WO2020038144A1 - 自助式操作系统、方法和操作门 - Google Patents

自助式操作系统、方法和操作门 Download PDF

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Publication number
WO2020038144A1
WO2020038144A1 PCT/CN2019/095440 CN2019095440W WO2020038144A1 WO 2020038144 A1 WO2020038144 A1 WO 2020038144A1 CN 2019095440 W CN2019095440 W CN 2019095440W WO 2020038144 A1 WO2020038144 A1 WO 2020038144A1
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WO
WIPO (PCT)
Prior art keywords
target
storage container
door
item
control server
Prior art date
Application number
PCT/CN2019/095440
Other languages
English (en)
French (fr)
Inventor
李洪波
Original Assignee
北京极智嘉科技有限公司
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.)
Filing date
Publication date
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to KR1020217005254A priority Critical patent/KR102535049B1/ko
Priority to EP19851554.6A priority patent/EP3843056A4/en
Priority to JP2020540354A priority patent/JP7028984B2/ja
Publication of WO2020038144A1 publication Critical patent/WO2020038144A1/zh
Priority to US16/920,445 priority patent/US11599849B2/en

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
    • G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • 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
    • G06Q10/083—Shipping
    • G06Q10/0836—Recipient pick-ups
    • 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
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/18—Payment architectures involving self-service terminals [SST], vending machines, kiosks or multimedia terminals
    • 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
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/38—Payment protocols; Details thereof
    • G06Q20/40—Authorisation, e.g. identification of payer or payee, verification of customer or shop credentials; Review and approval of payers, e.g. check credit lines or negative lists
    • G06Q20/401—Transaction verification
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/002—Vending machines being part of a centrally controlled network of vending machines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the embodiments of the present application relate to the field of storage technology, for example, to a self-service operating system, method, and operation door.
  • an unmanned supermarket is used as an example.
  • the product shelves are fixedly arranged in the supermarket.
  • the user according to the products he needs to buy travels between multiple product shelves in the supermarket, scans the QR code of the products on the shelf, and pays. After getting the corresponding product.
  • the related technology has a single mode of operation and a high dependence on manpower. Users need to constantly shuttle through the product shelves, which consumes a lot of time and energy for users, and does not really achieve fast and efficient.
  • the embodiments of the present application provide a self-service operating system, method, and operation door, which can perform automated unmanned operations according to external requirements, improve operation efficiency, and achieve quickness and efficiency.
  • an embodiment of the present application provides a self-service operating system, including: a control server, one or more operation doors, at least one robot, and one or more storage containers; the one or more storage containers It is located in a storage area, and at least one side of the storage area is provided with the one or more operation doors; the at least one robot and the one or more operation doors are respectively communicatively connected with the control server, and the one or Multiple operation doors and the one or more storage containers are provided with a plurality of grid openings, and the plurality of grid openings on each of the storage containers respectively contain items, and the plurality of grids on each of the operation doors
  • the gates are respectively provided with grid gates;
  • the control server is configured to, in response to an item operation instruction, determine a target storage container and a target operation door corresponding to the item to be operated, and send a carrying instruction to the first robot;
  • the first robot is configured to respond to the carrying instruction to carry the target storage container to the target operation door with a plurality of grid openings on the target storage container and a plurality of grids on the target operation door.
  • the control server is further configured to control the opening of the gate of the target gate on the target operation door, and the target gate on the target operation door is associated with the item to be operated on the target storage container.
  • the grid corresponding to the grid is used to realize the operation of the items on the target storage container.
  • an embodiment of the present application provides a self-service operation method, including:
  • the control server determines the target storage container and the target operation door corresponding to the item to be operated in one or more storage containers and one or more operation doors according to the item operation instruction, and sends a carrying instruction to the robot;
  • the robot moves the target storage container to the target operation door according to the carrying instruction, and the plurality of grids on the target storage container correspond to the plurality of grids on the target operation door one by one, respectively. ;
  • the control server controls opening of one or more target openings on the target operation door, and one or more target openings on the target operation door are connected to the target storage container.
  • the grid corresponding to the grid associated with the item to be operated to implement the operation of the item on the target storage container.
  • an embodiment of the present application provides an operation door.
  • the operation door includes a control module, a communication module, a door frame, and a door body connected to the door frame.
  • a plurality of grids are provided on the door body.
  • Each of the plurality of grid ports is respectively provided with a grid port door;
  • the communication module is in communication connection with the control server;
  • the communication module is configured to receive a control message sent by a control server, and the control message indicates a lattice opening of the plurality of lattice openings to be opened;
  • the control module is configured to control the opening of the lattice door of any one or more of the plurality of lattices according to the control message.
  • FIG. 1 is a schematic diagram of a system structure of a self-service operating system provided in an embodiment of the present application
  • FIG. 2 is a schematic diagram of a one-way open shelf provided in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a shelf provided by an embodiment of the present application.
  • FIG. 4 is a structural block diagram of a self-service operating system provided in Embodiment 1 of this application;
  • FIG. 5 is an exemplary diagram of a shelf provided with a matching operation door provided in Embodiment 1 of this application;
  • FIG. 6 is a schematic diagram of rack layout and handling of a dense storage mode provided in Embodiment 1 of the present application.
  • FIG. 7 is a schematic diagram of a shelf layout and handling of another dense storage method provided in Embodiment 1 of the present application.
  • FIG. 8 is a rendering effect diagram of the operation door provided in the first embodiment of the application in an unmanned shoe sales scene
  • FIG. 9 is a structural block diagram of a self-service operating system provided in Embodiment 2 of the present application.
  • FIG. 10 is a flowchart of a self-service operation method provided in Embodiment 3 of the present application.
  • FIG. 11 is a flowchart of a self-service operation method provided in Embodiment 4 of the present application.
  • FIG. 12 is a schematic structural diagram of an operation door provided in Embodiment 5 of the present application.
  • FIG. 13 is an exemplary diagram of a pallet provided with a matching operation door provided in Embodiment 5 of the present application;
  • FIG. 14 is a diagram illustrating an example of a bin provided with a matching operation door provided in Embodiment 5 of the present application.
  • FIG. 1 is a schematic diagram of a system structure of a self-service operating system provided in an embodiment of the present application.
  • the system 100 includes a robot 110, a control system 120, a storage area 130, and an operation door 140.
  • the storage area 130 is provided with a plurality of storage containers 131, and one or more items are placed on the storage containers 131.
  • the containers 131 are arranged in an array, such as the shelves on which various commodities are placed in a supermarket.
  • a plurality of operation doors 140 are provided on one or more sides of the storage area 130 (the side shown in the figure).
  • the storage container 131 is a container having a slot and capable of storing items through the slot, such as a shelf, where the shelf includes multiple compartments and four floor support columns, and at least one slot is provided on the partition of the shelf. You can place one or more items.
  • the shelf may be a one-way opening, for example, a one-way opening shelf as shown in FIG. 2, or a two-way opening, and items in any one of the two-way opening shelves can be operated by rotating the shelf.
  • the control system 120 communicates with the robot 110 wirelessly.
  • a worker (or a user) generates an order through the operation console 160, and the order is transmitted to the control system 120.
  • the control system 120 responds to the order and starts work.
  • the robot 110 is under the control of the control system 120 To perform the handling task. For example, taking the storage container as an example, the robot 110 can drive along the empty space (a part of the passage of the robot 110) in the middle of the shelf array, move to the bottom of the shelf, use the lifting mechanism to lift the shelf, and carry it to the Assigned to the operation door 140.
  • the robot 110 has a lifting mechanism and an autonomous navigation function.
  • the robot 110 can travel to the bottom of the shelf and use the lifting mechanism to lift the entire shelf, so that the shelf can be moved up and down with the lifting mechanism having a lifting function. mobile.
  • the robot 110 can travel according to the two-dimensional code information captured by the camera, and can travel under the shelf suggested by the control system 120 according to the route determined by the control system 120.
  • the robot 110 carries the shelf to the operation door 140, and a worker (or user) 141 takes out an item from the shelf at the operation door 140.
  • the robot 110 can rotate the shelf so that the direction of the opening where the item to be picked is facing the person who picks the item, such as a staff member or a user.
  • the control system 120 is a software system with data storage and information processing capabilities running on a control server, and can be connected to robots, hardware input systems, and other software systems through wireless or wired.
  • the control system 120 may include one or more control servers, which may be a centralized control architecture or a distributed computing architecture.
  • the control server has a processor 1201 and a memory 1202, and the memory 1202 may have an order pool 1203.
  • the system shown in FIG. 1 can be applied to a variety of suitable scenarios.
  • a picking scenario after the robot 110 moves the storage container 131 to the operation door 140, a worker removes an item from the storage container 131 (the item is an order Items) and put them into a packing box for packing; for example, in the article storage scene, whether the stored items are temporarily stored or long-term stored, after the robot 110 transfers the storage container 131 to the operation door 140, the staff or the owner of the item An item is taken out of or stored in the storage container 131.
  • a storage container 131 may specifically place a user's article, or a grid may exclusively place a user's article.
  • the system is also suitable for unmanned access scenarios and unmanned supermarket scenarios.
  • the robot 110 may include a driving mechanism 1101 through which the robot 110 can move within the work space.
  • the robot 110 may further include a lifting mechanism 1102 for carrying the storage container 131, and the robot 110 may move to the storage.
  • the storage container 131 is lifted by the lifting mechanism 1102, and is carried to the assigned operation door 140.
  • the lifting mechanism 1102 is raised, the entire storage container 131 is lifted from the ground, so that the robot 110 carries the storage container 131, and when the lifting mechanism 1102 is lowered, the storage container 131 is placed on the ground.
  • the target recognition component 1103 on the robot 110 can effectively identify the storage container 131 when the robot 110 lifts the storage container 131.
  • the robot 110 further includes a navigation recognition component (not shown in FIG. 3), which is configured to recognize a navigation mark (such as a two-dimensional code) on the paved ground.
  • the robot 110 also includes a control module (not shown in FIG. 3) that controls the entire robot 110 to implement functions such as motion and navigation.
  • the robot 110 includes at least two upward and downward cameras, which can drive forward according to the two-dimensional code information (also other ground identifiers) captured by the downward camera, and can drive according to the control system 120 The determined route travels under the storage container 131 suggested by the control system 120.
  • the related technologies are all based on manual operation methods, their operation modes are single, and their dependence on manpower is high. Customers need to constantly move through the goods shelves to complete the operation, which consumes a lot of time and energy of customers. Work efficiency is low. Therefore, the embodiments of the present application improve the traditional operation mode in an interactive manner and realize an automated unmanned operation model.
  • FIG. 4 is a structural block diagram of a self-service operating system provided in Embodiment 1 of the present application.
  • this embodiment uses an unmanned supermarket scenario as an example, as shown in FIG. 4, This system can implement the unmanned autonomous operating system described in any embodiment of the present application.
  • the system 400 includes: a control server 410, one or more operation doors 420, at least one robot 430, and one or more storage containers 440; the one or more storage containers 440 are located in a storage area, and at least one of the storage areas One or more operation doors 420 are provided on the side; the one or more operation doors 420 and the at least one robot 430 are communicatively connected with the control server 410, and the one or more operation doors 420 and the one
  • the plurality of storage containers 440 are provided with a plurality of grid openings, each of the storage containers 440 has a plurality of grid openings respectively containing items, and each of the plurality of grid openings on the operation door 420 is correspondingly provided with Lattice gate; of which
  • the control server 410 is configured to respond to the item operation instruction, determine the target storage container 440 and the target operation door 420 corresponding to the item to be operated, and send a carrying instruction to the robot 430.
  • the robot 430 is configured to respond to the carrying instruction to carry the target storage container 440 to the target operation door 420, and the plurality of slots on the target storage container 440 and the plurality of slots on the target operation door 420 respectively correspond to each other.
  • the control server 410 is further configured to control the opening of the grid door of the target grid on the target operation door 420, and the target grid on the target operation door 420 is a grid corresponding to the grid associated with the item to be operated on the target storage container 440. Port to implement item operations on the target storage container 440.
  • the specific reference of the grid associated with the operation item is different according to different application scenarios.
  • the grid associated with the operation item refers to the grid where the product is sold or the replenishment product is on the shelf.
  • Grating in the unmanned access scene, the grid associated with the operation of the item refers to the grid where the item is taken out or the grid into which the item is stored; in the picking scene, the grid associated with the operation of the item refers to picking the goods or The grid where the goods are placed, or the grid where the goods are put on the shelf, and so on.
  • the storage container may be a storage area such as a shelf in a storage area of a warehouse, a self-service shopping area of a mall or an office building, or a courier pick-up area in scenarios involving handling items.
  • the shelf may include multiple compartments, where each compartment may include multiple grids, and multiple grids may be placed in each grid.
  • the shelf can be a single-sided opening or a double-sided opening. By selecting the orientation of the shelf, the items in the openings on the different opening sides can be processed.
  • the position of the target grid in the storage area can be determined, and then the relationship between the target grid and the items to be operated therein can be determined, Determine the location of the item to be operated in the storage area.
  • the heat level of the at least one storage container may be determined according to the hit rate of one or more items in at least one storage container in the storage area according to a preset period; and then adjusted according to the heat level of the at least one storage container.
  • the location of the storage container in the storage area In this way, the storage container with higher heat is placed closer to the operation door, which facilitates the rapid transportation of the corresponding storage container in the case of a high hit rate.
  • the operation door refers to a fixed partition provided between the user and the storage container in the user interaction area.
  • the interaction area may include one or more operation doors.
  • Each operation door includes at least one grid door, which respectively corresponds to the grid door on the corresponding storage container.
  • the switching status of each grid door is controlled by the server. control.
  • the operation door can be provided with a grid door according to the specific structure of the storage container.
  • the storage area can use the same type of storage container to ensure that each storage container can correspond to the operation door.
  • the setting method of the shelf and the grid is based on a uniform standard, that is, the size of different shelves, the setting of the grid, and the position and size of the corresponding grid are completely the same.
  • the same standards are adopted on both sides. Therefore, the shelves in this embodiment are exactly the same when no items are placed.
  • the operation door is provided with a grid door for the grid at a position corresponding to each grid on a plate material not less than the overall size of the rack.
  • each shelf in the storage area can be moved to the back of the operation door and aligned with the operation door, so that the grids capable of carrying items in the racks correspond to the corresponding grid doors one by one. Only when the gate is open can the user see and process the gate corresponding to the gate.
  • at least one gate can be opened according to the control of the control server, or all of them can be opened according to the control of the control server.
