WO2019154445A2 - 用于货架阵列的出入库控制方法和搬运系统 - Google Patents

用于货架阵列的出入库控制方法和搬运系统 Download PDF

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Publication number
WO2019154445A2
WO2019154445A2 PCT/CN2019/087333 CN2019087333W WO2019154445A2 WO 2019154445 A2 WO2019154445 A2 WO 2019154445A2 CN 2019087333 W CN2019087333 W CN 2019087333W WO 2019154445 A2 WO2019154445 A2 WO 2019154445A2
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Prior art keywords
shelf
target
task
removal
outbound
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PCT/CN2019/087333
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English (en)
French (fr)
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WO2019154445A3 (zh
Inventor
高廷玉
雷刚
杨大伟
Original Assignee
上海快仓智能科技有限公司
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Priority claimed from CN201910288974.7A external-priority patent/CN110182528B/zh
Priority claimed from CN201910288697.XA external-priority patent/CN110182527B/zh
Priority claimed from CN201910288976.6A external-priority patent/CN110182529B/zh
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Priority to JP2020503284A priority Critical patent/JP7019935B2/ja
Publication of WO2019154445A2 publication Critical patent/WO2019154445A2/zh
Publication of WO2019154445A3 publication Critical patent/WO2019154445A3/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the invention relates to the field of intelligent warehousing, in particular to a method and a control system for transporting in and out of a densely arranged shelf, and a storage system and a storage medium.
  • a parcel sorting system consisting of sorting robots has emerged. This system guarantees the efficient sorting of parcels and has instant Responsive and distributed flexibility.
  • AAV automatic guided vehicles
  • the automated guided vehicle can automatically receive the item handling task, under the control of the program, arrive at the first position, obtain the item, then walk to the second position, remove the item, and continue to perform other tasks.
  • the present invention provides a method for controlling an inbound and outbound storage of a shelf array, comprising: receiving an outbound task of a target shelf; determining a handling strategy according to a location of the target shelf in the shelf array, wherein The handling strategy includes: if the target shelf does not have a blocking shelf or obstacle in at least one of the directions, directly moving the target shelf; otherwise, determining a removal path of the target shelf, and when the target shelf When there are multiple removal paths, a removal path is selected from which the barrier shelves on the removal path are removed, and then the target shelf is removed; and the transportation strategy is executed to remove the target shelf.
  • the step of moving the target shelf comprises: moving the target shelf out using an automated guided vehicle.
  • the inbound and outbound control method further includes: determining a target position of the blocking shelf on the removal path, and transporting the blocking shelf on the removal path to a corresponding target position.
  • the determining the removal position of the blocking shelf on the removal path comprises selecting the target position of the blocking shelf based on one or more of the following conditions: the target position does not block the outbound task; the deepest selection is selected Empty storage location; select the empty storage location closest to yourself.
  • the step of selecting a removal path includes calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting the removal path with the smallest integrated removal load.
  • the removal load includes a weighted sum of blocking the number of shelves, moving distance, and number of turns.
  • the method for controlling the inbound and outbound storage further comprises: taking out an outbound task from the task queue in a certain order, and determining the order factors of the task includes: a priority of the outbound task, and a waiting time of the outbound task.
  • the method for controlling inbound and outbound further comprises: after determining a handling strategy, generating a task group, the task group comprising moving out of the blocking shelf on the removal path and removing the target shelf;
  • the task group assigns an automated guided vehicle.
  • the target position of the at least two blocking shelves is in a one-way channel
  • the target position is set as the entrance of the one-way channel for the at least two blocking shelves, and according to the arrival The order of the entrances is filled to the deepest position of the one-way channel.
  • the invention also relates to a scheduling device for a shelf array, comprising: a target shelf determining unit, configured to receive a destination shelf outbound task and determine a location of the target shelf in the shelf array; and a handling strategy formulating unit configured to Determining a handling strategy of the target shelf in the shelf array, wherein the handling strategy comprises: if the target shelf does not have a blocking shelf or obstacle in at least one of the directions, directly moving the target shelf Coming out; otherwise, determining a removal path of the target shelf, and when the target shelf has a plurality of removal paths, selecting a removal path from which to remove the blocking shelf on the removal path; and executing the unit, and
  • the handling strategy formulation unit is coupled and configured to control the automated guided vehicle in accordance with the handling strategy.
  • the handling strategy formulation unit is configured to determine a removal position of the blocking shelf on the removal path and to transport the blocking shelf on the removal path to a corresponding removal position, wherein the selection
  • the step of removing the path includes: calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting a removal path with the smallest integrated removal load, the removal load including a weighted sum of the movement distance and the number of turns.
  • the invention also relates to a handling system comprising: a shelf array comprising a plurality of shelves; a control system receiving an outbound task of the target shelf and determining a location of the target shelf in the shelf array, and wherein said target shelf is in said Positioning in the shelf array, determining a handling strategy, wherein the handling strategy includes: if the target shelf does not have a blocking shelf or obstacle in one of the directions, directly moving the target shelf from the direction; otherwise, Determining a removal path of the target shelf, and when the target shelf has a plurality of removal paths, selecting an optimal one removal path, moving the blocking shelf on the removal path; one or more automatic guided vehicles, Coupling with the control system and receiving the handling strategy, performing a handling task in accordance with the handling strategy.
  • the invention further relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method as described above.
  • the present invention also relates to an inbound and outbound control method for a shelf array, comprising: receiving a storage task of a target shelf; acquiring an available storage location in the shelf array; determining the target according to the type of the available storage location a target location of the shelf; and transporting the target shelf to the target location.
  • the types of available storage devices include four categories: a first type of available storage locations with shelves and/or obstacles on three sides, and a second type of available storage with shelves and/or obstacles on both sides. Location, the third category is available storage locations with shelves and/or obstacles on one side, and the fourth category is available storage locations with no shelves and/or obstacles around.
  • the determining the target location of the target shelf comprises: selecting an available storage location according to the following priorities: a first class, a second class, a third class, a fourth class, wherein when there is a same class When there are multiple available storage locations, select the available storage location with the shortest distance as the target location for the target shelf.
  • the step of transporting the target rack to the target position includes transporting the target rack to the target position by controlling the automated guided vehicle.
  • the inbound and outbound control method further includes: selecting an automated guided vehicle that is closest to the target shelf, and transporting the target shelf to the target location.
  • the method for controlling the inbound and outbound further comprises: taking out an inbound task from the task queue according to a certain priority, and determining a priority factor of the task: a priority of the task itself, a task creation time, and/or Or have waited for time to execute complexity.
  • the present invention also relates to an inbound and outbound control device for a shelf array, comprising: an inbound task receiving unit for receiving an inbound task of a target shelf; and a handling strategy formulating unit configured to: obtain an available in the shelf array Storing a location, and determining a target location of the target shelf based on the type of available storage location; and automatically guiding the vehicle, configured to carry the target shelf to the target location.
  • the types of available storage devices include four categories: a first type of available storage locations with shelves and/or obstacles on three sides, and a second type with shelves and/or obstacles on both sides. Available storage locations, the third category is an available storage location with shelves and/or obstacles, and the fourth category is available storage locations with no shelves and/or obstacles around.
  • the determining the target location of the target shelf comprises: selecting an available storage location according to the following priorities: a first class, a second class, a third class, a fourth class, wherein when there is a same class When there are multiple available storage locations, select the available storage location with the shortest distance as the target location for the target shelf.
  • the invention further relates to a handling system comprising: a shelf array comprising a plurality of shelves; a control system for receiving a warehousing task of the target shelf, and obtaining available storage locations in the shelf array, and A type of storage location that determines a target location of the target shelf; one or more automated guided vehicles coupled to the control system configured to carry the target shelf to the target location.
  • the invention further relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method as described above.
  • the present invention also relates to an inbound and outbound scheduling method for a shelf array, comprising: receiving at least two scheduling tasks, determining whether the scheduling task is an outbound task or an inbound task, wherein each scheduling task includes shelf information and priority. Assigning an automated guided vehicle to the at least two scheduled tasks; planning an execution path of the at least two scheduled tasks; performing the at least two scheduled tasks by using the automated guided vehicle, wherein if the scheduled task is outbound If the priority is higher than the priority of the inbound scheduling task, the target location of the inbound task avoids the execution path of the inbound library task.
  • the step of planning an execution path of at least two scheduled tasks comprises selecting an available storage location according to a deepest depth principle for the inbound task.
  • the inbound and outbound scheduling method further includes: after the automatic guided vehicle completes the inbound task, checking whether there is a deeper available storage location around the target location, and if so, utilizing The automated guided vehicle transports the rack corresponding to the inbound task to the deeper available storage location.
  • the step of planning an execution path of at least two scheduled tasks comprises: determining a handling strategy for the outbound task, wherein the handling strategy comprises: if the target shelf is not in at least one of the directions When the shelf or obstacle is blocked, the target shelf is directly transported; otherwise, the removal path of the target shelf is determined, and when the target shelf has multiple removal paths, a removal path is selected from the The blocking shelf on the removal path is removed.
  • the step of planning an execution path of the at least two scheduling tasks further comprises: determining a removal position of the blocking shelf on the removal path, and transporting the blocking shelf on the removal path to a corresponding Move out of position.
  • the determining the removal position of the blocking shelf on the removal path comprises selecting the removal position based on: blocking the shelf from selecting an empty storage location that hinders the removal of the path; and blocking the shelf to preferentially select the deepest empty storage. Location; Block the shelf to preferentially choose the empty storage location closest to itself.
  • the step of selecting a removal path includes calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting the removal path with the smallest integrated removal load.
  • the removal load includes a weighted sum of the moving distance and the number of turns.
  • the method for controlling the inbound and outbound further comprises: taking a scheduling task from a task queue according to a certain priority, and determining a priority factor of the task: a priority of the task itself, a task creation time, and/or Waiting time, shelf location, execution complexity.
  • the invention also relates to a handling system comprising: a shelf array comprising a plurality of shelves; one or more automated guided vehicles; a control system receiving at least two scheduling tasks, determining whether the scheduled tasks are outbound tasks or inbound a task, wherein each of the scheduled tasks includes shelf information and a priority; assigning an automated guided vehicle to the at least two scheduled tasks; planning an execution path of the at least two scheduled tasks; performing the at least using the automated guided vehicle Two scheduling tasks, wherein if the priority of the outbound scheduling task is higher than the priority of the inbound scheduling task, the target location of the inbound task cannot be located on the execution path of the outbound task, wherein the control system and The automated guided vehicle is coupled, the automated guided vehicle receives the handling strategy, and performs a handling task in accordance with the handling strategy.
  • the invention further relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method as described above.
