WO2020151724A1 - 一种智能仓储系统、货物取放方法及其后台处理终端 - Google Patents

一种智能仓储系统、货物取放方法及其后台处理终端 Download PDF

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Publication number
WO2020151724A1
WO2020151724A1 PCT/CN2020/073624 CN2020073624W WO2020151724A1 WO 2020151724 A1 WO2020151724 A1 WO 2020151724A1 CN 2020073624 W CN2020073624 W CN 2020073624W WO 2020151724 A1 WO2020151724 A1 WO 2020151724A1
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WO
WIPO (PCT)
Prior art keywords
goods
shelf
portable
picked
storage
Prior art date
Application number
PCT/CN2020/073624
Other languages
English (en)
French (fr)
Inventor
陈宇奇
郑睿群
周红霞
艾鑫
Original Assignee
深圳市海柔创新科技有限公司
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
Priority claimed from CN201920101241.3U external-priority patent/CN209758194U/zh
Priority claimed from CN201910054856.XA external-priority patent/CN109592280A/zh
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to KR1020217023087A priority Critical patent/KR102352916B1/ko
Priority to EP20745857.1A priority patent/EP3915904A4/en
Priority to JP2021542539A priority patent/JP7148735B2/ja
Publication of WO2020151724A1 publication Critical patent/WO2020151724A1/zh
Priority to US17/379,956 priority patent/US11565882B2/en
Priority to JP2022148248A priority patent/JP7387842B2/ja
Priority to US18/067,905 priority patent/US20230121672A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • 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
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06316—Sequencing of tasks or work
    • 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

Definitions

  • This application relates to the field of intelligent warehousing, in particular to an intelligent warehousing system, a method for picking and placing goods, and a background processing terminal.
  • a storage robot can lift a shelf with goods through the lifting disc on its top, and scan the two-dimensional code on the ground to move, so that the shelf where the order goods are located can be transported to the manual processing area.
  • the inventor found that the related technology has the following defects: because the storage robot handles the shelf where goods are stored, this has certain restrictions on the height of the shelf. Otherwise, there is a danger of dumping. At the same time, due to the shelf The height of the warehouse is restricted, so that the warehouse space cannot be fully utilized, resulting in a low utilization rate of the warehouse.
  • the embodiment of the present application provides an intelligent storage system, which improves the compatibility of the intelligent storage system by providing different types of storage robots for picking and placing goods, which can be applied to warehouses with different shelves and increase the utilization rate of the warehouse.
  • the application provides an intelligent storage system, wherein the intelligent storage system includes: a first storage robot and a second storage robot,
  • the first storage robot is configured to receive a first scheduling instruction, move to a fixed shelf to pick up and place the container according to the first scheduling instruction, and transport the container to a first target location,
  • the second storage robot is used to receive a second scheduling instruction, move to a portable shelf according to the second scheduling instruction, and transport the portable shelf to a second target location.
  • the intelligent storage system further includes: fixed shelves and/or portable shelves,
  • the fixed shelf is used to store cargo boxes and/or pallets
  • the portable rack is used to store goods, boxes and/or pallets,
  • the cargo box is used to store goods
  • the pallet is used to hold goods or boxes.
  • the fixed shelf includes a first fixed shelf and/or a second fixed shelf
  • the portable shelf includes a first portable shelf and/or a second portable shelf
  • the second portable shelf is located in the second fixed shelf. In the space below the shelf, a combined shelf is formed.
  • the first fixed shelf, and/or the first portable shelf, and/or the combined shelf respectively include one or more, and the first fixed shelf and/or the first portable shelf , And/or the combined shelves are located at different positions.
  • shelves of the same type in the first fixed shelf, the first portable shelf and the combined shelf are respectively located at different positions in the same area.
  • the warehousing system further includes an operating platform, the operating platform is provided with an order wall, the first target location and the second target location are located in a preset area of the operating platform, and the operating platform is used for The goods in the container transported by the first storage robot and the goods on the portable shelf transported by the second storage robot are sorted to the corresponding order wall of the goods.
  • the first storage robot includes a mobile chassis, a handling component, a lifting component, and a storage shelf, and the storage shelf is used to store the cargo boxes carried by the handling component from the fixed shelf.
  • the intelligent storage system further includes: a processing terminal,
  • the processing terminal is used to send the first scheduling instruction and/or the second scheduling instruction
  • the first scheduling instruction is used to instruct the first storage robot to pick and place the container from the fixed shelf
  • the second The scheduling instruction is used to instruct the second storage robot to move the portable shelf.