  • multiple types of shelves and operation doors corresponding to each type of shelves may be provided, and then the shelves may be transported to the corresponding operation doors according to the correspondence relationship between the types of shelves and the types of operation doors for External users operate the corresponding grid.
  • FIG. 5 is an exemplary diagram of an operation door with which a shelf is matched. It can be seen from the figure that the shelf on the left side of FIG. 5 includes 8 lattice doors with a structure of 2 ⁇ 4, and the operation door on the right side of FIG. 5 that matches the lattice also includes 8 lattice doors with a structure of 2 ⁇ 4. Furthermore, when the shelves are aligned behind the operation door, each grid door controls the opening and closing states of the grid door corresponding to the grid door and the outside world.
  • the item operation instruction refers to an instruction input by a user through an interactive window in a user interaction area, a portable device (Portable Device (PAD)), or an application (Application, APP), for example, in an unmanned access scene , Used to control the removal of items from the storage container in the storage area or the storage of items in the storage container in the storage area.
  • the item operation instruction may be divided into an item storage instruction and an item removal instruction, and the control server performs operations such as information processing and task generation according to different instructions.
  • the control server is configured to store and control the storage state in the storage area, and sends control instructions to the robot or the operation door according to a user instruction to perform corresponding handling or operation tasks.
  • the control server when the control server receives the item operation instruction, according to the information contained in the item operation instruction, the control server determines the operable storage container as the target storage container based on the storage information of each storage container, and The operation door closest to the target storage container is determined as the target operation door, and a transportation instruction is generated and sent to the robot. Therefore, the robot moves the target storage container to the target operation door according to the conveyance instruction, and places the multiple openings on the target storage container and the multiple openings on the target operation door one by one.
  • the final control server controls the gate of the target grid on the target operation door to open, and the target grid on the target operation door is the grid corresponding to the grid associated with the item to be operated on the target storage container, so as to be stored from the target.
  • the control server judges the item operation instruction according to the information included in the item operation instruction.
  • the control server may determine any storage container as the target storage container, and classify the target item for storage. Just fine. If some of all storage containers in the current storage area are empty, a storage container having free storage space is used as a candidate storage container.
  • the control server can The storage information and the target item information are selected from the candidate storage containers as a target storage container in which a free storage space where the type of target item has been stored is located.
  • the control server can simultaneously determine the operation door closest to the target storage container as the target operation door according to the distance between the target storage container and each operation door.
  • the control server determines the storage container carrying the target item as the target storage container according to the target item information.
  • the control server may simultaneously determine the operation door closest to the target storage container as the target operation door according to the distance between the target storage container and each operation door.
  • the control server generates a transfer instruction to transfer the target storage container to the target operation door according to the determined target storage container and the target operation door.
  • the control server may generate a navigation route from the position of the target storage container to the position of the target operation door according to the position of the target storage container, the position of the target operation door, and the current storage information of the storage area, and may also specify execution
  • the robot for the carrying operation generates a carrying instruction including information such as a target storage container, a navigation route, and a designated robot, and issues the instruction to the designated robot.
  • this embodiment uses a “mini warehouse” to store items.
  • this embodiment uses a dense storage method to arrange the storage containers in the storage area, that is, the storage containers in the storage area are densely placed together, and at least part of the storage containers in the storage container are arranged together.
  • the periphery of the blocked storage container is surrounded by other storage containers, so as to save as much storage space as possible from non-storage containers, and increase the occupation rate of storage containers in the storage area.
  • the control server plans a navigation route, it needs to consider whether the target shelf is blocked.
  • the control server determines that the target storage container is not a blocked storage container, it can directly generate the robot's handling instructions to control the first robot to move the target storage container to the target operation door; if it determines that the target storage container is a blocked storage container, the control server According to the current storage information in the storage area, the number of blocking shelves is determined, and a transportation instruction of the blocking shelves is generated to control at least one second robot to block at least one of the targets according to certain rules, such as the Huarong principle.
  • the storage container of the storage container is removed so that at least one side of the target storage container is not surrounded by other storage containers, and then the first robot is controlled to carry the target storage container to the target operation door to generate a more complicated transfer instruction. And send it to the designated robot.
  • FIG. 6 is a schematic diagram of a rack layout and handling of a dense storage method.
  • a shelf area 601 taking a shelf as an example, a shelf area 601, a robot running channel 602, a robot 603, and an operation door 604 are respectively provided.
  • the shelves in the shelf area 601 can be placed in a single row, such as the single-row shelves shown in the upper end of FIG. 6; it can also be placed in multiple rows (at least two) side by side, such as the picture 6 in the left 3 rows of shelves and the middle 4 rows of shelves.
  • driving subchannel L1 may include a driving subchannel L1, a driving subchannel L2, a driving subchannel L3, a driving subchannel L4, a driving subchannel L5, a driving subchannel L6, a driving subchannel L7, and a driving subchannel L8.
  • the above-mentioned driving sub-channels are all one-way driving channels, and one or both sides of each of the driving sub-channels are close to a part of the shelves of the storage area 601.
  • the robot 603 can move the rack to a position where each rack is located in a direction indicated by at least one of the driving sub-channels of the robot driving path 602.
  • FIG. 7 is a schematic diagram of shelf layout and handling of another dense storage method.
  • the shelf is also taken as an example, and a shelf area 701, a temporary shelf placement area 702, an operation door 703, and a robot 704 are respectively provided.
  • the multiple shelves in the shelf area 701 are densely distributed on one side of the storage area.
  • One side of the illustrated storage area) is provided with a temporary shelf placement area 702, and the robot 704 can move the shelf to the temporary shelf placement area 702.
  • the control server determines the shelf carrying the target item as the target shelf according to the current storage information in the storage area and the target item information associated with the item taking instruction, and The closest operation door with the target shelf matching is determined as the target operation door. Further, a transfer instruction for transferring the target rack to the target operation door is generated.
  • the racks in the storage area adopt a dense storage method, and assuming that the target rack is rack 1 in FIG. 6, that is, not a blocked rack, then one-way aisles L1, L2, and L4 can be planned from the left of rack 1 And the navigation route from L6, L7 to the operation door 604, thereby generating a transport instruction. If it is assumed that the target shelf is shelf 2 in FIG.
  • shelf 6 it is a blocked shelf.
  • shelf 2 is blocked by shelves 1, such as shelf 1, shelf 3, shelf 4, and shelf 5, resulting in the transfer path between shelf 2 and operation door 604 being blocked. . Therefore, you can plan a navigation route from the right side of the shelf 3 along the one-way aisle L3, L2, L4, L5, and L3 to drive the shelf 3 in a circle and move it back to the original position of the shelf 3.
  • the original route from the shelf 3 is planned.
  • a navigation route based on the principle of Huarong Road may also be adopted to plan the use of the least path to move the target shelves to the target operation door.
  • the racks in the storage area adopt a dense storage method, and assuming that the target rack is the rack 11 in FIG. 7 that is the blocked rack, multiple robots may be planned to sequentially rack 1, rack 2, ... Shelves such as shelf 10 are moved to the navigation route of the temporary storage area 702 according to the passage H1 in combination with the passages H2, H3, H4 or H5, and then the navigation route of the target shelf 11 to the operation door 703 is moved according to the passage H1, thereby providing multiple navigation routes Allocate the designated robot, generate the transportation instruction and send it to the designated robot.
  • the robot moves the target storage container to the target operation door according to the navigation instruction issued by the control server and according to the navigation route in the transportation instruction.
  • the robot can perform corresponding handling tasks according to one or a combination of two or more navigation modes such as two-dimensional code navigation, inertial navigation, visual navigation, and sensor navigation when performing autonomous navigation.
  • the robot can directly move the target storage container to the target operation door according to the navigation route, and a robot can complete the transportation task.
  • the target storage container is a blocked storage container, at least two robots are required to carry it cooperatively based on the number of blocked storage containers, based on the Huarong Tao principle and / or the one-way channel principle, where at least one second robot is controlled to route at least one according to the navigation route.
  • the storage container blocking the target storage container is removed so that at least one side of the periphery of the target storage container is not surrounded by other storage containers, and then the first robot is controlled to carry the target storage container to the target operation door.
  • the target storage container can be aligned with the target operation door according to sensors or vision, so that each grid door in the target operation door can control the opening and closing of the grid corresponding to the grid door in the target storage container and the outside. status.
  • the control server can control one or more grid openings in the target operation door.
  • the open and closed state of the door by which at least one grid door is opened to expose at least one grid corresponding to the subsequent target storage container.
  • a robot can send a transportation completion instruction to the control server, thereby motivating the control server to issue a subsequent instruction to open the grid door, or by operating a sensor on the door, etc.
  • the operation door When the operation door detects that the storage container is aligned with the storage container, it sends a transportation completion instruction to the control server, thereby motivating the control server to issue a subsequent instruction to open the gate.
  • the control server when determining the target storage container, the control server has determined the position of at least one storage space, such as the slot of the shelf, in which the target item should be stored or taken out, and further determines the corresponding at least one slot door according to the position of the at least one storage space, so that Control opens the at least one lattice door.
  • the user can operate the storage space corresponding to the open gate.
  • the grid door can be opened under the control of the control server; an indicator light can also be set on each grid door, and the user can instruct the user to open the corresponding grid door by controlling the server control indicator to be turned on or off.
  • This embodiment does not limit the opening method of the lattice door in the operation door, and any opening method that can open and ensure the safety of users and items can be applied in this embodiment.
  • the system in this embodiment may further include an operation quantity monitoring device.
  • the control server may operate the operation quantity monitoring device. Monitor the quantity of the target items taken out or stored in the target storage container to determine the operation quantity of the target items.
  • the number of operating items may be determined by scanning radio frequency identification (RFID) tags using radio frequency identification technology, or by using a visual recognition technology to obtain a monitoring image through a camera to determine the number of operating items.
  • RFID radio frequency identification
  • the operating position of the target article is determined according to the opened state of the target storage container and the lattice door in the operation door, and the storage information of the storage container is updated by the target article, the number of operations, and the operation position.
  • the item operation instruction is an item sales instruction, it means that the user is buying the corresponding item, so it depends on the type and sale of the target item Quantity, determine the item transaction amount, and send the item transaction amount to the transaction server, so that the transaction server can deduct the corresponding item transaction amount in the user account according to the payment method bound by the user.
  • FIG. 8 is a rendering effect diagram of an operation door applied to an unmanned shoe sales scene.
  • a shelf as an example, intensive storage of operation doors and shelves is applied to a scenario of self-service shoe purchase, and a self-service shoe test area 810, an interaction area 820, and a storage area 830 are provided.
  • a sample shoe 8101 for a user to try on is provided on the wall on the left side of the self-service shoe-testing area 810
  • an interactive window 820 and an operation door 8202 are provided in the interactive area 820
  • a shelf 8301 and a robot 8302 are provided in the storage area 830.
  • Stored shoes are stored on a shelf 8301.
  • the shelf 8301 can adopt a dense storage method to improve the storage utilization rate of the storage area 830. According to the hit rate of the items, the heat ranking is performed. For example, there are more people in the 36th size on the market, and then the shelf 8301 stored in the 36th size shoes is preferentially placed at the closest position to the interaction area 820. When users need shoes No. 36, they can move the designated shoes on the shelf as soon as possible.
  • the control server controls the robot 8302 to move the target rack 8301 containing the target shoes to the operation door 8202 in the interaction area 820 according to the item sales instruction, and controls the grid door corresponding to the grid where the target shoe is located to open.
  • the server monitors the number of target shoes taken by the user by operating the number monitoring device to determine the number of target shoes to be taken out, and generates a deduction amount according to the unit price of the target shoes to send to the transaction server. After the user takes it, the transaction server deducts the corresponding amount in the account bound by the user. Correspondingly, when some or all of the shoes in the storage area 830 are purchased, the worker needs to perform a corresponding loading task.
  • control server controls the robot 8302 to move the loaded shelves to the operation door 8202, and open the grid door corresponding to the free grid, or open all the grid doors when all the goods have been purchased, and the staff can then
  • the shelves 8301 are loaded on a regular basis, without manual shuttles and loading operations one by one in the shelves, which reduces the number of required staff and greatly improves the loading efficiency of the staff.
  • an unmanned operating system constructed by controlling a server, an operation door, a robot, and a storage container is configured to respond to the received item operation instruction to determine a target storage container and a target operation door for operating the item. And send a transport instruction to the robot; enable the robot to transport the target storage container to the target operation door according to the transport instruction; thus, the control server controls the opening and closing state of the gate of the target gate on the target operation door to remove the target storage container from the target storage container Perform item manipulation.
  • a fixed storage container is moved, and an operation door is provided in the interaction area.
  • the opening and closing status of the door is used to operate the storage container, which realizes automated unmanned operation according to external needs.
  • the storage container in the storage area can be operated manually at one time, reducing labor costs and improving the operation of items. effectiveness.
  • FIG. 9 is a structural block diagram of a self-service operating system provided in Embodiment 2 of the present application. As shown in FIG.
  • the system 900 includes: an operation quantity monitoring device 910 configured to operate on items Performing quantity monitoring, the operating quantity monitoring device 910 is communicatively connected with the control server 410; the system 900 includes one or more operation doors 420; the target grid on the operation door 420 is one or more; the storage At least a part of the storage container in the container 440 is a blocked storage container, and the periphery of the blocked storage container is surrounded by other storage containers; the control server 410 is further configured to adjust the temperature according to the heat of one or more items in the storage container 440. The location of the storage container.
  • the control server 410 is configured to respond to the item operation instruction, determine the target storage container 440 and the target operation door 420 corresponding to the item to be operated, and send a carrying instruction to the robot 430;
  • the robot 430 is configured to transfer the target storage container 440 to the target operation door 420 in response to the transfer instruction, and the plurality of slots on the target storage container 440 and the plurality of slots on the target operation door 420 correspond to each other one by one;
  • the control server 410 is further configured to control the opening of the grid door of the target grid on the target operation door 420, and the target grid on the target operation door 420 is a grid corresponding to the grid associated with the item to be operated on the target storage container 440. Port for item manipulation on the target storage container 440.
  • the control server when the control server receives an item operation instruction, according to the information contained in the item operation instruction, the control server determines, based on the storage information of each storage container, that the target item can be stored in or can be taken out of the target.
  • the storage container of the article is the target storage container, and the operation door closest to the target storage container is determined as the target operation door, and a transportation instruction is generated and sent to the robot. Therefore, the robot moves the target storage container to the target operation door according to the conveyance instruction, and places the multiple openings on the target storage container and the multiple openings on the target operation door one by one.
  • the final control server controls the gate of the target grid on the target operation door to open.
  • the target grid on the target operation door is the grid corresponding to the grid on which the item to be operated on the target storage container is located.