  • FIG. 1 shows a framework of a storage system structure and an application scenario according to an embodiment of the present invention
  • FIG. 2 illustrates an array arrangement of shelves/trays in accordance with an embodiment of the present invention
  • FIG. 3 illustrates an inbound and outbound control method for a shelf array in accordance with a first aspect of the present invention
  • Figure 4 illustrates an inbound and outbound control method in accordance with a preferred embodiment of the first aspect of the present invention
  • Figure 5 illustrates a method of determining a handling strategy in accordance with the first aspect of the present invention
  • Figure 6 illustrates an embodiment of calculating a blocked shelf target point
  • Figure 7 illustrates a scheduling device for a shelf array in accordance with one embodiment of the first aspect of the present invention
  • FIG. 8 shows an inbound and outbound control method for a shelf array according to a second aspect of the present invention
  • Figure 9 illustrates an inbound and outbound control method in accordance with a preferred embodiment
  • Figure 10 illustrates an inbound and outbound control device for a shelf array in accordance with an embodiment of the second aspect of the present invention
  • FIG. 11 shows an inbound and outbound scheduling method for a shelf array according to a third aspect of the present invention.
  • Figure 12 illustrates a preferred embodiment in accordance with the present invention.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features, either explicitly or implicitly.
  • the meaning of “plurality” is two or more unless specifically and specifically defined.
  • connection or integral connection: it can be mechanical connection, electrical connection or communication with each other; it can be directly connected or indirectly connected through an intermediate medium, which can be the internal connection of two elements or the interaction of two elements. relationship.
  • intermediate medium can be the internal connection of two elements or the interaction of two elements. relationship.
  • the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise explicitly defined and defined. It is not in direct contact but through additional features between them.
  • the first feature “above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is less than the second feature.
  • the storage system includes a customer's upstream management system 1, a shelf/pallet scheduling system 2, a robot control system 3 and message middleware, a warehouse shelf/tray 4, a handling automatic guided vehicle 5, a database server 6, and the like.
  • Common shelves/trays include, for example, a plurality of compartments and legs, each of which can be used to place an item or container (usually a bin). There is a gap between the legs at the bottom for the automatic guided vehicle 5 to travel and carry.
  • the shelves/tray 4 can generally be arranged in an array, such as shown in FIG.
  • the Automated Guided Vehicle (AGV) 5 is a self-contained robot that can navigate autonomously on the warehouse floor based on operations or handling instructions.
  • the automatic guided vehicle is equipped with a battery, a motor and a wheel, and is capable of various movement operations such as forward, backward, and cornering.
  • the automatic guided vehicle 5 and has a lifting mechanism capable of traveling to the bottom of the rack/tray 4, lifting the rack/tray 4 entirely by the lifting mechanism, and then transporting it to a desired position (for example, the working point 7 in Fig. 1) , perform appropriate operations, such as sorting and other operations.
  • the automated guided vehicle 5 has a camera capable of capturing textures or two-dimensional codes of the ground so that navigation operations can be performed.
  • the robot control system 3 may be a system that is independent of the automated guided vehicle 5 or integrated into the automated guided vehicle 5.
  • the user generates the outbound task through the management system 1 and delivers it to the scheduling system 2.
  • the scheduling system 2 puts the task into the task pool, and the scheduling system schedules the task according to the task priority order, generates a shelf/tray scheduling sequence, and sends the task.
  • the drive automatic guided vehicle 5 is executed in the sequence of the shelf/tray 2, and the task of the warehouse to the work point 7 is generated.
  • the delivery task releases the automatic guided vehicle.
  • the user After the task is completed, the user generates the inbound task through the management system 1.
  • the scheduling system starts scheduling and sends it to the robot control system 3.
  • the robot control system drives the automatic guided vehicle to the shelf/tray to be stored. 2 Perform the warehousing operation, and the automatic guided vehicle 5 is released after the task is put into storage.
  • the shelf/tray scheduling system communicates with the robot control system through message middleware to achieve message production and consumption.
  • the basic data of the warehouse, the dispatching system and the running data of the robot control system are all stored in the database server 6 to achieve the purpose of data persistence and prevent data loss during the running of the system.
  • FIG. 2 is a warehouse shelf arrangement layout as an example.
  • the warehouse is divided into storage areas, and the shelves in the storage area can be placed, for example, in a dense arrangement (for example, including two rows of horizontal and/or vertical and two or more rows).
  • a dense arrangement for example, including two rows of horizontal and/or vertical and two or more rows.
  • the dense arrangement of warehouse shelves increases the storage rate of warehouse items and saves the waste of warehouse area. At the same time, it can also meet the normal operation of the warehouse.
  • outbound means that the rack is transported away from the position in the shelf array itself
  • inbound refers to the position where the rack is transported back into the shelf array
  • a first aspect of the invention relates to an inbound and outbound control method 100 for a shelf array.
  • the inbound and outbound control method 100 includes:
  • step S101 an outbound task of the target shelf is received.
  • the outbound task can be directly sent from the task of the upstream management system, or it can be selected from the task pool of the scheduling system. These are all within the scope of the invention.
  • a handling strategy is determined according to the location of the target shelf in the shelf array.
  • the handling strategy includes: if the target shelf does not have a blocking shelf or obstacle in at least one of the directions, directly moving the target shelf; otherwise, determining a removal path of the target shelf, and When there are multiple removal paths of the target shelf, a removal path is selected therefrom, the blocking shelf on the removal path is removed, and then the target shelf is removed.
  • the shelves 1-8 and the shelves 9, 17, 25, 33, 41 do not have blocked shelves or obstacles in at least one direction (for example, warehouse boundaries, walls, Or other types of obstacles). Therefore, if the target shelf is one of 1-8, 9, 17, 25, 33, 41, the handling strategy can be direct handling. If the target shelf is other shelves, it cannot be directly transported, and the removal path needs to be determined, and if necessary, an optimal removal path needs to be determined among the plurality of removal paths. At this time, the transportation strategy includes: removing the blocking shelf on the adopted removal path, and then moving the target shelf out.
  • the scheduling system can query the location distribution or distribution map of the current shelf in the warehouse in real time to make corresponding judgments, and details are not described herein.
  • the "target shelf” refers to a shelf directly targeted by a handling task
  • the "blocking shelf” refers to a shelf that blocks the target shelf from being removed.
  • step S103 the handling strategy is executed to move the target shelf out, for example, by moving the target shelf by the automated guided vehicle AGV5.
  • the handling strategy involves moving the blocking shelf away, the blocking shelf can also be removed by the automated guided vehicle AGV.
  • step S201 when the upstream system (for example, the customer management system 1 in FIG. 1) needs to carry the target shelf from the shelf array to the job site for access operation, the upstream system needs to be sent as a task.
  • the scheduling system 2 outbound scheduling task
  • the scheduling system receives the tasks and puts them into the task pool uniformly to facilitate subsequent scheduling.
  • a task can include, for example, task number, shelf code, priority, etc., and other information can be added as needed.
  • the scheduling system comprehensively calculates the priority order of the tasks according to the specific information of the tasks, and takes an appropriate task from the task pool to schedule.
  • the scheduling system can sort the tasks in the task pool according to the priority of the task, the task creation time or the waiting time, the shelf location (for example, can be queried by the shelf code), the execution complexity, and the like, or select from the tasks in the task pool.
  • a task to schedule execution can be performed.
  • the scheduling system may select the next task to be executed from the task pool according to the priority, and the high priority usually means to execute first. In addition, some priorities may mean that the task needs to be executed immediately, then the task with that priority will have to be checked out from the task pool immediately and scheduled for execution.
  • the scheduling system may select the next task to be executed from the task pool by referring to the waiting time, for example, selecting the task that has been waiting for the longest time from the task pool, and then scheduling the execution, so that a task can be avoided in the task pool. It was stored for too long and was not executed.
  • the scheduling system can determine the next task to be performed based on the location of the shelf and/or the complexity of the execution.
  • an outbound scheduling task it is possible to first schedule the tasks corresponding to those shelves that can be directly handled.
  • both shelves 5 and 21 require an outbound operation, then depending on the location of the shelf and/or the complexity of the outbound (which can be assessed by having or without blocking the shelf), it may be decided to perform first.
  • the outbound of the shelf 5 is then executed for the outbound task of the shelf 21.
  • those skilled in the art can also conceive, combine the above factors, and select the next task to be executed from the task pool according to certain constraints.
  • an optimal handling strategy is determined.
  • the optimal handling strategy is described below. For example, for a task to be out of the warehouse, if the target shelf is not blocked by other shelves, the handling strategy is to directly move the target shelf out of the library without calculating the moving path of the task. If the target shelf is blocked by other blocked shelves, the optimal moving path of the task needs to be calculated as the optimal handling strategy.
  • the optimal moving path of the computing task mainly considers the number of blocked target shelves in all directions, and calculates the number of blocked shelves in which the target target shelf exists in four directions, and the number of blocked shelves is the smallest. The path is the optimal path.
  • the breadth-first search can be combined with the number of shelf barriers and the shelf handling strategy to determine an optimal movement path. If there are multiple movable paths, it is necessary to evaluate each moving path and select an optimal moving path. For example, the sum of the removal loads of the respective blocked shelves on each of the removal paths can be calculated, and the removal path with the smallest integrated removal load is selected.
  • the removal load may be, for example, a weighted sum of the number of blocked shelves, the moving distance of moving away from the blocking shelf, and the number of turns of moving away from the blocking shelf, or only one factor or a combination of factors may be considered.
  • the corresponding evaluation indicators can be selected according to the needs of specific occasions. An embodiment of calculating an optimal movement path will be given later with reference to FIG.
  • step S204 after the optimal movement path of the delivery task is determined, it is necessary to calculate a target point of the blocking shelf (if any) for temporarily storing the blocking shelf when performing the delivery task.
  • a target point of the blocking shelf it is necessary to consider: blocking the starting distance from the starting point of the shelf to the target point; blocking the target point of the shelf does not block the path of the outbound task; the target point of the shelf is the deepest and does not produce hollow; the nearest distance is preferred.
  • Target An embodiment of calculating a blocking shelf target point will be given later with reference to FIG.
  • the above conditions are applied in the following order: firstly filtering out the free storage points that do not block the outbound task path; then selecting the deepest free storage points, and then determining an empty storage point by the shortest distance.
  • “hollow” means that in the storage area, a position in four directions of an empty storage position not near the path position has a shelf.
  • the empty storage location is barely available, thus reducing the shelf storage density of the warehouse. Therefore, it is necessary to avoid creating a hollow storage location.
  • step S205 after the target point of the blocking shelf is determined, an optimal moving path determined by the outbound task exists in the form of a task group, and the task group includes: moving the blocking shelf to the target point of the blocking shelf, and moving out of the target shelf.
  • the execution of the task group requires the selection of one or more free guided vehicles AGV to perform rack handling.
  • the factors to be considered in selecting the idle automatic guided vehicle AGV may include: the distance of the automatic guided vehicle, the idle state, the number of task group tasks, and the number of tasks being executed.
  • step S206 after the transport trolley of the delivery task group is determined, the transport of the rack is started, and after the rack is transported to the target position, the transport trolley of the group of tasks is released. At the same time, the upstream system is reported to the task completion status.
  • step S203 A method of determining a moving path of a target shelf according to a preferred embodiment will be described below with reference to FIG. 5 (step S203).
