WO2019223527A1 - 用于搬运货架的方法和装置 - Google Patents

用于搬运货架的方法和装置 Download PDF

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Publication number
WO2019223527A1
WO2019223527A1 PCT/CN2019/085783 CN2019085783W WO2019223527A1 WO 2019223527 A1 WO2019223527 A1 WO 2019223527A1 CN 2019085783 W CN2019085783 W CN 2019085783W WO 2019223527 A1 WO2019223527 A1 WO 2019223527A1
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WIPO (PCT)
Prior art keywords
information
buffer
determining
guided transport
automatic guided
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Application number
PCT/CN2019/085783
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English (en)
French (fr)
Inventor
张淑敏
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to US17/044,119 priority Critical patent/US11636427B2/en
Priority to EP19808022.8A priority patent/EP3806013A4/en
Priority to JP2020557310A priority patent/JP7136921B2/ja
Publication of WO2019223527A1 publication Critical patent/WO2019223527A1/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
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • 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
    • 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
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Definitions

  • the embodiments of the present application relate to the field of warehousing and logistics, and in particular, to a method and a device for moving a shelf.
  • AGVs Automatic Guided Vehicles
  • AGVs Automated Guided Vehicles
  • the generation of automatic guided transport vehicle AGV brings great convenience to the selection process of the goods. It needs to work with the goods picking personnel to help the picking personnel to transport the goods.
  • the embodiments of the present application provide a method and a device for carrying a shelf.
  • an embodiment of the present application provides a method for moving a shelf, including: receiving first task information from a task server, wherein the first task information includes an identifier of a shelf to be moved and processing the first task information
  • the identification of the first picking station, the shelves to be transported are stored in the warehouse, and the warehouse is also provided with a shelf storage position, a picking station, and a set of buffer storage positions corresponding to the picking station.
  • the set of buffer storage positions includes the first buffer Storage position; according to the identifier of the shelf to be transported, determine the position of the shelf storage position storing the above-mentioned shelf as the starting position; determine the first of the set of slow storage positions corresponding to the first picking station according to the identifier of the first picking station
  • the position of the buffer storage position is the end position; first conveyance information is generated according to the determined start position and end position; and the first conveyance information is sent to the automatic guided transport vehicle so that the automatic guided transport vehicle transports the shelf.
  • sending the first handling information to the automatic guided transport vehicle includes: selecting an automatic guided transport vehicle from a set of idle automatic guided transport vehicles as a target automatic guided transport vehicle; and automatically guided transportation to the target.
  • the vehicle sends first conveyance information.
  • the cache bit set further includes a second cache bit; and the above method further includes: in a process in which the shelf is stored in the first cache bit in a cache bit set corresponding to the first picking station To determine whether the second task information including the identifier of the shelf is received from the task server, wherein the second task information further includes an identifier of a second picking station that processes the second task information; in response to determining that the second task information is received Task information, determining whether the priority of the second task information is higher than the priority of the first task information; and in response to determining that the priority of the second task information is higher than the priority of the first task information, determining the corresponding value of the first picking station
  • the position of the first buffer bit in the buffer bit set is the starting position and the position of the second buffer bit in the buffer bit set corresponding to the second picking station is determined as the end position according to the identifier of the second picking station. ; Generating second conveyance information according to the determined starting position and end position; sending the second conveyance information to the automatic guided transport
  • the method further includes: in response to determining that the second task information is not received or determining that the priority of the second task information is lower than the priority of the first task information, determining a buffer storage corresponding to the first picking station The position of the first buffer position in the bit set is the starting position, and the position of the second buffer position in the set of buffer positions corresponding to the first picking station is determined as the end position, and according to the determined start position and end position Generate third conveyance information; send third conveyance information to the automatic guided transport vehicle.
  • the method further includes: in response to determining that task processing completion information from the picking terminal is received, determining a second buffer storage position in the shelf stored in the buffer storage bit set corresponding to the first picking station. In the process, whether the third task information including the identifier of the shelf is received from the task server, wherein the task processing completion information is sent by the picking terminal after the processing of the first task information, and the third task information further includes the processing section Identification of the third picking station of the three task information; in response to determining that the third task information is received, determining the position of the second buffering position in the set of buffering positions corresponding to the first picking station as the starting position and according to the third The identification of the picking station determines the position of the first buffer position in the set of buffer positions corresponding to the third picking station as the end position; generates the fourth transfer information according to the determined start position and end position; and guides automatically The transport vehicle sends a fourth transfer message.
  • the method further includes: in response to determining that the third task information is not received, determining the position of the second buffer position in the buffer position set corresponding to the first picking station as the starting position, and determining the first position
  • the position of the first buffering position in the set of buffering positions corresponding to the picking station is the end position, and the fifth conveyance information is generated according to the determined start position and end position; and the fifth conveyance information is sent to the automatic guided transport vehicle.
  • the method further includes: determining whether the fourth shelf including the identifier of the shelf is received during the process of storing the first shelf in the first slow storage bit set corresponding to the first picking station. Task information; in response to determining that the fourth task information has not been received, determining the position of the first buffer position in the buffer position set corresponding to the first picking station as the starting position, and determining the position of the shelf storage position for storing the shelf as The end position, and generating the sixth conveyance information according to the determined start position and end position; and sending the sixth conveyance information to the automatic guided transport vehicle.
  • the automated guided transport vehicle includes a first automated guided transport vehicle that travels between a shelf storage location and a slow storage location in the set of slow storage locations; and before sending the shipping information to the automated guided transportation vehicle.
  • the above method further includes: determining whether an item in the starting position and the end position in the handling information to be sent is a shelf storage position; and responding to determining that there is an item in the starting position and the ending position in the handling information to be sent For the storage position of the rack, the transportation information is sent to the first automatic guided transport vehicle.
  • the automatic guided transport vehicle further includes a second automatic guided transport vehicle to and from the slow storage position and the slow storage position; and the above method further includes: in response to determining a starting point in the handling information to be sent The position and the end position are the positions of the slow storage position, and the transportation information is sent to the second automatic guided transport vehicle.
  • the task information sent by the task server to the server includes inbound task information and outbound task information
  • the picking station set in the warehouse includes an inbound picking station that processes inbound task information and an outbound task information
  • the outbound picking stations further comprises: determining the number of automatic guided transport vehicles in the warehouse, the number of inbound picking stations, and the number of outbound picking stations; in response to determining the number of automatic guided transport vehicles
  • the ratio of the sum of the number of inbound picking stations to the number of outbound picking stations is greater than the first preset value, according to the ratio of the number of inbound picking stations to the number of outbound picking stations and automatic guided transportation
  • the number of vehicles determines the number of first automatic guided transport vehicles to and from the shelf storage location and the buffer storage location and the number of second automatic guided transport vehicles to and from the storage location and the buffer storage location; response In determining that the ratio of the number of automatic guided transport vehicles to the sum of the number of inbound picking stations and the number of outbound picking stations is less than the first preset value, the number of
  • the cache bit set includes at least one first cache bit; and the above method further includes: in response to determining that the third task information is not received, determining whether the cache bit set corresponding to the first picking station is There is a free first buffer bit; in response to determining that there is no free first buffer bit, it is determined whether there is a picking station in the warehouse that meets the following conditions: the first buffer bit that is free in the corresponding buffer bit set The number of is greater than the second preset value; in response to determining that there is a picking station that satisfies the condition, determining the position of the second buffering position in the set of buffering positions corresponding to the first picking station as the starting position, and determining the picking that satisfies the condition
  • the position of the first buffer bit in the buffer bit set corresponding to the station is the end position, and the seventh transfer information is generated according to the determined start and end positions; and the seventh transfer information is sent to the automatic guided transport vehicle.
  • an embodiment of the present application provides a device for moving a shelf, including: a first task information receiving unit configured to receive first task information from a task server, wherein the first task information includes a to-be-handled The identification of the shelf and the identification of the first picking station that processes the first task information.
  • the shelves to be transported are stored in the warehouse.
  • the warehouse is also provided with a shelf storage position, a picking station, and a slow storage position corresponding to the picking station.
  • the buffer storage position set includes the first buffer storage position;
  • the starting position determining unit is configured to determine the position of the rack storage position storing the shelf as the starting position according to the identifier of the shelf to be transported;
  • the end position determining unit is configured According to the identification of the first picking station, the position of the first buffer position in the set of buffer positions corresponding to the first picking station is determined as the end position;
  • the first handling information generating unit is configured to be based on the determined starting point Position and end position to generate first conveyance information;
  • the first conveyance information sending unit is configured to send to the automatic guided transport vehicle The first conveyance information is to enable the automatic guided transport vehicle to convey the shelf.
  • the first transportation information sending unit is further configured to: select the automatic guided transport vehicle from the set of idle automatic guided transport vehicles as the target automatic guided transport vehicle; and send the first automatic guided transport vehicle to the target automatic guided transport vehicle.
  • a handling information is further configured to: select the automatic guided transport vehicle from the set of idle automatic guided transport vehicles as the target automatic guided transport vehicle; and send the first automatic guided transport vehicle to the target automatic guided transport vehicle.
  • the cache bit set further includes a second cache bit; and the above-mentioned device further includes: a second task information receiving unit configured to be stored on the shelf in the cache bit set corresponding to the first picking station In the process of the first buffer storage position, it is determined whether the second task information including the identifier of the shelf is received from the task server, wherein the second task information further includes a second picking station that processes the second task information.
  • a priority determination unit configured to determine whether the priority of the second task information is higher than the priority of the first task information in response to determining that the second task information is received;
  • the second handling information generation unit is configured to In response to determining that the priority of the second task information is higher than the priority of the first task information, determining the position of the first buffer position in the buffer position set corresponding to the first picking station as the starting position and according to the second picking station Bit identification, determining the position of the second buffer bit in the buffer bit set corresponding to the second picking station as the end position; according to the determined Point and ending positions of the second conveying information generated;
  • a second conveying information transmitting unit configured to transmit the second transfer information to automatic guided vehicles.
  • the above apparatus further includes: a third carrying information generating unit configured to respond to determining that the second task information is not received or determining that the priority of the second task information is lower than the priority of the first task information, Determining the position of the first buffer bit in the buffer bit set corresponding to the first picking station as the starting position, and determining the position of the second buffer bit in the buffer bit set corresponding to the first picking station as the end position, And generating third conveyance information according to the determined starting position and end position; the third conveyance information sending unit is configured to send the third conveyance information to the automatic guided transport vehicle.
  • a third carrying information generating unit configured to respond to determining that the second task information is not received or determining that the priority of the second task information is lower than the priority of the first task information, Determining the position of the first buffer bit in the buffer bit set corresponding to the first picking station as the starting position, and determining the position of the second buffer bit in the buffer bit set corresponding to the first picking station as the end position, And generating third conveyance information according to the
  • the above-mentioned device further includes: a third task information receiving unit configured to, in response to determining that task processing completion information from the picking terminal is received, determine to store the shelf in the slow storage corresponding to the first picking station. Whether the third task information including the identifier of the shelf mentioned above is received from the task server during the process of storing the second bit in the bit set, wherein the task processing completion information is sent by the picking terminal after processing the first task information
  • the third task information further includes an identification of a third picking station that processes the third task information; a fourth handling information generating unit is configured to determine, in response to determining that the third task information is received, that the first picking station corresponds to The position of the second buffer bit in the buffer bit set is the starting position and the position of the first buffer bit in the buffer bit set corresponding to the third picking station is determined as the end position according to the identifier of the third picking station. ; Generate fourth conveyance information according to the determined starting position and end position; the fourth conveyance information sending unit is configured The directional automatic
  • the above device further includes: a fifth carrying information generating unit configured to determine a second buffer storage in a buffer storage bit set corresponding to the first picking station in response to determining that the third task information is not received.
  • the position of the bit is the starting position, the position of the first buffer position in the set of buffer positions corresponding to the first picking station is determined as the end position, and the fifth carrying information is generated according to the determined start position and end position;
  • the transportation information transmitting unit is configured to transmit the fifth transportation information to the automatic guided transport vehicle.
  • the above-mentioned device further includes: a fourth task information receiving unit configured to determine whether or not the shelf is stored in the first buffer position in the buffer position set corresponding to the first picking station, The fourth task information including the identifier of the shelf is not received; the sixth handling information generating unit is configured to determine, in response to determining that the fourth task information is not received, determine the first one in the set of buffer positions corresponding to the first picking station.
  • the position of the slow storage position is the starting position, the position of the shelf storage position storing the above-mentioned shelf is determined as the end position, and the sixth carrying information is generated according to the determined starting position and end position;
  • the sixth carrying information sending unit is configured to The sixth transfer information is sent to the automatic guided transport vehicle.
  • the automatic guided transport vehicle includes a first automatic guided transport vehicle that travels between a shelf storage location and a slow storage location in a set of slow storage locations; and the above-mentioned device further includes: a position determination unit configured to Before sending the transportation information to the automatic guided transportation vehicle, determine whether one of the starting position and the end position in the transportation information to be sent is a shelf storage position; the first automatic guided transportation vehicle determination unit is configured In response to determining that one of the start position and the end position in the to-be-transported information is a shelf storage position, the to-be-automated guided transport vehicle is sent with the to-be-transported information.
  • the automatic guided transport vehicle further includes a second automatic guided transport vehicle to and from the buffer storage position and the buffer storage position; and the device further includes: a second automatic guided transport vehicle determining unit, And configured to send the transportation information to the second automatic guided transport vehicle in response to determining that the start position and the end position in the transportation information to be transmitted are positions of the slow storage position.
  • the task information sent by the task server to the server includes inbound task information and outbound task information
  • the picking station set in the warehouse includes an inbound picking station that processes inbound task information and an outbound task information
  • the outbound picking station; and the above device further comprises: a quantity determining unit configured to determine the number of automatic guided transport vehicles in the warehouse, the number of inbound picking stations, and the number of outbound picking stations; a first allocation A unit configured to respond to determining that a ratio of the number of automatic guided transport vehicles to the sum of the number of inbound picking stations and the number of outbound picking stations is greater than a first preset value according to the number of inbound picking stations
  • the ratio to the number of outbound picking stations and the number of automatic guided transport vehicles determines the number of first automatic guided transport vehicles to and from the shelf storage location and the slow storage location, and to and from the slow storage location and the slow storage location.
  • the number of second automatic guided transport vehicles between the stations; the second allocation unit is configured to respond to the determination of the number of automatic guided transport vehicles and the number of storage picking stations and The ratio of the sum of the number of picking stations in the warehouse is less than the first preset value.