  • To carry out item operations when taking out an item, only the gate of the grid corresponding to the grid where the target article is located can be opened, so that the user can pick up the target article in the grid.
  • Batch storage can be performed, that is, the control server determines the target storage container and the target operation door for storing items, and the robot moves the target storage container to the target operation door, and multiple grids on the target storage container and the target operation door Multiple grid openings correspond to each other one by one, and the control server controls all the grid openings on the target operation door to open, which is convenient for the user to store items in the storage container at one time.
  • the control server judges the item operation instruction according to the information included in the item operation instruction.
  • the control server may determine any storage container as the target storage container, and classify the target item for storage. Just fine. If some of all storage containers in the current storage area are empty, a storage container having free storage space is used as a candidate storage container.
  • the control server can
  • the storage information and the target item information are selected from the candidate storage containers as a target storage container in which a free storage space where the type of target item has been stored is located.
  • the control server may simultaneously determine the operation door closest to the target storage container as the target operation door according to the distance between the target storage container and each operation door.
  • the control server determines the storage container carrying the target item as the target storage container according to the target item information.
  • the control server may simultaneously determine the operation door closest to the target storage container as the target operation door according to the distance between the target storage container and each operation door.
  • control server 410 is configured to determine the target storage container 440 according to the storage container associated with the item to be operated indicated in the item operation instruction, and according to the target storage container 440 and the plurality of operation doors The distance between 420 determines the target operating door 420.
  • the operation door closest to the target storage container and in an idle state is determined as the target operation door to improve the efficiency of the target storage container to be transferred to the operation door, and further improve the operation efficiency of the article.
  • control server 410 is further configured to determine the number of operations according to the monitoring result, and update the storage information of the storage container according to the number of operations.
  • the operation quantity monitoring device 910 configured in the system can monitor the quantity of the operated items.
  • This embodiment can use radio frequency identification technology to determine the number of operated items by the number of times the user scans the RFID tag; or based on visual identification technology, obtain a monitoring image through a camera to identify and determine the number of operated items. Therefore, the control server determines the number of operations according to the monitoring results, and updates the storage information of the storage container according to the number of operations to ensure the correctness of the operation of the items in the unmanned operating system, the interests of the user, and the security of the items in the storage area.
  • the control server 410 is configured to determine the item transaction amount according to the type and quantity of the item to be sold, and send the item transaction amount to the transaction server so that the transaction server binds according to the user Payment method deducts the amount of the item transaction in the user account.
  • the item operation instruction is an item sales instruction
  • it means that the user is buying the corresponding item so the user who takes out the item should pay a certain amount of money Feedback.
  • the corresponding control server determines the item transaction amount by the product of the unit price and the quantity according to the type and quantity of the target item, and sends the item transaction amount to the transaction server, so that the transaction server can deduct the user account according to the payment method bound by the user.
  • the corresponding item transaction amount if the item operation instruction is an item sales instruction, it means that the user is buying the corresponding item, so the user who takes out the item should pay a certain amount of money Feedback.
  • the corresponding control server determines the item transaction amount by the product of the unit price and the quantity according to the type and quantity of the target item, and sends the item transaction amount to the transaction server, so that the transaction server can deduct the user account according to the payment method bound by the user.
  • the corresponding item transaction amount if the item operation instruction is an item sales instruction, it means that the user is buying the corresponding
  • the control server determines the target storage container and the target operation door according to different item operation instructions, the control robot moves the target shelf to the target operation door, and then the control server controls the grid door in the target operation door to open so that Perform item operations on the target storage container.
  • the number of operations of the article is monitored, and the control server updates the storage information of the storage container based on the determined number of operations.
  • the fixed storage container is moved, and an operation door is provided in the interaction area.
  • the storage container is moved to the operation door, and the storage container is operated according to the opening and closing state of the lattice door in the operation door.
  • the storage containers in the storage area can be operated manually at one time, which reduces labor costs and improves the efficiency of item operations.
  • FIG. 10 is a flowchart of a self-service operation method provided in Embodiment 3 of this application. This embodiment can be applied to the case of taking out or storing items from a storage container in a warehouse storage area. Operating system to execute. The method includes the following steps:
  • Step 1010 The control server determines a target storage container and a target operation door corresponding to the item to be operated in one or more storage containers and one or more operation doors according to the item operation instruction, and sends a transportation instruction to the robot.
  • the control server receives the article operation instruction input by the user, and judges the type of the article operation instruction, that is, the article storage instruction and the article removal instruction. Then, the target storage container and the target operation door are determined according to the instructions of the specific use, and the navigation route of the carrying operation is planned according to the storage method of the storage area, and the robot performing the carrying operation is designated, thereby generating the carrying instruction and issuing it to the designated robot.
  • the number of target storage containers may be one or more, and the number of target operation doors may be one or more.
  • the grid door in the operation door can be opened under the control of the control server; an indicator can also be set on each grid door, and the user is instructed to open by controlling the on and off of the server control indicator.
  • Corresponding grid door You can also use the control server to send user authentication information such as passwords on the device that enters the item operation instructions to the control server. After the user verifies at the operation door based on the received verification information, he can open the corresponding at least A lattice door.
  • This embodiment does not limit the opening method of the lattice door in the operation door, and any opening method that can open and ensure the safety of users and articles can be applied in this embodiment.
  • the specific reference of the grid associated with the operation item is different according to different application scenarios.
  • the grid associated with the operation item refers to the grid where the product is sold or the replenishment product is on the shelf.
  • Grating in the unmanned access scene, the grid associated with the operation of the item refers to the grid where the item is taken out or the grid into which the item is stored; in the picking scene, the grid associated with the operation of the item refers to picking the goods or The grid where the goods are placed, or the grid where the goods are put on the shelf, and so on.
  • Step 1020 The robot transports the target storage container to the target operation door according to the transportation instruction, and the plurality of grids on the target storage container and the plurality of grids on the target operation door respectively correspond to each other.
  • the robot moves the target shelf to the target operation door according to the transportation instruction issued by the control server according to the navigation route in the transportation instruction, and the grid opening in the target shelf and the grid in the target operation door
  • the gates are aligned so that the plurality of lattice openings in the target shelf and the plurality of lattice opening doors in the target operation door correspond one-to-one.
  • the robot can perform corresponding handling tasks according to one or a combination of two or more navigation modes such as two-dimensional code navigation, inertial navigation, visual navigation, and sensor navigation when performing autonomous navigation.
  • Step 1030 The control server controls one or more target openings on the target operation door to open, and the one or more target openings on the target operation door are connected to the openings where the items to be operated on the target storage container are located. Corresponding grids to achieve item operations on target shelves.
  • the control server can control the opening and closing state of the target lattice door in the target operation door, thereby opening the latter by opening the lattice door in the operation door.
  • the target shelf is exposed, which is convenient for users to perform items operation on the target shelf.
  • the control server determines the target shelf, it has determined at least one grid position where the target item should be put in or taken out, and then according to the correspondence between the grid in the storage container and the grid door of the operation door, based on the The position determines the corresponding at least one target lattice door, so that the at least one target lattice door is controlled to be opened.
  • the user can operate the grid corresponding to the grid door that is in the open state.
  • the control server determines the target storage container and the target operation door according to the received article operation instruction, and sends a moving instruction including the target storage container and the target operation door to the robot, and the robot moves the target storage container to the target operation.
  • the control server controls the target grid door in the target operation door to open to expose the grid of the storage container through the target grid door, and the user performs item operations on the exposed grid of the storage container.
  • a fixed storage container is moved and an operation door is provided in the interaction area.
  • the storage container is operated according to the opening and closing state of the operation door, thereby realizing according to external requirements.
  • the storage containers in the storage area can be operated manually at one time, which reduces labor costs and improves the efficiency of the operation of items.
  • FIG. 11 is a flowchart of a self-service operation method provided in Embodiment 4 of the present application. As shown in FIG. 11, the method includes the following steps:
  • Step 1110 The control server determines a target storage container and a target operation door corresponding to the item to be operated in one or more storage containers and one or more operation doors according to the item operation instruction, and sends a carrying instruction to the robot.
  • the control server receives an item operation instruction input by a user and judges the type of the item operation instruction, that is, an item storage instruction and an item removal instruction. Then, the target storage container and the target operation door are determined according to the instructions of the specific use, and the navigation route of the carrying operation is planned according to the storage method of the storage area, and the robot performing the carrying operation is designated, thereby generating the carrying instruction and issuing the designated robot.
  • the number of operation doors is one or more.
  • a storage container of a uniform model or standard can be used in the storage area, and an operation door can be used to operate the item in a smaller storage area, where One operation door can be applied to all storage containers in the storage area.
  • One operation door can be applied to all storage containers in the storage area.
  • multiple operation doors may be used.
  • the storage area can use the same storage container and operation door, or use part of the storage container to match the operation door.
  • the control server determines the target storage container according to the storage container of the item to be operated indicated in the item operation instruction, and determines the distance between the target storage container and the plurality of operation doors. Target operates the door.
  • the relative position relationship between each storage container and each operation door is different. Therefore, based on the principle of optimal efficiency, When the target storage container is located, the operation door closest to the target storage container and in an idle state is determined as the target operation door to improve the efficiency of the target storage container to be transferred to the operation door, and further improve the operation efficiency of the article.
  • the control server may determine any storage container as a target storage container, and classify the target items for storage. Just fine. If some of the storage containers in the current storage area are empty, a storage container with a free slot is used as a candidate storage container. Among them, the corresponding items are still stored in part of the storage container. Therefore, in order to unify the storage rules of the current storage containers and prevent the items from being randomly placed under the storage rules, the control server can use the storage in the storage area at the previous moment. Information and target item information, from the candidate storage containers, select the storage container in which the free slot that used to store this type of target item was located as the target storage container.
  • control server may simultaneously determine the operation door that can correspond to the target storage container or the free slot as the target operation according to the distance between the target storage container and each operation door and / or the position of the free slot on the target storage container. Door to improve the efficiency of storage container handling.
  • control server when the control server determines that the item operation instruction is an item take-out instruction, it may search the corresponding item and its location from the storage area according to the target item information contained in the instruction.
  • the storage container of the target article closest to the operation door may be determined as the target storage container, and the corresponding operation door is the target operation door.
  • control server adjusts the position of the storage container according to the heat level of one or more items in the storage container.
  • the heat level of the at least one storage container may be determined according to the hit rate of one or more items in at least one storage container in the storage area, so that the storage container in the storage area is periodically The position is adjusted to further improve the transportation efficiency of the storage container in which the article is located.
  • At least a part of the storage containers is a blocked storage container, and the periphery of the blocked storage container is surrounded by other storage containers.
  • this embodiment in various application scenarios, in order to save space costs caused by excessive storage space, a "mini warehouse" is used to store items.
  • this embodiment uses a dense storage method to arrange the storage containers in the storage area. That is, the containers in the storage area are densely placed together. At least part of the storage containers in the storage container are The blocked storage container is surrounded by other storage containers around the blocked storage container to save as much storage space as possible from the non-storage container and increase the occupancy rate of the storage container in the storage area.
  • Step 1120 The robot moves the target storage container to the target operation door according to the transportation instruction, and the plurality of grids on the target storage container correspond to the plurality of grids on the target operation door one by one.
  • the robot moves the target storage container to the target operation door according to the transportation instruction issued by the control server according to the navigation route in the transportation instruction, and aligns the target storage container with the target operation door so that The multiple grid openings in the target storage container correspond to the multiple grid opening doors in the target operation door one by one.
  • the robot can perform corresponding handling tasks according to one or a combination of two or more navigation modes such as two-dimensional code navigation, inertial navigation, visual navigation, and sensor navigation when performing autonomous navigation.
  • control server determines that the target storage container is not a blocked storage container, and controls the first robot to move the target shelf to the target operation door; if it is determined that the target storage container is a blocked storage container, then controls at least one second robot to transfer at least one The storage container blocking the target storage container is removed so that at least one side of the periphery of the target storage container is not surrounded by other storage containers, and the first robot is controlled to carry the target storage container to the target operation door.
  • the control robot intelligently moves the target storage container out.
  • Step 1130 The control server controls one or more target openings on the target operation door to open, and the one or more target openings on the target operation door are in a position corresponding to the object to be operated on the target storage container.
  • the control server can control the opening and closing state of the target operation door, thereby exposing the subsequent target shelf by opening the operation door.
  • the control server determines the target shelf, it has determined at least one grid position where the target item should be put in or taken out, and then determines at least one grid gate corresponding to the at least one grid position, so as to control the at least one grid gate turn on.
  • the user can operate the grid corresponding to the grid door that is in the open state.
  • the number of target grids is one or more.
  • the number of target grids that can be determined when performing an item operation may be one or more. That is, only one grid opening in the storage container can be operated, and a corresponding one of the gates on the operation control door is opened; or multiple grid openings in the storage container can be operated at the same time or one time, and the corresponding control operations are simultaneously controlled. Multiple gates on the door open, and even all gates on the operation door can be controlled to open.
  • the grid door in the operation door can be opened under the control of the control server; an indicator can also be set on each grid door, and the user is instructed to open by controlling the on and off of the server control indicator.
  • Corresponding grid door You can also send verification information, such as passwords, to the user ’s device that enters the item operation instructions on the control server through the control server. After the user verifies at the operation door based on the received verification information, he can open the corresponding at least A lattice door.
  • This embodiment does not limit the opening method of the lattice door in the operation door, and any opening method that can open and ensure the safety of users and items can be applied in this embodiment.
  • the control server when the control server receives the item operation instruction, according to the information contained in the item operation instruction, the control server determines from the storage information of each storage container whether it can store the target item or can remove the target item.
  • the storage container is a target storage container, and an operation door closest to the target storage container is determined as a target operation door, and a transportation instruction is generated and sent to the robot. Therefore, the robot moves the target storage container to the target operation door according to the conveyance instruction, and places the multiple openings on the target storage container and the multiple openings on the target operation door one by one.
  • the control server controls one or more target openings on the target operation door to open, and the one or more target openings on the target operation door are corresponding to the openings corresponding to the openings on the target storage container. Mouth for handling items from the target storage container. Wherein, when taking out an item, only the gate of the grid corresponding to the grid where the target article is located can be opened, so that the user can pick up the target article in the grid.
  • the control server determines the target storage container and the target operation door for storing the items, and the robot moves the target storage container to the target operation door and the target storage container
  • Each grid opening corresponds to each of the grid openings on the target operation door, and the control server controls all the grid openings on the target operation door to open, which is convenient for the user to store items in the storage container at one time.