  • the No. 28 shelf is delivered as a target shelf in a mission manner. It was calculated that the No. 28 shelf was blocked by other shelves.
  • the blocking cost of calculating the four-direction path of the No. 28 shelf is: (upper, right, lower, left)
  • the number of blocking in the four directions is (3, 4, 2, 3);
  • the right side and the bottom are walls, and the corresponding optional path is removed.
  • the remaining optional paths are: (upper, left), and the blocking cost is (3, 3) respectively.
  • the replacement price is the smallest.
  • Direction: above or to the left, the corresponding shelf number is: 20 or 27;
  • the blocking cost for calculating the four-direction path of the No. 20 shelf is: (upper, right, lower, left)
  • the number of blocking in the four directions is (2, 4, 3, 3);
  • the right side and the bottom are walls, and the corresponding optional path is removed.
  • the remaining optional paths are: (upper, left), and the blocking cost is (2, 3) respectively.
  • the replacement price is the smallest.
  • the blocking cost of calculating the four-direction path of the No. 27 shelf is: (upper, right, lower, left)
  • the number of blocking in the four directions is (3, 5, 2, 2);
  • the right side and the bottom are walls, and the corresponding optional path is removed.
  • the remaining optional paths are: (upper, left), and the blocking cost is (3, 2) respectively.
  • the replacement price is the smallest.
  • the blocking cost of calculating the four-direction path of the 26th shelf is: (upper, right, lower, left) the number of blocking in the four directions is (3, 6, 2, 1);
  • the optimal The moving path is: 25->26->27->28.
  • a plurality of factors can also be considered when evaluating the moving cost of the two paths, such as the number of turns required to move away from the blocking shelf, and the distance from the blocking shelf. I will not repeat them here.
  • Figure 6 illustrates one embodiment of determining a target point to block a shelf.
  • the barrier shelf 32 needs to be moved out to other empty storage locations in the storage area, and the shelf 10 is moved as a target shelf to the job site, and the barrier shelf 9 needs to be moved out to other empty storage locations in the storage area.
  • the target point location needs to be found for blocking shelves 32 and 9.
  • the filter obstructs the path of the shelf 40 moving to the designated working point: (8, 16, 24), and the remaining feasible empty storage locations: (41, 42, 43, 44);
  • the target position assigned to the shelf 32 is: 44; the target position assigned to the shelf 9 is: 43.
  • the shelf 32 cannot reach the storage location 44, and the target positions of the shelf 32 and the shelf 9 are: 41;
  • the shelf 32 first reaches the storage location 41, then the shelf 32 continues to the target location 44, the shelf 9 reaches the storage location 41, and the shelf 9 continues to the target location 43;
  • the shelf 9 first reaches the storage location 41, then the shelf 9 continues to the target location 44, the shelf 32 reaches the storage location 41, and the shelf 32 continues to the target location 43.
  • the target position of the at least two blocking shelves is set as the entrance of the unidirectional channel for the at least two blocking shelves, and according to the order of arrival at the entrance Filled into the deepest position of the unidirectional channel, respectively.
  • the "unidirectional passage” is a shelf position passage indicating that there is only one inlet and outlet, such as the passages indicated by 41, 42, 43, 44 in Fig. 6, and the passages indicated by 8, 16, and 24.
  • FIG. 7 illustrates a scheduling device 300 for a shelf array in accordance with one embodiment of the first aspect of the present invention.
  • the scheduling device 300 includes an outbound task receiving unit 301, a handling policy making unit 302, and an executing unit 303.
  • the outbound task receiving unit 301 is configured, for example, to receive an outbound task of the target shelf and determine a location of the target shelf in the shelf array;
  • the handling strategy formulation unit 302 is configured to determine a handling strategy based on the location of the target shelf in the shelf array, wherein the handling strategy includes if the target shelf does not have a blocking shelf or obstacle in at least one of the directions And moving the target shelf directly; otherwise, determining a removal path of the target shelf, and when the target shelf has multiple removal paths, selecting a removal path from the blocked shelf on the removal path Move out
  • the execution unit 303 is coupled to the transportation strategy establishing unit, and is configured to control the automatic guided vehicle to execute the transportation strategy according to the transportation strategy, and complete the transportation task.
  • target shelf determining unit 301 the handling policy formulation unit 302, and the executing unit 303 can be implemented by software, hardware, or a combination of software and hardware.
  • the handling strategy formulation unit 302 is also configured to perform other steps in the control methods 100 and 200 as described above.
  • the handling strategy formulation unit is configured to determine a removal position of the blocking shelf on the removal path and to transport the blocking shelf on the removal path to a corresponding removal position, wherein the step of selecting a removal path
  • the method includes: calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting a removal and removal load integrated minimum removal path, the removal load including a weighted sum of the number of blocked shelves, the moving distance, and the number of turns.
  • a first aspect of the disclosure also relates to a handling system comprising:
  • Shelf array which includes multiple shelves
  • the control system receives the outbound task of the target shelf and determines the location of the target shelf in the shelf array, and determines a handling strategy according to the location of the target shelf in the shelf array, wherein the handling strategy includes: When the target shelf does not have a blocking shelf or obstacle in one of the directions, the target shelf is directly carried out from the direction; otherwise, the removal path of the target shelf is determined, and when the target shelf has multiple removal paths Selecting an optimal removal path from which to remove the barrier shelf on the removal path;
  • One or more automated guided vehicles coupled to the control system and receiving the handling strategy, performing a handling task in accordance with the handling strategy.
  • a first aspect of the present disclosure also relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method 100 or 200 as described above.
  • a first aspect of the present disclosure also relates to a method of transporting a plurality of barrier shelves in a shelf array, comprising:
  • a target storage location is set for the plurality of blocked shelves from the available location set in accordance with a depth prioritization strategy.
  • step S401 the inbound task of the target shelf is received.
  • the warehousing tasks include, for example, multi-data such as (task number, priority, shelf code).
  • step S402 an available storage location in the shelf array is obtained. By calculating or querying the map, you can get the storage locations available in the current shelf array.
  • a target location of the target shelf is determined according to the type of the available storage location. Specifically, it can be classified into the following four categories according to the depth of the idle storage location.
  • the first type of empty storage three shelves and / or obstacles; the second type of empty storage: shelves and / or obstacles on both sides; the third type of empty storage: one side has shelves and / or obstacles; Four types of empty storage locations: no shelves and/or obstacles around.
  • Priority is given to selecting empty storage bits from the first class. If there are multiple empty storage locations of the first type, an empty storage location that is closer to the target shelf is selected as the target location according to the shortest distance principle. If there is no empty storage bit in the first class, then select from the second class, and so on, and select an appropriate target location for the inbound task.
  • step S404 the target rack is transported to the target position, for example, by an unmanned guided vehicle.
  • FIG. 9 illustrates an inbound scheduling process implemented by the inbound and outbound control method 500 in accordance with a preferred embodiment.
  • step S501 the upstream system needs to carry the shelf (to be stored in the warehouse) where the work point operation is completed to the storage area of the warehouse, and needs to be sent in the manner of task (task number, priority, shelf code).
  • the dispatching system receives the inbound task and puts it into the task pool.
  • the scheduling system comprehensively calculates the priority order of the tasks according to the specific information of the inbound tasks, and takes an appropriate task from the task pool to schedule. For example, the scheduling system may determine the priority order of the tasks according to the order in which the tasks are sent, and determine a task to be executed. Alternatively, the scheduling system may sort the tasks in the task pool according to the priority of the task, the task creation time or the waiting time, the target location, the execution complexity, and the like, or select one task from the task to perform the scheduling implementation.
  • the scheduling system may select the next task to be executed from the task pool according to the priority. For example, if some priorities mean that the task is executed immediately, the task with the priority will have to be immediately checked from the task pool. Out and arrange for execution.
  • the scheduling system may select the next task to be executed from the task pool by referring to the waiting time, for example, selecting the task that has been waiting for the longest time from the task pool, and then scheduling the execution, so that a task can be avoided in the task pool. It was stored for too long and was not executed.
  • the scheduling system can determine the next task to be performed based on the shelf target location and/or the complexity of the execution. Of course, those skilled in the art can also conceive, combine the above factors, and select the next task to be executed from the task pool according to certain constraints.
  • step S503 the target area of the task is calculated.
  • the storage area can be divided into a plurality of areas, and the shelf distribution density of each area (the number of existing shelves/the number of storage spaces in the area) is calculated, and the area with a small density is selected.
  • the target position of the task is determined.
  • the free storage locations in the area are filtered, and classified according to the depth of the free storage locations, for example, the following four categories can be classified.
  • the first type of empty storage three shelves and / or obstacles; the second type of empty storage: shelves and / or obstacles on both sides; the third type of empty storage: one side has shelves and / or obstacles; Four types of empty storage locations: no shelves and/or obstacles around. Priority is given to selecting empty storage bits from the first class. If there are multiple empty storage locations of the first type, an empty position shorter than the target shelf is selected according to the shortest distance principle.
  • the second class selects from the second class, and so on, and select an appropriate target location for the inbound task. If in the target area, the above four types of empty storage spaces cannot be found, then one target area can be re-selected, for example, the area with the smallest shelf distribution density in the remaining target areas.
  • the idle transport trolley is selected, and according to the closest principle of the distance mission, a free transport trolley closest to the standby shelf is determined.
  • step S506 after the warehousing task handling vehicle is determined, the warehousing handling task is started.
  • the task status during the execution process can be simultaneously reported (uplifting the shelf, starting to move, the shelf is lowered, and the movement is completed).
  • the reporting of the upstream system task is completed, and the handling car is released.
  • Figure 10 illustrates an inbound and outbound control device 600 for a shelf array in accordance with one embodiment of the second aspect of the present invention.
  • the scheduling device 600 includes a warehousing task receiving unit 601, a handling policy formulation unit 602, and a warehousing execution unit 603.
  • the warehousing task receiving unit 601 is configured to receive the warehousing task of the target shelf; the handling policy formulation unit 602 is configured to acquire an available storage location in the shelf array, and determine the target shelf according to the type of the available storage location. The target location; the warehousing execution unit 603 is coupled to the handling strategy formulation unit 602 and configured to carry the target shelf to the target location to complete the warehousing task.
  • warehousing task receiving unit 601, the handling strategy formulating unit 602, and the warehousing executing unit 603 can be implemented by software, hardware, or a combination of software and hardware.
  • the types of available storage devices include four categories: a first type of available storage locations with shelves and/or obstacles on three sides, and a second type with shelves and/or obstacles on both sides. Available storage locations, the third category is an available storage location with shelves and/or obstacles, and the fourth category is available storage locations with no shelves and/or obstacles around.
  • the step of determining a target location of the target shelf comprises: selecting an available storage location according to the following priorities: a first class, a second class, a third class, a fourth class, wherein when there is a same class When there are multiple available storage locations, select the available storage location with the shortest distance as the target location for the target shelf.