  • the processing terminal stores goods storage-related information, and the goods storage-related information includes at least one of the following information:
  • Goods identification information container identification information, shelf identification information, shelf position information for storing goods, container position information for storing goods, correspondence between shelves and boxes, correspondence between shelves and goods, correspondence between boxes and goods .
  • processing terminal is specifically configured to:
  • the embodiment of the application provides a method for picking and placing goods, which is applied to a processing terminal, and the processing terminal is used in an intelligent storage system.
  • the intelligent storage system includes: a first storage robot and a second storage robot, and the method includes:
  • a first scheduling instruction to instruct the first storage robot to move to a fixed shelf to take and place the containers, and transport the goods to the first target location, and/or,
  • the method further includes:
  • the cargo storage related information includes at least one of the following information:
  • Goods identification information container identification information, shelf identification information, shelf position information for storing goods, container position information for storing goods, correspondence between shelves and boxes, correspondence between shelves and goods, correspondence between boxes and goods .
  • the method further includes:
  • the attributes of the containers include fixed shelves, portable shelves and/or portable shelves,
  • the storage robot for picking and placing the goods is determined from the first storage robot and the second storage robot, wherein the container of the fixed shelf corresponds to the first storage robot, and the container or portable shelf of the portable shelf corresponds to the first storage robot.
  • the fixed shelf includes a first fixed shelf and/or a second fixed shelf
  • the portable shelf includes a first portable shelf and/or a second portable shelf
  • the second portable shelf is located in the second In the space below the fixed shelf, a combined shelf is formed
  • the information about the goods to be picked up includes order information of the goods to be picked, and the method specifically includes:
  • the first scheduling instruction is sent to instruct the first storage robot to move to the second fixed shelf of the combined shelf where the goods to be picked up is located, and take it out from the corresponding second fixed shelf
  • the container where the goods to be picked up is located to realize the pickup;
  • the second dispatch instruction is sent to instruct the second storage robot to move to the second portable shelf in the combined shelf where the goods to be picked up is located, and move Corresponding second portable shelf to achieve pickup.
  • the fixed shelf includes a first fixed shelf and/or a second fixed shelf
  • the portable shelf includes a first portable shelf and/or a second portable shelf
  • the second portable shelf is located in the second In the space below the fixed shelf, a combined shelf is formed
  • the information of the goods to be picked up includes: order information of the goods to be picked, and the method specifically includes:
  • the first scheduling instruction is sent to instruct the first storage robot to move to the second fixed shelf of the combined shelf where the goods to be picked up is located, and take it out from the corresponding second fixed shelf
  • the cargo box in which the goods to be picked is located is stored in the first portable shelf at the entrance of the aisle.
  • a second dispatch instruction is sent to instruct the second storage robot to transfer the first portable shelf.
  • the second scheduling instruction is sent to instruct the second storage robot to move to the second portable shelf of the combined shelf where the goods to be picked up is located or the second portable shelf of the lane entrance.
  • the fixed shelf includes a first fixed shelf and/or a second fixed shelf
  • the portable shelf includes a first portable shelf and/or a second portable shelf
  • the second portable shelf is located in the second In the space below the fixed shelf, a combined shelf is formed
  • the information of the goods to be picked up includes: order information of the goods to be picked, and the method includes:
  • the first dispatching instruction is sent to instruct the first storage robot to move to the first fixed shelf where the goods to be picked up is located, and take out the goods to be picked up from the corresponding first fixed shelf
  • the cargo box is stored in the first portable shelf at the entrance of the aisle, and when the first portable shelf at the entrance of the aisle needs to be moved, a second dispatch instruction is sent to instruct the second storage robot to move the first portable shelf To the designated location
  • the second scheduling instruction is sent to instruct the second storage robot to move to the first portable shelf where the goods to be picked up is located, and move the corresponding first portable shelf Shelves to achieve pickup.
  • the method further includes:
  • the types of goods to be taken and placed are determined, wherein the types of goods to be taken and placed include the first general goods stored on the fixed shelf, the second general goods stored on the portable shelf, the bulky goods or Pendant goods,
  • the storage robot for taking and placing goods is determined from the first storage robot and/or the second storage robot, wherein the first general goods correspond to the first storage robot, and the second general goods, Large cargo or pendant cargo corresponds to the second storage robot.