  • the control server judges the item operation instruction according to the information included in the item operation instruction.
  • the control server may determine any storage container as the target storage container, and classify the target item for storage. Just fine. If a part of all storage containers in the current storage area is empty, a storage container with a free slot is used as a candidate storage container. Among them, the corresponding items are still stored in part of the storage container. Therefore, in order to unify the storage rules of the current storage containers and prevent the items from being randomly placed under the storage rules, the control server can use the storage in the storage area at the previous moment.
  • the control server may simultaneously determine the operation door closest to the target storage container as the target operation door according to the distance between the target storage container and each operation door.
  • the control server determines the storage container carrying the target item as the target storage container according to the target item information.
  • the control server may simultaneously determine the operation door closest to the target storage container as the target operation door according to the distance between the target storage container and each operation door.
  • Step 1140 The control server determines the number of operations according to the monitoring result of the number of items operated by the operation number monitoring device, and updates the storage information of the target storage container according to the number of operations.
  • the control server may perform quantity supervision on the target items taken out or stored in the target storage container to determine the target.
  • the number of operations on the item can be determined by scanning RFID tags using radio frequency identification technology, or the number of operating items can be determined based on visual identification technology.
  • the control server determines the item transaction amount according to the type and quantity of the item to be sold, and sends the item transaction amount to the transaction server, so that the transaction server deducts the payment method bound by the user The amount of item transactions in the user account.
  • the article operation instruction can be roughly divided into an article storage instruction and an article removal instruction.
  • the instructions can be classified according to the operation mode of the article, such as deposit or withdrawal, and can be given to the instruction.
  • the name of the instruction in a specific scenario such as an item sales instruction, which is to remove the item from the storage container.
  • the transaction server can deduct the corresponding item transaction amount in the user account according to the payment method bound by the user. In this way, the user is prevented from taking more or less, ensuring the safety of the user and the items in the storage area and the maintenance of benefits.
  • the control server has a function of recording the storage information in the storage area. For example, by constructing a storage information base, the management state of the storage containers and articles in the storage area is managed in an overall manner. Furthermore, after at least one item operation is performed, the present embodiment updates the storage information database in the control server in a timely manner based on the target item, the number of operations, and the operation position, so as to accurately respond to subsequent item operations.
  • the control server determines the target storage container and the target operation door according to the received item operation instruction, and sends a transfer instruction including the target storage container and the target operation door to the robot, and the robot moves the target storage container to the target.
  • the control server controls the target operation door to open to expose the target storage container through the target operation door, and the user performs the item operation on the exposed target storage container. It also supervises the number of items operated, determines the operation position of the target item based on the open state of the target storage container and the operation door, and finally updates the storage information of the target item based on the target item, the number of operations, and the operation position.
  • a fixed storage container is moved and an operation door is provided in the interaction area.
  • the storage container is operated according to the opening and closing state of the operation door, thereby realizing according to external requirements.
  • the storage containers in the storage area can be operated manually at one time, which reduces labor costs and improves the efficiency of the operation of items.
  • FIG. 12 is a schematic structural diagram of an operation door provided in Embodiment 5 of the present application.
  • This embodiment is applicable to a case where an item is taken out or stored from a storage container in a warehouse storage area.
  • the operation door can cooperate with any implementation of this application.
  • the self-service operating system of the example implements the self-service operating method of any embodiment of the present application.
  • the operation door includes: a control module 1201, a communication module 1202, a door frame 1203, and a door body 1204 connected to the door frame 1203.
  • a plurality of grid openings are provided on the door body 1204, and the plurality of grid openings are correspondingly arranged.
  • the communication module 1202 is configured to receive a control message sent by a control server, where the control message indicates a lattice opening of the plurality of lattice openings to be opened;
  • the control module 1201 is configured to control the opening of the grid door of any one or more of the grids according to the control message.
  • the operation door refers to a fixed partition provided between the user and the storage container in the user interaction area. As shown in FIG. 4, the operation door is connected to the control server by wired or wireless communication, and the control door issued by the control server receives the control instruction to perform the opening and closing action of the lattice door in the operation door.
  • the operation door may include at least a control module 1201, a communication module 1202, a door frame 1203, and a door body 1204 connected to the door frame 1203, and may further include a base, a sensor, and a monitoring module, which are not shown in the figure.
  • the communication module 1202 is configured to transmit and receive signals to and from the control server, thereby ensuring that the control module 1201 controls one or more gates in the operation door according to a control message issued by the control server;
  • the door frame 1203 is configured to fix each The frame of the lattice door;
  • the door body 1204 is configured to control the on-off of the outside and the storage container behind the operation door.
  • the base is set to support the entire operation door to ensure that the operation door stands stably in the interaction area;
  • the sensor is set to detect whether a storage container is carried to the operation door;
  • the monitoring module is set to monitor the user's operation process and the number of items operated To ensure the safety of users and items in the storage area.
  • FIG. 12 merely shows the structure and function of the operation door, and does not limit the specific structure and function of the operation door.
  • the interaction area may include multiple operation doors.
  • Each operation door includes at least one grid door, and the switching state of each grid door is controlled by the control server.
  • the control server When a storage container is placed behind the operation door and at least one lattice door is opened, the user can operate the lattice of the storage container corresponding to the lattice door.