  • the sum of the number of picking stations in the warehouse and the number of picking stations in the warehouse is selected as an automatic guided transport vehicle to and from the slow storage place and the slow storage.
  • the second automatic guided transport vehicle between the stations and the selected automatic guided transport vehicle are assigned to the storage picking station and the storage picking station.
  • the cache bit set includes at least one first cache bit; and the above method further includes: an idle cache bit determination unit configured to determine the first selection in response to determining that the third task information is not received Whether there is an idle first cache bit set in the cache bit set corresponding to the workstation; the idle cache bit screening unit is configured to determine whether the following conditions are met in the warehouse in response to determining that there is no idle first cache bit Picking stations: the number of idle first buffering positions in the corresponding set of buffering positions is greater than the second preset value; the seventh transport information generating unit is configured to respond to determining that there are picking stations that meet the conditions, Determine the position of the second buffer position in the buffer position set corresponding to the first picking station as the starting position, and determine the position of the first buffer position in the buffer position set corresponding to the picking station that meets the condition as the end position And generating a seventh conveyance information according to the determined starting position and end position; the seventh conveyance information sending unit is configured to guide the automatic guide 7. Handling vehicles transmitting information.
  • an embodiment of the present application provides a server including: one or more processors; a storage device storing one or more programs thereon, when the one or more programs are processed by the one or more programs The processor executes, so that the one or more processors implement the method described in any embodiment of the first aspect.
  • an embodiment of the present application provides a computer-readable medium on which a computer program is stored, and when the program is executed by a processor, the method as described in any one of the embodiments of the first aspect is implemented.
  • the method and device for controlling shelf transportation may determine the position of the shelf storage location where the shelf is stored according to the identifier of the shelf to be transported. , And then determine the above position as the starting position. Then according to the identification of the first picking station, the position of the first buffer position in the set of buffer positions corresponding to the first picking station is determined, and then the position is determined as the end position. The first conveyance information is generated based on the start position and the end position. The generated first conveyance information is sent to the automatic guided transport vehicle, so that the automatic guided transport vehicle transports the shelf.
  • an automatic guided transport vehicle can be more fully utilized by setting up a slow storage position in a warehouse and decomposing the transportation distance into multiple sections.
  • FIG. 1 is an exemplary system architecture diagram to which the present application can be applied;
  • FIG. 2 is a schematic layout diagram of a warehouse of the present application
  • FIG. 3 is a flowchart of an embodiment of a method for controlling rack handling according to the present application.
  • FIG. 4 is a schematic diagram of an application scenario of a method for controlling shelf handling according to the present application.
  • FIG. 5 is a flowchart of still another embodiment of a method for controlling rack handling according to the present application.
  • FIG. 6 is a flowchart of still another embodiment of a method for controlling rack handling according to the present application.
  • FIG. 7 is a schematic structural diagram of an embodiment of a device for controlling shelf handling according to the present application.
  • FIG. 8 is a schematic structural diagram of a computer system suitable for implementing a server according to an embodiment of the present application.
  • FIG. 1 illustrates an exemplary system architecture 100 to which an embodiment of a method for controlling rack handling or an apparatus for controlling rack handling may be applied.
  • the system architecture 100 may include a server 101, a network 102, 103, a task server 104, a picking terminal 105, and an automated guided transport vehicle 106, 107.
  • the network 102 is used to provide a medium for a communication link between the automated guided vehicles 106, 107 and the server 101.
  • the network 103 is used to provide a medium for a communication link between the picking terminal 105 and the server 101 and between the server 101 and the task server 104.
  • the networks 102, 103 may include various connection types, such as wired, wireless communication links, or fiber optic cables, and so on.
  • the task server 104 may interact with the server 101 through the network 103 to receive or send messages and the like.
  • the task server 104 may be a server that provides various services, for example, a server that sends task information to the server 101.
  • the above task information may include an identifier of a shelf to be transported, and may further include an identifier of a picking station that processes the task information.
  • the task information may also include the identification and quantity of the items to be picked.
  • Various communication client applications can be installed on the task server 104, such as a web browser application, a shopping application, a search application, an instant communication tool, an email client, and a social platform software.
  • the server 101 can receive the task message of the task server 104 through the network 103, and can also obtain the information of the automatic guided transport vehicles 106 and 107 through the network 102.
  • the server 101 may be a server that provides various services, for example, a server that analyzes task information sent by the task server 104. After receiving the task information sent by the task server 104, the server 101 may send the task information to the automatic guided transport vehicles 106 and 107.
  • Various communication client applications can be installed on the server 101, such as a web browser application, a shopping application, a search application, an instant communication tool, an email client, and a social platform software.
  • the picking staff can interact with the server 101 or the task server 104 through the picking terminal 105.
  • the task information sent by the task server 104 is processed by the picking staff, and the picking staff may send a message to the server 101 or a message to the task server 104 after the processing is completed.
  • the picking staff may send an update completion message to the task server 104 through the picking terminal 105 after updating (on-shelf or off-shelf) items on the shelf.
  • Various communication client applications can be installed on the picking terminal 105, such as a web browser application, a shopping application, a search application, an instant communication tool, an email client, and a social platform software.
  • a communication device may also be installed on the automatic guided transport vehicles 106 and 107 to interact with the server 101.
  • the automatic guided transport vehicles 106 and 107 can receive the transport information sent by the server 101 to transport a designated shelf to a designated place.
  • a positioning device may be installed on the automatic guided transport vehicles 106 and 107, and the current position information may be transmitted to the server 101.
  • the picking terminal 105 may be hardware or software.
  • the picking terminal 105 When the picking terminal 105 is hardware, it may be various electronic devices having a display screen and supporting information interaction, including, but not limited to, smart phones, tablet computers, palmtop computers, laptop computers, and desktop computers.
  • the picking terminal 105 When the picking terminal 105 is software, it can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules (for example, to provide distributed services), or it can be implemented as a single software or software module. It is not specifically limited here.
  • the server 101 and the task server 104 may be hardware or software.
  • the server 101 and the task server 104 are hardware, they can be implemented as a distributed server cluster composed of multiple servers or as a single server.
  • the server 101 and the task server 104 are software, they may be implemented as multiple software or software modules (for example, to provide distributed services), or may be implemented as a single software or software module. It is not specifically limited here.
  • the method for controlling shelf transportation provided by the embodiments of the present application is generally executed by the server 101, and accordingly, a device for controlling shelf transportation is generally disposed in the server 101.
  • FIG. 1 the number of servers, networks, task servers, picking terminals, and automated guided transport vehicles in FIG. 1 are merely exemplary. According to implementation needs, there can be any number of servers, networks, task servers, picking terminals, and automated guided transport vehicles.
  • FIG. 2 shows a schematic layout of the warehouse of the present application.
  • a plurality of rack storage positions 201, a picking station 203, and a slow storage position set 202 corresponding to the picking station may be provided in the warehouse.
  • a plurality of rack storage spaces 201 are used to store racks, and there are aisles between the rack storage spaces for automatic guidance of the transportation vehicle.
  • the picking station 203 can be set in a peripheral area of the warehouse, for example, it can be set close to the door of the warehouse to facilitate storage and unloading.
  • Picking staff can operate (up or down) the items on the shelf at the picking station 203.
  • Each picking station 203 corresponds to a buffer storage bit set 202.
  • the buffer storage bit set 202 may include multiple buffer storage bits, and the buffer storage bit may include a first buffer storage bit.
  • the role of the slow storage position is to store the shelves to be transported for a short time. After the picking staff has finished operating the items on the shelves, the automatic guided transport vehicle can transport the shelves to other locations.
  • FIG. 3 a flowchart 300 of one embodiment of a method for controlling rack handling according to the present application is shown.
  • the method for controlling shelf transportation in this embodiment includes the following steps:
  • Step 301 Receive first task information from a task server.
  • an execution subject for example, the server 101 shown in FIG. 1 for controlling the racking method may be wired or wirelessly connected from a task server (for example, the task server 104 shown in FIG. 1).
  • Receive first mission information The task server refers to a server that generates task information, and can generate task information based on order information generated by a user, and can also generate task information based on cargo supplementary information.
  • the goods supplement information can be determined by the warehouse staff according to the number of items stored in the warehouse.
  • the first task information may include an identifier of a shelf to be handled and an identifier of a first picking station that processes the first task information.
  • the identification of the shelf to be transferred may be determined according to the position of the shelf storage location in the warehouse, or may be determined according to the type of goods stored on the shelf.
  • the identifier of the first picking station may be represented by an arbitrary character string.
  • the shelves to be transported are stored in a warehouse, and the warehouse may be a warehouse based on a cargo-to-person mode (that is, the warehouse shown in FIG. 2), which is also referred to as a cargo-to-person warehouse.
  • the goods-to-person warehouse can be understood as the warehouse where the items on the shelves are transferred to the picking station by AGV (Automated Guided Vehicle), and the order is manually picked at the picking station.
  • the warehouse may be provided with a shelf storage position, a picking station, and a set of slow storage positions corresponding to the picking station.
  • the shelf storage space is used to store the shelves
  • the picking station is used for the picking staff to pick the items on the shelf
  • the slow storage position in the slow storage position set is used to store the shelves including the items to be picked by the staff to be picked.
  • the above cache bit set includes a first cache bit.
  • the first buffer storage position is used to store the shelves picked by the staff to be picked.
  • wireless connection methods may include, but are not limited to, 3G / 4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection, and other wireless connection methods now known or developed in the future. .
  • Step 302 Determine, according to the identifier of the shelf to be carried, the position of the shelf storage position where the shelf is stored as the starting position.
  • the execution body may determine the position of the shelf storage position in the warehouse where the shelf to be transported is stored according to the identifier of the shelf to be transported in the first task information, and then determine the above position as the starting position. It can be understood that, in this embodiment, the correspondence between the shelf identifier and the position of the shelf storage location may be stored in the execution body in advance.
  • Step 303 Determine, according to the identifier of the first picking station, the position of the first buffer bit in the set of buffer bits corresponding to the first pick station as the end position.
  • the execution subject may determine the position of the first picking station according to the identifier of the first picking station in the first task information. Then, the position of the first buffer position in the buffer position set corresponding to the first picking station is set as the end position. It can be understood that when the cache bit set includes a plurality of first cache bit sets, the execution body may use the position of any idle first cache bit among the multiple first cache bits as an end position. The position of the first buffer position closest to the picking station among the plurality of first buffer positions may be used as the end position.
  • Step 304 Generate first conveyance information according to the determined starting position and ending position.
  • the execution body After the execution body has determined the start position and the end position, the above-mentioned start position and the end position may be encapsulated to generate first conveyance information.
  • Step 305 Send the first transportation information to the automatic guided transport vehicle, so that the automatic guided transport vehicle transports the shelf.
  • the first transportation information may be sent to the automatic guided transport vehicle, so that the automatic guided transportation vehicle transports the shelf from the starting position to the automatic guided transportation vehicle after receiving the first transportation information. At the end position. It can be understood that when there are multiple automatic guided transport vehicles in the warehouse, the above-mentioned first handling information may be sent to any of the automatic guided transport vehicles.
  • the foregoing step 305 may specifically include the following steps not shown in FIG. 3: First, an automatic guided transport vehicle is selected from the set of idle automatic guided transport vehicles as a target automatic Guided transport vehicle. Then, the first automatic transportation information is sent to the target automatic guided transport vehicle.
  • the server can obtain the status information of each automatic guided transport vehicle in real time, and the above status information may include the occupied status and the idle status. The server can also obtain the position information of each automatic guided transport vehicle in real time.
  • an idle automatic guided transport vehicle closest to the starting position can be selected to carry the shelves.
  • the traveling distance of the automatic guided transport vehicle can be reduced, the power consumption is reduced, and the working time of the automatic guided transport vehicle is prolonged; on the other hand, the shelf transportation efficiency can be improved.
  • FIG. 4 is a schematic diagram of an application scenario of the method for controlling shelf handling according to this embodiment.
  • the server determines the starting position (the position of the shelf storage space including the dotted line in the figure) and End position (position indicated by arrow). Then, the start position and the end position are packaged to obtain the transportation information, and the information is sent to the automatic guided transport vehicle 401. After receiving the transport information, the automatic guided transport vehicle 401 transports the rack from the starting position to the ending position. Workers at the picking station 402 can sequentially process items stored on the shelves.
  • the position of the shelf storage location where the shelf is stored can be determined according to the identifier of the shelf to be transported, and then The above position is determined as the starting position. Then according to the identification of the first picking station, the position of the first buffer position in the set of buffer positions corresponding to the first picking station is determined, and then the position is determined as the end position. The first conveyance information is generated based on the start position and the end position. The generated first conveyance information is sent to the automatic guided transport vehicle, so that the automatic guided transport vehicle transports the shelf.
  • an automatic guided transport vehicle can be more fully utilized by setting a slow storage position in a warehouse and decomposing the transportation distance into multiple sections.
  • the cache bit set may further include a second cache bit.
  • the automatic guided transport vehicle can move the shelves to the second slow storage position.
  • the second buffer storage position can be set near the picking station.
  • the method for controlling shelf transportation in this embodiment may further include the following steps after step 305 in FIG. 3:
  • Step 501 In a process in which the shelf is stored in a first buffer position in a buffer position set corresponding to the first picking station, it is determined whether the second task information including the identifier of the shelf is received from the task server.
  • the executing entity may determine whether it has received the data from the task server.
  • Second mission information may include an identifier of the shelf and an identifier of a second picking station that processes the second task information. It is understandable that the second picking station may be the same as or different from the first picking station.
  • Step 502 In response to determining that the second task information is received, determine whether the priority of the second task information is higher than the priority of the first task information.
  • the execution subject receives the second task information, it is determined whether the priority of the second task information is higher than the priority of the first task information.
  • the execution subject may first obtain priority information of the task information from the task server, and then determine whether the priority of the second task information is higher than the priority of the first task information according to the obtained priority information. .
  • the execution subject may judge the priority level according to the type of task information.
  • the task information may include different types of task information, for example, it may include outbound task information and inbound task information.
  • the execution subject may preset the priority of the outbound task information to be higher than the priority of the inbound task information.
  • Step 503 In response to determining that the priority of the second task information is higher than the priority of the first task information, it is determined that the position of the first buffer bit in the buffer bit set corresponding to the first picking station is the starting position. According to the identifier of the second picking station, the position of the second buffer position in the set of buffer positions corresponding to the second picking station is determined as the end position. Generate second conveyance information based on the determined starting position and ending position.