  • the fixed shelf includes a first fixed shelf and/or a second fixed shelf
  • the portable shelf includes a first portable shelf and/or a second portable shelf
  • the second portable shelf is located in the second fixed shelf.
  • a combined shelf is formed in the space below the shelf, and the method further includes:
  • the type of shelf for storing the goods to be taken and placed, wherein the type of the shelf includes a first fixed shelf, a first portable shelf, and a combined shelf formed by a second fixed shelf and a second portable shelf ,
  • the storage robot for picking and placing goods is determined from the first storage robot and the second storage robot, where the first fixed shelf and the second fixed shelf correspond to the first storage robot, the first portable shelf and the second The second portable shelf corresponds to the second storage robot.
  • the shelf type is a combined shelf
  • the information of the goods to be picked up includes: order information of the goods to be picked
  • the method specifically includes:
  • Obtain the order information of the goods to be picked up query the storage related information of the goods to be picked up according to the information of the goods to be picked up, determine the type of shelf where the goods to be picked up are based on, and send the first scheduling instruction to instruct the first storage robot to move Go to the second fixed shelf in the combined shelf where the goods to be picked up are located, and take out the container where the goods to be picked up are located from the corresponding second fixed shelf to achieve pickup, or send a second scheduling instruction to instruct the second storage robot to move to The second portable shelf in the combined shelf where the goods to be picked up is located, and the corresponding second portable shelf is moved to realize the pickup.
  • the shelf types include a combination shelf and a first portable shelf, the first portable shelf is located at the entrance of a laneway, and the information of the goods to be picked up includes: order information of the goods to be picked, and the method specifically includes:
  • the first storage robot When the goods to be picked up are the first general goods, the first storage robot is instructed to take out the cargo box storing the goods to be picked up from the second fixed shelf of the combined shelf, and store the cargo box in the idle first portable at the entrance of the lane. Shelves, when the first portable shelf at the entrance of the laneway needs to be moved, a second scheduling instruction is sent to instruct the second storage robot to move the first portable shelf to a designated position.
  • the shelf types include a first fixed shelf and a first portable shelf, the first portable shelf is located at the entrance of an aisle, the information about the goods to be picked up includes: order information for the goods to be picked, and the method specifically includes:
  • the storage related information of the goods to be picked up determine the type of shelf where the goods to be picked up are located,
  • send a second scheduling instruction to instruct the second storage robot to move the first portable shelf to a designated position or,
  • Sending a second scheduling instruction instructs the second storage robot to move to the first portable shelf where the goods are located, and move the corresponding first portable shelf, so as to realize the pickup.
  • the method further includes:
  • the travel route of the storage robot is determined at least according to the determined storage robot for picking and placing the goods and the associated position information of the goods storage.
  • the method further includes:
  • the most efficient storage robot and its travel route are determined.
  • the travel route includes a main road and a roadway
  • the method further includes:
  • the second storage robot enters the first fixed rack closest to the second storage robot to allow the first storage robot to travel normally, or,
  • the traveling sequence is determined according to the preset task priority.
  • An embodiment of the present application provides a processing terminal, which is characterized in that it includes:
  • At least one processor and,
  • a memory communicatively connected with the at least one processor; wherein,
  • the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the aforementioned cargo picking and placing method.
  • the embodiment of the present application provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer execute the above-mentioned cargo retrieval Put method.
  • the embodiments of the present application also provide a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer At this time, the computer is caused to execute the method for taking and placing goods as described above.
  • the smart storage system receives a first scheduling instruction through a first storage robot, moves to a fixed shelf to pick and place goods according to the first scheduling instruction, and transports the goods to the first target location and the second storage
  • the robot is used to receive the second dispatching instruction, move to the portable shelf according to the second dispatching instruction, and transport the portable shelf to the second target location, which improves the compatibility of the intelligent storage system and can be applied to different shelves.
  • the warehouse has increased the utilization rate of the warehouse.
  • Figure 1 is a schematic diagram of the composition of an intelligent storage system provided by an embodiment of the present application.
  • Fig. 2a, Fig. 2b, Fig. 3a and Fig. 3b are respectively schematic diagrams of the placement of combined shelves in the intelligent storage system provided by an embodiment of the present application;
  • Fig. 4 is a schematic structural diagram of a first storage robot provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a second storage robot provided by an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a method for taking and placing goods according to an embodiment of the present application
  • FIG. 7a is a schematic flowchart of a method for picking and placing goods according to another embodiment of the present application.