  • the communication module in the operation door maintains a communication connection with the control server, and receives the control server. Control message delivered. Therefore, the communication module sends the control message to the control module of the operation door. Based on the control message, the control module determines the openings of the operation door to be opened among the multiple openings of the operation door, and controls the opening of the openings according to the control message. Control of the opening and closing status of one or more lattice doors in the operation door.
  • the door body 1204 can be opened or closed with respect to the door frame 1203.
  • a plurality of lattice openings are provided on the door body, and a plurality of lattice openings are correspondingly provided with the lattice opening doors.
  • Each lattice opening door can be opened or closed independently, and the entire door body can also be opened relative to the door frame. Or closed. Furthermore, when all the gates in the operation door need to be opened, the entire door body can be controlled to be opened, avoiding the trouble of opening the gates one by one, and further improving the operation efficiency of the articles, especially for the batch storage of articles.
  • the operation door may be provided with a door body or a lattice door in the door body according to a specific structure of the storage container.
  • the door body of the operation door may be a door opening higher than the tray or the bin, which is convenient for the door body of the operation door to be located on the tray or the bin when the door is opened. Operation.
  • the storage area may use a tray or a box of the same model to ensure that each tray or box can correspond to the operation door.
  • FIG. 13 is an example diagram of an operation door matching a tray
  • FIG. 13 is a schematic diagram of a tray on the left side
  • FIG. 13 is a schematic diagram of an operation door matching it, and the operation door has only one door body. Since the items are to be placed on the tray, the corresponding operation door should be higher than the tray.
  • FIG. 14 is an example diagram of a matching operation door of the bin
  • FIG. 14 is a schematic diagram of the bin
  • right side of FIG. 14 is a schematic diagram of the matching operation door, and the operation door has only one door body.
  • the items are to be placed in the bin, the user needs to operate the bin from top to bottom when operating the item, so the corresponding operation door should also be higher than the bin.
  • a unified standard is adopted for the setting method of the shelves and the grids, that is, the size of different shelves, the settings of the grids, and the positions and sizes of the corresponding grids are completely the same.
  • the same standards are adopted on both sides. Therefore, the shelves in this embodiment are exactly the same when no items are placed.
  • the operation door is provided with an independent lattice door for each lattice opening at a position corresponding to each lattice opening on a board material not less than the overall size of the shelf.
  • each shelf in the storage area can be aligned with the operation door by being moved to the back of the operation door, so that the grids capable of carrying items in the storage container correspond to the corresponding grid doors one by one. Only when the gate is open can the user see and process the gate corresponding to the gate.
  • a plurality of lattice doors can be opened at least one according to the control of the control module, or all of the door bodies can be opened or opened according to the control of the control module.
  • multiple types of storage containers and operation doors corresponding to each type of storage container may be provided, and the storage containers may be transported to the corresponding operation doors according to the correspondence between the types of storage containers and the types of operation doors. For external users to operate the corresponding grid.
  • FIG. 5 is an exemplary diagram of an operation door with which a shelf is matched. It can be seen from the figure that the shelf on the left side of FIG. 5 includes 8 lattice doors with a structure of 2 ⁇ 4, and the operation door on the right side of FIG. 5 that matches the lattice also includes 8 lattice doors with a structure of 2 ⁇ 4. Furthermore, when the shelf is aligned behind the operation door, each grid door controls the opening and closing status of the grid corresponding to the grid door to the outside.
  • the operation door 420 is made of transparent material.
  • a transparent material may be used to make an operation door.
  • the user can learn about the items placed in the corresponding slot of the storage container through the transparent operation door .
  • an operation door capable of interacting with the control server and whose display form completely corresponds to the corresponding storage container is designed.
  • the structure of the operation door By applying the structure of the operation door to the storage scene, and combining the robot to handle the storage container
  • the originally fixed storage container is activated, and the structure of the operation door provides a passage for the storage area and the outside world.
  • the user can operate any storage container simply by standing at the operation door.
  • the automatic unmanned operation according to external requirements is realized, and the storage container in the storage area can be operated manually at one time, which reduces labor costs and improves the operation efficiency of items.

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Abstract

公开了一种自助式操作系统（400）、方法和操作门（420）。该系统（400）包括：控制服务器（410）、一个或多个操作门（420）、至少一个机器人（430）和一个或多个存储容器（440）；其中控制服务器（410）配置为响应物品操作指令，确定待操作物品对应的目标存储容器（440）和目标操作门（420），且向机器人（430）发送搬运指令；机器人（430）配置为响应搬运指令以将目标存储容器（440）搬运至目标操作门（420）处且目标存储容器（440）上的多个格口与目标操作门（420）上的多个格口分别一一对应；控制服务器（410）还配置为控制目标操作门（420）上的目标格口的格口门打开，以实现在目标存储容器（440）上进行的物品操作。

Description

自助式操作系统、方法和操作门
本申请要求在2018年8月21日提交中国专利局、申请号为201810954840.X的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及仓储技术领域，例如涉及自助式操作系统、方法和操作门。
背景技术
随着经济的快速发展，仓储技术已应用于生活中的多个行业，例如快递行业的无人存取柜或者无人超市等。因此如何快速、高效地在无人化模式中进行物品的操作(如，存取或售卖)对无人化模式的发展极为重要。
相关技术中，以无人超市为例，商品货架固定排列在超市内，用户依据自己需要购买的商品，穿梭于超市内的多个商品货架之间，通过扫描货架上商品的二维码并付款后拿到对应的商品。
然而，相关技术的操作模式单一，对于人力的依赖度较高，用户需要不间断的穿梭于商品货架中，对于用户的时间和精力的消耗较大，没有真正地实现快速及高效。
发明内容
本申请实施例提供了一种自助式操作系统、方法和操作门，能够依据外界需求进行自动化的无人操作，提高操作效率，实现快速及高效。
在一实施例中，本申请实施例提供了一种自助式操作系统，包括：控制服务器、一个或多个操作门、至少一个机器人和一个或多个存储容器；所述一个或多个存储容器位于存储区，所述存储区的至少一侧设置有所述一个或多个操作门；所述至少一个机器人和所述一个或多个操作门分别与所述控制服务器通信连接，所述一个或多个操作门和所述一个或多个存储容器上均设置有多个格口，每个所述存储容器上的多个格口中分别容纳有物品，每个所述操作门上的多个格口分别对应设置有格口门；其中，
所述控制服务器配置为响应物品操作指令，确定待操作物品对应的目标存储容器和目标操作门，且向第一机器人发送搬运指令；
所述第一机器人配置为响应所述搬运指令以将所述目标存储容器搬运至所述目标操作门处且所述目标存储容器上的多个格口与所述目标操作门上的多个格口分别一一对应；
所述控制服务器还配置为控制所述目标操作门上的目标格口的格口门打开，所述目标操作门上的目标格口为与所述目标存储容器上的所述待操作物品关联的格口所对应的格口，以实现在所述目标存储容器上进行的物品操作。
在一实施例中，本申请实施例提供了一种自助式操作方法，包括：
控制服务器依据物品操作指令在一个或多个存储容器以及一个或多个操作门中确定待操作物品对应的目标存储容器和目标操作门，且向机器人发送搬运指令；
所述机器人依据所述搬运指令将所述目标存储容器搬运至所述目标操作门处且所述目标存储容器上的多个格口与所述目标操作门上的多个格口分别一一对应；
所述控制服务器控制所述目标操作门上的一个或多个目标格口的格口门打开，所述目标操作门上的一个或多个目标格口为与所述目标存储容器上的所述待操作物品关联的格口所对应的格口，以实现在所述目标存储容器上进行的物品操作。
在一实施例中，本申请实施例提供了一种操作门，所述操作门包括控制模块、通信模块、门框以及与所述门框连接的门本体，在所述门本体上设置有多个格口，所述多个格口分别对应设置有格口门；所述通信模块与控制服务器通信连接；其中，
所述通信模块配置为接收控制服务器发送的控制消息，所述控制消息中指示出所述多个格口中待打开格口门的格口；
所述控制模块配置为根据所述控制消息，控制所述多个格口中的任意一个或多个格口的格口门打开。
附图说明
图1为本申请实施例中提供的一种自助式操作系统的系统结构示意图；
图2为本申请实施例中提供的单向开口货架的示意图；
图3为本申请实施例提供的货架的示意图；
图4为本申请实施例一提供的一种自助式操作系统的结构框图；
图5为本申请实施例一提供的货架与其匹配的操作门的示例图；
图6为本申请实施例一提供的密集存储方式货架布局及搬运示意图；
图7为本申请实施例一提供的另一密集存储方式货架布局及搬运示意图；
图8为本申请实施例一提供的操作门应用于无人售鞋场景中的渲染效果图；
图9为本申请实施例二提供的一种自助式操作系统的结构框图；
图10为本申请实施例三提供的一种自助式操作方法的流程图；
图11为本申请实施例四提供的一种自助式操作方法的流程图；
图12为本申请实施例五提供的一种操作门的结构示意图；
图13为本申请实施例五提供的托盘与其匹配的操作门的示例图；
图14为本申请实施例五提供的料箱与其匹配的操作门的示例图。
具体实施方式
下面结合附图和实施例对本申请实施例作进一步的详细说明。可以理解的是，此处所描述的实施例仅仅用于解释本申请实施例，而非对本申请的限定。为了便于描述，附图中仅示出了与本申请实施例相关的部分而非全部结构。