  • a second aspect of the present disclosure also relates to a handling system comprising: a shelf array including a plurality of shelves; a control system for receiving a warehousing task of the target shelf, and acquiring available storage locations in the shelf array, and A target location of the target shelf is determined based on the type of available storage location; one or more automated guided vehicles coupled to the control system configured to carry the target shelf to the target location.
  • the control system is configured to perform the above described inbound and outbound control method 400 or 500.
  • a second aspect of the present disclosure also relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method 400 or 500 as described above.
  • an inbound and outbound scheduling method 700 for a shelf array in accordance with a third aspect of the present invention is described below with reference to FIG. As shown in FIG. 11, the inbound and outbound scheduling method 700 includes:
  • step S701 at least two scheduling tasks are received, and the scheduling task is determined to be an outbound task or an inbound task, where each scheduling task includes shelf information and priority.
  • the scheduling system comprehensively calculates the priority order of the tasks according to the specific information of the tasks, and takes at least two suitable tasks from the task pool to schedule. For example, the scheduling system can sort the tasks in the task pool according to the priority of the task, the task creation time or the waiting time, the shelf location (for example, can be queried by the shelf code), the execution complexity, and the like, or select from the tasks in the task pool. One or two tasks for scheduling implementation.
  • the scheduling system may select the next or two tasks to be executed from the task pool according to the priority. For example, if some priorities mean that the task is executed immediately, the task with the priority will have to be immediately from the task pool. It was detected and arranged for execution.
  • the scheduling system may select the next task to be executed from the task pool by referring to the waiting time, for example, selecting the task that has been waiting for the longest time from the task pool, and then scheduling the execution, so that a task can be avoided in the task pool. It was stored for too long and was not executed.
  • the scheduling system can determine the next task to be performed based on the location of the shelf and/or the complexity of the execution. For example, for an outbound scheduling task, it is possible to first schedule execution of tasks corresponding to shelves that can be directly handled.
  • step S702 an automatic guided vehicle is allocated to the at least two scheduled tasks.
  • step S703 an execution path of the at least two scheduling tasks is planned.
  • the steps S403 and S504 in the second aspect of the present invention are not described herein.
  • step S704 the at least two scheduling tasks are executed by using the automatic guided vehicle, wherein if the priority of the outbound scheduling task is higher than the priority of the inbound scheduling task, the target location of the inbound task is ensured not to be Located on the execution path of the outbound task, that is, avoiding the execution path of the outbound task.
  • a preferred embodiment is described with reference to Figure 12: it enables a warehousing mixing operation to avoid creating voids.
  • the shelf 50 is the object of the warehousing task, the task priority is high, and the shelf 28 is the object of the warehousing task, and the task priority is low.
  • Two tasks are received in the scheduling process, and the shelf 50 is scheduled first according to the task priority order.
  • the target position of the shelf 50 is determined as: 20
  • the shelf 50 selects the idle handling trolley to start execution.
  • the shelf 50 reaches the target location: 20, the shelf 28 has not yet begun execution, and the shelf 28 task is rescheduled.
  • the shelf 50 reaches the target position: 20, and the shelf 28 has begun to perform the departure from the original position. At this time, the shelf 50 has to detect the deeper empty storage position in the four directions of the original target position, and 28 shelves are found after detection. Already left, there is an empty storage location, so the actual target position of the shelf 50 is: 28
  • the warehousing task allocates the idle handling trolley and executes it.
  • the outbound task allocates the idle handling trolley and executes.
  • the step of planning an execution path of at least two scheduled tasks comprises: for the inbound task, selecting an available storage location according to the deepest depth principle. For example, in the case of FIG. 12, assuming that there is only a warehousing task for the shelf 50, then the deepest depth principle is adopted, then the location 20 is selected as the target location instead of the location 12.
  • the inbound and outbound scheduling method 700 further includes: after the automated guided vehicle completes the inbound task, that is, after transporting the shelf to be in storage to the target location, continuing to check around the target location Is there a deeper, deeper available storage location, and if so, the automated guided vehicle is used to carry the shelf corresponding to the inbound task to the deeper available storage location.
  • the step of planning an execution path of at least two scheduled tasks comprises: determining a handling strategy for the outbound task, wherein the handling strategy comprises: if the target shelf is not in at least one of the directions When the shelf or obstacle is blocked, the target shelf is directly transported; otherwise, the removal path of the target shelf is determined, and when the target shelf has multiple removal paths, a removal path is selected from the The blocking shelf on the removal path is removed.
  • the step of planning an execution path of the at least two scheduling tasks further comprises: determining a removal position of the blocking shelf on the removal path, and transporting the blocking shelf on the removal path to a corresponding Move out of position.