  • the second task information needs to be processed first. That is to say, at this time, it is necessary to automatically guide the transport vehicle to transport the shelf to the second picking station, so that the picking staff located at the second picking station can preferentially process the second task information.
  • the position of the first buffer position in the buffer position set corresponding to the first picking station may be used as the starting position.
  • the position of the second picking station is determined, and the position of the second buffering position in the set of buffering positions corresponding to the second picking station is used as the end point. position.
  • the start position and the end position are packaged as the second handling information.
  • Step 504 Send the second handling information to the automatic guided transport vehicle.
  • the execution body After the execution body generates the second transportation information, it can send the second transportation information to the automatic guided transport vehicle. After receiving the second transportation information, the automatic guided transport vehicle can move the rack from the starting position to the ending position. It can be understood that the automatic guided transport vehicle herein may be the same as or different from the automatic guided transport vehicle in the embodiment shown in FIG. 3. This embodiment is not limited thereto.
  • the execution body may also use the position of the second buffer position in the buffer position set corresponding to the second picking station as a starting point. For the position, the position of the first buffer position in the buffer position set corresponding to the first picking station is used as the end position. Then, based on the above-mentioned starting position and ending position, the transportation information is generated and sent to the automatic guided transport vehicle.
  • the automatic guided transport vehicle can transport the above-mentioned shelf back to the first picking station, so that the first task information can continue to be processed.
  • first cache positions when a plurality of first cache positions are included in the cache position set, it is possible that other first cache positions have already stored shelves, and the above shelves may be stored at a distance behind the first cache positions where the shelves are stored. The first slow storage location far from the picking station is queued for processing.
  • the foregoing method further includes the following steps not shown in FIG. 5: in response to determining that the second task information is not received or determining that the priority of the second task information is lower than the first task information
  • the priority of the task information the position of the first buffer bit in the buffer bit set corresponding to the first picking station is determined as the starting position, and the second buffer bit in the buffer bit set corresponding to the first picking station is determined
  • the position is the end position.
  • the third conveyance information is generated based on the determined starting position and ending position. Send the third handling information to the automatic guided transport vehicle.
  • the execution body When the execution body does not receive the second task information or the execution body determines that the priority of the second task information is lower than the priority of the first task information, the execution body continues to process the first task information.
  • the position of the first buffer bit in the buffer bit set corresponding to the first picking station may be used as the starting position, and the position of the second buffer bit in the buffer bit set corresponding to the first picking station may be used.
  • the end position As the end position.
  • the above-mentioned starting position and ending position are packaged to generate third conveyance information.
  • the third transportation information is sent to the automatic guided transport vehicle, so that the automatic guided transport vehicle transports the shelf from the starting position to the ending position.
  • a picking worker may use a picking terminal (such as the picking terminal 105 in FIG. 1) to interact with the server. Then, the above method further includes the following steps not shown in FIG. 5: in response to determining that the task processing completion information from the picking terminal is received, determining that the above-mentioned shelf is stored in the second buffer storage position corresponding to the first picking station , Whether the third task information including the identifier of the shelf mentioned above is received from the task server.
  • determining the position of the second buffer position in the buffer position set corresponding to the first picking station as the starting position and determining the third picking station according to the identifier of the third picking station The position of the first buffer bit in the corresponding buffer bit set is the end position.
  • the fourth conveyance information is generated based on the determined starting position and ending position. Send the fourth transfer information to the automatic guided transport vehicle.
  • the picking terminal may send the task processing completion information to the execution subject through the picking terminal to indicate that the processed first task information is completed.
  • the execution subject may determine whether the above-mentioned shelf is stored in the second buffering position set of the buffering position set corresponding to the first picking station, and whether it receives from the task server, including The third task information of the identifier of the shelf.
  • the third task information may further include an identifier of a third picking station that processes the third task information.
  • the execution subject may send the fourth transportation information to the automatic guided transport vehicle, so that the automatic guided transport vehicle directly transports the above-mentioned shelf to the set of buffer storage positions corresponding to the third picking station.
  • the first buffer bit That is, the execution body may use the position of the second buffer position corresponding to the first picking station as the starting position, and the position of the first buffer position in the set of buffer positions corresponding to the third picking station as the end position.
  • the start position and the end position are encapsulated in the fourth conveyance information.
  • the above method further includes the following steps not shown in FIG. 5: in response to determining that the third task information is not received, determining a set of buffer storage bits corresponding to the first picking station The position of the second buffer position in is the starting position, and the position of the first buffer position in the set of buffer positions corresponding to the first picking station is determined as the end position.
  • the fifth conveyance information is generated based on the determined start position and end position. Send fifth handling information to the automated guided vehicle.
  • the above-mentioned shelf needs to be returned to the first buffer storage from the second buffer storage position in the buffer storage bit set corresponding to the current picking station.
  • Bit That is, the position of the second buffer bit in the buffer bit set corresponding to the first picking station is determined as the starting point, and the position of the first buffer bit in the buffer bit set corresponding to the first picking station is determined as the end point. position. Then, the start position and the end position are encapsulated in the fifth conveyance information. Send fifth handling information to the automated guided vehicle.
  • the above method further includes the following steps not shown in FIG. 5: determining the first buffer storage in the buffer storage set corresponding to the first picking station on the above shelf. During the bit process, whether the fourth task information including the identifier of the shelf is received. In response to determining that the fourth task information is not received, the position of the first buffer position in the buffer position set corresponding to the first picking station is determined as the starting position, and the position of the shelf storage position storing the shelf is determined as the end position. The sixth conveyance information is generated based on the determined start position and end position. The sixth transfer information is sent to the automatic guided transport vehicle.
  • the execution body may generate sixth conveying information, so that the automatic guided transport vehicle may move the above-mentioned shelf to the shelf storage location in the warehouse.
  • the cache bit set may include at least one first cache bit.
  • the above method may further include the following step not shown in FIG. 5: in response to determining that the third task information is not received, determining whether there is an idle first buffer bit in a buffer bit set corresponding to the first picking station. In response to determining that there is no free first buffer storage bit, it is determined whether there is a picking station in the warehouse that satisfies the following condition: the number of free first buffer storage bits in the corresponding buffer storage bit set is greater than the second preset value.
  • determining the position of the second buffering position in the buffering bit set corresponding to the first picking station as the starting position, and determining the position of the buffering bit set corresponding to the picking station that meets the condition The position of the first buffer bit is the end position. Then, seventh conveyance information is generated according to the determined starting position and ending position. The seventh transfer information is sent to the automatic guided transport vehicle.
  • the rack needs to be moved from the second buffer storage position in the set of buffer storage positions corresponding to the first picking station to the buffer storage corresponding to the first picking station.
  • the first buffer bit in the bit set. If there is no free first buffer position in the buffer position set corresponding to the first picking station, it may be determined whether there is an idle first buffer position in the buffer position set corresponding to other picking stations in the warehouse, and If the number of idle first buffer positions is greater than the second preset value, the rack can be moved to the idle first buffer positions.
  • the position of the second buffer bit in the buffer bit set corresponding to the first picking station is the starting position
  • the position of the first buffer bit in the buffer bit set corresponding to the picking station that satisfies the condition is End position.
  • the start position and the end position are packaged to generate seventh conveyance information.
  • the seventh transportation information is sent to the automatic guided transport vehicle.
  • the shelf when processing task information, the shelf may be transported to a first buffer storage position or a second buffer storage position, and while the shelf is in the buffer storage position, It is detected whether new task information is received for the above-mentioned shelf. If the execution subject is not currently processing the current task information, the priority of the new task information needs to be compared with the priority of the currently processed task information. If the priority of the new task information is high, the new task information is processed first. If the priority of the new task information is low, processing of the currently processed task information is continued. After processing the task information, the shelf is at the second buffer storage position, and then returned to the first buffer storage position.
  • the method of this embodiment increases the flexibility of the handling process by dividing the handling process of the shelf into multiple sections, and detects multiple times whether new task information is received at the slow storage location, so as to facilitate the direct transfer of the shelves to other speeds. At the storage position, the hit rate of the shelf is improved; because the shelf does not need to be returned each time, the traveling distance of the automatic guided transport vehicle is reduced, and the processing efficiency is improved.
  • the automatic guided transport vehicle includes a first automatic guided transport vehicle that travels between a shelf storage location and a buffer storage location in a set of buffer storage locations, and a first transportation vehicle that travels between the buffer storage location and the buffer storage location.
  • Two automatic guided transport vehicles In this embodiment, the first automatic guided transport vehicle can shuttle to and from the first buffer storage space between the shelf storage location and the buffer storage location, and the second automatic guided transport vehicle can shuttle to and from different sets of buffer storage locations. Between the first cache bit and the second cache bit, and between the first cache bit and the second cache bit of the same cache bit set.
  • the method may further include the following steps:
  • step 601 it is determined whether an item in the starting position and the end position in the to-be-transported information is a position of a shelf storage position.
  • the execution subject may determine whether one of the start position and the end position in the transport information is a shelf storage position after the transport information is generated.
  • Step 602 In response to determining that one of the start position and the end position in the to-be-transported information is a shelf storage position, send the to-be-automated guided transport vehicle with the to-be-transported information.
  • the execution body sends the transport information to the first automatic guided transport vehicle.
  • Step 603 In response to determining that the start position and the end position in the to-be-transported information are the positions of the buffer storage positions, send the to-be-automated guided transport vehicle with the to-be-transported information.
  • the execution body sends the transportation information to the second automatic guided transport vehicle.
  • the method for controlling shelf transportation provided by the foregoing embodiments of the present application can send the transportation information to different types of automatic guided transport vehicles according to the type of the transportation information, so that the automatic guided transport vehicles can be effectively managed.
  • the task information sent by the task server to the server may include inbound task information and outbound task information.
  • the picking station set in the warehouse may include an inbound picking station that processes the information of the inbound tasks and an outbound picking station that processes the information of the outbound tasks.
  • the above method may further include the following steps. First, determine the number of automatic guided transport vehicles in the warehouse, the number of picking stations in the warehouse, and the number of picking stations in the warehouse.
  • the ratio of the number of automatic guided transport vehicles to the sum of the number of inbound picking stations and the number of outbound picking stations is greater than the first preset value, according to the number of inbound picking stations and the outbound picking stations.
  • the ratio of the number of automatic guided transport vehicles and the number of automatic guided transport vehicles determine the number of the first automatic guided transport vehicles to and from the shelf storage location and the slow storage location and the second to and from the slow storage location and the slow storage location. Number of automatic guided transport vehicles.
  • the ratio of the number of automatic guided transport vehicles to the number of inbound picking stations and the number of outbound picking stations is less than the first preset value, the number of inbound picking stations and outbound picking stations are selected The sum of the number of automatic guided transport vehicles serves as the second automatic guided transport vehicle to and from the slow storage location and the slow storage location, and the selected automatic guided transportation vehicle is allocated to the storage picking station and the storage Picking station.
  • the execution entity may determine the number n of automatic guided transport vehicles in the warehouse, the number m 1 of pick-in and pick-up stations, and the number m 2 of pick-out and pick-up stations. Then calculate the value of n / (m 1 + m 2 ), and determine whether the above ratio is greater than the first preset value. If it is larger, it means that there are more automatic guided transport vehicles in the warehouse. Then, the number of the first automatic guided transport vehicles and the number of the second automatic guided transport vehicles can be determined according to m 1 / m 2 and n. For example, n * m 1 / m 2 automatic guided transport vehicles are used as the first automatic guided transport vehicle, and the remaining ones are used as the second automatic guided transport vehicle.
  • n * m 1 / (m 1 + m 2 ) automatic guided transport vehicles are used as the first automatic guided transport vehicle, and the remaining ones are used as the second automatic guided transport vehicle. If the above-mentioned ratio is smaller than the first preset value, it means that the number of automatic guided transport vehicles in the warehouse is small. Then m 1 + m 2 automatic guided transport vehicles can be selected as the first automatic guided transport vehicle, and the remaining ones can be used as the second automatic guided transport vehicle. And each first automatic guided transport vehicle is assigned to each picking station, so that each picking station corresponds to an automatic guided transport vehicle, which facilitates the transfer of the rack from the first slow storage position to the second slow storage position. Alternatively, the rack is moved from the first buffer storage position of the picking station to the first buffer storage position or the second buffer storage position of other picking stations.
  • this application provides an embodiment of a device for controlling rack handling.
  • the device embodiment corresponds to the method embodiment shown in FIG. 3.
  • the device can be applied to various electronic devices.
  • the apparatus 700 for controlling shelf transportation in this embodiment includes: a first task information receiving unit 701, a starting position determining unit 702, an ending position determining unit 703, a first carrying information generating unit 704, and a first Carrying information transmitting unit 705.
  • the first task information receiving unit 701 is configured to receive first task information from a task server.
  • the first task information includes an identifier of a shelf to be transported and an identifier of a first picking station that processes the first task information.
  • the shelf to be transported is stored in a warehouse.
  • the warehouse also includes a shelf storage location, a picking station, and A set of buffer storage bits corresponding to the picking station, the set of buffer storage bits includes a first buffer storage bit.
  • the starting point position determining unit 702 is configured to determine, according to the identifier of the shelf to be transported, the position of the shelf storage position storing the shelf as the starting position.
  • the end position determining unit 703 is configured to determine, according to the identifier of the first picking station, the position of the first buffer position in the set of buffer positions corresponding to the first pick station as the end position.
  • the first conveyance information generating unit 704 is configured to generate the first conveyance information based on the determined start position and end position.
  • the first carrying information sending unit 705 is configured to send the first carrying information to the automatic guided transport vehicle, so that the automatic guided transport vehicle transports the shelf.
  • the above-mentioned first handling information sending unit 705 may be further configured to: select an automatic guided transport vehicle from a set of idle automatic guided transport vehicles as a target automatic guided transport vehicle. ; Send the first handling information to the target automatic guided transport vehicle.
  • the cache bit set may further include a second cache bit.
  • the device 700 may further include a second task information receiving unit, a priority determining unit, a second carrying information generating unit, and a second carrying information sending unit, which are not shown in FIG. 7.
  • the second task information receiving unit is configured to determine, during the process in which the shelf is stored in the first slow storage position in the set of slow storage positions corresponding to the first picking station, whether or not a The identified second task information.
  • the second task information further includes an identifier of a second picking station that processes the second task information.
  • the priority determining unit is configured to determine whether the priority of the second task information is higher than the priority of the first task information in response to determining that the second task information is received.