图1是本申请实施例中提供的一种自助式操作系统的系统结构示意图。参见图1，该系统100包括：机器人110、控制系统120、存储区130以及操作门140，存储区130设置有多个存储容器131，存储容器131上放置有一种或多种物品，多个存储容器131之间排布成阵列形式，例如在超市中见到的放置有多种商品的货架一样。通常，在存储区130的一侧或多侧(如图所示的一侧)设置有多个操作门140。存储容器131是一种具有格口并通过格口能够存放物品的容器，例如货架，其中货架包括多个隔层以及四个落地支撑柱，货架的隔层上设置有至少一个格口，格口中可以放置一个或多个物品。另外，货架可以是单 向开口，例如，如图2所示的单向开口的货架，也可以是双向开口，通过货架的旋转即可操作双向开口货架中的任意一面开口中的物品。
控制系统120与机器人110进行无线通信，工作人员(或用户)通过操作台160产生订单，该订单传输到控制系统120，控制系统120响应于订单并开始工作，机器人110在控制系统120的控制下，执行搬运任务。例如，以存储容器为货架为例，机器人110可以沿货架阵列中间的空着的空间(机器人110通行通道的一部分)行驶，运动到货架的底部，利用举升机构举起货架，并搬运到被分配到的操作门140。
在一个示例中，机器人110具有举升机构，以及具有自主导航功能，机器人110能够行驶至货架底部，并利用举升机构将整个货架举起，使得货架能够随着具有升降功能的举升机构上下移动。在一个示例中，机器人110能够根据摄像头拍摄到的二维码信息行驶，并且能够根据控制系统120确定的路线行驶至控制系统120提示的货架下面。机器人110将货架搬运到操作门140，在操作门140处工作人员(或用户)141从货架上取出物品。对于双向开口的货架，可以通过机器人110旋转货架，使待取物品所在的开口方向面对取物品的人，如工作人员或用户。
控制系统120为在控制服务器上运行的、具有数据存储、信息处理能力的软件系统，可通过无线或有线与机器人、硬件输入系统、其它软件系统连接。控制系统120可以包括一个或多个控制服务器，可以为集中式控制架构或者分布式计算架构。控制服务器具有处理器1201和存储器1202，在存储器1202中可以具有订单池1203。
图1所示的系统可适用于多种适宜的场景，例如，在拣选场景中，在机器人110将存储容器131搬运到操作门140后，工作人员从存储容器131上取出物品(该物品为订单物品)并放入打包箱中进行打包；再例如，在物品保管场景中，无论保管的物品是临时保管还是长期保管，在机器人110将存储容器131搬运到操作门140后，工作人员或物品主人从存储容器131上取出物品或者将物品存入存储容器131中。特别说明的是，在物品保管场景中，为了保证私密性和安全性，一个存储容器131可专门放置一个用户的物品，或者一个格口专门放置一个用户的物品。当然，除此之外，该系统还适用于无人存取场景以及无人超市场景。
参见图3，机器人110可以包括驱动机构1101，通过该驱动机构1101，机器人110能够在工作空间内移动，机器人110还可以包括用于搬运存储容器131的举升机构1102，机器人110可以运动到存储容器131的下方，利用举升机构1102举起存储容器131，并搬运到被分配到的操作门140。举升机构1102升起时将整个存储容器131从地面抬起，以使得机器人110搬运存储容器131，举升机构1102下降时将存储容器131放在地面上。机器人110上的目标识别组件1103在机器人110举升存储容器131时，能够有效的对存储容器131进行识别。
除此之外，如果是基于视觉导航，机器人110还包括导航识别组件(图3未示出)，设置为识别铺设地面上的导航标记(如二维码)。当然，机器人110还包括控制整个机器人110实现运动、导航等功能的控制模块(图3未示出)。在一个示例中，机器人110至少包括向上和向下的两个摄像头，其能够根据向下的摄像头拍摄到的二维码信息(也可以是其它地面标识)向前行驶，并且能够根据控制系统120确定的路线行驶至控制系统120提示的存储容器131下面。
由于相关技术均是基于人工的操作方式，其操作模式单一，对于人力的依赖度较高，顾客需要不间断的穿梭于商品货架中以完成操作事务，对于顾客的时间和精力的消耗极大，工作效率较低。因此，本申请实施例在交互方式上改进传统的操作方式，实现自动化的无人操作模型。
下面针对本申请实施例中提供的自助式操作系统、方法和操作门，通过实施例进行详细阐述。
实施例一
图4为本申请实施例一提供的一种自助式操作系统的结构框图，为了更清楚地阐述本实施例的方案，本实施例以无人超市场景为例进行说明，如图4所示，该系统可实现本申请任意实施例所述的无人的自主式操作系统。该系统400包括：控制服务器410、一个或多个操作门420、至少一个机器人430和一个或多个存储容器440；所述一个或多个存储容器440位于存储区，所述存储区的至少一侧设置有一个或多个操作门420；所述一个或多个操作门420和所述至少一个机器人430分别与所述控制服务器410通信连接，所述一个或多个操作门420和所述一个或多个存储容器440上均设置有多个格口，每个所述存储容器440上的多个格口中分别容纳有物品，每个所述操作门420上的多个格口分别对应设置有格口门；其中，
控制服务器410配置为响应物品操作指令，确定待操作物品对应的目标存储容器440和目标操作门420，且向机器人430发送搬运指令。
机器人430配置为响应搬运指令以将目标存储容器440搬运至目标操作门420处且目标存储容器440上的多个格口与目标操作门420上的多个格口分别一一对应。
控制服务器410还配置为控制目标操作门420上的目标格口的格口门打开，目标操作门420上的目标格口为与目标存储容器440上的待操作物品关联的格口所对应的格口，以实现在目标存储容器440上进行的物品操作。
其中，根据应用场景的不同，操作物品关联的格口的具体指代也不同，如，在无人超市场景，操作物品关联的格口指代售卖商品所在的格口或者补货商品上架的格口；在无人存取场景，操作物品关联的格口指代取出物品所在格口或者存入物品存入的格口；在拣货场景，操作物品关联的格口指代拣货物品或者盘货物品所在格口，或者补货物品上架的格口，等等。
在本申请的具体实施例中，存储容器可以是仓库的存储区域、商场或办公楼的自助购物区域中或者快递取件区域等涉及操作物品的场景中，设置为存储物品的容器，如货架。其中，货架可以包括多个隔层，其中每个隔层可以包括多个格口，每个格口内可放置多个物品。且货架可以为单侧开口，也可以为双侧开口，通过选择货架的朝向来处理不同开口侧格口内的物品。在一实施例中，根据存储容器所在的位置以及目标格口在存储容器中的位置，可以确定目标格口在存储区中的位置，进而可以依据目标格口与其中待操作物品的关联关系，确定待操作物品在存储区中的位置。
同时本实施例还可以按照预设周期，依据存储区中至少一个存储容器中一个或多个物品的命中率，确定该至少一个存储容器的热度级别；进而依据该至少一个存储容器的热度级别调整存储区中存储容器的位置。以此实现将热度较高的存储容器放置在与操作门距离较近的位置，便于高命中率的情况下对于对应存储容器的快速搬运。
本实施例中，操作门是指在用户交互区中，为用户与存储容器之间设置的固定隔断。交互区中可以包括一个或多个操作门，每个操作门上包括至少一个格口门，分别与对应的存储容器上的格口一一对应，每个格口门的开关状态都 受控制服务器的控制。当格口门的一侧放置有存储容器且有格口门打开时，用户才能够对格口门后面的存储容器的格口进行操作。
本实施例中，操作门可以根据存储容器的具体结构设置其中的格口门。鉴于操作门的统一性和通用性，存储区可以采用相同型号的存储容器，以保证每个存储容器都能与操作门对应。对于货架这样的存储容器，在一实施例中，将货架及格口的设置方式均采用统一的标准，即不同货架的尺寸、格口的设置以及对应格口的位置和尺寸完全相同。对于双侧开口的货架，其双侧均采用上述统一标准。因此本实施例中的货架在不放置任何物品时是完全一样的。相应的，操作门依据货架的尺寸和相同的设置方式，在一个不小于货架整体尺寸的板面材料上，在每个格口对应的位置上为该格口设置了格口门。进而存储区中的每个货架都可以通过搬运至操作门的后面与操作门对齐放置，以使货架中能够承载物品的格口与对应的格口门一一对应。只有在格口门打开时，用户才能够看见并处理该格口门对应的格口。其中，多个格口门依据控制服务器的控制可以打开至少一个，也可以依据控制服务器的控制全部打开。可选的，本实施例也可以在设置多种形式的货架以及与每种货架对应的操作门，进而依据货架种类与操作门种类的对应关系，将货架搬运到对应的操作门处，以供外界用户操作对应的格口。
示例性的，图5为货架与其匹配的操作门的示例图。由图可知，图5左侧的货架包含结构为2×4的8个格口，与其匹配的图5右侧的操作门也包含结构为2×4的8个格口门。进而当货架对齐放置于操作门后时，每个格口门控制了格口门对应的格口与外界的开闭状态。
本实施例中，物品操作指令是指用户通过用户交互区中的交互窗口、便携式设备(Portable Device，PAD)或应用程序(Application，APP)等方式输入的指令，例如，在无人存取场景中，用于控制从存储区的存储容器中取出物品或向存储区的存储容器存人物品。在一实施例中，物品操作指令可以分为物品存入指令和物品取出指令，控制服务器依据不同的指令进行信息的处理和任务的生成等操作。其中，控制服务器设置为存储和控制存储区中的存储状态，并依据用户指令向机器人或操作门等设备下发控制指令，以执行相应的搬运或操作任务。
在一实施例中，控制服务器在接收到物品操作指令时，依据物品操作指令 中包含的信息，控制服务器依据每个存储容器的存储信息，从中确定能够操作的存储容器为目标存储容器，以及将与目标存储容器距离最近的操作门确定为目标操作门，并生成搬运指令发送给机器人。从而机器人依据搬运指令将目标存储容器搬运至目标操作门处，并且将目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应放置。最终控制服务器控制目标操作门上的目标格口的格口门打开，目标操作门上的目标格口为与目标存储容器上的待操作物品关联的格口所对应的格口，以便从目标存储容器上进行的物品操作。其中，在无人存取场景中，可以只将目标物品所在格口对应的格口门打开，以便用户拿取该格口中的目标物品。可以进行批量存入，即控制服务器确定用于存入物品的目标存储容器和目标操作门，机器人将目标存储容器搬运至目标操作门处且目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应，控制服务器控制目标操作门上的所有格口门打开，便于用户一次性的向存储容器存入物品。
示例性的，控制服务器在接收到物品操作指令时，依据物品操作指令中包括的信息对物品操作指令进行判断。当判断物品操作指令是包括目标物品信息的物品存入指令时，若当前存储区中的所有存储容器全部为空，则控制服务器可以将任意存储容器确定为目标存储容器，将目标物品归类存储即可。若当前存储区中的所有存储容器中的部分为空，则将具有空闲存储空间的存储容器作为候选存储容器。其中由于存储容器的部分存储空间中仍然存放有对应物品，因此为了统一当前存储容器中物品的存放规律，避免物品在具有存放规律的情况下随意乱放，控制服务器可以依据上一时刻存储区的存储信息以及目标物品信息，从候选存储容器中选择曾经存放该类目标物品的空闲存储空间所在的存储容器作为目标存储容器。相应的，控制服务器同时可以依据目标存储容器分别与每个操作门的距离，确定与目标存储容器距离最近的操作门作为目标操作门。另外，当判断物品操作指令是包括目标物品信息的物品取出指令时，控制服务器依据目标物品信息，将承载有目标物品的存储容器确定为目标存储容器。相应的，控制服务器同时可以依据目标存储容器与每个操作门的距离，确定与目标存储容器距离最近的操作门作为目标操作门。
因此，控制服务器依据确定的目标存储容器以及目标操作门，生成将目标存储容器搬运至目标操作门处的搬运指令。本实施例中，控制服务器可以依据 目标存储容器的位置、目标操作门的位置以及存储区的当前存储信息，生成由目标存储容器的位置至目标操作门的位置的导航路线，同时还可以指定执行该搬运操作的机器人，生成包含有目标存储容器、导航路线以及指定机器人等信息的搬运指令，并下发给指定的机器人。
此外，鉴于上述多种应用场景中，为了节省存储空间过大带来的空间成本，本实施例采用“迷你仓库”存储物品。相应的，由于存储区的空间较小，本实施例采用密集存储的方式对存储区内的存储容器进行排列，即将存储区中的存储容器密集摆放在一起，存储容器中的至少部分存储容器为受阻存储容器，受阻存储容器的四周被其它存储容器包围，以此尽可能节省非存储容器对于存储空间的过多占用，提高存储容器在存储区中的占用率。在控制服务器规划导航路线时，需要考虑目标货架是否被阻挡。控制服务器若确定目标存储容器不是受阻存储容器，则可以直接生成上述机器人的搬运指令，控制第一机器人将目标存储容器搬运至目标操作门处；若确定目标存储容器为受阻存储容器，则控制服务器需要依据存储区的当前存储信息，确定阻挡货架的个数，并生成阻挡货架的搬运指令，以控制至少一个第二机器人按照一定的规则，例如华容道原理等，先将至少一个阻挡所述目标存储容器的存储容器搬移走以使所述目标存储容器的四周中的至少一面不被其它存储容器包围，进而再控制第一机器人将目标存储容器搬运至目标操作门处，生成较为复杂的搬运指令，并下发给指定的机器人。
在一实施例中，图6为密集存储方式货架布局及搬运示意图。如图6所示，以货架为例，分别设置有货架区601、机器人行驶通道602、机器人603以及操作门604。货架区601中设置有多个货架，货架区601中的货架可以单列摆放，比如图6中上端所示的单列摆放的货架；也可以多列(至少两列)并排摆放，比如图6中左侧3列货架以及中间4列货架。图6中的机器人行驶通道602可以包括：行驶子通道L1、行驶子通道L2、行驶子通道L3、行驶子通道L4、行驶子通道L5、行驶子通道L6、行驶子通道L7以及行驶子通道L8。其中，上述行驶子通道均为单向行驶的通道，且在每个行驶子通道的一侧或两侧紧靠货架区601的部分货架。机器人603可以沿着机器人行驶通道602中至少一个行驶子通道所指示的方向运动到每个货架所在的位置搬运货架。
在一实施例中，图7为另一密集存储方式货架布局及搬运示意图。如图7 所示，同样以货架为例，分别设置有货架区701、货架临时放置区702、操作门703、机器人704。货架区701中设置有多个货架，货架区701中多个货架高度密集的分布在存储区的一侧，多个货架之间没有机器人的行驶通道，仅仅在仓库的某一个区域(例如图7所示的存储区的一侧)设置有货架临时放置区702，机器人704可以将货架搬移至货架临时放置区702。
示例性的，当控制服务器接收到物品取出指令时，则控制服务器依据存储区的当前存储信息以及该物品取出指令关联的目标物品信息，将承载有目标物品的货架确定为目标货架，并将与目标货架匹配的且距离最近的操作门确定为目标操作门。进而生成将目标货架搬运至目标操作门处的搬运指令。在一实施例中，若存储区的货架采用密集存储方式，且假设目标货架为图6中的货架1即不是受阻货架时，则可以规划从货架1左边沿着单向通道L1、L2、L4以及L6、L7直至操作门604的导航路线，从而生成搬运指令。若假设目标货架为图6中的货架2即为受阻货架，此时货架2被货架1、货架3、货架4以及货架5等货架阻挡，造成货架2到操作门604之间的搬移通道被阻挡。因此可以规划从货架3右侧沿着单向通道L3、L2、L4、L5以及L3将货架3绕圈行驶并搬回货架3原来位置的导航路线，同时规划在货架3搬移后从货架3原始位置沿着单向通道L3、L2、L4以及L6、L7直至操作门604搬运目标货架2的导航路线，从而为两条导航路线分配指定的机器人，生成搬运指令并下发给指定的机器人。
示例性的，在对密集存储的货架进行搬运时，也可以采用基于华容道的原理，通过规划使用最少的路径将目标货架搬运至目标操作门的导航路线。在一实施例中，若存储区的货架采用密集存储方式，且假设目标货架为图7中的货架11即为受阻货架时，则可以规划多个机器人依次先将货架1、货架2、…、货架10等货架按照通道H1结合通道H2、H3、H4或H5搬移到货架临时放置区702的导航路线，然后按照通道H1再搬移目标货架11到操作门703的导航路线，从而为多条导航路线分配指定的机器人，生成搬运指令并下发给指定的机器人。
在本申请的具体实施例中，机器人依据控制服务器下发的搬运指令，按照搬运指令中的导航路线将目标存储容器搬运至目标操作门处。其中，机器人在进行自主导航时，可以依据二维码导航、惯性导航、视觉导航以及传感器导航等多种导航方式中的一种或至少两种方式的结合，执行相应的搬运任务。
在一实施例中，接收到搬运指令的机器人可以为一个，也可以为多个。依据搬运指令，若目标存储容器不是受阻存储容器则机器人可以直接依据导航路线将目标存储容器搬运至目标操作门处，且一个机器人即能够完成该搬运任务。若目标存储容器为受阻存储容器，则依据阻挡存储容器的数量，需要至少两个机器人协作搬运，基于华容道原理和/或单向通道原理，其中控制至少一个第二机器人按照导航路线将至少一个阻挡所述目标存储容器的存储容器搬移走以使所述目标存储容器的四周中的至少一面不被其它存储容器包围，再控制第一机器人将目标存储容器搬运至目标操作门处。进而可以依据传感器或视觉等方式将目标存储容器与目标操作门对齐放置，以使目标操作门中的每个格口门能够控制目标存储容器中该格口门对应的格口与外界的开闭状态。
在本申请的具体实施例中，在目标存储容器上的多个格口与目标操作门上的多个格口分别一一对齐放置后，控制服务器可以控制目标操作门中一个或多个格口门的开闭状态，以此通过打开至少一个格口门以将其后的目标存储容器对应的至少一个格口露出。其中，在目标存储容器与目标操作门对齐放置时，可以通过机器人向控制服务器发送搬运完成指令，从而激励控制服务器下发后续打开格口门的指令，也可以通过操作门上的传感器等装置，当操作门检测到有存储容器与其对齐放置时，则向控制服务器发送搬运完成指令，从而激励控制服务器下发后续打开格口门的指令。鉴于控制服务器在确定目标存储容器时，已经确定目标物品应该存入或取出的至少一个存储空间例如货架的格口的位置，进而依据至少一个存储空间的位置确定对应的至少一个格口门，从而控制将该至少一个格口门打开。相应的，用户可以对处于打开状态的格口门对应的存储空间进行操作操作。
本实施例中操作门中格口门的打开方式可以为多种多样。在一实施例中，格口门可以在控制服务器的控制下弹开；也可以在每个格口门上设置指示灯，通过控制服务器控制指示灯的亮灭来指示用户拉开对应的格口门；也可以通过控制服务器向用户在向控制服务器输入物品操作指令的设备上下发密码等验证信息，用户依据收到的验证信息在操作门处验证后，即可开启对应的至少一个格口门。本实施例不对操作门中格口门的开启方式进行限定，任何可以打开并保证用户及物品安全性的开启方式都可以应用于本实施例中。