  • the determining the removal position of the blocking shelf on the removal path comprises selecting the removal position based on the following conditions: blocking the shelf from selecting an empty storage location that hinders the removal of the path; and blocking the shelf to preferentially select the deepest empty storage. Location; Block the shelf to preferentially choose the empty storage location closest to itself.
  • the step of selecting a removal path comprises: calculating a sum of the removal loads of the respective blocked shelves on each of the removal paths, and selecting the removal path with the smallest integrated removal load.
  • the removal load comprises a weighted sum of the distance of movement and the number of turns.
  • the method for inbound and outbound control 700 further includes: taking out a scheduling task from a task queue according to a certain priority, and determining a priority factor of the task: a priority of the task itself, a depth of the task (blocked The number of times the task is issued, the urgency of the task (the difference between the delivery time and the current time).
  • a third aspect of the invention also relates to a handling system comprising:
  • Shelf array which includes multiple shelves
  • One or more automatic guided vehicles are One or more automatic guided vehicles.
  • the control system receives at least two scheduling tasks, and determines whether the scheduling task is an outbound task or a storage task, wherein each scheduling task includes shelf information and a priority; and the automatic guiding vehicle is allocated to the at least two scheduling tasks; Scheduling an execution path of the at least two scheduled tasks; performing the at least two scheduling tasks by using the automated guided vehicle, wherein if the priority of the outbound scheduling task is higher than the priority of the inbound scheduling task, The target location of the inbound task cannot be located on the execution path of the outbound task.
  • control system is coupled to the automated guided vehicle, the automated guided vehicle receiving the handling strategy, and performing a handling task in accordance with the handling strategy.
  • a third aspect of the present disclosure also relates to a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the inbound and outbound control method 700 as described above.
  • the first aspect focuses on the outbound control of the shelf
  • the second aspect focuses on the storage control of the shelf
  • the third aspect focuses on the inbound and outbound hybrid control.
  • the technical features of the above various aspects can be combined and applied to each other.
  • the control method or feature of the outbound storage of the first aspect may be applied to the second aspect and the third aspect
  • the storage control method or feature of the second aspect may be applied to the first aspect and the third aspect
  • the third aspect is
  • the library blending feature can also be applied to the first aspect and the second aspect.

Abstract

本发明提供一种用于货架阵列的出入库控制方法，包括：接收目标货架的出库任务；根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出，然后将所述目标货架移出；执行所述搬运策略，将所述目标货架移出。

Description

用于货架阵列的出入库控制方法和搬运系统 技术领域
本发明涉及智能仓储领域，尤其涉及一种货架密集排列的出入库控制方法和搬运系统及存储介质。
背景技术
随着我国电商行业的高速发展，物流的各个环节也出现了多样化的需求，由分拣机器人组成的包裹分拣系统应运而生，该系统在保证包裹分拣高效的同时，还具有即时响应和分布式的灵活性。在当前的物流仓储领域，已经越来越多的使用了自动引导车(AGV)来代替或者补充人工劳动。自动引导车能够自动接收物品搬运任务，在程序控制下，到达第一位置，取得物品，然后行走到第二位置，将物品卸下，继续去执行其他的任务。
另外，土地作为一种资源，日益稀缺，特别是随着城市中的土地价格不断上升，仓库的土地成本也成为影响企业或物流公司的经济效益的重要成本指标。目前的库房管理模式渊源不能满足现实的智能化出入库的需求
背景技术部分的内容仅仅是发明人所知晓的技术，并不当然代表本领域的现有技术。
发明内容
有鉴于此，本发明提出一种用于货架阵列的出入库控制方法，包括：接收目标货架的出库任务；根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出，然后将所述目标货架移出；执行所述搬运策略，将所述目标货架移出。
根据本发明的一个方面，所述将目标货架移出的步骤包括：利用自动引导车将所述目标货架移出。
根据本发明的一个方面，所述的出入库控制方法还包括：确定所述移出路径上的阻挡货架的目标位置，并将所述移出路径上的阻挡货架搬运到对应的目标位置上。
根据本发明的一个方面，所述确定移出路径上的阻挡货架的移出位置包括基于以下条件中的一条或多条选择所述阻挡货架的目标位置：目标位置不阻挡出库任务；选择深度最深的空存储位置；选择距离自己最近的空存储位。
根据本发明的一个方面，所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径。
根据本发明的一个方面，所述移出负荷包括阻挡货架数目、移动距离、转弯次数的加权和。
根据本发明的一个方面，所述的出入库控制方法还包括：从任务队列中按照一定顺序取出一个出库任务，决定任务的顺序因素包括：出库任务的优先级，出库任务的等待时间，出库任务对应的目标货架的位置和/或执行复杂度。
根据本发明的一个方面，所述的出入库控制方法还包括：在确定搬运策略之后， 产生任务组，所述任务组包括移出所述移出路径上的阻挡货架以及移出所述目标货架；以及根据所述任务组分配自动引导车。
根据本发明的一个方面，如果至少两个阻挡货架的目标位置在一条单向通道中，则为所述至少两个阻挡货架将目标位置设置为该单向通道的入口处，并根据到达所述入口处的先后次序，填充到所述单向通道的最深位置处。
本发明还涉及一种用于货架阵列的调度设备，包括：目标货架确定单元，用于接收目标货架的出库任务并确定目标货架在货架阵列中的位置；搬运策略制定单元，配置成根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出；和执行单元，与所述搬运策略制定单元耦合，并配置成根据所述搬运策略，控制自动引导车。
根据本发明的一个方面，所述搬运策略制定单元配置成确定所述移出路径上的阻挡货架的移出位置，并将所述移出路径上的阻挡货架搬运到对应的移出位置上，其中所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径，所述移出负荷包括移动距离、转弯次数的加权和。
本发明还涉及一种搬运系统，包括：货架阵列，其中包括多个货架；控制系统，接收目标货架的出库任务并确定目标货架在货架阵列中的位置，并根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架从该方向搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择最优的一条移出路径，将所述移出路径上的阻挡货架移出；一个或多个自动引导车，与所述控制系统耦合，并接收所述搬运策略，根据所述搬运策略，执行搬运任务。
本发明还涉及一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如上所述的出入库控制方法。
本发明还涉及一种用于货架阵列的出入库控制方法，包括：接收目标货架的入库任务；获取所述货架阵列中的可用存储位置；根据所述可用存储位置的类型，确定所述目标货架的目标位置；和将所述目标货架搬运到所述目标位置。
根据本发明的一个方面，所述可用存储装置的类型包括四类：第一类为三面有货架和/或障碍物的可用存储位置，第二类为两面有货架和/或障碍物的可用存储位置，第三类为一面有货架和/或障碍物的可用存储位置，第四类为周围没有货架和/或障碍物的可用存储位置。
根据本发明的一个方面，所述确定目标货架的目标位置的步骤包括：按照以下优先级选择可用存储位置：第一类，第二类，第三类，第四类，其中当同一类中具有多个可用存储位置时，选择距离最短的可用存储位置作为目标货架的目标位置。
根据本发明的一个方面，所述将目标货架搬运到目标位置的步骤包括：通过控制自动引导车，将所述目标货架搬运到所述目标位置。
根据本发明的一个方面，所述的出入库控制方法还包括：选择离所述目标货架距离最近的自动引导车，将所述目标货架搬运到所述目标位置。
根据本发明的一个方面，所述的出入库控制方法还包括：从任务队列中按照一定优先级取出一个入库任务，决定任务的优先顺序因素有：任务本身的优先级，任务创建时间和/或已等待时间，执行复杂度。
本发明还涉及一种用于货架阵列的出入库控制设备，包括：入库任务接收单元，用于接收目标货架的入库任务；搬运策略制定单元，配置成：获取所述货架阵列中的可用存储位置，并根据所述可用存储位置的类型，确定所述目标货架的目标位置；和自动引导车，配置成将所述目标货架搬运到所述目标位置。
根据本发明的一个方面，所述可用存储装置的类型包括四类：第一类为三面都有货架和/或障碍物的可用存储位置，第二类为两面都有货架和/或障碍物的可用存储位置，第三类为一都有货架和/或障碍物的可用存储位置，第四类为周围没有货架和/或障碍物的可用存储位置。
根据本发明的一个方面，所述确定目标货架的目标位置的步骤包括：按照以下优先级选择可用存储位置：第一类，第二类，第三类，第四类，其中当同一类中具有多个可用存储位置时，选择距离最短的可用存储位置作为目标货架的目标位置。
本发明还涉及一种搬运系统，包括：货架阵列，其中包括多个货架；控制系统，用于接收目标货架的入库任务，并获取所述货架阵列中的可用存储位置，并根据所述可用存储位置的类型，确定所述目标货架的目标位置；一个或多个自动引导车，与所述控制系统耦合，配置成将所述目标货架搬运到所述目标位置。
本发明还涉及一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如上所述的出入库控制方法。