  • the second handling information generating unit is configured to determine, in response to determining that the priority of the second task information is higher than the priority of the first task information, determining a first buffer bit in a buffer bit set corresponding to the first picking station.
  • the position is the starting position and the position of the second buffer position in the set of buffer positions corresponding to the second picking station is determined as the end position according to the identifier of the second picking station; 2. Handling information.
  • the second conveyance information transmitting unit is configured to transmit the second conveyance information to the automatic guided transport vehicle.
  • the foregoing apparatus 700 may further include a third carrying information generating unit and a third carrying information sending unit that are not shown in FIG. 7.
  • the third handling information generating unit is configured to determine a buffer position corresponding to the first picking station in response to determining that the second task information is not received or that the priority of the second task information is lower than the priority of the first task information.
  • the position of the first buffer position in the set is the starting position, and the position of the second buffer position in the set of buffer positions corresponding to the first picking station is determined as the end position, and is generated according to the determined start position and end position Third handling information.
  • the third conveyance information transmitting unit is configured to transmit the third conveyance information to the automatic guided transport vehicle.
  • the foregoing apparatus 700 may further include a third task information receiving unit, a fourth carrying information generating unit, and a fourth carrying information sending unit that are not shown in FIG. 7.
  • the third task information receiving unit is configured to, in response to determining that task processing completion information from the picking terminal is received, determine a process of the second buffer storage position stored in the shelf in the buffer storage set corresponding to the first picking station. , Whether the third task information including the identifier of the shelf is received from the task server.
  • the task processing completion information is sent by the picking terminal after the processing of the first task information is completed, and the third task information further includes an identifier of a third picking station that processes the third task information.
  • a fourth handling information generating unit configured to determine, in response to determining that the third task information is received, determine the position of the second buffer position in the buffer position set corresponding to the first picking station as the starting position and according to the third picker The identifier of the bit determines the position of the first buffer bit in the buffer bit set corresponding to the third picking station as the end position; and generates fourth handling information according to the determined start position and end position.
  • the fourth conveyance information transmitting unit is configured to transmit the fourth conveyance information to the automatic guided transport vehicle.
  • the foregoing apparatus 700 may further include a fifth carrying information generating unit and a fifth carrying information sending unit that are not shown in FIG. 7.
  • a fifth handling information generating unit is configured to determine, in response to determining that the third task information is not received, the position of the second buffer position in the buffer position set corresponding to the first picking station as the starting position, and determine the first pick The position of the first buffer bit in the buffer bit set corresponding to the station is the end position, and the fifth carrying information is generated according to the determined start position and end position.
  • the fifth conveyance information transmitting unit is configured to transmit the fifth conveyance information to the automatic guided transport vehicle.
  • the foregoing apparatus 700 may further include a fourth task information receiving unit, a sixth carrying information generating unit, and a sixth carrying information sending unit that are not shown in FIG. 7.
  • the fourth task information receiving unit is configured to determine whether the fourth task including the identifier of the shelf is received during the storage of the first shelf in the first buffer position set corresponding to the first picking station. information.
  • the sixth carrying information generating unit is configured to, in response to determining that the fourth task information is not received, determine the position of the first buffer storage position in the buffer storage bit set corresponding to the first picking station as the starting position, and determine to store the shelf.
  • the position of the rack storage position is the end position, and the sixth conveyance information is generated according to the determined start position and end position.
  • the sixth conveyance information transmitting unit is configured to transmit the sixth conveyance information to the automatic guided transport vehicle.
  • the automatic guided transport vehicle includes a first automatic guided transport vehicle that travels between a shelf storage location and a slow storage location in a set of slow storage locations.
  • the above device 700 may further include a position determination unit and a first automatic guided transport vehicle determination unit that are not shown in FIG. 7.
  • the position determining unit is configured to determine whether one of the start position and the end position in the to-be-transported information to be sent is a shelf storage position before the to-be-transported transportation information is sent.
  • the first automatic guided transport vehicle determining unit is configured to send the transportation information to the first automatic guided transport vehicle in response to determining that one of the start position and the end position in the transport information to be transmitted is a shelf storage position. .
  • the automatic guided transport vehicle includes a first automatic guided transport vehicle that travels between a shelf storage location and a slow storage location in a set of slow storage locations.
  • the above device 700 may further include a second automatic guided transport vehicle determining unit (not shown in FIG. 7) configured to respond to determining that the start position and the end position in the to-be-transported information to be transmitted are the positions of the slow storage position, The second automatic guided transport vehicle sends the transportation information.
  • the task information sent by the task server to the server includes inbound task information and outbound task information
  • the picking station set in the warehouse includes an inbound picker that processes the inbound task information. And outbound picking stations that process outbound task information.
  • the above apparatus 700 may further include a quantity determination unit, a first allocation unit, and a second allocation unit that are not shown in FIG. 7.
  • the quantity determining unit is configured to determine the number of the automated guided transport vehicles in the warehouse, the number of the picking stations in the warehouse, and the number of the picking stations in the warehouse.
  • the first allocation unit is configured to respond to determining that the ratio of the number of automatic guided transport vehicles to the sum of the number of inbound picking stations and the number of outbound picking stations is greater than a first preset value, according to the inbound picking workers.
  • the ratio of the number of stations to the number of outbound picking stations and the number of automated guided transport vehicles determines the number of first automated guided transport vehicles to and from the shelf storage location and the slow storage location The number of second automated guided transport vehicles to and from the storage space.
  • the second allocation unit is configured to select the inbound picking workers in response to determining that the ratio of the number of automatic guided transport vehicles to the sum of the number of inbound picking stations and the number of outbound picking stations is less than the first preset value.
  • the sum of the number of stations and the number of pick-out stations is an automatic guided transport vehicle as the second automatic guided transport vehicle to and from the slow storage location and the slow storage location, and the selected automatic guided transportation vehicle is allocated. Pick-in and pick-out stations.
  • the cache bit set includes at least one first cache bit.
  • the above apparatus 700 may further include an idle cache bit determination unit, an idle cache bit screening unit, a seventh carrying information generating unit, and a seventh carrying information sending unit that are not shown in FIG. 7.
  • the idle cache bit determination unit is configured to determine, in response to determining that the third task information is not received, whether a free first cache bit exists in the cache bit set corresponding to the first picking station.
  • the idle buffer storage bit screening unit is configured to determine whether there is a picking station in the warehouse that satisfies the following conditions: in response to determining that there is no free buffer buffer, the first buffer storage in the corresponding buffer storage bit set is free The number of bits is greater than the second preset value.
  • the seventh conveyance information generating unit is configured to, in response to determining that there is a picking station that satisfies the condition, determining the position of the second buffer storage position in the buffer storage bit set corresponding to the first picking station as the starting position, The position of the first buffer position in the buffer position set corresponding to the picking station is the end position, and seventh conveyance information is generated according to the determined start position and end position.
  • the seventh conveyance information transmitting unit is configured to transmit the seventh conveyance information to the automatic guided transport vehicle.
  • the apparatus for controlling shelf transportation may determine the position of the shelf storage space for storing the shelf according to the identifier of the shelf to be transported, and then The above position is determined as the starting position. Then according to the identification of the first picking station, the position of the first buffer position in the set of buffer positions corresponding to the first picking station is determined, and then the position is determined as the end position. The first conveyance information is generated based on the start position and the end position. The generated first conveyance information is sent to the automatic guided transport vehicle, so that the automatic guided transport vehicle transports the shelf. In the device of this embodiment, by providing a slow storage position in a warehouse, the transportation distance is decomposed into multiple sections, and an automatic guided transport vehicle can be more fully used.
  • the units 701 to 705 described in the apparatus 700 for controlling rack handling correspond to respective steps in the method described with reference to FIG. 3. Therefore, the operations and features described above with respect to the method for synthesizing singing voice are also applicable to the device 700 and the units included therein, and details are not described herein again.
  • FIG. 8 illustrates a schematic structural diagram of a computer system 800 suitable for implementing a server according to an embodiment of the present application.
  • the server shown in FIG. 8 is merely an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present application.
  • the computer system 800 includes a central processing unit (CPU) 801, which can be loaded into a random access memory (RAM) 803 according to a program stored in a read-only memory (ROM) 802 or from a storage section 808. Instead, perform various appropriate actions and processes.
  • RAM random access memory
  • ROM read-only memory
  • various programs and data required for the operation of the system 800 are also stored.
  • the CPU 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804.
  • An input / output (I / O) interface 805 is also connected to the bus 804.
  • the following components are connected to the I / O interface 805: an input portion 806 including a keyboard, a mouse, etc .; an output portion 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage portion 808 including a hard disk, etc. ; And a communication section 809 including a network interface card such as a LAN card, a modem, and the like. The communication section 809 performs communication processing via a network such as the Internet.
  • the driver 810 is also connected to the I / O interface 805 as needed.
  • a removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage section 808 as needed.
  • the process described above with reference to the flowchart may be implemented as a computer software program.
  • embodiments of the present disclosure include a computer program product including a computer program carried on a machine-readable medium, the computer program containing program code for performing a method shown in a flowchart.
  • the computer program may be downloaded and installed from a network through the communication section 809, and / or installed from a removable medium 811.
  • CPU central processing unit
  • the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the foregoing.
  • the computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programming read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal that is included in baseband or propagated as part of a carrier wave, and which carries computer-readable program code. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • the computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof.
  • the above programming languages include object-oriented programming languages such as Java, Smalltalk, C ++, and also include conventional Procedural programming language—such as "C" or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer, partly on a remote computer, or entirely on a remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider) Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider Internet service provider
  • each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, which contains one or more functions to implement a specified logical function Executable instructions.
  • the functions labeled in the blocks may also occur in a different order than those labeled in the drawings. For example, two blocks represented one after the other may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts can be implemented by a dedicated hardware-based system that performs the specified function or operation , Or it can be implemented with a combination of dedicated hardware and computer instructions.
  • the units described in the embodiments of the present application may be implemented by software or hardware.
  • the described unit may also be provided in a processor, for example, it may be described as: a processor includes a first task information receiving unit, a starting point determining unit, an ending position determining unit, a first carrying information generating unit, and a first carrying unit.
  • Information sending unit includes a first task information receiving unit, a starting point determining unit, an ending position determining unit, a first carrying information generating unit, and a first carrying unit.
  • Information sending unit includes a first task information receiving unit, a starting point determining unit, an ending position determining unit, a first carrying information generating unit, and a first carrying unit.
  • Information sending unit includes a first task information receiving unit, a starting point determining unit, an ending position determining unit, a first carrying information generating unit, and a first carrying unit.
  • Information sending unit includes a first task information receiving unit, a starting point determining unit, an ending position determining unit, a first carrying information
  • the present application further provides a computer-readable medium, which may be included in the device described in the foregoing embodiments; or may exist alone without being assembled into the device.
  • the computer-readable medium carries one or more programs, and when the one or more programs are executed by the device, the device is caused to receive first task information from a task server, where the first task information includes The identification of the shelf and the identification of the first picking station that processes the first task information.
  • the shelves to be transported are stored in the warehouse.
  • the warehouse is also provided with a shelf storage position, a picking station, and a set of slow storage positions corresponding to the picking station.
  • the set of buffer storage positions includes a first buffer storage position; the position of the shelf storage position storing the above-mentioned shelf is determined as the starting position according to the identifier of the shelf to be moved; and the correspondence of the first picking station is determined according to the identifier of the first picking station.
  • the position of the first buffer bit in the set of buffer bits is the end position; the first transfer information is generated according to the determined starting and end positions; and the first transfer information is sent to the automatic guided transport vehicle so that the automatic guidance The guide truck moves the above-mentioned shelves.

