box taking task based on the box taking strategy of the material box to be taken out so as to control the storage robot to take out the material box to be taken out.
2. The method of claim 1, wherein determining a bin extraction strategy for the bin to be extracted based on the bin size and the bay type comprises:
determining a reading action aiming at the bin to be taken out according to the type of the stored bin;
and determining a box taking action aiming at the to-be-taken out material box according to the size of the material box and the type of the stored storage position.
3. The method of claim 2, wherein said determining a read action for said bin to be removed based on said deposited slot type comprises:
when the bin position type is a deep bin position in a double-deep bin position, determining the reading action aiming at the bin to be taken out as a deep bin position reading action;
and when the type of the bin is a shallow bin in the double-deep bin, determining the reading action aiming at the bin to be taken out as a shallow bin reading action.
4. The method of claim 2, wherein determining a bin picking action for the bin to be picked based on the bin size comprises:
when the size of the bin meets a first size range and the bin position type is a shallow bin position in the double-deep bin positions, determining a bin taking action for the bin to be taken out as a shallow bin position bin taking action;
and when the size of the bin meets a second size range or the bin position type is a deep bin position in the double-deep bin positions, determining a bin taking action aiming at the bin to be taken out as a deep bin position bin taking action.
5. The method of claim 1, wherein determining a bin picking strategy for the bin to be picked based on the bin size and the type of storage slot comprises:
when the bin position type is a deep bin position in the double-deep bin positions, determining that a bin taking strategy for the bin to be taken out comprises a deep bin position reading action and a deep bin position bin taking action;
when the bin position type is a shallow bin position in the double-deep bin positions and the bin size is in a first size range, determining that a bin taking strategy for the bin to be taken out comprises a shallow bin position reading action and a shallow bin position bin taking action;
and when the bin position type is a shallow bin position in the double-deep bin position and the bin size is within a second size range, determining that the bin taking strategy of the bin to be taken out comprises a shallow bin position reading action and a deep bin position bin taking action.
6. The method according to any one of claims 1 to 5, wherein the step of issuing a bin taking task based on the bin taking strategy of the bin to be taken out to control a warehousing robot to take out the bin to be taken out comprises the following steps:
and issuing a box taking task based on the reading action and the box taking action corresponding to the material box to be taken out so as to control the storage robot to take out the material box to be taken out according to the box taking task.
7. The bin warehousing method is applied to an intelligent warehousing system and comprises the following steps:
determining the size of a bin to be put in storage and the type of a storage position stored in the bin to be put in storage, wherein the type of the storage position comprises a deep storage position in a double-deep storage position and a shallow storage position in the double-deep storage position;
determining a storage strategy of the bin to be put in storage according to the bin size and the bin position type of the bin to be put in storage;
and sending a warehousing task to a warehousing robot according to the storage strategy of the workbin to be warehoused so as to control the warehousing robot to warehouse the workbin to be warehoused.
8. The method according to claim 7, wherein said determining a bin size of a bin to be warehoused and a bin type at which the bin to be warehoused is stored comprises:
when the size of the bin to be put into storage meets a first size range, determining that the type of the storage position stored in the bin to be put into storage is a deep storage position in the double-deep storage positions or a shallow storage position in the double-deep storage positions;
and when the size of the bin to be put in storage meets a second size range, determining that the type of the storage position stored in the bin to be put in storage is a shallow storage position in the two deep storage positions.
9. The method according to claim 8, wherein when the bin size of the bin to be warehoused satisfies a first size range, determining that the bin to be warehoused is stored in a deep bin of a double-deep bin or a shallow bin of the double-deep bin comprises:
when the size of the bin to be warehoused meets a first size range and no bin is stored in the deep bin of the double-deep-position bin for storing the bin to be warehoused, determining that the bin type stored in the bin to be warehoused is the deep bin of the double-deep-position bin;
and when the size of the bin to be put in storage meets a first size range and the bin is used for storing the bin which is not stored in the shallow bin of the two deep bin positions of the bin to be put in storage and the bin is stored in the adjacent deep bin position, determining that the type of the bin stored in the bin to be put in storage is the shallow bin position of the two deep bin positions.
10. The method according to claim 7, wherein the determining the storage strategy of the bin to be warehoused according to the bin size and the bin position type of the bin to be warehoused comprises:
and determining the storage action aiming at the bin to be stored according to the bin position type.
11. The method according to claim 10, wherein said determining a storage action for the bin to be warehoused according to the bin type comprises:
when the bin position type is a deep bin position in the double deep bin positions, determining the storage action of the bin to be stored as a deep bin position storage action;
and when the type of the storage position is a shallow storage position in the double-deep storage positions, determining the storage action of the bin to be stored as a shallow storage position storage action.
12. The method according to any one of claims 7 to 11, wherein the step of sending a warehousing task to a warehousing robot according to the storage strategy of the bin to be warehoused to control the warehousing robot to warehouse the bin to be warehoused comprises the following steps:
and issuing a warehousing task based on the storage action corresponding to the bin to be warehoused so as to control a warehousing robot to warehouse the bin to be warehoused according to the warehousing task.
13. The method according to any one of claims 7-11, further comprising: and determining the occupation condition of the bin position according to the bin size of the bin to be put in storage and the target bin position of the bin to be put in storage, and locking the occupied bin position.
14. The method according to claim 13, wherein determining the storage space occupation according to the bin size of the bin to be stored and the target storage space of the bin to be stored comprises:
when the target bin position of the bin to be warehoused is one of the two deep positions, determining to occupy the target bin position;
when the target storage position of the bin to be stored is a shallow storage position in the double deep positions and the size of the bin to be stored meets a first size range, determining to occupy the target storage position;
and when the target storage position of the bin to be stored is a shallow storage position in the double deep positions and the size of the bin to be stored meets a second size range, determining to occupy the target storage position and a deep storage position corresponding to the target storage position.
15. The utility model provides a workbin remove device which characterized in that is applied to intelligent storage system, the workbin of two kind at least sizes is stored to intelligent storage system in, workbin remove device includes:
the first determining module is used for responding to the received warehouse-out request and determining the depth of the position where the bin to be taken out is stored;
the second determining module is used for determining a box taking strategy for the workbin to be taken out according to different storage position depths stored in the workbin;
and the output module is used for sending a carrying task to the warehousing robot based on the box taking strategy of the material box to be taken out corresponding to the ex-warehouse request.
16. The utility model provides a workbin warehouse entry device which characterized in that is applied to intelligent warehousing system, workbin warehouse entry device includes:
the first determining module is used for determining the size of the bin to be put in the bin and the type of the storage position stored in the bin to be put in the bin;
the second determining module is used for determining a storage strategy of the bin to be warehoused according to the bin size and the bin position type of the bin to be warehoused;
and the output module is used for sending a warehousing task to the warehousing robot according to the storage strategy of the bin to be warehoused so as to control the warehousing robot to warehouse the bin to be warehoused.
17. An electronic device, 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 electronic device to perform the bin extraction method of any one of claims 1-6; alternatively, the instructions are executable by the at least one processor to cause the electronic device to perform the bin warehousing method of any of claims 7-14.
18. A computer-readable storage medium having stored therein computer-executable instructions for performing the bin extraction method of any one of claims 1-6 when executed by a processor; alternatively, the computer executable instructions when executed by a processor are for implementing a bin warehousing method as claimed in any one of claims 7-14.
19. A computer program product, characterized in that it contains computer executable instructions for implementing the bin extraction method according to any one of claims 1-6 when executed by a processor; alternatively, the computer executable instructions when executed by a processor are for implementing a bin binning method according to any of claims 7 to 14.
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