  • Figure 7b is a schematic diagram of a roadway opening provided by an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a method for picking and placing goods according to another embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a method for picking and placing goods according to another embodiment of the present application.
  • FIG. 10 is a schematic flowchart of a method for picking and placing goods according to an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a processing terminal provided by an embodiment of the present application.
  • the intelligent warehousing system provided in this article can be applied to any suitable industry or technical field, such as intelligent warehousing, intelligent logistics, and intelligent sorting.
  • the embodiments of the present application are described by taking as an example an intelligent warehousing system that is applied to the field of intelligent warehousing and can perform intelligent picking and placing of goods according to goods orders.
  • the intelligent storage system 100 includes a first storage robot 10 and a second storage robot 20, wherein the first storage robot 10 and the second storage robot 20 can pass through
  • the network is connected to the processing terminal 60.
  • the network can be a wired network or a wireless network.
  • the first storage robot 10 is used to pick and place the cargo boxes on the fixed shelves 50, and the second storage robot 20 uses In the mobile portable shelf 30, the portable shelf 30 can store boxes or goods 40, where the goods can be bulky goods, pendant goods, or common goods.
  • the common goods can include the first common product or the second Ordinary commodities, the first ordinary commodity is usually stored in the box, the second ordinary commodity can be directly stored on the portable shelf 30, and the second ordinary commodity can usually be a commodity with a relatively large sales volume, such as a popular product, directly stored in a portable
  • the shelf 30 can save time for loading goods into the container.
  • the first storage robot 10 may receive a first scheduling instruction, which may be used to instruct the first storage robot 10 to move to the fixed shelf 50 to pick and place the container, and to transport the container to The first target position, where the first target position may be different preset positions, such as a goods sorting table or a goods transfer table.
  • a first scheduling instruction which may be used to instruct the first storage robot 10 to move to the fixed shelf 50 to pick and place the container, and to transport the container to The first target position, where the first target position may be different preset positions, such as a goods sorting table or a goods transfer table.
  • the second storage robot 20 can receive a second scheduling instruction, which can be used to instruct the first storage robot 20 to move to the portable shelf 30 and transport the portable shelf to the second target location ,
  • the second target position can be a different preset position, such as a goods sorting table or a goods transfer table.
  • the storage system 100 may further include an operation station, the operation station is provided with an order wall, and the first target position and the second target position may be located in a preset area of the operation station
  • the operating table is used to sort the goods in the container transported by the first storage robot 10 and the goods on the portable shelves transported by the second storage robot 20 to the corresponding order wall of the goods.
  • both the first target location and the second target location may be located in the cargo processing area, such as the area where the operation desk or the automatic transportation equipment is located.
  • the first target position and the second target position are located on the console, there may be multiple consoles. Therefore, the first target position and the second target position can be determined according to the position of the console.
  • each console is equipped with an order wall. After the warehousing robot transports the goods to the console, it picks the goods corresponding to the corresponding order to the order wall.
  • Each console can set a separate area on the order wall to place large items.
  • the goods are either pendant goods; or a separate operation station is set up to handle bulky goods, or the picked goods are sent to automatic transportation equipment, such as conveyor belts, at the operation station.
  • Each warehousing robot can pick the goods at one of the operation stations, and then send the remaining goods to the other operation stations for picking.
  • the goods taken out by the storage robot are directly sent to the automatic transportation equipment, and sorted during the course of the automatic transportation equipment.
  • the first storage robot can be used to send the boxes to the corresponding packing area or secondary sorting area; or the second storage robot can be used to send the order wall to the packing area or secondary sorting area.
  • the intelligent storage system 100 may also include a fixed shelf 50 or a portable shelf 30, and may also include a fixed shelf 50 and a portable shelf 30 at the same time, wherein the fixed shelf 50 is used to store containers and/or pallets.
  • the portable shelf 30 is used for storing goods, boxes and/or pallets, the boxes are used for storing goods, and the pallets are used for storing goods or boxes.
  • the pallet for holding goods is placed on the portable shelf 30, and the pallet for holding the boxes may be placed on the portable shelf 30 or on the fixed shelf 50.
  • the fixed shelf 50 may include a first fixed shelf 501 and/or a second fixed shelf 502
  • the portable shelf 30 includes a first portable shelf 301 and/or a second portable shelf 302
  • the second The portable shelf 302 is located in the space below the second fixed shelf 502 to form a combined shelf to save warehouse space.
  • the structure of the first portable shelf 301 and the second portable shelf 302 may be the same or different, and is not limited by the specific embodiment of the present application.