Abstract

用于控制货架搬运的方法和装置，上述方法的一具体实施方式包括：接收来自任务服务器（104）的第一任务信息；根据待搬运的货架的标识，确定存放上述货架的货架储位（201）的位置为起点位置；根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终点位置，生成第一搬运信息；向自动导引运输车（106、107）发送第一搬运信息，以使自动导引运输车（106、107）搬运上述货架。该实施方式可以更充分的利用自动导引运输车（106、107）。

Description

用于搬运货架的方法和装置
本专利申请要求于2018年5月25日提交的、申请号为201810512219.8、申请人为北京京东尚科信息技术有限公司和北京京东世纪贸易有限公司、发明名称为“用于搬运货架的方法和装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本申请实施例涉及仓储物流领域，具体涉及用于搬运货架的方法和装置。
背景技术
随着电商行业的迅速发展，需要更多的人员参与到仓库管理、拣选货物、运输货物等工作中来。仓库中通常使用AGV(Automated Guided Vehicle，自动导引运输车)来运输货架。自动导引运输车AGV的产生给货物的拣选过程带来了很大的便利，其需要和货物拣选人员共同工作，用于帮助拣选人员运输货物。
发明内容
本申请实施例提出了用于搬运货架的方法和装置。
第一方面，本申请实施例提供了一种用于搬运货架的方法，包括：接收来自任务服务器的第一任务信息，其中，第一任务信息包括待搬运的货架的标识以及处理第一任务信息的第一拣选工位的标识，待搬运的货架存放在仓库中，仓库中还设有货架储位、拣选工位以及与拣选工位对应的缓存储位集合，缓存储位集合包括第一缓存储位；根据待搬运的货架的标识，确定存放上述货架的货架储位的位置为起点位置；根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终 点位置，生成第一搬运信息；向自动导引运输车发送第一搬运信息，以使自动导引运输车搬运上述货架。
在一些实施例中，向自动导引运输车发送第一搬运信息，包括：从空闲的自动导引运输车集合中选取自动导引运输车作为目标自动导引运输车；向目标自动导引运输车发送第一搬运信息。
在一些实施例中，缓存储位集合还包括第二缓存储位；以及上述方法还包括：在上述货架存放在第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，确定是否接收到来自任务服务器的、包括上述货架的标识的第二任务信息，其中，第二任务信息还包括处理第二任务信息的第二拣选工位的标识；响应于确定接收到第二任务信息，确定第二任务信息的优先级是否高于第一任务信息的优先级；响应于确定第二任务信息的优先级高于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置以及根据第二拣选工位的标识，确定第二拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第二搬运信息；向自动导引运输车发送第二搬运信息。
在一些实施例中，上述方法还包括：响应于确定未接收到第二任务信息或者确定第二任务信息的优先级低于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第三搬运信息；向自动导引运输车发送第三搬运信息。
在一些实施例中，上述方法还包括：响应于确定接收到来自拣选终端的任务处理完成信息，确定在上述货架存放在第一拣选工位对应的缓存储位集合中的第二缓存储位的过程中，是否接收到来自任务服务器的、包括上述货架的标识的第三任务信息，其中，任务处理完成信息为拣选终端在处理完成第一任务信息后发送的，第三任务信息还包括处理第三任务信息的第三拣选工位的标识；响应于确定接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置以及根据第三拣选工位的标识，确定第三拣选工 位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第四搬运信息；向自动导引运输车发送第四搬运信息。
在一些实施例中，上述方法还包括：响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第五搬运信息；向自动导引运输车发送第五搬运信息。
在一些实施例中，上述方法还包括：确定在上述货架存放于第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，是否接收到包括上述货架的标识的第四任务信息；响应于确定未接收到第四任务信息，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定存放上述货架的货架储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第六搬运信息；向自动导引运输车发送第六搬运信息。
在一些实施例中，自动导引运输车包括往返于货架储位与缓存储位集合中的缓存储位之间的第一自动导引运输车；以及在向自动导引运输车发送搬运信息前，上述方法还包括：确定待发送的搬运信息中的起点位置和终点位置中是否存在一项为货架储位的位置；响应于确定待发送的搬运信息中的起点位置和终点位置中存在一项为货架储位的位置，向第一自动导引运输车发送搬运信息。
在一些实施例中，自动导引运输车还包括往返于缓存储位与缓存储位之间的第二自动导引运输车；以及上述方法还包括：响应于确定待发送的搬运信息中的起点位置和终点位置为缓存储位的位置，向第二自动导引运输车发送搬运信息。
在一些实施例中，任务服务器向服务器发送的任务信息包括入库任务信息和出库任务信息，仓库中设置的拣选工位包括处理入库任务信息的入库拣选工位和处理出库任务信息的出库拣选工位；以及上述方法还包括：确定仓库中自动导引运输车的数量、入库拣选工位的数量以及出库拣选工位的数量；响应于确定自动导引运输车的数量与入 库拣选工位的数量与出库拣选工位的数量之和的比值大于第一预设值，根据入库拣选工位的数量与出库拣选工位的数量的比值以及自动导引运输车的数量，确定往返于货架储位与缓存储位之间的第一自动导引运输车的数量和往返于缓存储位与缓存储位之间的第二自动导引运输车的数量；响应于确定自动导引运输车的数量与入库拣选工位的数量与出库拣选工位的数量之和的比值小于第一预设值，选取入库拣选工位的数量与出库拣选工位的数量之和个自动导引运输车作为往返于缓存储位与缓存储位之间的第二自动导引运输车以及将所选取的自动导引运输车分配给入库拣选工位和出库拣选工位。
在一些实施例中，缓存储位集合包括至少一个第一缓存储位；以及上述方法还包括：响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中是否存在空闲的第一缓存储位；响应于确定不存在空闲的第一缓存储位，确定仓库中是否存在满足以下条件的拣选工位：所对应的缓存储位集合中空闲的第一缓存储位的数量大于第二预设值；响应于确定存在满足条件的拣选工位，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定满足条件的拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第七搬运信息；向自动导引运输车发送第七搬运信息。
第二方面，本申请实施例提供了一种用于搬运货架的装置，包括：第一任务信息接收单元，被配置成接收来自任务服务器的第一任务信息，其中，第一任务信息包括待搬运的货架的标识以及处理第一任务信息的第一拣选工位的标识，待搬运的货架存放在仓库中，仓库中还设有货架储位、拣选工位以及与拣选工位对应的缓存储位集合，缓存储位集合包括第一缓存储位；起点位置确定单元，被配置成根据待搬运的货架的标识，确定存放上述货架的货架储位的位置为起点位置；终点位置确定单元，被配置成根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；第一搬运信息生成单元，被配置成根据所确定的起点位置和终点位置，生成第一搬运信息；第一搬运信息发送单元，被配置成向自动导引运 输车发送第一搬运信息，以使自动导引运输车搬运上述货架。
在一些实施例中，第一搬运信息发送单元进一步被配置成：从空闲的自动导引运输车集合中选取自动导引运输车作为目标自动导引运输车；向目标自动导引运输车发送第一搬运信息。
在一些实施例中，缓存储位集合还包括第二缓存储位；以及上述装置还包括：第二任务信息接收单元，被配置成在上述货架存放在第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，确定是否接收到来自任务服务器的、包括上述货架的标识的第二任务信息，其中，第二任务信息还包括处理第二任务信息的第二拣选工位的标识；优先级确定单元，被配置成响应于确定接收到第二任务信息，确定第二任务信息的优先级是否高于第一任务信息的优先级；第二搬运信息生成单元，被配置成响应于确定第二任务信息的优先级高于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置以及根据第二拣选工位的标识，确定第二拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第二搬运信息；第二搬运信息发送单元，被配置成向自动导引运输车发送第二搬运信息。
在一些实施例中，上述装置还包括：第三搬运信息生成单元，被配置成响应于确定未接收到第二任务信息或者确定第二任务信息的优先级低于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第三搬运信息；第三搬运信息发送单元，被配置成向自动导引运输车发送第三搬运信息。
在一些实施例中，上述装置还包括：第三任务信息接收单元，被配置成响应于确定接收到来自拣选终端的任务处理完成信息，确定在上述货架存放在第一拣选工位对应的缓存储位集合中的第二缓存储位的过程中，是否接收到来自任务服务器的、包括上述货架的标识的第三任务信息，其中，任务处理完成信息为拣选终端在处理完成第一任务信息后发送的，第三任务信息还包括处理第三任务信息的第三拣选 工位的标识；第四搬运信息生成单元，被配置成响应于确定接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置以及根据第三拣选工位的标识，确定第三拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第四搬运信息；第四搬运信息发送单元，被配置成向自动导引运输车发送第四搬运信息。
在一些实施例中，上述装置还包括：第五搬运信息生成单元，被配置成响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第五搬运信息；第五搬运信息发送单元，被配置成向自动导引运输车发送第五搬运信息。
在一些实施例中，上述装置还包括：第四任务信息接收单元，被配置成确定在上述货架存放于第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，是否未接收到包括上述货架的标识的第四任务信息；第六搬运信息生成单元，被配置成响应于确定未接收到第四任务信息，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定存放上述货架的货架储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第六搬运信息；第六搬运信息发送单元，被配置成向自动导引运输车发送第六搬运信息。
在一些实施例中，自动导引运输车包括往返于货架储位与缓存储位集合中的缓存储位之间的第一自动导引运输车；以及上述装置还包括：位置确定单元，被配置成在向自动导引运输车发送搬运信息前，确定待发送的搬运信息中的起点位置和终点位置中是否存在一项为货架储位的位置；第一自动导引运输车确定单元，被配置成响应于确定待发送的搬运信息中的起点位置和终点位置中存在一项为货架储位的位置，向第一自动导引运输车发送搬运信息。
在一些实施例中，自动导引运输车还包括往返于缓存储位与缓存储位之间的第二自动导引运输车；以及上述装置还包括：第二自动导引运输车确定单元，被配置成响应于确定待发送的搬运信息中的起点 位置和终点位置为缓存储位的位置，向第二自动导引运输车发送搬运信息。
在一些实施例中，任务服务器向服务器发送的任务信息包括入库任务信息和出库任务信息，仓库中设置的拣选工位包括处理入库任务信息的入库拣选工位和处理出库任务信息的出库拣选工位；以及上述装置还包括：数量确定单元，被配置成确定仓库中自动导引运输车的数量、入库拣选工位的数量以及出库拣选工位的数量；第一分配单元，被配置成响应于确定自动导引运输车的数量与入库拣选工位的数量与出库拣选工位的数量之和的比值大于第一预设值，根据入库拣选工位的数量与出库拣选工位的数量的比值以及自动导引运输车的数量，确定往返于货架储位与缓存储位之间的第一自动导引运输车的数量和往返于缓存储位与缓存储位之间的第二自动导引运输车的数量；第二分配单元，被配置成响应于确定自动导引运输车的数量与入库拣选工位的数量与出库拣选工位的数量之和的比值小于第一预设值，选取入库拣选工位的数量与出库拣选工位的数量之和个自动导引运输车作为往返于缓存储位与缓存储位之间的第二自动导引运输车以及将所选取的自动导引运输车分配给入库拣选工位和出库拣选工位。
在一些实施例中，缓存储位集合包括至少一个第一缓存储位；以及上述方法还包括：空闲缓存储位确定单元，被配置成响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中是否存在空闲的第一缓存储位；空闲缓存储位筛选单元，被配置成响应于确定不存在空闲的第一缓存储位，确定仓库中是否存在满足以下条件的拣选工位：所对应的缓存储位集合中空闲的第一缓存储位的数量大于第二预设值；第七搬运信息生成单元，被配置成响应于确定存在满足条件的拣选工位，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定满足条件的拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第七搬运信息；第七搬运信息发送单元，被配置成向自动导引运输车发送第七搬运信息。
第三方面，本申请实施例提供了一种服务器，包括：一个或多个 处理器；存储装置，其上存储有一个或多个程序，当上述一个或多个程序被上述一个或多个处理器执行，使得上述一个或多个处理器实现如第一方面任一实施例所描述的方法。
第四方面，本申请实施例提供了一种计算机可读介质，其上存储有计算机程序，该程序被处理器执行时实现如第一方面任一实施例所描述的方法。
本申请的上述实施例提供的用于控制货架搬运的方法和装置，在接收到来自任务服务器的第一任务信息后，可以根据待搬运的货架的标识，确定存放上述货架的货架储位的位置，然后将上述位置确定为起点位置。然后根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置，然后将该位置确定为终点位置。根据上述起点位置和终点位置，生成第一搬运信息。向自动导引运输车发送生成的第一搬运信息，以使自动导引运输车搬运上述货架。本实施例的方法和装置，通过在仓库中设置缓存储位，将搬运路程分解为多段，可以更充分的利用自动导引运输车。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1是本申请可以应用于其中的示例性系统架构图；
图2是本申请的仓库的布局示意图；
图3是根据本申请的用于控制货架搬运的方法的一个实施例的流程图；
图4是根据本申请的用于控制货架搬运的方法的一个应用场景的示意图；
图5是根据本申请的用于控制货架搬运的方法的又一个实施例的流程图；
图6是根据本申请的用于控制货架搬运的方法的又一个实施例的流程图；
图7是根据本申请的用于控制货架搬运的装置的一个实施例的结 构示意图；
图8是适于用来实现本申请实施例的服务器的计算机系统的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了可以应用本申请的用于控制货架搬运的方法或用于控制货架搬运的装置的实施例的示例性系统架构100。
如图1所示，系统架构100可以包括服务器101，网络102、103，任务服务器104，拣选终端105和自动导引运输车106、107。网络102用以在自动导引运输车106、107和服务器101之间提供通信链路的介质。网络103用以在拣选终端105和服务器101之间、服务器101和任务服务器104之间提供通信链路的介质。网络102、103可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。
任务服务器104可以通过网络103与服务器101交互，以接收或发送消息等。任务服务器104可以是提供各种服务的服务器，例如可以是向服务器101发送任务信息的服务器。上述任务信息中可以包括待搬运的货架的标识，还可以包括处理该任务信息的拣选工位的标识。当然，任务信息中还可以包括待拣选的物品的标识和数量。任务服务器104上可以安装有各种通讯客户端应用，例如网页浏览器应用、购物类应用、搜索类应用、即时通信工具、邮箱客户端、社交平台软件等。