本发明还涉及一种用于货架阵列的出入库调度方法，包括：接收至少两条调度任务，判断所述调度任务为出库任务还是入库任务，其中每条调度任务包括货架信息和优先级；对所述至少两条调度任务，分配自动引导车；规划所述至少两条调度任务的执行路径；利用所述自动引导车执行所述至少两条调度任务，其中，如果出库调度任务的优先级高于所述入库调度任务的优先级，则入库任务的目标位置避让开出库任务的执行路径。
根据本发明的一个方面，其中所述规划至少两条调度任务的执行路径的步骤包括：对于入库任务，根据深度最深原则选择可用存储位置。
根据本发明的一个方面，所述的出入库调度方法还包括：当所述自动引导车完成所述入库任务后，检查在该目标位置周围是否有深度更深的可用存储位置，如果有，利用该自动引导车将该入库任务对应的货架搬运到所述深度更深的可用存储位置。
根据本发明的一个方面，所述规划至少两条调度任务的执行路径的步骤包括：对于出库任务，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定 所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出。
根据本发明的一个方面，所述规划至少两条调度任务的执行路径的步骤还包括：确定所述移出路径上的阻挡货架的移出位置，并将所述移出路径上的阻挡货架搬运到对应的移出位置上。
根据本发明的一个方面，所述确定移出路径上的阻挡货架的移出位置包括基于以下条件选择移出位置：阻挡货架不选择阻碍自己搬离路径的空存储位置；阻挡货架优先选择深度最深的空存储位置；阻挡货架优先选择距离自己最近的空存储位。
根据本发明的一个方面，所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径。
根据本发明的一个方面，所述移出负荷包括移动距离、转弯次数的加权和。
根据本发明的一个方面，所述的出入库控制方法还包括：从任务队列中按照一定优先级取出调度任务，决定任务的优先顺序因素有：任务本身的优先级，任务的创建时间和/或已等待时间，货架位置，执行复杂度。
本发明还涉及一种搬运系统，包括：货架阵列，其中包括多个货架；一个或多个自动引导车；控制系统，接收至少两条调度任务，判断所述调度任务为出库任务还是入库任务，其中每条调度任务包括货架信息和优先级；对所述至少两条调度任务，分配自动引导车；规划所述至少两条调度任务的执行路径；利用所述自动引导车执行所述至少两条调度任务，其中，如果出库调度任务的优先级高于所述入库调度任务的优先级，则入库任务的目标位置不能位于出库任务的执行路径上，其中所述控制系统与所述自动引导车耦合，所述自动引导车接收所述搬运策略，根据所述搬运策略，执行搬运任务。
本发明还涉及一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如上所述的出入库控制方法。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明实施例的仓储系统结构和应用场景的框架；
图2示出了根据本发明实施例的货架/托盘的阵列排布方式；
图3示出了根据本发明第一方面的一种用于货架阵列的出入库控制方法；
图4示出了根据本发明第一方面的一个优选实施例的出入库控制方法；
图5举例说明了根据本发明第一方面的搬运策略的确定方式；
图6示出了一个计算阻挡货架目标点的实施例；
图7示出了根据本发明第一方面的一个实施例的用于货架阵列的调度设备；
图8示出了根据本发明第二方面的一种用于货架阵列的出入库控制方法；
图9示出了根据一个优选实施例的出入库控制方法；
图10示出了根据本发明第二方面的一个实施例的用于货架阵列的出入库控制设备；
图11示出了根据本发明第三方面的一种用于货架阵列的出入库调度方法；和
图12示出了根据本发明的一个优选实施例。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本发明的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
在本发明的描述中，需要理解的是，术语"中心"、"纵向"、"横向"、"长度"、"宽度"、"厚度"、"上"、"下"、"前"、"后"、"左"、"右"、"竖直"、"水平"、"顶"、"底"、"内"、"外"、"顺时针"、"逆时针"等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语"第一"、"第二"仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有"第一"、"第二"的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，"多个"的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语"安装"、"相连"、"连接"应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接:可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之"上"或之"下"可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征"之上"、"上方"和"上面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征"之下"、"下方"和"下面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
首先参考图1简单描述本发明实施例中仓储系统结构和应用场景的框架。如图1所示，仓储系统包括客户的上游管理系统1，货架/托盘调度系统2，机器人控制系统3以及消息中间件，仓库货架/托盘4，搬运自动引导车5、数据库服务器6等。
仓库货架/托盘4上可放置各种物品或者容器。常见的货架/托盘例如包括多个隔层以及支腿，每个隔层上可以用于放置物品或者容器(通常是料箱)。底部的支腿之间具有空隙，可供自动引导车5穿行并搬运。货架/托盘4通常可以以阵列的方式排布，例如如图2所示的。
自动引导车(AGV)5是一种能够自主运行的机器人，能够根据操作或者搬运指令，在仓库地面上自主导航。自动引导车上配置有电池、电机和车轮，能够进行前进、后退、转弯等各种运动操作。自动引导车5并且具有举升机构，能够行驶至货架/托盘4的底部，通过举升机构将货架/托盘4整个举起，随后搬运到所需的位置(例如图1中的作业点7)，进行适当的操作，例如分拣等操作。根据一种实现的方式，自动引导车5具有摄像头，能够拍摄到地面的纹理或者二维码，从而能够进行导航操作。图1中的机器人控制系统3是用于对自动引导车5进行控制的系统，其例如将具体的工作指令、路径规划等信息发送给自动引导车5。本领域技术人员可以理解，机器人控制系统3可以是独立于自动引导车5的一个系统，也可以集成于自动引导车5中。
以下简单描述仓储系统的工作方式。用户通过管理系统1产生出库任务并下发到调度系统2，调度系统2接收到任务后放到任务池中，调度系统根据任务优先顺序对任务编排调度，产生货架/托盘调度序列，并发送给机器人控制系统3，驱动搬运自动引导车5对货架/托盘2序列执行，产生出库到作业点7的任务，任务到达作业点7后，出库任务释放自动引导车。任务在作业点作业完成后，用户通过管理系统1产生入库任务，调度系统接收到任务后开始调度并发送给机器人控制系统3，机器人控制系统驱动搬运自动引导车对要入库的货架/托盘2执行入库操作，任务入库后自动引导车5被释放。
货架/托盘调度系统中根据不同的业务场景可设置不同的搬运策略。货架/托盘调度系统与机器人控制系统之间通过消息中间件来通信，达到消息的生产和消费。
仓库的基础数据、调度系统和机器人控制系统的运行数据都存储在数据库服务器6中，以达到数据持久化的目的，防止系统运行过程中数据的丢失。
图2是作为示例的仓库货架排列布局。如图2所示，仓库分为存储区，存储区中货架例如可以采用密集排列的方式摆放(例如包括横向和/或纵向两排及两排以上排列)。除了存储区，还有作业点区域和机器人载货架行走区域。仓库货架密集排列提高了仓库物品的存储率，节约了仓库使用面积浪费的成本。同时也能满足仓库正常的出入库作业操作。
为了便于理解，本发明中，“出库”是指将货架搬运离开货架阵列中其本身所属位置，“入库”是指将货架搬运回到货架阵列中的位置。
第一方面
本发明的第一方面涉及一种用于货架阵列的出入库控制方法100。如图3所示，出入库控制方法100包括：
在步骤S101，接收目标货架的出库任务。出库任务可以直接来自上游管理系统的任务下发，也可以是从调度系统的任务池中选择一条出库任务。这些都在本发明的保护范围内。
在步骤S102，根据所述目标货架在所述货架阵列中的位置，确定搬运策略。其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出，然后将所述目标货架移出。
以图5为例进行说明，在货架1-48中，货架1-8以及货架9、17、25、33、41在至少一个方向上不具有阻挡的货架或者障碍物(例如仓库边界、墙壁、或其他类型的障碍物)。因此如果目标货架是1-8、9、17、25、33、41中之一，那么搬运策略就可以是直接搬运。而如果目标货架是其他货架，则无法直接搬运，需要确定移出路径，并且必要时需要在多条移出路径中确定一条最优的移出路径。此时，搬运策略包括：将采用的移出路径上的阻挡货架移出，再将目标货架移出。另外，在判断目标货架是否可以直接移出时，只需要判断目标货架的前后左右四个方向是否具有阻挡货架或者障碍物，而无需判断对角的四个方向。调度系统可以实时地查询仓库中目前货架的位置分布情况或分布地图，来进行相应的判断，此处不再赘述。
注意，本发明中，“目标货架”是指一条搬运任务所直接针对的货架，“阻挡货架”是指阻挡该目标货架被移出的货架。
在步骤S103，执行所述搬运策略，将所述目标货架移出，例如通过自动引导车AGV5将所述目标货架移出。当然，如果所述搬运策略中涉及到将阻挡货架移开的话，也可以通过自动引导车AGV将阻挡货架移开。
下面参考图4，描述根据本发明第一方面的一个优选实施例的出入库控制方法200。
如图4所示，在步骤S201，当上游系统(例如图1中的客户管理系统1)需要将目标货架从货架阵列中搬运到作业点进行存取作业时，上游系统需要以任务的方式发送给调度系统2(出库调度任务)，调度系统接收到任务后统一放到任务池中，方便后续的调度。一条任务例如可以包括：任务编号，货架代码，优先级等信息，也可以根据需要增加其他信息。
在步骤S202，调度系统根据任务的具体信息，综合计算任务的优先顺序，从任务池中取一个合适的任务来调度。例如，调度系统可以根据任务的优先级、任务创建时间或已等待时间、货架位置(例如可通过货架代码来查询得到)、执行复杂度等因素，对任务池中的任务进行排序，或者从中选择一个任务来进行调度实施。
具体的，调度系统可根据优先级来从任务池中挑选下一个待执行的任务，高的优先级通常意味着先执行。另外，某些优先级可能意味着任务需要立即被执行，那么具有该优先级的任务将必须立即从任务池中被检出，并安排执行。或者，调度系统可参照已等待时间来从任务池中挑选下一个待执行的任务，例如从任务池中挑选已等待最长时间的任务，接下来安排执行，这样可以避免某一条任务在任务池中被存储过久而未被执行。或者，调度系统可根据货架的位置和/或执行的复杂度，来决定下一条待执行的任务。例如，对于出库调度任务，可以首先安排执行那些可以直接搬运的货架所对应的任务。参考图5，例如如果货架5和21都需要进行出库操作，那么根据货架的位置和/或出库的复杂度(可通过是否具有阻挡货架以及阻挡货架的数目来评估)，可 以决定先执行货架5的出库，然后执行货架21的出库任务。当然，本领域技术人员也可以构思，将以上因素结合在一起，根据一定的约束条件来从任务池中挑选下一个待执行的任务。
接下来，在步骤S203，确定最优的搬运策略。以下描述最优搬运策略。例如，对于要出库的任务，如果目标货架没有被其它货架阻挡，那么搬运策略为直接将目标货架搬运出库，不需要计算任务的移动路径。若目标货架被其它阻挡货架阻挡，需要计算任务的最优移动路径作为最优搬运策略。根据一个优选实施例，计算任务的最优移动路径主要考虑到目标货架在各个方向上被阻挡的个数，计算任务目标货架在四个方向上存在的阻挡货架的个数，取阻挡个数最小的路径作为最优路径。
另外优选地可以通过广度优先搜索结合货架阻挡个数的多少及货架搬运策略确定最优的移动路径。若有多个可移动路径，需要评估每条移动路径，选出一条最优的移动路径。例如可以计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径。移出负荷例如可以是阻挡货架数目、搬离阻挡货架的移动距离、搬离阻挡货架的转弯次数的加权和，也可以只考虑其中给一个因素或者多个因素的组合。可根据具体场合的需要来选择相应的评估指标。后文将参考图5给出一个计算最优移动路径的实施例。
在步骤S204，出库任务最优的移动路径确定后，需要计算阻挡货架(如有的话)的目标点，用于在执行出库任务时暂存阻挡货架。计算阻挡货架的目标点时需要考虑：阻挡货架起点到目标点的搬运距离最小；阻挡货架的目标点不阻挡出库任务的路径；货架的目标点深度最深，不产生空心；优先选择距离最近的目标点。后文将参考图6给出一个计算阻挡货架目标点的实施例。优选的，按照以下顺序来适用以上条件：先过滤出不阻挡出库任务路径的空闲存储点；然后选择深度最深的空闲存储点，再通过距离最短确定一个空存储点。
本发明中，“空心”指的是，在存储区域中，不靠近路径位置的某个空存储位置四个方向的位置都有货架。产生空心存储位置后，该空存储位置几乎不可用，因此会降低仓库的货架货物存储密度。所以需要避免产生空心的存储位置。
在计算搬运距离时，可参考曼哈顿距离公式：起点坐标和终点坐标之差的绝对值之和即为搬运距离。
在步骤S205，阻挡货架的目标点确定后，出库任务确定的一条最优移动路径以任务组的方式存在，任务组包括：将阻挡货架搬运到阻挡货架的目标点，移出目标货架。任务组的执行需要选择空闲的一辆或者多辆自动引导车AGV来执行货架搬运。选择空闲自动引导车AGV要考虑的因素可包括：自动引导车的距离，空闲状态，任务组任务的个数及正在执行的任务个数等。
在步骤S206，出库任务组的搬运小车确定好后，开始执行货架的搬运，货架搬运到目标位置后，该组任务的搬运小车释放。同时给上游系统报任务完成状态。
接下来，查看存在未完成的任务后，继续循环上述流程，直到任务池中的所有任务都搬运到目标位置。