  • the first storage robot 10, the second storage robot 20, the first portable shelf 301, the second portable shelf 302, the first fixed shelf 501, the second fixed shelf 502 and the processing terminal 60 may all include one Or more, and the combined shelf consisting of the second fixed shelf 502 and the second portable shelf 302 can also be one or more.
  • the first storage robot 10, the second storage robot 20, the first portable shelf 301, and the second A fixed shelf 501, and a combined shelf composed of a second fixed shelf 502 and a second portable shelf 302 can be located in different positions in the warehouse, and these positions can be divided into different areas, for example, a specific area A is delineated in the warehouse It is used to store the first fixed shelf 501, the specific area B is used to store the first portable shelf 301, and the specific area C is used to store a combined shelf composed of the second fixed shelf 502 and the second portable shelf 302.
  • fixed shelves and portable shelves can be deployed in a mixed manner in the entire warehouse, or deployed in different regions. If it is deployed in different regions, when assigning pick-and-place tasks, the pick-up task of the first storage robot can give priority to the first fixed shelf area, such as specific area A. When there is no goods corresponding to the task to be assigned in area A, it enters Other areas, such as the combined shelf area, such as the specific area C area for pickup. For example: After receiving an order, query the cargo box and shelf where the SKU (Stock Keeping Unit, the basic unit of inventory entry and exit measurement) information is located. If the shelf is in Zone A, assign the task to the first storage robot.
  • SKU Stock Keeping Unit
  • the task is assigned according to the robot type corresponding to the shelf corresponding to the SKU information; if the shelf type corresponds to the first storage robot, the task is assigned to the first storage robot, if the shelf type Corresponding to the second storage robot, the task is assigned to the second storage robot. If the query SKU information has corresponding goods in area A and area C, the tasks in area A will be assigned to the first storage robot first, or not to the first storage robot, but unified according to the pick-up efficiency of each storage robot distribution.
  • first fixed shelves 501 in different warehouses, there may be different first fixed shelves 501, first portable shelves 301, and combined shelves composed of different second fixed shelves 502 and different second portable shelves 302, and each Various types of shelves can be combined to form different warehouses, and there may be one or more first storage robots 10 and one or more second storage robots 20 in different warehouses.
  • At least two second fixed shelves 502 can be placed side by side in the vertical direction, and at least one second portable shelf 302 is placed in the space formed by the two fixed shelves 502, thereby forming Combination racks, where the two second fixed racks 502 can be multi-layer spaces including storage boxes, and multiple boxes can be placed side by side in the X-axis (horizontal) direction of each layer of space.
  • each layer of space One container can be placed in the Y-axis (vertical) direction, or two or more containers can be placed. If one container is placed in the vertical direction of each layer of space, it will be placed below the two fixed shelves 502.
  • a second portable shelf 302 can be placed in the vertical direction in the space.
  • Figure 2a is a schematic diagram of placing a portable shelf under two fixed shelves.
  • the shelf is a fixed shelf with a single deep position (that is, a container is placed in the Y axis direction), and the two fixed shelves have baffles, and there are baffles on both sides of the shelf.
  • Figure 2b shows a portable shelf placed under the two fixed shelves.
  • the fixed shelf is a fixed shelf with a single deep position (that is, a container is placed in the Y axis direction), and the two fixed shelves have no baffles, and there are no baffles on both sides of the shelf.
  • Figure 3a is placed under the two fixed shelves A schematic diagram of two portable shelves.
  • the fixed shelf is a fixed shelf with a double deep position (that is, two boxes are placed in the Y-axis direction), and the two fixed shelves have baffles, and there are baffles on both sides of the shelf.
  • Figure 3b is A schematic diagram of two portable shelves placed under two fixed shelves.
  • the fixed shelves are fixed shelves with double deep positions (that is, two boxes are placed in the Y-axis direction), and the two fixed shelves have no baffles, and there are no sides of the shelves.
  • Baffle it should be noted that for each double-deep fixed shelf in Figure 3b, two single-deep shelves without baffles (as shown in Figure 2b) can be placed side by side along the Y axis, consisting of two single-deep shelves.
  • the fixed shelf form is a double deep fixed shelf.