此外，本实施例中的系统还可以包括操作数量监控设备，在控制服务器控 制目标操作门中格口门打开以通过目标打开的格口门露出目标存储容器之后，控制服务器可以通过操作数量监控设备对在目标存储容器上取出或存入的目标物品进行数量监督，确定目标物品的操作数量。在一实施例中，可以利用射频识别技术，通过扫描射频识别(Radio Frequency Identification，RFID)标签确定操作物品的数量，或者基于视觉识别技术，通过摄像头获取监控图像以此确定操作物品的数量。进而依据目标存储容器以及操作门中格口门的开启状态确定目标物品的操作位置，通过目标物品、操作数量以及操作位置，更新存储容器的存储信息。进而在上述确定物品操作数量的基础上，在一些交易场景中，例如无人超市场景下，若物品操作指令是物品售卖指令，则表示用户正在购买相应的物品，因此依据目标物品的种类和售卖数量，确定物品交易款额，并将物品交易款额发送给交易服务器，以使交易服务器依据用户绑定的支付方式即可扣除用户账户中的对应的物品交易款额。
示例性的，图8为操作门应用于无人售鞋场景中的渲染效果图。如图8所示，以货架为例，将操作门和货架的密集存储应用于自助购鞋的场景中，设置有自助试鞋区810、交互区820以及存储区830。其中，自助试鞋区810左侧的墙面上预先设置有供用户随意试穿的样品鞋8101，交互区820设置有交互窗口8201和操作门8202；存储区830设置有货架8301和机器人8302，货架8301上存储有储备的鞋子。其中货架8301可以采用密集存储方式，提高存储区830的存储利用率。并依据物品命中率进行热度排列，例如市场上36号鞋码的需求人数较多，进而将36号鞋码的鞋子所存储的货架8301优先放置在距离交互区820最近的位置上，这样当有用户需要36号鞋子的时候，可以第一时间将指定的鞋子所在货架搬运出来。
在上述示例中，在用户进行自助购鞋时，用户在自助试鞋区810通过样品鞋8101进行试穿，选择自己所要购买的目标鞋子，并通过交互区820中的交互窗口8201输入所要购买的目标鞋子的信息形成物品售卖指令。相应的，控制服务器依据物品售卖指令，控制机器人8302将包含有目标鞋子的目标货架8301搬运至交互区820中的操作门8202处，并控制目标鞋子所在格口对应的格口门开启。从而服务器通过操作数量监控设备对用户拿取的目标鞋子数量进行监控确定目标鞋子的取出数量，并根据目标鞋子的单价生成扣款数额发送至交易服务器。在用户拿取后，交易服务器扣除用户绑定的账户中的相应款项。相应的， 存储区830中的部分鞋子或全部鞋子被购买走时，工作人员需要进行相应的上货任务。相应的，控制服务器控制机器人8302将上货的货架搬运至操作门8202处，并打开空闲格口对应的格口门，或者当全部货物都购买完毕时打开全部格口门，进而工作人员可以一次性的对货架8301进行上货，无需人工穿梭与货架中进行逐个的上货操作，减少了所需工作人员的数量以及大大提高了工作人员的上货效率。
本实施例的技术方案，通过控制服务器、操作门、机器人以及存储容器构建的无人操作系统，控制服务器配置为响应接收到的物品操作指令，确定用于操作物品的目标存储容器和目标操作门，并向机器人发送搬运指令；使得机器人依据搬运指令将目标存储容器搬运至目标操作门处；从而控制服务器控制目标操作门上的目标格口的格口门的开闭状态以便从目标存储容器上进行物品操作。本申请实施例通过将固定的存储容器运动起来，并在交互区设置操作门，通过将存储容器的搬运至操作门处，依据操作门上与存储容器中的一个或多个格口对应的格口门的开闭状态对存储容器进行操作，实现了依据外界需求进行自动化的无人操作，人工一次性地就能对存储区中的存储容器进行操作，降低了人工成本，提高了物品的操作效率。
实施例二
本实施例在上述实施例一的基础上，提供了自助式操作系统的一个可选的实施方式，能够对用户的操作状态进行监控以及时准确地更新存储信息。图9为本申请实施例二提供的一种自助式操作系统的结构框图，如图9所示，该系统900包括：操作数量监控设备910，所述操作数量监控设备910配置为对操作的物品进行数量监控，所述操作数量监控设备910与控制服务器410通信连接；所述系统900包括一个或多个操作门420；所述操作门420上的目标格口为一个或多个；所述存储容器440中的至少部分存储容器为受阻存储容器，受阻存储容器的四周被其它存储容器包围；所述控制服务器410还配置为根据所述存储容器440中一种或多种物品的热度调整所述存储容器的位置。
控制服务器410配置为响应物品操作指令，确定待操作物品对应的目标存储容器440和目标操作门420，且向机器人430发送搬运指令；
机器人430配置为响应搬运指令将目标存储容器440搬运至目标操作门420处且目标存储容器440上的多个格口与目标操作门420上的多个格口分别一一 对应；
控制服务器410还配置为控制目标操作门420上的目标格口的格口门打开，目标操作门420上的目标格口为与目标存储容器440上的待操作物品关联的格口所对应的格口，以便在目标存储容器440上进行物品操作。
在本申请的具体实施例中，控制服务器在接收到物品操作指令时，依据物品操作指令中包含的信息，控制服务器依据每个存储容器的存储信息，从中确定能够存入目标物品或能够取出目标物品的存储容器为目标存储容器，以及将与目标存储容器距离最近的操作门确定为目标操作门，并生成搬运指令发送给机器人。从而机器人依据搬运指令将目标存储容器搬运至目标操作门处，并且将目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应放置。最终控制服务器控制目标操作门上的目标格口的格口门打开，目标操作门上的目标格口为与目标存储容器上的待操作物品所在格口所对应的格口，以便在目标存储容器上进行物品操作。其中，在进行物品的取出时，可以只将目标物品所在格口对应的格口门打开，以便用户拿取该格口中的目标物品。可以进行批量存入，即控制服务器确定用于存储物品的目标存储容器和目标操作门，机器人将目标存储容器搬运至目标操作门处且目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应，控制服务器控制目标操作门上的所有格口门打开，便于用户一次性的向存储容器存储物品。
示例性的，控制服务器在接收到物品操作指令时，依据物品操作指令中包括的信息对物品操作指令进行判断。当判断物品操作指令是包括目标物品信息的物品存入指令时，若当前存储区中的所有存储容器全部为空，则控制服务器可以将任意存储容器确定为目标存储容器，将目标物品归类存储即可。若当前存储区中的所有存储容器中的部分为空，则将具有空闲存储空间的存储容器作为候选存储容器。其中由于存储容器的部分存储空间中仍然存放有对应物品，因此为了统一当前存储容器中物品的存放规律，避免物品在具有存放规律的情况下随意乱放，控制服务器可以依据上一时刻存储区的存储信息以及目标物品信息，从候选存储容器中选择曾经存放该类目标物品的空闲存储空间所在的存储容器作为目标存储容器。相应的，控制服务器同时可以依据目标存储容器与每个操作门的距离，确定与目标存储容器距离最近的操作门作为目标操作门。另外，当判断物品操作指令是包括目标物品信息的物品取出指令时，控制服务 器依据目标物品信息，将承载有目标物品的存储容器确定为目标存储容器。相应的，控制服务器同时可以依据目标存储容器与每个操作门的距离，确定与目标存储容器距离最近的操作门作为目标操作门。
可选的，若系统900包括多个操作门420，控制服务器410配置为依据物品操作指令中指示的待操作物品关联的存储容器确定目标存储容器440，并依据目标存储容器440与多个操作门420之间的距离确定目标操作门420。
在本申请的具体实施例中，在系统中包括多个操作门时，由于存储区中的每个存储容器与每个操作门之间的相对位置关系不同，因此基于效率最优原则，在确定目标存储容器时，将与目标存储容器距离最近且处于空闲状态的操作门确定为目标操作门，以提高目标存储容器搬运至操作门的效率，进一步提高物品的操作效率。
可选的，控制服务器410还配置为根据监控结果确定操作数量，并根据操作数量更新存储容器的存储信息。
在本申请的具体实施例中，系统中配置的操作数量监控设备910可以对操作的物品进行数量监控。本实施例可以利用射频识别技术，通过用户扫描RFID标签的次数来确定操作物品的数量；或者基于视觉识别技术，通过摄像头获取监控图像以此对操作物品进行识别和数量的确定。从而控制服务器根据监控结果确定操作数量，并根据操作数量更新存储容器的存储信息，以确保无人操作系统中物品操作的正确性，保证用户的利益和存储区中物品的安全性。
可选的，若物品操作指令是物品售卖指令，则控制服务器410配置为依据售卖物品的种类和售卖数量，确定物品交易款额，将物品交易款额发送给交易服务器，以使交易服务器依据用户绑定的支付方式扣除用户账户中的物品交易款额。
在本申请的具体实施例中，在一些交易场景中，例如无人超市场景下，若物品操作指令是物品售卖指令，则表示用户正在购买相应的物品，因此取出物品的用户应该付出一定的资金反馈。相应的控制服务器依据目标物品的种类和取出数量，通过单价与数量的乘积确定物品交易款额，并将物品交易款额发送给交易服务器，以便交易服务器依据用户绑定的支付方式即可扣除用户账户中的对应的物品交易款额。
本实施例的技术方案，控制服务器依据不同的物品操作指令确定目标存储容器和目标操作门，控制机器人将目标货架搬运至目标操作门处，进而控制服务器控制目标操作门中的格口门打开以便在目标存储容器上进行物品操作。在此过程中对物品的操作数量进行监督，同时控制服务器基于确定的操作数量对存储容器的存储信息进行更新。本申请实施例通过将固定的存储容器运动起来，并在交互区设置操作门，通过将存储容器的搬运至操作门处，依据操作门中格口门的开闭状态对存储容器进行操作，实现了依据外界需求进行自动化的无人操作，人工一次性地就能对存储区中的存储容器进行操作，降低了人工成本，提高了物品的操作效率。
实施例三
图10为本申请实施例三提供的一种自助式操作方法的流程图，本实施例可适用于从仓库存储区的存储容器中取出物品或存入物品的情况，该方法可由一种自助式操作系统来执行。该方法包括如下步骤：
步骤1010、控制服务器依据物品操作指令在一个或多个存储容器以及一个或多个操作门中确定待操作物品对应的目标存储容器和目标操作门，且向机器人发送搬运指令。
在本申请实施例中，控制服务器接收用户输入的物品操作指令，并对物品操作指令的类型进行判断，即物品存入指令和物品取出指令。进而依据具体用途的指令确定目标存储容器和目标操作门，同时依据存储区的存储方式规划搬运操作的导航路线，并指定执行搬运操作的机器人，从而生成搬运指令，并下发给指定的机器人。
在一实施例中，目标存储容器的数量可以为一个或多个，目标操作门的数量可以为一个或多个。
本实施例中操作门中格口门的打开方式可以为多种多样。在一实施例中，操作门中的格口门可以在控制服务器的控制下弹开；也可以在每个格口门上设置指示灯，通过控制服务器控制指示灯的亮灭来指示用户拉开对应的格口门；也可以通过控制服务器向用户在向控制服务器输入物品操作指令的设备上下发密码等验证信息，用户依据收到的验证信息在操作门处验证后，即可开启对应的至少一个格口门。本实施例不对操作门中格口门的开启方式进行限定，任何 可以打开并保证用户及物品安全性的开启方式都可以应用于本实施例中。
其中，根据应用场景的不同，操作物品关联的格口的具体指代也不同，如，在无人超市场景，操作物品关联的格口指代售卖商品所在的格口或者补货商品上架的格口；在无人存取场景，操作物品关联的格口指代取出物品所在格口或者存入物品存入的格口；在拣货场景，操作物品关联的格口指代拣货物品或者盘货物品所在格口，或者补货物品上架的格口，等等。
步骤1020、机器人依据搬运指令将目标存储容器搬运至目标操作门处且目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应。
在本申请的具体实施例中，机器人依据控制服务器下发的搬运指令，按照搬运指令中的导航路线将目标货架搬运至目标操作门处，将目标货架中的格口与目标操作门中的格口门对齐放置，以使目标货架中的多个格口与目标操作门中的多个格口门一一对应。其中，机器人在进行自主导航时，可以依据二维码导航、惯性导航、视觉导航以及传感器导航等多种导航方式中的一种或至少两种方式的结合，执行相应的搬运任务。
步骤1030、控制服务器控制目标操作门上的一个或多个目标格口的格口门打开，目标操作门上的一个或多个目标格口为与目标存储容器上的待操作物品所在格口所对应的格口，以实现在目标货架上进行的物品操作。
在本申请的具体实施例中，在目标货架与目标操作门对齐放置后，控制服务器可以控制目标操作门中目标格口门的开闭状态，以此通过打开操作门中的格口门将其后的目标货架露出，便于用户在目标货架上进行物品操作。鉴于控制服务器在确定目标货架时，已经确定目标物品应该放入或取出的至少一个格口位置，进而依据存储容器中的格口与操作门的格口门的对应关系，依据至少一个格口的位置确定对应的至少一个目标格口门，从而控制将该至少一个目标格口门打开。相应的，用户可以对处于打开状态的格口门对应的格口进行操作操作。
本实施例的技术方案，控制服务器依据接收到的物品操作指令确定目标存储容器和目标操作门，并向机器人发送包括目标存储容器和目标操作门的搬运指令，机器人将目标存储容器搬运至目标操作门处，进而控制服务器控制目标操作门中的目标格口门打开以通过目标格口门露出存储容器的格口，由用户在 露出的存储容器的格口上进行物品操作。本申请实施例通过将固定的存储容器运动起来，并在交互区设置操作门，通过将存储容器的搬运至操作门处，依据操作门的开闭状态对存储容器进行操作，实现了依据外界需求进行自动化的无人操作，人工一次性地就能对存储区中的存储容器进行操作，降低了人工成本，提高了物品的操作效率。
实施例四
本实施例在上述实施例三的基础上，提供了自助式操作方法的一个可选实施方式，能够对用户的操作状态进行监控以及时准确地更新存储信息。图11为本申请的实施例四提供的一种自助式操作方法的流程图，如图11所示，该方法包括以下步骤：
步骤1110、控制服务器依据物品操作指令在一个或多个存储容器以及一个或多个操作门中确定待操作物品对应的目标存储容器和目标操作门，且向机器人发送搬运指令。
在本申请的具体实施例中，控制服务器接收用户输入的物品操作指令，并对物品操作指令的类型进行判断，即物品存入指令和物品取出指令。进而依据具体用途的指令确定目标存储容器和目标操作门，同时依据存储区的存储方式规划搬运操作的导航路线，并指定执行搬运操作的机器人，从而生成搬运指令，并下发给指定的机器人。
可选的，操作门的数量为一个或多个。
本实施例中，鉴于提高存储取中物品的操作效率，可以在存储区中全部采用统一型号或统一标准的存储容器，进而在较小的存储区中能够使用一个操作门进行物品的操作，其中的一个操作门可以适用于存储区中的所有存储容器。在相对较大的存储区中，为了提高物品操作效率，可以采用多个操作门。其中存储区可以采用完全相同的存储容器和操作门，或者采用部分存储容器与部分操作门相匹配。
可选的，若操作门的数量为多个，则控制服务器依据物品操作指令中指示的待操作物品所在的存储容器确定目标存储容器，并依据目标存储容器与多个操作门之间的距离确定目标操作门。
在本申请的具体实施例中，在系统中包括多个操作门时，由于存储取中的 每个存储容器与每个操作门之间的相对位置关系不同，因此基于效率最优原则，在确定目标存储容器时，将与目标存储容器距离最近且处于空闲状态的操作门确定为目标操作门，以提高目标存储容器搬运至操作门的效率，进一步提高物品的操作效率。
示例性的，本实施例鉴于物品存储的情况包含多种，因此若当前存储区中的所有存储容器全部为空，则控制服务器可以将任意存储容器确定为目标存储容器，将目标物品归类存储即可。若当前存储区中的所有存储容器中部分为空，则将具有空闲格口的存储容器作为候选存储容器。其中由于存储容器的部分格口中仍然存放有对应物品，因此为了统一当前存储容器中物品的存放规律，避免物品在具有存放规律的情况下随意乱放，控制服务器可以依据上一时刻存储区的存储信息以及目标物品信息，从候选存储容器中选择曾经存放该类目标物品的空闲格口所在的存储容器作为目标存储容器。相应的，控制服务器同时可以依据目标存储容器与每个操作门的距离和/或该空闲格口在目标存储容器上的位置，确定与目标存储容器或空闲格口能够对应的操作门作为目标操作门，以提高存储容器的搬运效率。
本实施例中，控制服务器在判断物品操作指令为物品取出指令时，可以依据指令中包含的目标物品信息，从存储区中查找对应的物品及其所在位置。其中，当存储区中存储有多个该目标物品时，可以基于效率最高原则，优先将距离操作门最近的目标物品所在存储容器确定为目标存储容器，同时对应的操作门即为目标操作门。
可选的，控制服务器根据存储容器中一种或多种物品的热度级别调整存储容器的位置。
本实施例中，可以依据存储区至少一个存储容器中一种或多种物品的命中率确定该至少一个存储容器的热度级别，从而依据确定的热度级别周期性的对存储区中的存储容器的位置进行调整，从而进一步提高物品所在的存储容器的搬运效率。
可选的，存储容器中的至少部分存储容器为受阻存储容器，受阻存储容器的四周被其它存储容器包围。
本实施例中，鉴于多种应用场景中，为了节省存储空间过大带来的空间成 本，采用“迷你仓库”存储物品。相应的，由于存储区的空间较小，本实施例采用密集存储的方式对存储区内的存储容器进行排列，即将存储区中的容器密集摆放在一起，存储容器中的至少部分存储容器为受阻存储容器，受阻存储容器的四周被其它存储容器包围，尽可能节省非存储容器对于存储空间的过多占用，提高存储容器在存储区中的占用率。
步骤1120、机器人依据搬运指令将目标存储容器搬运至目标操作门处且目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应。
在本申请的具体实施例中，机器人依据控制服务器下发的搬运指令，按照搬运指令中的导航路线将目标存储容器搬运至目标操作门处，将目标存储容器与目标操作门对齐放置，以使目标存储容器中的多个格口与目标操作门中的多个格口门一一对应。其中，机器人在进行自主导航时，可以依据二维码导航、惯性导航、视觉导航以及传感器导航等多种导航方式中的一种或至少两种方式的结合，执行相应的搬运任务。
可选的，控制服务器确定目标存储容器不是受阻存储容器，则控制第一机器人将目标货架搬运至目标操作门处；若确定目标存储容器为受阻存储容器，则控制至少一个第二机器人将至少一个阻挡目标存储容器的存储容器搬移走以使目标存储容器的四周中的至少一面不被其它存储容器包围，控制第一机器人将目标存储容器搬运至目标操作门处。
本实施例中，若采用密集存储的方式对存储区内的存储容器进行排列，则存储区的存储容器较为集中的堆放在一起，其之间并没有或者有很少的通道，因此控制服务器需要依据存储区当前的存储方式和存储信息，基于效率最高原则，控制机器人智能的将目标存储容器搬移出来。
步骤1130、控制服务器控制目标操作门上的一个或多个目标格口的格口门打开，所述目标操作门上的一个或多个目标格口为与目标存储容器上的待操作物品所在格口所对应的格口，以实现在目标货架上进行的物品操作。