下面参考图5描述根据一个优选实施例的确定目标货架的移动路径的方法(步骤S203)。如图5所示：28号货架作为目标货架以任务的方式下发。经过计算发现28号货架被其它货架阻挡。
计算28号货架四个方向路径的阻挡代价为：(上，右，下，左)四个方向的阻挡数目分别为(3，4，2，3)；
经过计算或查询地图，发现右方和下方是墙壁，去掉对应的可选路径，剩余可选路径为：(上，左)，阻挡代价分别为(3，3)，代价比较后，取代价最小的方向：上方或者左方，对应的货架号为：20或27；
计算20号货架的四个方向路径的阻挡代价为：(上，右，下，左)四个方向的阻挡数目分别为(2，4，3，3)；
经过计算或查询地图，发现右方和下方是墙壁，去掉对应的可选路径，剩余可选路径为：(上，左)，阻挡代价分别为(2，3)，代价比较后，取代价最小的方向：上方，对应的货架号为：12；
计算12号货架四个方向路径的阻挡代价：(上，右，下，左)四个方向的阻挡数目分别为(1，4，4，3)；
经过计算或查询地图，发现右方和下方是墙壁，去掉对应的可选路径，剩余可选路径为：(上，左)，阻挡代价分别为(1，3)，代价比较后，取代价最小的方向：上方，对应的货架号为：4。因此获得一条可行的路径为：4->12->20->28。
计算27号货架四个方向路径的阻挡代价为：(上，右，下，左)四个方向的阻挡数目分别为(3，5，2，2)；
经过计算或查询地图，发现右方和下方是墙壁，去掉对应的可选路径，剩余可选路径为：(上，左)，阻挡代价分别为(3，2)，代价比较后，取代价最小的方向：左方，对应的货架号为：26；
计算26号货架四个方向路径的阻挡代价为：(上，右，下，左)四个方向的阻挡数目分别为(3，6，2，1)；
经过计算或查询地图，发现右方和下方是墙壁，去掉对应的可选路径，剩余可选路径为：(上，左)，阻挡代价分别为(3，1)，代价比较后，取代价最小的方向：左方，对应的货架号为：25。因此获得一条可行的路径为：25->26->27->28。
评估两条路径的移动代价，假设移开25号，26号，27号货架到另一个存储区的代价较小，小于移开4号、12号、20号货架的代价，因此，最优的移动路径为：25->26->27->28。此处，在评估两条路径的移动代价时也可考虑多个因素，例如搬离阻挡货架需要的转弯次数，搬离阻挡货架的距离远近等。此处不再赘述。
图6示出了确定阻挡货架的目标点的一个实施例。
假设货架40作为待出库的目标货架，需要将阻挡货架32移出到存储区其它空存储位置，货架10作为目标货架移动到作业点，需要将阻挡货架9移出到存储区其它空存储位置。需要为阻挡货架32和9找到目标点位置。
首先，找到本区域空存储位置：(8，16，24，41，42，43，44)；
过滤阻碍货架40移动到指定作业点的路径：(8，16，24)，剩余可行的空存储位 置：(41，42，43，44)；
按照深度最深策略，分配给货架32的目标位置为：44；分配给货架9的目标位置为：43。
优选的，考虑到货架32及货架9到达目标位置的不确定性，避免产生货架9优先到达，货架32就无法到达存储位置44的局面，货架32及货架9的目标位置都为：41；
一种情况为：货架32先到达存储位置41，那么货架32继续前行到目标位置44，货架9后到达存储位置41，货架9继续前行到目标位置43；
另一种情况为：货架9先到达存储位置41，那么货架9继续前行到目标位置44，货架32后到达存储位置41，货架32继续前行到目标位置43。
换言之，如果至少两个阻挡货架的目标位置在一条单向通道中，则为所述至少两个阻挡货架将目标位置设置为该单向通道的入口处，并根据到达所述入口处的先后次序，分别填充到所述单向通道的最深位置处。本发明中，“单向通道”是表示入口和出口仅有一个的货架位置通道，例如图6中41、42、43、44表示的通道，以及8、16、24表示的通道。
图7示出了根据本发明第一方面的一个实施例的用于货架阵列的调度设备300。如图7所示，调度设备300包括：出库任务接收单元301、搬运策略制定单元302、和执行单元303。
其中出库任务接收单元301例如用于接收目标货架的出库任务并确定目标货架在货架阵列中的位置；
搬运策略制定单元302配置成根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出；
执行单元303与所述搬运策略制定单元耦合，并配置成根据所述搬运策略，控制自动引导车来执行搬运策略，完成搬运任务。
本领域技术人员能够理解，目标货架确定单元301、搬运策略制定单元302、和执行单元303可通过软件、硬件、或软硬件结合的方式来实现。
搬运策略制定单元302还配置成可执行如上所述的控制方法100和200中的其他步骤。例如，所述搬运策略制定单元配置成确定所述移出路径上的阻挡货架的移出位置，并将所述移出路径上的阻挡货架搬运到对应的移出位置上，其中所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径，所述移出负荷包括阻挡货架的数目、移动距离、转弯次数的加权和。
本公开的第一方面还涉及一种搬运系统，包括：
货架阵列，其中包括多个货架；
控制系统，接收目标货架的出库任务并确定目标货架在货架阵列中的位置，并根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括： 如果所述目标货架在其中一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架从该方向搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择最优的一条移出路径，将所述移出路径上的阻挡货架移出；
一个或多个自动引导车，与所述控制系统耦合，并接收所述搬运策略，根据所述搬运策略，执行搬运任务。
本公开的第一方面还涉及一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如上所述的出入库控制方法100或200。
本公开的第一方面还涉及一种用于货架阵列中多个阻挡货架的搬运方法，包括：
确定所述货架阵列中可用存储位置集；
从所述可用位置集中过滤掉那些会阻挡所述阻挡货架的存储位置；
按照深度优先策略，从所述可用位置集中为所述多个阻挡货架设定目标存储位置。
下面的第二方面和第三方面的描述通过引用整体结合于此。
第二方面
下面参考图8描述根据本发明第二方面的一种用于货架阵列的出入库控制方法400。
如图8所示，在步骤S401，接收目标货架的入库任务。入库任务例如包括(任务号，优先级，货架代码)等多元数据。
在步骤S402，获取所述货架阵列中的可用存储位置。通过计算或查询地图，可以获取当前货架阵列中可用的存储位置。
在步骤S403，根据所述可用存储位置的类型，确定所述目标货架的目标位置。具体的，可以根据空闲存储位置的深度进行分为以下四类。第一类空存储位：三面都有货架和/或障碍物；第二类空存储位：两面有货架和/或障碍物；第三类空存储位：一面有货架和/或障碍物；第四类空存储位：周围没有货架和/或障碍物。优先从第一类中选择空存储位。若存在多个第一类的空存储位置，根据距离最短原则选择一个与目标货架距离较近的空存储位置作为目标位置。若第一类中无满足条件的空存储位，那么从第二类中选择，依次类推，为入库任务选择一个合适的目标位置。
在步骤S404，将所述目标货架搬运到所述目标位置，例如通过无人引导车来进行搬运操作。
图9示出了根据一个优选实施例的出入库控制方法500实施的入库调度流程。
如图9所示，在步骤S501，上游系统需要将作业点作业完成的货架(待入库货架)搬运到仓库的存储区中，需要以任务(任务号，优先级，货架代码)的方式发给调度系统，调度系统接收到入库任务后放到任务池中。
在步骤S502，调度系统根据入库任务的具体信息，综合计算任务的优先顺序，从任务池中取一个合适的任务来调度。调度系统例如可以根据任务发送时间的先后确定任务的优先顺序，确定一个要执行的任务。或者，调度系统可以根据任务的优先级、任务创建时间或已等待时间、目标位置、执行复杂度等因素，对任务池中的任务进行排序，或者从中选择一个任务来进行调度实施。
具体的，调度系统可根据优先级来从任务池中挑选下一个待执行的任务，例如某 些优先级意味着任务立即被执行，那么具有该优先级的任务将必须立即从任务池中被检出，并安排执行。或者，调度系统可参照已等待时间来从任务池中挑选下一个待执行的任务，例如从任务池中挑选已等待最长时间的任务，接下来安排执行，这样可以避免某一条任务在任务池中被存储过久而未被执行。或者，调度系统可根据货架目标位置和/或执行的复杂度，来决定下一条待执行的任务。当然，本领域技术人员也可以构思，将以上因素结合在一起，根据一定的约束条件来从任务池中挑选下一个待执行的任务。
在步骤S503，计算任务的目标区域。存储区中根据货架的排序，可以划分为多个区域，计算每个区域的货架分布密度(已有货架个数/区域中存储位个数)，选择密度较小的区域。
在步骤S504，确定任务的目标位置。确定目标区域后，筛选该区域中的空闲存储位置，根据空闲存储位置的深度进行分类，例如可以分为以下四类。第一类空存储位：三面都有货架和/或障碍物；第二类空存储位：两面有货架和/或障碍物；第三类空存储位：一面有货架和/或障碍物；第四类空存储位：周围没有货架和/或障碍物。优先从第一类中选择空存储位。若存在第一类的多个空存储位置，根据距离最短原则选择一个与目标货架距离较短的空位置。若第一类中无满足条件的空存储位，那么从第二类中选择，依次类推，为入库任务选择一个合适的目标位置。如果在一个目标区域中，无法找到满足上述四类空存储位，那么可以重新选择一个目标区域，例如其余目标区域中货架分布密度最小的区域。
在步骤S505，入库任务确定目标位置后，选择空闲的搬运小车，根据距离任务最近原则，确定一辆距离所述待入库货架最近的空闲搬运小车。
在步骤S506，入库任务搬运小车确定后，开始执行入库搬运任务。优选的可以同时上报执行过程中的任务状态(顶升货架，开始移动，货架放下，移动完成)。入库任务移动到存储区目标位置后，上报上游系统任务完成，同时搬运小车释放。
最后，查看存在未完成的任务后，继续循环上述流程，直到任务池中的所有任务都搬运到目标位置。
图10示出了根据本发明第二方面的一个实施例的用于货架阵列的出入库控制设备600。如图10所示，调度设备600包括：入库任务接收单元601、搬运策略制定单元602、和入库执行单元603。
其中入库任务接收单元601用于接收目标货架的入库任务；搬运策略制定单元602配置成获取所述货架阵列中的可用存储位置，并根据所述可用存储位置的类型，确定所述目标货架的目标位置；入库执行单元603与搬运策略制定单元602耦合，并配置成将所述目标货架搬运到所述目标位置，完成入库任务。
本领域技术人员能够理解，入库任务接收单元601、搬运策略制定单元602、和入库执行单元603可通过软件、硬件、或软硬件结合的方式来实现。
根据一个优选的实施例，所述可用存储装置的类型包括四类：第一类为三面都有货架和/或障碍物的可用存储位置，第二类为两面都有货架和/或障碍物的可用存储位置，第三类为一都有货架和/或障碍物的可用存储位置，第四类为周围没有货架和/或 障碍物的可用存储位置。
根据一个优选的实施例，所述确定目标货架的目标位置的步骤包括：按照以下优先级选择可用存储位置：第一类，第二类，第三类，第四类，其中当同一类中具有多个可用存储位置时，选择距离最短的可用存储位置作为目标货架的目标位置。
本公开的第二方面还涉及一种搬运系统，包括：货架阵列，其中包括多个货架；控制系统，用于接收目标货架的入库任务，并获取所述货架阵列中的可用存储位置，并根据所述可用存储位置的类型，确定所述目标货架的目标位置；一个或多个自动引导车，与所述控制系统耦合，配置成将所述目标货架搬运到所述目标位置。所述控制系统配置成可执行上述的出入库控制方法400或500。
本公开的第二方面还涉及一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如上所述的出入库控制方法400或500。
上述第一方面和下面第三方面的描述通过引用整体结合于此。
第三方面
下面参考图11描述根据本发明第三方面的一种用于货架阵列的出入库调度方法700。如图11所示，出入库调度方法700包括：
在步骤S701，接收至少两条调度任务，判断所述调度任务为出库任务还是入库任务，其中每条调度任务包括货架信息和优先级。
调度系统根据任务的具体信息，综合计算任务的优先顺序，从任务池中取至少两条合适的任务来调度。例如，调度系统可以根据任务的优先级、任务创建时间或已等待时间、货架位置(例如可通过货架代码来查询得到)、执行复杂度等因素，对任务池中的任务进行排序，或者从中选择一个或两个任务来进行调度实施。
具体的，调度系统可根据优先级来从任务池中挑选下一个或两个待执行的任务，例如某些优先级意味着任务立即被执行，那么具有该优先级的任务将必须立即从任务池中被检出，并安排执行。或者，调度系统可参照已等待时间来从任务池中挑选下一个待执行的任务，例如从任务池中挑选已等待最长时间的任务，接下来安排执行，这样可以避免某一条任务在任务池中被存储过久而未被执行。或者，调度系统可根据货架的位置和/或执行的复杂度，来决定下一条待执行的任务。例如，可以对于出库调度任务，可以首先安排执行那些可以直接搬运的货架所对应的任务。
在步骤S702，对所述至少两条调度任务，分配自动引导车。
在步骤S703，规划所述至少两条调度任务的执行路径。其中对于入库任务，包括对待入库的货架确定目标位置，例如本发明第二方面中的步骤S403和S504所述的，此处不再赘述。
在步骤S704，利用所述自动引导车执行所述至少两条调度任务，其中，如果出库调度任务的优先级高于所述入库调度任务的优先级，则确保入库任务的目标位置不位于出库任务的执行路径上，即避开出库任务的执行路径。
参考图12描述一个优选的实施例：其能够实现出入库混合作业，避免产生空心。
货架50作为入库任务的对象，任务优先级较高，货架28为出库任务的对象，任务优先级较低。
调度流程中接收到2个任务，根据任务优先顺序，先调度货架50。
筛选存储区的空存储位置：(4，12，20)
根据深度最深的选择空位置的策略，确定货架50的目标位置为：20
货架50选择空闲搬运小车开始执行。
货架28由于没有阻挡货架，因此分配空闲小车开始执行。
一种情况，货架50到达目标位置：20，货架28还没有开始执行，货架28任务重新调度。
一种情况，货架50到达目标位置：20，货架28已经开始执行离开了原位置，此时货架50要检测原目标位置的四个方向上是否有深度更深的空存储位置，经过检测发现28货架已经离开，有空存储位置，因此，货架50的实际目标位置为：28