服务器101可以通过网络103接收任务服务器104的任务消息，还可以通过网络102获取自动导引运输车106、107的信息。服务器 101可以是提供各种服务的服务器，例如可以是对任务服务器104发送的任务信息进行解析的服务器。服务器101在接收到任务服务器104发送的任务信息后，可以将任务信息发送给自动导引运输车106、107。服务器101上可以安装有各种通讯客户端应用，例如网页浏览器应用、购物类应用、搜索类应用、即时通信工具、邮箱客户端、社交平台软件等。
拣选工作人员可以通过拣选终端105与服务器101或与任务服务器104交互。任务服务器104发送的任务信息由拣选工作人员处理，拣选工作人员在处理完成后可以向服务器101发送消息，也可以向任务服务器104发送消息。例如，拣选工作人员在将货架上的物品更新(上架或下架)完成后，可以通过拣选终端105向任务服务器104发送更新完成消息。拣选终端105上可以安装有各种通讯客户端应用，例如网页浏览器应用、购物类应用、搜索类应用、即时通信工具、邮箱客户端、社交平台软件等。
自动导引运输车106、107上还可以安装有通讯装置，以与服务器101交互。自动导引运输车106、107可以接收服务器101发送的搬运信息，以将指定货架搬运至指定地点。自动导引运输车106、107上可以安装有定位装置，可以向服务器101发送当前的位置信息。
需要说明的是，拣选终端105可以是硬件，也可以是软件。当拣选终端105为硬件时，可以是具有显示屏并且支持信息交互的各种电子设备，包括但不限于智能手机、平板电脑、掌上电脑、膝上型便携计算机和台式计算机等等。当拣选终端105为软件时，可以安装在上述所列举的电子设备中。其可以实现成多个软件或软件模块(例如用来提供分布式服务)，也可以实现成单个软件或软件模块。在此不做具体限定。
需要说明的是，服务器101、任务服务器104可以是硬件，也可以是软件。当服务器101、任务服务器104为硬件时，可以实现成多个服务器组成的分布式服务器集群，也可以实现成单个服务器。当上述服务器101、任务服务器104为软件时，可以实现成多个软件或软件模块(例如用来提供分布式服务)，也可以实现成单个软件或软件模 块。在此不做具体限定。
另外，本申请实施例所提供的用于控制货架搬运的方法一般由服务器101执行，相应地，用于控制货架搬运的装置一般设置于服务器101中。
应该理解，图1中的服务器、网络、任务服务器、拣选终端和自动导引运输车的数目仅仅是示意性的。根据实现需要，可以具有任意数目的服务器、网络、任务服务器、拣选终端和自动导引运输车。
图2示出了本申请的仓库的布局示意图。如图2所示，仓库中可以设有多个货架储位201、拣选工位203以及与拣选工位对应的缓存储位集合202。多个货架储位201用于存放货架，且货架储位之间有供自动导引运输车行驶的通道。拣选工位203可以设置于仓库的外围区域，例如可以设置在靠近仓库门口的位置，以方便出库和入库。拣选工作人员可以在拣选工位203处对货架上的物品操作(上架或下架)。每个拣选工位203对应有缓存储位集合202，缓存储位集合202中可以包括多个缓存储位，上述缓存储位可以包括第一缓存储位。缓存储位的作用在于短时存放待搬运的货架，待拣选工作人员对货架上的物品操作完成后，自动导引运输车可以将货架搬运至其它位置处。
继续参考图3，其示出了根据本申请的用于控制货架搬运的方法的一个实施例的流程300。本实施例的用于控制货架搬运的方法，包括以下步骤：
步骤301，接收来自任务服务器的第一任务信息。
在本实施例中，用于控制货架搬运的方法的执行主体(例如图1所示的服务器101)可以通过有线连接方式或者无线连接方式从任务服务器(例如图1所示的任务服务器104)处接收第一任务信息。其中，任务服务器是指产生任务信息的服务器，其可以根据用户产生的订单信息生成任务信息，也可以根据货物补充信息生成任务信息。货物补充信息可以由仓库的工作人员根据仓库中存储的物品数量确定。则上述第一任务信息可以包括待搬运的货架的标识和处理该第一任务信息的第一拣选工位的标识。上述待搬运的货架的标识可以根据货架储位在仓库中的位置来确定，也可以根据货架上存放的货物的类型来 确定。上述第一拣选工位的标识可以以任意字符串来表示。
上述待搬运的货架存放在仓库中，上述仓库可以是基于货到人模式的仓库(即图2所示的仓库)，也称为货到人仓库。货到人仓库可以理解为：货架上的物品经AGV(Automated Guided Vehicle，自动导引运输车)搬运至拣选工位，在拣选工位通过人工拣选物品完成订单的仓库。上述仓库中可以设有货架储位、拣选工位以及与拣选工位对应的缓存储位集合。其中，货架储位用于存放货架，拣选工位用于供拣选工作人员拣选货架上的物品，缓存储位集合中的缓存储位用于存放包括待拣选工作人员拣选物品的货架。上述缓存储位集合包括第一缓存储位。第一缓存储位用于存放待拣选工作人员拣选的货架。当同一拣选工位要拣选多个货架上的物品时，自动导引运输车可以将搬运来的货架存放在第一缓存储位处。
需要指出的是，上述无线连接方式可以包括但不限于3G/4G连接、WiFi连接、蓝牙连接、WiMAX连接、Zigbee连接、UWB(ultra wideband)连接、以及其他现在已知或将来开发的无线连接方式。
步骤302，根据待搬运的货架的标识，确定存放上述货架的货架储位的位置为起点位置。
执行主体在接收到第一任务信息后，可以根据第一任务信息中待搬运的货架的标识，确定仓库中存放上述待搬运的货架的货架储位的位置，然后将上述位置确定为起点位置。可以理解的是，本实施例中，执行主体中可以预先存储有货架标识与货架储位的位置的对应关系。
步骤303，根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置。
执行主体在接收到第一任务信息后，可以根据第一任务信息中第一拣选工位的标识，确定第一拣选工位的位置。然后将第一拣选工位对应的缓存储位集合中的第一缓存储位的位置设置为终点位置。可以理解的是，当缓存储位集合中包括多个第一缓存储位集合时，执行主体可以将上述多个第一缓存储位中任一空闲的第一缓存储位的位置作为终点位置，也可以将上述多个第一缓存储位中距离拣选工位最近的第一缓存储位的位置作为终点位置。
步骤304，根据所确定的起点位置和终点位置，生成第一搬运信息。
执行主体在确定了起点位置和终点位置后，可以将上述起点位置和终点位置封装，生成第一搬运信息。
步骤305，向自动导引运输车发送第一搬运信息，以使自动导引运输车搬运上述货架。
执行主体在生成第一搬运信息后，可以将上述第一搬运信息发送给自动导引运输车，以使自动导引运输车在接收到第一搬运信息后，将上述货架从起点位置处搬运至终点位置处。可以理解的是，当仓库中存在多辆自动导引运输车时，可以将上述第一搬运信息发送给任一自动导引运输车。
在本实施例的一些可选的实现方式中，上述步骤305可以具体包括图3中未示出的以下步骤：首先，从空闲的自动导引运输车集合中选取自动导引运输车作为目标自动导引运输车。然后，向目标自动导引运输车发送第一搬运信息。
仓库中可能存在多个自动导引运输车，一部分自动导引运输车可能正在搬运货架，即处于占用状态。此时，执行主体可以从空闲的自动导引运输车集合中选取一辆自动导引运输车作为目标自动导引运输车。然后将上述第一搬运信息发送给目标自动导引运输车。这样，避免了将第一搬运信息发送给正在搬运货架的自动导引运输车的情况，可以有效地提高货架的搬运效率。实践中，服务器可以实时获取各个自动导引运输车的状态信息，上述状态信息可以包括占用状态和空闲状态。服务器还可以实时获取各自动导引运输车的位置信息。这样，结合状态信息和位置信息，可以选取距离起点位置最近的空闲自动导引运输车来搬运货架。一方面可以减少自动导引运输车的行驶距离，减少了耗电量，延长了自动导引运输车的工作时间；另一方面可以提高货架的搬运效率。
继续参见图4，图4是根据本实施例的用于控制货架搬运的方法的应用场景的一个示意图。在图4的应用场景中，任务服务器在向服务器发送任务信息后，服务器根据任务信息中货架的标识以及拣选工 位的标识，确定出起点位置(图中包括虚线的货架储位的位置)和终点位置(箭头所指位置)。然后将起点位置和终点位置封装得到搬运信息，发送给自动导引运输车401。自动导引运输车401在接收到搬运信息后，将货架由起点位置搬运至终点位置。拣选工位402处的工作人员可以依次处理货架上存放的物品。
本申请的上述实施例提供的用于控制货架搬运的方法，在接收到来自任务服务器的第一任务信息后，可以根据待搬运的货架的标识，确定存放上述货架的货架储位的位置，然后将上述位置确定为起点位置。然后根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置，然后将该位置确定为终点位置。根据上述起点位置和终点位置，生成第一搬运信息。向自动导引运输车发送生成的第一搬运信息，以使自动导引运输车搬运上述货架。本实施例的方法，通过在仓库中设置缓存储位，将搬运路程分解为多段，可以更充分的利用自动导引运输车。
继续参见图5，其示出了根据本申请的用于控制货架搬运的方法的另一个实施例的流程500。本实施例中，缓存储位集合还可以包括第二缓存储位。当拣选工位需要向货架上存放物品或者拣选货架上存放的物品时，自动导引运输车可以将货架搬运至第二缓存储位。为了方便拣选工作人员的操作，第二缓存储位可以设置在拣选工位周围较近的位置。
如图5所示，本实施例的用于控制货架搬运的方法在图3的步骤305之后还可以包括以下步骤：
步骤501，在上述货架存放在第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，确定是否接收到来自任务服务器的、包括上述货架的标识的第二任务信息。
当自动导引运输车将上述货架搬运至第一拣选工位对应的缓存储位集合中的第一缓存储位处后并存放于该位置的过程中，执行主体可以确定是否接收到来自任务服务器的第二任务信息。上述第二任务信息可以包括上述货架的标识和处理该第二任务信息的第二拣选工位的标识。可以理解的是，第二拣选工位可能与第一拣选工位相同，也可 能不同。
步骤502，响应于确定接收到第二任务信息，确定第二任务信息的优先级是否高于第一任务信息的优先级。
如果执行主体接收到第二任务信息，则判断第二任务信息的优先级是否高于第一任务信息的优先级。本实施例中，在判断过程时，执行主体可以首先向任务服务器获取任务信息的优先级信息，然后根据获取的优先级信息确定第二任务信息的优先级是否高于第一任务信息的优先级。或者，执行主体可以根据任务信息的类型来判断优先级的高低。任务信息可以包括不同类型的任务信息，例如可以包括出库任务信息和入库任务信息，执行主体可以预先设定出库任务信息的优先级大于入库任务信息的优先级。
步骤503，响应于确定第二任务信息的优先级高于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置。根据第二拣选工位的标识，确定第二拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置。根据所确定的起点位置和终点位置生成第二搬运信息。
如果执行主体确定第二任务信息的优先级高于第一任务信息的优先级，则需要首先处理第二任务信息。也就是说，此时需要自动导引运输车将货架搬运至第二拣选工位处，使位于第二拣选工位的拣选工作人员优先处理第二任务信息。此时，可以将第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置。然后，根据第二任务信息中的第二拣选工位的标识，确定第二拣选工位的位置，并将第二拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置。最后将起点位置和终点位置封装成第二搬运信息。
步骤504，向自动导引运输车发送第二搬运信息。
执行主体在生成第二搬运信息后，可以向自动导引运输车发送第二搬运信息。自动导引运输车在接收到第二搬运信息后，可以将货架由起点位置搬运至终点位置。可以理解的是，此处的自动导引运输车可能与图3所示实施例中的自动导引运输车相同，也可能不同。本实施例对此不做限定。
在本实施例的一些可选的实现方式中，当第二任务信息被处理完成后，执行主体还可以将第二拣选工位对应的缓存储位集合中的第二缓存储位的位置作为起点位置，将第一拣选工位对应的缓存储位集合中的第一缓存储位的位置作为终点位置。然后根据上述起点位置和终点位置，生成搬运信息，发送给自动导引运输车。自动导引运输车可以将上述货架再运回第一拣选工位处，以使第一任务信息继续被处理。
可以理解的是，当缓存储位集合中包括多个第一缓存储位时，可能其它第一缓存储位已存放了货架，则上述货架可以存放于存放了货架的第一缓存储位之后距离拣选工位较远的第一缓存储位处，以排队等候处理。
在本实施例的一些可选的实现方式中，上述方法还包括图5中未示出的以下步骤：响应于确定未接收到第二任务信息或者确定第二任务信息的优先级低于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置。根据所确定的起点位置和终点位置生成第三搬运信息。向自动导引运输车发送第三搬运信息。
当执行主体未接收到第二任务信息或者执行主体确定第二任务信息的优先级低于第一任务信息的优先级，则执行主体继续处理第一任务信息。此时，可以将第一拣选工位对应的缓存储位集合中的第一缓存储位的位置作为起点位置，将第一拣选工位对应的缓存储位集合中的第二缓存储位的位置作为终点位置。然后将上述起点位置和终点位置封装，生成第三搬运信息。然后将上述第三搬运信息发送给自动导引运输车，以使自动导引运输车将货架由起点位置搬运至终点位置。
在本实施例的一些可选的实现方式中，拣选工作人员可以使用拣选终端(如图1中的拣选终端105)与服务器交互。则上述方法还包括图5中未示出的以下步骤：响应于确定接收到来自拣选终端的任务处理完成信息，确定在上述货架存放在第一拣选工位对应的第二缓存储位的过程中，是否接收到来自任务服务器的、包括上述货架的标识的第三任务信息。响应于确定接收到第三任务信息，确定第一拣选工 位对应的缓存储位集合中的第二缓存储位的位置为起点位置以及根据第三拣选工位的标识，确定第三拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置。根据所确定的起点位置和终点位置生成第四搬运信息。向自动导引运输车发送第四搬运信息。
本实现方式中，拣选工作人员在处理完成第一任务信息后，可以通过拣选终端向执行主体发送任务处理完成信息，以表示已处理完成第一任务信息。执行主体在接收到上述任务处理完成信息后，可以确定在上述货架存放于第一拣选工位对应的缓存储位集合中的第二缓存储位的过程中，是否接收到来自任务服务器的、包括上述货架的标识的第三任务信息。其中，上述第三任务信息还可以包括处理第三任务信息的第三拣选工位的标识。
如果执行主体接收到了第三任务信息，则可以向自动导引运输车发送第四搬运信息，以使自动导引运输车直接将上述货架搬运至第三拣选工位对应的缓存储位集合中的第一缓存储位的位置处。即，执行主体可以将第一拣选工位对应的第二缓存储位的位置作为起点位置，将第三拣选工位对应的缓存储位集合中的第一缓存储位的位置作为终点位置。将起点位置和终点位置封装在第四搬运信息中。
在本实施例的一些可选的实现方式中，上述方法还包括图5中未示出的以下步骤：响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置。根据所确定的起点位置和终点位置生成第五搬运信息。向自动导引运输车发送第五搬运信息。
如果执行主体在接收到上述任务处理完成信息后，未接收到第三任务信息，则需要将上述货架由当前拣选工位对应的缓存储位集合中的第二缓存储位退回到第一缓存储位。即，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置。然后，将起点位置和终点位置封装在第五搬运信息中。向自动导引运输车发送第五搬运信息。
在本实施例的一些可选的实现方式中，上述方法还包括图5中未示出的以下步骤：确定在上述货架存放于第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，是否接收到包括上述货架的标识的第四任务信息。响应于确定未接收到第四任务信息，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定存放上述货架的货架储位的位置为终点位置。根据所确定的起点位置和终点位置生成第六搬运信息。向自动导引运输车发送第六搬运信息。
当上述货架被退回到第一拣选工位对应的缓存储位集合中的第一缓存储位时，可以确定是否接收到包括上述货架的标识的第四任务信息。如果未接收到，则执行主体可以生成第六搬运信息，以使自动导引运输车将上述货架搬运至仓库中的货架储位处。
在本实施例的一些可选的方式中，缓存储位集合中可以包括至少一个第一缓存储位。上述方法还可以包括图5中未示出的以下步骤：响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中是否存在空闲的第一缓存储位。响应于确定不存在空闲的第一缓存储位，确定仓库中是否存在满足以下条件的拣选工位：所对应的缓存储位集合中空闲的第一缓存储位的数量大于第二预设值。响应于确定存在满足条件的拣选工位，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定满足条件的拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置。然后根据所确定的起点位置和终点位置生成第七搬运信息。向自动导引运输车发送第七搬运信息。