在本申请的具体实施例中，在目标货架与目标操作门对齐放置后，控制服务器可以控制目标操作门的开闭状态，以此通过打开操作门将其后的目标货架露出。鉴于控制服务器在确定目标货架时，已经确定目标物品应该放入或取出的至少一个格口位置，进而依据至少一个格口位置确定对应的至少一个格口门， 从而控制将该至少一个格口门打开。相应的，用户可以对处于打开状态的格口门对应的格口进行操作操作。
可选的，目标格口的数量为一个或多个。
本实施例中，若与存储容器以及与其匹配的操作门中均包括多个格口或格口门，则在进行物品操作时，可以确定的目标格口数量可以为一个或多个。即可以仅对存储容器中的一个格口进行操作，相应的控制操作门上的一个格口门打开；或者同时或一次性地对存储容器中的多个格口进行操作，相应的同时控制操作门上的多个格口门打开，甚至可以控制操作门上的所有格口门打开。
本实施例中操作门中格口门的打开方式可以为多种多样。在一实施例中，操作门中的格口门可以在控制服务器的控制下弹开；也可以在每个格口门上设置指示灯，通过控制服务器控制指示灯的亮灭来指示用户拉开对应的格口门；也可以通过控制服务器向用户的在控制服务器输入物品操作指令的设备上下发密码等验证信息，用户依据收到的验证信息在操作门处验证后，即可开启对应的至少一个格口门。本实施例不对操作门中格口门的开启方式进行限定，任何可以打开并保证用户及物品安全性的开启方式都可以应用于本实施例中。
在本申请实施例中，控制服务器在接收到物品操作指令时，依据物品操作指令中包含的信息，控制服务器依据每个存储容器的存储信息，从中确定能够存入目标物品或能够取出目标物品的存储容器为目标存储容器，以及将与目标存储容器距离最近的操作门确定为目标操作门，并生成搬运指令发送给机器人。从而机器人依据搬运指令将目标存储容器搬运至目标操作门处，并且将目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应放置。控制服务器控制目标操作门上的一个或多个目标格口的格口门打开，目标操作门上的一个或多个目标格口为与目标存储容器上的待操作物品所在格口所对应的格口，以便从目标存储容器上进行物品操作。其中，在进行物品的取出时，可以只将目标物品所在格口对应的格口门打开，以便用户拿取该格口中的目标物品。但在进行物品的存入时，可以进行批量存入，即控制服务器确定用于存储物品的目标存储容器和目标操作门，机器人将目标存储容器搬运至目标操作门处且目标存储容器上的多个格口与目标操作门上的多个格口分别一一对应，控制服务器控制目标操作门上的所有格口门打开，便于用户一次性的向存储容器存储物品。
示例性的，控制服务器在接收到物品操作指令时，依据物品操作指令中包括的信息对物品操作指令进行判断。当判断物品操作指令是包括目标物品信息的物品存入指令时，若当前存储区中的所有存储容器全部为空，则控制服务器可以将任意存储容器确定为目标存储容器，将目标物品归类存储即可。若当前存储区中的所有存储容器中的部分为空，则将具有空闲格口的存储容器作为候选存储容器。其中由于存储容器的部分格口中仍然存放有对应物品，因此为了统一当前存储容器中物品的存放规律，避免物品在具有存放规律的情况下随意乱放，控制服务器可以依据上一时刻存储区的存储信息以及目标物品信息，从候选存储容器中选择曾经存放该类目标物品的空闲格口所在的存储容器作为目标存储容器。相应的，控制服务器同时可以依据目标存储容器与每个操作门的距离，确定与目标存储容器距离最近的操作门作为目标操作门。另外，当判断物品操作指令是包括目标物品信息的物品取出指令时，控制服务器依据目标物品信息，将承载有目标物品的存储容器确定为目标存储容器。相应的，控制服务器同时可以依据目标存储容器与每个操作门的距离，确定与目标存储容器距离最近的操作门作为目标操作门。
步骤1140、控制服务器依据操作数量监控设备对操作的物品的数量监控结果，确定操作数量，并依据操作数量更新目标存储容器的存储信息。
在本申请实施例中，在控制服务器控制目标格口门打开以通过目标格口门露出目标存储容器之后，控制服务器可以对在目标存储容器上取出或存入的目标物品进行数量监督，确定目标物品的操作数量。在一实施例中，可以利用射频识别技术，通过扫描RFID标签确定操作物品的数量，或者基于视觉识别技术，确定操作物品的数量。
可选的，若物品操作指令是物品售卖指令，则控制服务器依据售卖物品的种类和售卖数量，确定物品交易款额，将物品交易款额发送给交易服务器，以便交易服务器依据用户绑定的支付方式扣除用户账户中的物品交易款额。
在本申请实施例中，物品操作指令可以大致分为物品存入指令和物品去除指令，在特定应用场中，可以依据物品的操作方式例如存入或取出将指令进行归类，并可以赋予该特定场景下的指令名称，例如物品售卖指令，这则为将物品从存储容器中取出。本实施例在无人超市场景下，若物品操作指令是物品售卖指令，则表示用户正在购买相应的物品，因此依据售卖物品的种类和售卖数 量，确定物品交易款额，并发送至交易服务器中；从而交易服务器依据用户绑定的支付方式即可扣除用户账户中的对应的物品交易款额。以此避免用户的多拿或少拿，确保用户以及存储区的物品安全和利益的维护。
在本申请实施例中，控制服务器具备对存储区的存储信息进行记录的功能，例如通过构建存储信息库以此来统筹管理存储区中存储容器以及物品的存储状态。进而，在进行了至少一次的物品操作操作后，本实施例基于目标物品、操作数量和操作位置，对控制服务器中的存储信息库进行及时的更新，以便准确地应对后续的物品操作操作。
本实施例的技术方案，控制服务器依据接收到的物品操作指令确定目标存储容器和目标操作门，并向机器人发送包括目标存储容器和目标操作门的搬运指令，机器人将目标目标存储容器搬运至目标操作门处，进而控制服务器控制目标操作门打开以通过目标操作门露出目标存储容器，由用户在露出的目标存储容器上进行物品操作。并对物品的操作数量进行监督，同时基于目标存储容器以及操作门的开启状态确定目标物品的操作位置，最终依据目标物品、操作数量以及操作位置对目标物品的存储信息进行更新。本申请实施例通过将固定的存储容器运动起来，并在交互区设置操作门，通过将存储容器的搬运至操作门处，依据操作门的开闭状态对存储容器进行操作，实现了依据外界需求进行自动化的无人操作，人工一次性地就能对存储区中的存储容器进行操作，降低了人工成本，提高了物品的操作效率。
实施例五
图12为本申请实施例五提供的一种操作门的结构示意图，本实施例可适用于从仓库存储区的存储容器中取出物品或存放物品的情况，该操作门可配合本申请的任意实施例的自助式操作系统实现本申请的任意实施例的自助式操作方法。该操作门包括：控制模块1201、通信模块1202、门框1203以及与所述门框1203连接的门本体1204，在所述门本体1204上设置有多个格口，所述多个格口分别对应设置有格口门；所述通信模块1202与控制服务器通信连接；其中，
所述通信模块1202配置为接收控制服务器发送的控制消息，所述控制消息中指示出所述多个格口中待打开格口门的格口；
所述控制模块1201配置为根据所述控制消息，控制所述多个格口中的任意 一个或多个格口的格口门打开。
在本申请实施例中，操作门是指在用户交互区中，为用户与存储容器之间设置的固定隔断。如图4所示，操作门与控制服务器有线或无线通信连接，通过接收控制服务器下发的控制指令来执行操作门中格口门的开闭动作。
在一实施例中，操作门至少可以包括控制模块1201、通信模块1202、门框1203以及与所述门框1203连接的门本体1204，还可以包括底座、传感器以及监控模块等，图中并未示出。其中，通信模块1202设置为与控制服务器之间信号的收发，进而确保控制模块1201依据控制服务器下发的控制消息对操作门中一个或多个格口门进行控制；门框1203设置为固定每个格口门的框架；门本体1204设置为控制外界与操作门后存储容器的通断。此外，底座设置为支撑整个操作门，确保操作门稳定立于交互区中；传感器设置为检测是否有存储容器搬运至操作门处；监控模块设置为对用户的操作过程及物品的操作数量进行监控，确保用户以及存储区中物品的安全性。
值得注意的是，图12只是对操作门的结构和功能示意表示出来，而不限定操作门的具体结构和功能。
本实施例中，交互区中可以包括多个操作门，每个操作门上包括至少一个格口门，每个格口门的开关状态都受控制服务器的控制。当操作门后面放置有存储容器且有至少一个格口门打开时，用户才能够对格口门对应的存储容器的格口进行操作操作。
在一实施例中，在基于操作门对存储容器进行物品存储操作时，在机器人将目标存储容器搬运至目标操作门处之后，操作门中的通信模块保持与控制服务器的通信连接，接收控制服务器下发的控制消息。从而通信模块将该控制消息发送给操作门的控制模块，控制模块依据该控制消息，确定操作门的多个格口中待打开格口门的格口，并依据控制消息控制其打开，以此完成操作门中一个或多个格口门的开闭状态的控制。
可选的，门本体1204可相对于门框1203打开或合闭。
在本申请实施例中，门本体上设置有多个格口，多个格口分别对应设置有格口门，每个格口门可以单独开启或关闭，且整个门本体也可以相对于门框打开或合闭。进而当需要操作门中的全部格口门打开时，可以控制整个门本体开 启，避免一个一个开启格口门的麻烦，进一步提高物品的操作效率，尤其是对于批量存入物品。
本实施例中，操作门可以根据存储容器的具体结构设置其中的门本体或门本体中的格口门。在一实施例中，对于托盘或料箱这样的存储容器，操作门的门本体可以为一个相对托盘或料箱较高的门口，便于操作门的门本体打开时对位于托盘上或料箱内的物品进行操作。
在一实施例中，鉴于操作门的统一性和通用性，存储区可以采用相同型号的托盘或料箱，以保证每个托盘或料箱都能与操作门对应。示例性的，图13为托盘与其匹配的操作门的示例图，图13左侧为托盘的示意图，图13右侧为与其匹配的操作门的示意图，且操作门只有一个门体。由于物品是要放在托盘之上，因此对应的操作门应高于托盘。图14为料箱与其匹配的操作门的示例图，图14左侧为料箱的示意图，图14右侧为与其匹配的操作门的示意图，且操作门只有一个门体。同样由于物品是要放在料箱之内的，用户在操作物品时需要由上朝下的操作料箱，因此对应的操作门也应该高于料箱。
此外，对于货架这样的存储容器，在一实施例中，将货架及格口的设置方式均采用统一的标准，即不同货架的尺寸、格口的设置以及对应格口的位置和尺寸完全相同。对于双侧开口的货架，其双侧均采用上述统一标准。因此本实施例中的货架在不放置任何物品时是完全一样的。相应的，操作门依据货架的尺寸和相同的设置方式，在一个不小于货架整体尺寸的板面材料上，依据每个格口对应的位置上为每个格口设置了独立的格口门。进而存储区中的每个货架都可以通过搬运至操作门的后面与操作门对齐放置，以使存储容器中能够承载物品的格口与对应的格口门一一对应。只有在格口门打开时，用户才能够看见并处理该格口门对应的格口。其中，多个格口门依据控制模块的控制可以打开至少一个，也可以依据控制模块的控制全部打开或打开整个门本体。可选的，本实施例也可以在设置多种形式的存储容器以及与每种存储容器对应的操作门，进而依据存储容器种类与操作门种类的对应关系，将存储容器搬运到对应的操作门处，以供外界用户操作对应的格口。
示例性的，图5为货架与其匹配的操作门的示例图。由图可知，图5左侧的货架包含结构为2×4的8个格口，与其匹配的图5右侧的操作门也包含结构为2×4的8个格口门。进而当货架对齐放置于操作门后时，每个格口门控制了 该格口门对应的格口对于外界的开闭状态。
值得注意的是，上述示例只是对操作门的结构和功能示意表示出来，而不限定的操作门的具体结构和功能。
可选的，操作门420为透明材质制成。
在本申请实施例中，可以使用透明材质来制作操作门，相应的，用户或工作人员在操作操作门后放置的存储容器之前，可以通过透明的操作门了解到存储容器对应格口中放置的物品。尤其在例如无人超市此类的场景中，便于用户一目了然选取或找到自己所需的物品，甚至是在购买物品之余还可以供用户通过透明的操作门查看到存储容器中售卖的其他实体物品，增加用户购买的可能性以及存储区内物品的销售率。
本实施例的技术方案，设计了一款能够与控制服务器交互且其展现形态与对应的存储容器完全对应的操作门，通过将操作门的结构应用于存储场景中，并结合机器人对于存储容器搬运至操作门处，使得原本固定的存储容器活动起来，且通过操作门的结构，为仓储区域与外界提供了通道，用户只需站在操作门处即可对任意存储容器进行操作。实现了依据外界需求进行自动化的无人操作，人工一次性地就能对存储区中的存储容器进行操作，降低了人工成本，提高了物品的操作效率。

Claims (17)

  1. 一种自助式操作系统，包括：控制服务器、一个或多个操作门、至少一个机器人和一个或多个存储容器；所述一个或多个存储容器位于存储区，所述存储区的至少一侧设置有所述一个或多个操作门；所述一个或多个操作门和所述至少一个机器人分别与所述控制服务器通信连接，所述一个或多个操作门和所述一个或多个存储容器上均设置有多个格口，每个所述存储容器上的多个格口中分别容纳有物品，每个所述操作门上的多个格口分别对应设置有格口门；其中，
    所述控制服务器配置为响应物品操作指令，确定待操作物品对应的目标存储容器和目标操作门，且向第一机器人发送搬运指令；
    所述第一机器人配置为响应所述搬运指令以将所述目标存储容器搬运至所述目标操作门处且所述目标存储容器上的多个格口与所述目标操作门上的多个格口分别一一对应；
    所述控制服务器还配置为控制所述目标操作门上的目标格口的格口门打开，所述目标操作门上的目标格口为与所述目标存储容器上的所述待操作物品关联的格口所对应的格口，以实现在所述目标存储容器上进行的物品操作。
  2. 根据权利要求1所述的系统，其中，所述控制服务器配置为在所述系统包括多个操作门的情况下，依据所述物品操作指令中指示的所述待操作物品关联的存储容器确定所述目标存储容器，并依据所述目标存储容器分别与所述多个操作门之间的距离确定所述目标操作门。
  3. 根据权利要求1或2所述的系统，还包括操作数量监控设备，所述操作数量监控设备配置为对所述待操作物品进行数量监控；
    所述控制服务器还配置为根据监控结果确定操作数量，并根据所述操作数量更新所述目标存储容器的存储信息。
  4. 根据权利要求3所述的系统，还包括：交易服务器；所述控制服务器还配置为在所述物品操作指令是物品售卖指令的情况下，依据售卖物品的种类和售卖数量，确定物品交易款额，将所述物品交易款额发送给所述交易服务器；所述交易服务器配置为依据用户绑定的支付方式扣除用户账户中的所述物品交易款额。
  5. 根据权利要求1或2所述的系统，其中，所述多个存储容器中的至少部 分存储容器为受阻存储容器，受阻存储容器的四周被其它存储容器包围。
  6. 根据权利要求5所述的系统，其中，所述控制服务器配置为：
    在确定所述目标存储容器不是受阻存储容器的情况下，控制所述第一机器人将所述目标存储容器搬运至所述目标操作门处；
    在确定所述目标存储容器为受阻存储容器的情况下，控制至少一个第二机器人将至少一个阻挡所述目标存储容器的存储容器搬移走以使所述目标存储容器的四周中的至少一面不被其它存储容器包围，以及控制所述第一机器人将所述目标存储容器搬运至所述目标操作门处。
  7. 根据权利要求1所述的系统，其中，所述控制服务器还配置为根据所述存储容器中一种或多种物品的热度调整所述存储容器的位置。
  8. 一种自助式操作方法，包括：
    控制服务器依据物品操作指令在一个或多个存储容器以及一个或多个操作门中确定待操作物品对应的目标存储容器和目标操作门，且向机器人发送搬运指令；
    所述机器人依据所述搬运指令将所述目标存储容器搬运至所述目标操作门处且所述目标存储容器上的多个格口与所述目标操作门上的多个格口分别一一对应；
    所述控制服务器控制所述目标操作门上的一个或多个目标格口的格口门打开，所述目标操作门上的一个或多个目标格口为与所述目标存储容器上的所述待操作物品关联的格口所对应的格口，以实现在所述目标存储容器上进行的物品操作。
  9. 根据权利要求8所述的方法，其中，所述控制服务器依据物品操作指令确定待操作物品对应的目标存储容器和目标操作门，包括：
    在所述操作门的数量为多个的情况下，所述控制服务器依据所述物品操作指令中指示的所述待操作物品关联的存储容器确定所述目标存储容器，并依据所述目标存储容器分别与所述多个操作门之间的距离确定所述目标操作门。
  10. 根据权利要求8或9所述的方法，在所述控制服务器控制所述目标操作门上的一个或多个目标格口的格口门打开，所述目标操作门上的一个或多个 目标格口为与所述目标存储容器上的所述待操作物品关联的格口所对应的格口，以实现在所述目标存储容器上进行的物品操作之后，还包括：
    所述控制服务器依据操作数量监控设备对操作的物品的数量监控结果，确定操作数量，并依据所述操作数量更新所述目标存储容器的存储信息。
  11. 根据权利要求10所述的方法，在所述控制服务器依据所述操作数量更新所述目标存储容器的存储信息之后，还包括：
    在所述物品操作指令是物品售卖指令的情况下，所述控制服务器依据售卖物品的种类和售卖数量，确定物品交易款额，将所述物品交易款额发送给交易服务器，以使所述交易服务器依据用户绑定的支付方式扣除用户账户中的所述物品交易款额。
  12. 根据权利要求8或9所述的方法，其中，多个所述存储容器中的至少部分存储容器为受阻存储容器，受阻存储容器的四周被其它存储容器包围。
  13. 根据权利要求12所述的方法，其中，所述机器人依据所述搬运指令将所述目标存储容器搬运至所述目标操作门处，包括：
    在所述控制服务器确定所述目标存储容器不是受阻存储容器的情况下，所述控制服务器控制第一机器人将所述目标存储容器搬运至所述目标操作门处；
    在所述控制服务器确定所述目标存储容器为受阻存储容器的情况下，所述控制服务器控制至少一个第二机器人将至少一个阻挡所述目标存储容器的存储容器搬移走以使目标存储容器的四周中的至少一面不被其它存储容器包围，以及控制所述第一机器人将所述目标存储容器搬运至所述目标操作门处。
  14. 根据权利要求8所述的方法，还包括：
    所述控制服务器根据每个存储容器中一种或多种物品的热度调整每个存储容器的位置。
  15. 一种操作门，包括：控制模块、通信模块、门框以及与所述门框连接的门本体，在所述门本体上设置有多个格口，所述多个格口分别对应设置有格口门；所述通信模块与控制服务器通信连接；其中，
    所述通信模块配置为接收所述控制服务器发送的控制消息，所述控制消息中指示出所述多个格口中待打开格口门的格口；
    所述控制模块配置为根据所述控制消息，控制所述多个格口中的任意一个或多个格口的格口门打开。
  16. 根据权利要求15所述的操作门，其中，所述门本体可相对于所述门框打开或合闭。
  17. 根据权利要求15或16所述的操作门，其中，所述操作门为透明材质制成。
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