在仓库货架/托盘密集排列布局下，货架/托盘出入库混合作业是经常会出现的业务场景。
1、接收货架/托盘出入库或出库任务，放到任务池中等待调度。
2、根据任务优先顺序取一个任务
3、若为入库任务，计算入库的区域及目标位置。
4、入库任务分配空闲搬运小车并执行。
5、若为出库任务，计算出库任务的移动路径并评估一条最优的移动路径。
6、若最优移动路径中存在阻挡货架/托盘，计算阻挡货架/托盘的目标位置。
7、阻挡货架/托盘分配空闲搬运小车并执行。
8、若最优移动路径中不存在阻挡货架/托盘，出库任务分配空闲搬运小车并执行。
9、搬运小车将任务搬运到目标位置后，小车资源释放，任务完成。
10、若搬运过程中出库任务和入库任务产生业务死锁，采用避让方式来解开死锁。
11、若出库任务的优先级高于入库任务，出库货架的路径不能被入库货架作为目标位置。
根据一个优选的实施例，所述规划至少两条调度任务的执行路径的步骤包括：对于入库任务，根据深度最深原则选择可用存储位置。例如以图12为例，假设只存在针对货架50的入库任务，那么采用深度最深原则，那么将选择位置20作为目标位置，而不是位置12。
根据一个优选的实施例，出入库调度方法700还包括：当所述自动引导车完成所述入库任务后，也就是将待入库的货架运送到目标位置后，继续检查在该目标位置周围是否有深度更深的可用存储位置，如果有，利用该自动引导车将该入库任务对应的货架搬运到所述深度更深的可用存储位置。
根据一个优选的实施例，所述规划至少两条调度任务的执行路径的步骤包括：对于出库任务，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出。
根据一个优选的实施例，所述规划至少两条调度任务的执行路径的步骤还包括： 确定所述移出路径上的阻挡货架的移出位置，并将所述移出路径上的阻挡货架搬运到对应的移出位置上。
根据一个优选的实施例，所述确定移出路径上的阻挡货架的移出位置包括基于以下条件选择移出位置：阻挡货架不选择阻碍自己搬离路径的空存储位置；阻挡货架优先选择深度最深的空存储位置；阻挡货架优先选择距离自己最近的空存储位。
根据一个优选的实施例，所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径。
根据一个优选的实施例，所述移出负荷包括移动距离、转弯次数的加权和。
根据一个优选的实施例，所述的出入库控制方法700还包括：从任务队列中按照一定优先级取出调度任务，决定任务的优先顺序因素有：任务本身的优先级，任务的深度(被阻挡的个数)，任务的下发时间，任务的紧急程度(下发时间与当前时间的差值)。
本发明的第三方面还涉及一种搬运系统，包括：
货架阵列，其中包括多个货架；
一个或多个自动引导车；
控制系统，接收至少两条调度任务，判断所述调度任务为出库任务还是入库任务，其中每条调度任务包括货架信息和优先级；对所述至少两条调度任务，分配自动引导车；规划所述至少两条调度任务的执行路径；利用所述自动引导车执行所述至少两条调度任务，其中，如果出库调度任务的优先级高于所述入库调度任务的优先级，则入库任务的目标位置不能位于出库任务的执行路径上，
其中所述控制系统与所述自动引导车耦合，所述自动引导车接收所述搬运策略，根据所述搬运策略，执行搬运任务。
本公开的第三方面还涉及一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如上所述的出入库控制方法700。
上述第一方面和第二方面的描述通过引用整体结合于此。
以上分别描述了根据本公开第一方面、第二方面、第三方面的出入库调度方法，本领域技术人员可以理解，上述第一方面、第二方面、第三方面虽然各有侧重点，但是相互之间可以结合。
例如，上述第一方面侧重于货架的出库控制，第二方面侧重于货架的入库控制，第三方面侧重于出入库混合控制。但上述各个方面的技术特征相互之间可以进行结合和适用。例如，第一方面的出库的控制方法或特征可以应用于第二方面和第三方面，第二方面的入库控制方法或特征可以应用于第一方面和第三方面，第三方面的出入库混合特征也可以应用于第一方面和第二方面。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依 然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (35)

  1. 一种用于货架阵列的出入库控制方法，包括：
    接收目标货架的出库任务；
    根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出，然后将所述目标货架移出；
    执行所述搬运策略，将所述目标货架移出。
  2. 根据权利要求1所述的出入库控制方法，其特征在于，所述将目标货架移出的步骤包括：利用自动引导车将所述目标货架移出。
  3. 根据权利要求1或2所述的出入库控制方法，其特征在于，还包括：确定所述移出路径上的阻挡货架的目标位置，并将所述移出路径上的阻挡货架搬运到对应的目标位置上。
  4. 根据权利要求3所述的出入库控制方法，其特征在于，所述确定移出路径上的阻挡货架的移出位置包括基于以下条件中的一条或多条选择所述阻挡货架的目标位置：目标位置不阻挡出库任务；选择深度最深的空存储位置；选择距离自己最近的空存储位。
  5. 根据权利要求3所述的出入库控制方法，其特征在于，所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径。
  6. 根据权利要求5所述的出入库控制方法，其特征在于，所述移出负荷包括阻挡货架数目、移动距离、转弯次数的加权和。
  7. 根据权利要求1或2所述的出入库控制方法，其特征在于，还包括：从任务队列中按照一定顺序取出一个出库任务，决定任务的顺序因素包括：出库任务的优先级，出库任务的等待时间，出库任务对应的目标货架的位置和/或执行复杂度。
  8. 根据权利要求1或2所述的出入库控制方法，其特征在于，还包括：在确定搬运策略之后，产生任务组，所述任务组包括移出所述移出路径上的阻挡货架以及移出所述目标货架；以及根据所述任务组分配自动引导车。
  9. 根据权利要求3所述的出入库控制方法，其特征在于，如果至少两个阻挡货架的目标位置在一条单向通道中，则为所述至少两个阻挡货架将目标位置设置为该单向通道的入口处，并根据到达所述入口处的先后次序，填充到所述单向通道的最深位置处。
  10. 一种用于货架阵列的调度设备，包括：
    目标货架确定单元，用于接收目标货架的出库任务并确定目标货架在货架阵列中的位置；
    搬运策略制定单元，配置成根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个 方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出；和
    执行单元，与所述搬运策略制定单元耦合，并配置成根据所述搬运策略，控制自动引导车。
  11. 如权利要求10所述的设备，其中，所述搬运策略制定单元配置成确定所述移出路径上的阻挡货架的移出位置，并将所述移出路径上的阻挡货架搬运到对应的移出位置上，其中所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径，所述移出负荷包括移动距离、转弯次数的加权和。
  12. 一种搬运系统，包括：
    货架阵列，其中包括多个货架；
    控制系统，接收目标货架的出库任务并确定目标货架在货架阵列中的位置，并根据所述目标货架在所述货架阵列中的位置，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架从该方向搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择最优的一条移出路径，将所述移出路径上的阻挡货架移出；
    一个或多个自动引导车，与所述控制系统耦合，并接收所述搬运策略，根据所述搬运策略，执行搬运任务。
  13. 一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如权利要求1-9中任一项所述的出入库控制方法。
  14. 一种用于货架阵列的出入库控制方法，包括：
    接收目标货架的入库任务；
    获取所述货架阵列中的可用存储位置；
    根据所述可用存储位置的类型，确定所述目标货架的目标位置；和
    将所述目标货架搬运到所述目标位置。
  15. 如权利要求14所述的出入库控制方法，其中，所述可用存储装置的类型包括四类：第一类为三面有货架和/或障碍物的可用存储位置，第二类为两面有货架和/或障碍物的可用存储位置，第三类为一面有货架和/或障碍物的可用存储位置，第四类为周围没有货架和/或障碍物的可用存储位置。
  16. 如权利要求15所述的出入库控制方法，其中，所述确定目标货架的目标位置的步骤包括：按照以下优先级选择可用存储位置：第一类，第二类，第三类，第四类，其中当同一类中具有多个可用存储位置时，选择距离最短的可用存储位置作为目标货架的目标位置。
  17. 如权利要求14或15所述的出入库控制方法，所述将目标货架搬运到目标位置的步骤包括：通过控制自动引导车，将所述目标货架搬运到所述 目标位置。
  18. 如权利要求14或15所述的出入库控制方法，还包括：选择离所述目标货架距离最近的自动引导车，将所述目标货架搬运到所述目标位置。
  19. 如权利要求14或15所述的出入库控制方法，还包括：从任务队列中按照一定优先级取出一个入库任务，决定任务的优先顺序因素有：任务本身的优先级，任务创建时间和/或已等待时间，执行复杂度。
  20. 一种用于货架阵列的出入库控制设备，包括：
    入库任务接收单元，用于接收目标货架的入库任务；
    搬运策略制定单元，配置成：获取所述货架阵列中的可用存储位置，并根据所述可用存储位置的类型，确定所述目标货架的目标位置；和
    自动引导车，配置成将所述目标货架搬运到所述目标位置。
  21. 如权利要求20所述的出入库控制设备，其中，所述可用存储装置的类型包括四类：第一类为三面都有货架和/或障碍物的可用存储位置，第二类为两面都有货架和/或障碍物的可用存储位置，第三类为一都有货架和/或障碍物的可用存储位置，第四类为周围没有货架和/或障碍物的可用存储位置。
  22. 如权利要求21所述的出入库控制设备，其中，所述确定目标货架的目标位置的步骤包括：按照以下优先级选择可用存储位置：第一类，第二类，第三类，第四类，其中当同一类中具有多个可用存储位置时，选择距离最短的可用存储位置作为目标货架的目标位置。
  23. 一种搬运系统，包括：
    货架阵列，其中包括多个货架；
    控制系统，用于接收目标货架的入库任务，并获取所述货架阵列中的可用存储位置，并根据所述可用存储位置的类型，确定所述目标货架的目标位置；
    一个或多个自动引导车，与所述控制系统耦合，配置成将所述目标货架搬运到所述目标位置。
  24. 一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如权利要求14-19中任一项所述的出入库控制方法。
  25. 一种用于货架阵列的出入库调度方法，包括：
    接收至少两条调度任务，判断所述调度任务为出库任务还是入库任务，其中每条调度任务包括货架信息和优先级；
    对所述至少两条调度任务，分配自动引导车；
    规划所述至少两条调度任务的执行路径；
    利用所述自动引导车执行所述至少两条调度任务，其中，如果出库调度任务的优先级高于所述入库调度任务的优先级，则入库任务的目标位置避让开出库任务的执行路径。
  26. 如权利要求25所述的出入库调度方法，其中所述规划至少两条调度 任务的执行路径的步骤包括：对于入库任务，根据深度最深原则选择可用存储位置。
  27. 如权利要求26所述的出入库调度方法，还包括：当所述自动引导车完成所述入库任务后，检查在该目标位置周围是否有深度更深的可用存储位置，如果有，利用该自动引导车将该入库任务对应的货架搬运到所述深度更深的可用存储位置。
  28. 如权利要求27所述的出入库调度方法，其中，所述规划至少两条调度任务的执行路径的步骤包括：对于出库任务，确定搬运策略，其中所述搬运策略包括：如果所述目标货架在其中至少一个方向上不具有阻挡货架或障碍物时，直接将所述目标货架搬运出来；否则，确定所述目标货架的移出路径，并且当所述目标货架有多条移出路径时，从中选择一条移出路径，将所述移出路径上的阻挡货架移出。
  29. 根据权利要求28所述的出入库调度方法，其特征在于，所述规划至少两条调度任务的执行路径的步骤还包括：确定所述移出路径上的阻挡货架的移出位置，并将所述移出路径上的阻挡货架搬运到对应的移出位置上。
  30. 根据权利要求29所述的出入库调度方法，其特征在于，所述确定移出路径上的阻挡货架的移出位置包括基于以下条件选择移出位置：阻挡货架不选择阻碍自己搬离路径的空存储位置；阻挡货架优先选择深度最深的空存储位置；阻挡货架优先选择距离自己最近的空存储位。
  31. 根据权利要求29所述的出入库调度方法，其特征在于，所述选择一条移出路径的步骤包括：计算每条移出路径上各个阻挡货架的移出负荷的总和，选择移出负荷综合最小的移出路径。
  32. 根据权利要求31所述的出入库调度方法，其特征在于，所述移出负荷包括移动距离、转弯次数的加权和。
  33. 根据权利要求25或26所述的出入库控制方法，其特征在于，还包括：从任务队列中按照一定优先级取出调度任务，决定任务的优先顺序因素有：任务本身的优先级，任务的创建时间和/或已等待时间，货架位置，执行复杂度。
  34. 一种搬运系统，包括：
    货架阵列，其中包括多个货架；
    一个或多个自动引导车；
    控制系统，接收至少两条调度任务，判断所述调度任务为出库任务还是入库任务，其中每条调度任务包括货架信息和优先级；对所述至少两条调度任务，分配自动引导车；规划所述至少两条调度任务的执行路径；利用所述自动引导车执行所述至少两条调度任务，其中，如果出库调度任务的优先级高于所述入库调度任务的优先级，则入库任务的目标位置不能位于出库任务的执行路径上，
    其中所述控制系统与所述自动引导车耦合，所述自动引导车接收所述搬 运策略，根据所述搬运策略，执行搬运任务。
  35. 一种计算机可读存储介质，其上存储有计算机程序，其中所述计算机程序在被处理器执行时实现如权利要求25-33中任一项所述的出入库控制方法。
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