本实现方式中，如果执行主体未接收到第三任务信息，则需要将货架由第一拣选工位对应的缓存储位集合中的第二缓存储位搬运至第一拣选工位对应的缓存储位集合中的第一缓存储位。如果第一拣选工位对应的缓存储位集合中不存在空闲的第一缓存储位，可以确定仓库中的其它拣选工位对应的缓存储位集合中是否存在空闲的第一缓存储位，且空闲的第一缓存储位的数量大于第二预设值，则可以将货架搬运至该空闲的第一缓存储位处。即，将第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，将满足条件的拣选工位对 应的缓存储位集合中的第一缓存储位的位置为终点位置。将起点位置和终点位置封装生成第七搬运信息。最后将第七搬运信息发送给自动导引运输车。
本实现方式中，可以实现不同拣选工位对应的缓存储位的共享，增加了货架搬运的灵活性，可以提高处理效率。
本申请的上述实施例提供的搬运货架的方法，在处理任务信息时，可以将货架搬运至第一缓存储位或第二缓存储位处，并在货架处于上述缓存储位处的过程中，检测是否接收到针对上述货架的新的任务信息。如果执行主体当前未处理完成当前任务信息，则需要比较新的任务信息的优先级和当前处理的任务信息的优先级，如果新的任务信息的优先级高，则优先处理新的任务信息。如果新的任务信息的优先级低，则继续处理当前处理的任务信息。在处理完成任务信息后，货架处于第二缓存储位处，然后退回至第一缓存储位处。并且在货架处于第二缓存储位或第一缓存储位的过程中，均会检测是否接收到针对上述货架的新的任务信息。如果有，则直接将货架搬运至处理新的任务信息的拣选工位的第一缓存储位处等候处理。如果没有，则将货架退回至货架储位。本实施例的方法，通过将货架的搬运过程划分为多段，增加了搬运过程的灵活性；并且在缓存储位处多次检测是否接收到新的任务信息，以方便将货架直接搬运至其它缓存储位处，提高了货架的命中率；由于不需要每次将货架退回，同时减少了自动导引运输车的行驶距离，提高了处理效率。
继续参见图6，其示出了根据本申请的用于控制货架搬运的方法的另一个实施例的流程600。本实施例中，自动导引运输车包括往返于货架储位与缓存储位集合中的缓存储位之间的第一自动导引运输车以及往返于缓存储位与缓存储位之间的第二自动导引运输车。本实施例中，第一自动导引运输车可以往返于货架储位与缓存储位之间的第一缓存储位之间，第二自动导引运输车可以往返于不同缓存储位集合中的第一缓存储位与第二缓存储位之间、同一缓存储位集合的第一缓存储位与第二缓存储位之间。如图6所示，本实施例的用于控制货架搬运的方法在向自动导引运输车发送搬运信息前，还可以包括以下步 骤：
步骤601，确定待发送的搬运信息中的起点位置和终点位置中是否存在一项为货架储位的位置。
执行主体可以在生成搬运信息后，确定该搬运信息中的起点位置和终点位置中是否存在一项为货架储位的位置。
步骤602，响应于确定待发送的搬运信息中的起点位置和终点位置中存在一项为货架储位的位置，向第一自动导引运输车发送搬运信息。
如果存在，则确定该搬运信息指示的搬运任务应由第一自动导引运输车完成。则，执行主体将该搬运信息发给第一自动导引运输车。
步骤603，响应于确定待发送的搬运信息中的起点位置和终点位置为缓存储位的位置，向第二自动导引运输车发送搬运信息。
如果起点位置和终点位置均为缓存储位的位置，则确定该搬运信息指示的搬运任务应由第二自动导引运输车完成。则，执行主体将该搬运信息发给第二自动导引运输车。
本申请的上述实施例提供的用于控制货架搬运的方法，可以根据搬运信息的类型将搬运信息发给不同类型的自动导引运输车，这样可以有效地管理自动导引运输车。
在本实施例的一些可选的实现方式中，任务服务器向服务器发送的任务信息可以包括入库任务信息和出库任务信息。相应的，仓库中设置的拣选工位可以包括处理入库任务信息的入库拣选工位和处理出库任务信息的出库拣选工位。上述方法还可以包括以下步骤：首先，确定仓库中自动导引运输车的数量、入库拣选工位的数量以及出库拣选工位的数量。如果确定自动导引运输车的数量与入库拣选工位的数量与出库拣选工位的数量之和的比值大于第一预设值，根据入库拣选工位的数量与出库拣选工位的数量的比值以及自动导引运输车的数量，确定往返于货架储位与缓存储位之间的第一自动导引运输车的数量和往返于缓存储位与缓存储位之间的第二自动导引运输车的数量。如果确定自动导引运输车的数量与入库拣选工位的数量与出库拣选工位的数量之和的比值小于第一预设值，选取入库拣选工位的数量与出 库拣选工位的数量之和个自动导引运输车作为往返于缓存储位与缓存储位之间的第二自动导引运输车以及将所选取的自动导引运输车分配给入库拣选工位和出库拣选工位。
本实现方式中，执行主体可以确定仓库中自动导引运输车的数量n、入库拣选工位的数量m 1以及出库拣选工位的数量m 2。然后计算n/(m 1+m 2)的值，并确定上述比值是否大于第一预设值。如果大于，则说明仓库中自动导引运输车的数量较多。则可以根据m 1/m 2和n来确定第一自动导引运输车的数量和第二自动导引运输车的数量。例如，将n*m 1/m 2辆自动导引运输车作为第一自动导引运输车，将剩余的作为第二自动导引运输车。或者，将n*m 1/(m 1+m 2)辆自动导引运输车作为第一自动导引运输车，将剩余的作为第二自动导引运输车。如果上述比值小于第一预设值，说明仓库中自动导引运输车的数量较少。则可以选取m 1+m 2辆自动导引运输车作为第一自动导引运输车，将剩余的作为第二自动导引运输车。并且将各第一自动导引运输车分配给各拣选工位，这样每个拣选工位都对应一辆自动导引运输车，方便将货架由第一缓存储位搬运至第二缓存储位，或者将货架由该拣选工位的第一缓存储位搬运至其它拣选工位的第一缓存储位或第二缓存储位。
进一步参考图7，作为对上述各图所示方法的实现，本申请提供了一种用于控制货架搬运的装置的一个实施例，该装置实施例与图3所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图7所示，本实施例的用于控制货架搬运的装置700包括：第一任务信息接收单元701、起点位置确定单元702、终点位置确定单元703、第一搬运信息生成单元704以及第一搬运信息发送单元705。
第一任务信息接收单元701，被配置成接收来自任务服务器的第一任务信息。其中，第一任务信息包括待搬运的货架的标识以及处理第一任务信息的第一拣选工位的标识，待搬运的货架存放在仓库中，仓库中还设有货架储位、拣选工位以及与拣选工位对应的缓存储位集合，缓存储位集合包括第一缓存储位。
起点位置确定单元702，被配置成根据待搬运的货架的标识，确定存放上述货架的货架储位的位置为起点位置。
终点位置确定单元703，被配置成根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置。
第一搬运信息生成单元704，被配置成根据所确定的起点位置和终点位置，生成第一搬运信息。
第一搬运信息发送单元705，被配置成向自动导引运输车发送第一搬运信息，以使自动导引运输车搬运上述货架。
在本实施例的一些可选的实现方式中，上述第一搬运信息发送单元705可以进一步被配制成：从空闲的自动导引运输车集合中选取自动导引运输车作为目标自动导引运输车；向目标自动导引运输车发送第一搬运信息。
在本实施例的一些可选的实现方式中，缓存储位集合还可以包括第二缓存储位。上述装置700还可以进一步包括图7中未示出的第二任务信息接收单元、优先级确定单元、第二搬运信息生成单元以及第二搬运信息发送单元。
第二任务信息接收单元，被配置成在上述货架存放在第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，确定是否接收到来自任务服务器的、包括上述货架的标识的第二任务信息。其中，第二任务信息还包括处理第二任务信息的第二拣选工位的标识。
优先级确定单元，被配置成响应于确定接收到第二任务信息，确定第二任务信息的优先级是否高于第一任务信息的优先级。
第二搬运信息生成单元，被配置成响应于确定第二任务信息的优先级高于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置以及根据第二拣选工位的标识，确定第二拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第二搬运信息。
第二搬运信息发送单元，被配置成向自动导引运输车发送第二搬运信息。
在本实施例的一些可选的实现方式中，上述装置700还可以进一步包括图7中未示出的第三搬运信息生成单元和第三搬运信息发送单 元。
第三搬运信息生成单元，被配置成响应于确定未接收到第二任务信息或者确定第二任务信息的优先级低于第一任务信息的优先级，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第三搬运信息。
第三搬运信息发送单元，被配置成向自动导引运输车发送第三搬运信息。
在本实施例的一些可选的实现方式中，上述装置700还可以进一步包括图7中未示出的第三任务信息接收单元、第四搬运信息生成单元以及第四搬运信息发送单元。
第三任务信息接收单元，被配置成响应于确定接收到来自拣选终端的任务处理完成信息，确定在上述货架存放在第一拣选工位对应的缓存储位集合中的第二缓存储位的过程中，是否接收到来自任务服务器的、包括上述货架的标识的第三任务信息。其中，任务处理完成信息为拣选终端在处理完成第一任务信息后发送的，第三任务信息还包括处理第三任务信息的第三拣选工位的标识。
第四搬运信息生成单元，被配置成响应于确定接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置以及根据第三拣选工位的标识，确定第三拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第四搬运信息。
第四搬运信息发送单元，被配置成向自动导引运输车发送第四搬运信息。
在本实施例的一些可选的实现方式中，上述装置700还可以进一步包括图7中未示出的第五搬运信息生成单元以及第五搬运信息发送单元。
第五搬运信息生成单元，被配置成响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位 置为起点位置，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第五搬运信息。
第五搬运信息发送单元，被配置成向自动导引运输车发送第五搬运信息。
在本实施例的一些可选的实现方式中，上述装置700还可以进一步包括图7中未示出的第四任务信息接收单元、第六搬运信息生成单元以及第六搬运信息发送单元。
第四任务信息接收单元，被配置成确定在上述货架存放于第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，是否接收到包括上述货架的标识的第四任务信息。
第六搬运信息生成单元，被配置成响应于确定未接收到第四任务信息，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定存放上述货架的货架储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第六搬运信息。
第六搬运信息发送单元，被配置成向自动导引运输车发送第六搬运信息。
在本实施例的一些可选的实现方式中，自动导引运输车包括往返于货架储位与缓存储位集合中的缓存储位之间的第一自动导引运输车。上述装置700还可以进一步包括图7中未示出的位置确定单元以及第一自动导引运输车确定单元。
位置确定单元，被配置成在向自动导引运输车发送搬运信息前，确定待发送的搬运信息中的起点位置和终点位置中是否存在一项为货架储位的位置。
第一自动导引运输车确定单元，被配置成响应于确定待发送的搬运信息中的起点位置和终点位置中存在一项为货架储位的位置，向第一自动导引运输车发送搬运信息。
在本实施例的一些可选的实现方式中，自动导引运输车包括往返于货架储位与缓存储位集合中的缓存储位之间的第一自动导引运输车。上述装置700还可以进一步包括图7中未示出的第二自动导引运 输车确定单元，被配置成响应于确定待发送的搬运信息中的起点位置和终点位置为缓存储位的位置，向第二自动导引运输车发送搬运信息。
在本实施例的一些可选的实现方式中，任务服务器向服务器发送的任务信息包括入库任务信息和出库任务信息，仓库中设置的拣选工位包括处理入库任务信息的入库拣选工位和处理出库任务信息的出库拣选工位。上述装置700还可以进一步包括图7中未示出的数量确定单元、第一分配单元以及第二分配单元
数量确定单元，被配置成确定仓库中自动导引运输车的数量、入库拣选工位的数量以及出库拣选工位的数量。
第一分配单元，被配置成响应于确定自动导引运输车的数量与入库拣选工位的数量与出库拣选工位的数量之和的比值大于第一预设值，根据入库拣选工位的数量与出库拣选工位的数量的比值以及自动导引运输车的数量，确定往返于货架储位与缓存储位之间的第一自动导引运输车的数量和往返于缓存储位与缓存储位之间的第二自动导引运输车的数量。
第二分配单元，被配置成响应于确定自动导引运输车的数量与入库拣选工位的数量与出库拣选工位的数量之和的比值小于第一预设值，选取入库拣选工位的数量与出库拣选工位的数量之和个自动导引运输车作为往返于缓存储位与缓存储位之间的第二自动导引运输车以及将所选取的自动导引运输车分配给入库拣选工位和出库拣选工位。
在本实施例的一些可选的实现方式中，缓存储位集合包括至少一个第一缓存储位。上述装置700还可以进一步包括图7中未示出的空闲缓存储位确定单元、空闲缓存储位筛选单元、第七搬运信息生成单元以及第七搬运信息发送单元。
空闲缓存储位确定单元，被配置成响应于确定未接收到第三任务信息，确定第一拣选工位对应的缓存储位集合中是否存在空闲的第一缓存储位。
空闲缓存储位筛选单元，被配置成响应于确定不存在空闲的第一缓存储位，确定仓库中是否存在满足以下条件的拣选工位：所对应的缓存储位集合中空闲的第一缓存储位的数量大于第二预设值。
第七搬运信息生成单元，被配置成响应于确定存在满足条件的拣选工位，确定第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定满足条件的拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第七搬运信息。
第七搬运信息发送单元，被配置成向自动导引运输车发送第七搬运信息。
本申请的上述实施例提供的用于控制货架搬运的装置，在接收到来自任务服务器的第一任务信息后，可以根据待搬运的货架的标识，确定存放上述货架的货架储位的位置，然后将上述位置确定为起点位置。然后根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置，然后将该位置确定为终点位置。根据上述起点位置和终点位置，生成第一搬运信息。向自动导引运输车发送生成的第一搬运信息，以使自动导引运输车搬运上述货架。本实施例的装置，通过在仓库中设置缓存储位，将搬运路程分解为多段，可以更充分的利用自动导引运输车。
应当理解，用于控制货架搬运的装置700中记载的单元701至单元705分别与参考图3中描述的方法中的各个步骤相对应。由此，上文针对用于合成歌声的方法描述的操作和特征同样适用于装置700及其中包含的单元，在此不再赘述。
下面参考图8，其示出了适于用来实现本申请实施例的服务器的计算机系统800的结构示意图。图8示出的服务器仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图8所示，计算机系统800包括中央处理单元(CPU)801，其可以根据存储在只读存储器(ROM)802中的程序或者从存储部分808加载到随机访问存储器(RAM)803中的程序而执行各种适当的动作和处理。在RAM 803中，还存储有系统800操作所需的各种程序和数据。CPU 801、ROM 802以及RAM 803通过总线804彼此相连。输入/输出(I/O)接口805也连接至总线804。
以下部件连接至I/O接口805：包括键盘、鼠标等的输入部分806； 包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分807；包括硬盘等的存储部分808；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分809。通信部分809经由诸如因特网的网络执行通信处理。驱动器810也根据需要连接至I/O接口805。可拆卸介质811，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器810上，以便于从其上读出的计算机程序根据需要被安装入存储部分808。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在机器可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分809从网络上被下载和安装，和/或从可拆卸介质811被安装。在该计算机程序被中央处理单元(CPU)801执行时，执行本申请的方法中限定的上述功能。
需要说明的是，本申请所描述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
在本申请中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介 质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请的操作的计算机程序代码，上述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本申请实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括第一任务信息接收单元、起点位置确定单元、终点位置确定单元、第一搬运信息生成单元和第一搬运信息发送单元。其中，这些单元的名称在某种情况下并不构成 对该单元本身的限定，例如，第一任务信息接收单元还可以被描述为“接收来自任务服务器的第一任务信息的单元”。
作为另一方面，本申请还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的装置中所包含的；也可以是单独存在，而未装配入该装置中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该装置执行时，使得该装置：接收来自任务服务器的第一任务信息，其中，第一任务信息包括待搬运的货架的标识以及处理第一任务信息的第一拣选工位的标识，待搬运的货架存放在仓库中，仓库中还设有货架储位、拣选工位以及与拣选工位对应的缓存储位集合，缓存储位集合包括第一缓存储位；根据待搬运的货架的标识，确定存放上述货架的货架储位的位置为起点位置；根据第一拣选工位的标识，确定第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终点位置，生成第一搬运信息；向自动导引运输车发送第一搬运信息，以使自动导引运输车搬运上述货架。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (24)

  1. 一种用于控制货架搬运的方法，包括：
    接收来自任务服务器的第一任务信息，其中，第一任务信息包括待搬运的货架的标识以及处理第一任务信息的第一拣选工位的标识，待搬运的货架存放在仓库中，仓库中还设有货架储位、拣选工位以及与拣选工位对应的缓存储位集合，缓存储位集合包括第一缓存储位；
    根据所述待搬运的货架的标识，确定存放所述货架的货架储位的位置为起点位置；
    根据所述第一拣选工位的标识，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；
    根据所确定的起点位置和终点位置，生成第一搬运信息；
    向自动导引运输车发送所述第一搬运信息，以使所述自动导引运输车搬运所述货架。
  2. 根据权利要求1所述的方法，其中，所述向自动导引运输车发送所述第一搬运信息，包括：
    从空闲的自动导引运输车集合中选取自动导引运输车作为目标自动导引运输车；
    向所述目标自动导引运输车发送所述第一搬运信息。
  3. 根据权利要求1所述的方法，其中，缓存储位集合还包括第二缓存储位；以及
    所述方法还包括：
    在所述货架存放在所述第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，确定是否接收到来自所述任务服务器的、包括所述货架的标识的第二任务信息，其中，所述第二任务信息还包括处理第二任务信息的第二拣选工位的标识；
    响应于确定接收到所述第二任务信息，确定所述第二任务信息的优先级是否高于所述第一任务信息的优先级；
    响应于确定所述第二任务信息的优先级高于所述第一任务信息的优先级，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置以及根据所述第二拣选工位的标识，确定所述第二拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第二搬运信息；
    向自动导引运输车发送所述第二搬运信息。
  4. 根据权利要求3所述的方法，其中，所述方法还包括：
    响应于确定未接收到所述第二任务信息或者确定所述第二任务信息的优先级低于所述第一任务信息的优先级，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第三搬运信息；
    向自动导引运输车发送所述第三搬运信息。
  5. 根据权利要求4所述的方法，其中，所述方法还包括：
    响应于确定接收到来自拣选终端的任务处理完成信息，确定在所述货架存放在所述第一拣选工位对应的缓存储位集合中的第二缓存储位的过程中，是否接收到来自所述任务服务器的、包括所述货架的标识的第三任务信息，其中，所述任务处理完成信息为所述拣选终端在处理完成所述第一任务信息后发送的，所述第三任务信息还包括处理所述第三任务信息的第三拣选工位的标识；
    响应于确定接收到所述第三任务信息，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置以及根据所述第三拣选工位的标识，确定所述第三拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第四搬运信息；
    向自动导引运输车发送所述第四搬运信息。
  6. 根据权利要求5所述的方法，其中，所述方法还包括：
    响应于确定未接收到所述第三任务信息，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第五搬运信息；
    向自动导引运输车发送所述第五搬运信息。
  7. 根据权利要求6所述的方法，其中，所述方法还包括：
    确定在所述货架存放于所述第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，是否接收到包括所述货架的标识的第四任务信息；
    响应于确定未接收到所述第四任务信息，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定存放所述货架的货架储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第六搬运信息；
    向自动导引运输车发送所述第六搬运信息。
  8. 根据权利要求1-7任一项所述的方法，其中，自动导引运输车包括往返于货架储位与缓存储位集合中的缓存储位之间的第一自动导引运输车；以及
    在向自动导引运输车发送搬运信息前，所述方法还包括：
    确定待发送的搬运信息中的起点位置和终点位置中是否存在一项为货架储位的位置；
    响应于确定待发送的搬运信息中的起点位置和终点位置中存在一项为货架储位的位置，向所述第一自动导引运输车发送搬运信息。
  9. 根据权利要求8所述的方法，其中，所述自动导引运输车还包括往返于缓存储位与缓存储位之间的第二自动导引运输车；以及
    所述方法还包括：
    响应于确定待发送的搬运信息中的起点位置和终点位置为缓存储位的位置，向所述第二自动导引运输车发送搬运信息。
  10. 根据权利要求1-7任一项所述的方法，其中，任务服务器向服务器发送的任务信息包括入库任务信息和出库任务信息，仓库中设置的拣选工位包括处理入库任务信息的入库拣选工位和处理出库任务信息的出库拣选工位；以及
    所述方法还包括：
    确定仓库中自动导引运输车的数量、入库拣选工位的数量以及出库拣选工位的数量；
    响应于确定所述自动导引运输车的数量与所述入库拣选工位的数量与所述出库拣选工位的数量之和的比值大于第一预设值，根据所述入库拣选工位的数量与所述出库拣选工位的数量的比值以及所述自动导引运输车的数量，确定往返于货架储位与缓存储位之间的第一自动导引运输车的数量和往返于缓存储位与缓存储位之间的第二自动导引运输车的数量；
    响应于确定所述自动导引运输车的数量与所述入库拣选工位的数量与所述出库拣选工位的数量之和的比值小于所述第一预设值，选取所述入库拣选工位的数量与所述出库拣选工位的数量之和个自动导引运输车作为往返于缓存储位与缓存储位之间的第二自动导引运输车以及将所选取的自动导引运输车分配给入库拣选工位和出库拣选工位。
  11. 根据权利要求5所述的方法，其中，缓存储位集合包括至少一个第一缓存储位；以及
    上述方法还包括：
    响应于确定未接收到所述第三任务信息，确定所述第一拣选工位对应的缓存储位集合中是否存在空闲的第一缓存储位；
    响应于确定不存在空闲的第一缓存储位，确定所述仓库中是否存在满足以下条件的拣选工位：所对应的缓存储位集合中空闲的第一缓存储位的数量大于第二预设值；
    响应于确定存在满足条件的拣选工位，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定满足条 件的拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第七搬运信息；
    向自动导引运输车发送所述第七搬运信息。
  12. 一种用于控制货架搬运的装置，包括：
    第一任务信息接收单元，被配置成接收来自任务服务器的第一任务信息，其中，第一任务信息包括待搬运的货架的标识以及处理第一任务信息的第一拣选工位的标识，待搬运的货架存放在仓库中，仓库中还设有货架储位、拣选工位以及与拣选工位对应的缓存储位集合，缓存储位集合包括第一缓存储位；
    起点位置确定单元，被配置成根据所述待搬运的货架的标识，确定存放所述货架的货架储位的位置为起点位置；
    终点位置确定单元，被配置成根据所述第一拣选工位的标识，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；
    第一搬运信息生成单元，被配置成根据所确定的起点位置和终点位置，生成第一搬运信息；
    第一搬运信息发送单元，被配置成向自动导引运输车发送所述第一搬运信息，以使所述自动导引运输车搬运所述货架。
  13. 根据权利要求12所述的装置，其中，所述第一搬运信息发送单元进一步被配置成：
    从空闲的自动导引运输车集合中选取自动导引运输车作为目标自动导引运输车；
    向所述目标自动导引运输车发送所述第一搬运信息。
  14. 根据权利要求12所述的装置，其中，缓存储位集合还包括第二缓存储位；以及
    所述装置还包括：
    第二任务信息接收单元，被配置成在所述货架存放在所述第一拣 选工位对应的缓存储位集合中的第一缓存储位的过程中，确定是否接收到来自所述任务服务器的、包括所述货架的标识的第二任务信息，其中，所述第二任务信息还包括处理第二任务信息的第二拣选工位的标识；
    优先级确定单元，被配置成响应于确定接收到所述第二任务信息，确定所述第二任务信息的优先级是否高于所述第一任务信息的优先级；
    第二搬运信息生成单元，被配置成响应于确定所述第二任务信息的优先级高于所述第一任务信息的优先级，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置以及根据所述第二拣选工位的标识，确定所述第二拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第二搬运信息；
    第二搬运信息发送单元，被配置成向自动导引运输车发送所述第二搬运信息。
  15. 根据权利要求14所述的装置，其中，所述装置还包括：
    第三搬运信息生成单元，被配置成响应于确定未接收到所述第二任务信息或者确定所述第二任务信息的优先级低于所述第一任务信息的优先级，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第三搬运信息；
    第三搬运信息发送单元，被配置成向自动导引运输车发送所述第三搬运信息。
  16. 根据权利要求15所述的装置，其中，所述装置还包括：
    第三任务信息接收单元，被配置成响应于确定接收到来自拣选终端的任务处理完成信息，确定在所述货架存放在所述第一拣选工位对应的缓存储位集合中的第二缓存储位的过程中，是否接收到来自所述 任务服务器的、包括所述货架的标识的第三任务信息，其中，所述任务处理完成信息为所述拣选终端在处理完成所述第一任务信息后发送的，所述第三任务信息还包括处理所述第三任务信息的第三拣选工位的标识；
    第四搬运信息生成单元，被配置成响应于确定接收到所述第三任务信息，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置以及根据所述第三拣选工位的标识，确定所述第三拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置；根据所确定的起点位置和终点位置生成第四搬运信息；
    第四搬运信息发送单元，被配置成向自动导引运输车发送所述第四搬运信息。
  17. 根据权利要求16所述的装置，其中，所述装置还包括：
    第五搬运信息生成单元，被配置成响应于确定未接收到所述第三任务信息，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第五搬运信息；
    第五搬运信息发送单元，被配置成向自动导引运输车发送所述第五搬运信息。
  18. 根据权利要求17所述的装置，其中，所述装置还包括：
    第四任务信息接收单元，被配置成确定在所述货架存放于所述第一拣选工位对应的缓存储位集合中的第一缓存储位的过程中，是否接收到包括所述货架的标识的第四任务信息；
    第六搬运信息生成单元，被配置成响应于确定未接收到所述第四任务信息，确定所述第一拣选工位对应的缓存储位集合中的第一缓存储位的位置为起点位置，确定存放所述货架的货架储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第六搬运信息；
    第六搬运信息发送单元，被配置成向自动导引运输车发送所述第 六搬运信息。
  19. 根据权利要求12-18任一项所述的装置，其中，自动导引运输车包括往返于货架储位与缓存储位集合中的缓存储位之间的第一自动导引运输车；以及
    所述装置还包括：
    位置确定单元，被配置成在向自动导引运输车发送搬运信息前，确定待发送的搬运信息中的起点位置和终点位置中是否存在一项为货架储位的位置；
    第一自动导引运输车确定单元，被配置成响应于确定待发送的搬运信息中的起点位置和终点位置中存在一项为货架储位的位置，向所述第一自动导引运输车发送搬运信息。
  20. 根据权利要求19所述的装置，其中，自动导引运输车还包括往返于缓存储位与缓存储位之间的第二自动导引运输车；以及
    所述装置还包括：
    第二自动导引运输车确定单元，被配置成响应于确定待发送的搬运信息中的起点位置和终点位置为缓存储位的位置，向所述第二自动导引运输车发送搬运信息。
  21. 根据权利要求12-18任一项所述的装置，其中，任务服务器向服务器发送的任务信息包括入库任务信息和出库任务信息，仓库中设置的拣选工位包括处理入库任务信息的入库拣选工位和处理出库任务信息的出库拣选工位；以及
    所述装置还包括：
    数量确定单元，被配置成确定仓库中自动导引运输车的数量、入库拣选工位的数量以及出库拣选工位的数量；
    第一分配单元，被配置成响应于确定所述自动导引运输车的数量与所述入库拣选工位的数量与所述出库拣选工位的数量之和的比值大于第一预设值，根据所述入库拣选工位的数量与所述出库拣选工位的 数量的比值以及所述自动导引运输车的数量，确定往返于货架储位与缓存储位之间的第一自动导引运输车的数量和往返于缓存储位与缓存储位之间的第二自动导引运输车的数量；
    第二分配单元，被配置成响应于确定所述自动导引运输车的数量与所述入库拣选工位的数量与所述出库拣选工位的数量之和的比值小于所述第一预设值，选取所述入库拣选工位的数量与所述出库拣选工位的数量之和个自动导引运输车作为往返于缓存储位与缓存储位之间的第二自动导引运输车以及将所选取的自动导引运输车分配给入库拣选工位和出库拣选工位。
  22. 根据权利要求16所述的装置，其中，缓存储位集合包括至少一个第一缓存储位；以及
    上述方法还包括：
    空闲缓存储位确定单元，被配置成响应于确定未接收到所述第三任务信息，确定所述第一拣选工位对应的缓存储位集合中是否存在空闲的第一缓存储位；
    空闲缓存储位筛选单元，被配置成响应于确定不存在空闲的第一缓存储位，确定所述仓库中是否存在满足以下条件的拣选工位：所对应的缓存储位集合中空闲的第一缓存储位的数量大于第二预设值；
    第七搬运信息生成单元，被配置成响应于确定存在满足条件的拣选工位，确定所述第一拣选工位对应的缓存储位集合中的第二缓存储位的位置为起点位置，确定满足条件的拣选工位对应的缓存储位集合中的第一缓存储位的位置为终点位置，以及根据所确定的起点位置和终点位置生成第七搬运信息；
    第七搬运信息发送单元，被配置成向自动导引运输车发送所述第七搬运信息。
  23. 一种服务器，包括：
    一个或多个处理器；
    存储装置，其上存储有一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-11中任一所述的方法。
  24. 一种计算机可读介质，其上存储有计算机程序，其中，该程序被处理器执行时实现如权利要求1-11中任一所述的方法。
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