  • the first portable shelf 301, the second portable shelf 302, the first fixed shelf 501, the second fixed shelf 502, and the first portable shelf 301 and the first fixed shelf The combined shelf formed by the combination of shelves 501, and the number of various types of shelves can be one or more. Therefore, in the warehouse where the shelves are placed, there can be many different forms of shelf layout. For example, the warehouse only contains the first A portable shelf 301 and a first fixed shelf 501, or the warehouse contains a combined shelf and a first portable shelf 301, and the warehouse contains a combined shelf and a first fixed shelf 501, or the warehouse contains a combined shelf and the first portable shelf 301 And the first fixed shelf 501 and so on.
  • the first portable shelf 301 there may be multiple ways to store goods, one is to store the goods directly on the shelf, the other is to store the goods in the container on the shelf; or the goods and/or the goods
  • the box is stored on the pallet, and the pallet is placed on the first portable shelf.
  • different portable racks can be located in different positions, for example, they can be located in different lanes or lane openings. When the positions of the racks are different, there are also a variety of flexible layout methods. Based on the above situation, the warehouse for the racks There are dozens of layout modes, which can be understood by those skilled in the art, and will not be described in detail here.
  • the smart storage system 100 may further include: a processing terminal 60, the processing terminal may be used to send the first scheduling instruction and/or the second scheduling instruction, wherein the first scheduling instruction A scheduling instruction is used to instruct the first storage robot 10 to pick and place goods from the fixed shelf 50, and a second scheduling instruction is used to instruct the second storage robot 20 to move the portable shelf 30.
  • the processing terminal 60 may be a background server, a computer device with processing capabilities, or a terminal device with a computing function or a dispatching function.
  • the processing terminal 60 may communicate with the first storage robot via a network. 10 and the second warehousing robot 20 respectively communicate to carry out information interaction with the first warehousing robot 10 and the second warehousing robot 20, for example, sending scheduling instructions to instruct the warehousing robot to pick and place goods according to the travel route, and the processing terminal 60 can also receive external data and information, such as pick-up order information, location information, and various correspondence information.
  • the processing terminal 60 When the processing terminal 60 sends a scheduling instruction, it usually needs to determine the location of the goods based on the pick-and-place information and the related information of the goods storage, and instruct the corresponding storage robot to pick and place the goods, for example, when the goods of the pick-up order are located at a fixed location.
  • the processing terminal 60 sends a first scheduling instruction to instruct the first storage robot 10 to move to a fixed shelf to pick up the goods.
  • the processing terminal 60 When the goods of the pick-up order are on a portable shelf, the processing terminal 60 sends a second scheduling instruction to instruct the second storage
  • the robot 10 moves the portable shelf to pick up the goods.
  • the dispatch instruction may include the receiving object of the instruction, the travel route of the receiving object, and the specific execution content contained in the instruction.
  • the receiving object may include the first storage robot 10 or the second storage robot 20.
  • the travel route may include a starting position, a travel trajectory, and a target position, and the specific execution content may include picking up or releasing the goods.
  • the processing terminal 60 may store goods storage related information, and the goods storage related information includes at least one of the following information:
  • Goods identification information container identification information, shelf identification information, shelf position information for storing goods, container position information for storing goods, correspondence between shelves and boxes, correspondence between shelves and goods, correspondence between boxes and goods .
  • the goods identification information can be various codes on the goods, such as a QR code or barcode or SKU information.
  • the code information can include brand, model, configuration, grade, color, packaging capacity, unit, production date, and shelf life. Any attribute or multiple attributes among attributes such as, usage, price, and origin.
  • the container identification information can be identified by different numbers, each container has its specific number, and the number information can include one or more of its model, specification, type and other attribute information.
  • the shelf identification information can be numbered according to different types of shelves and their layout positions to distinguish different shelves under different positions in the warehouse.
  • the shelf identification information GDHJ0101 indicates the first fixed shelf located in the first aisle.
  • the shelf position information of the stored goods can identify the specific shelf position of the specific goods in the warehouse.
  • the two-dimensional code map can be used to identify the specific shelf position information of the goods.
  • the location information of the container storing the goods may identify the location of the container storing the goods on a specific shelf, for example, the information of a specific specific location on a specific shelf in a warehouse.
  • each item of goods corresponds to a unique SKU number.
  • the goods storage related information stored in the processing terminal 60 includes the corresponding relationship between the shelf and the cargo box, the corresponding relationship between the shelf and the cargo, and the corresponding relationship between the cargo box and the cargo.
  • the corresponding shelf or cargo is determined through the corresponding correspondence and cargo information.
  • the location of the goods can be determined based on the shelf identification information, the cargo box identification information, the shelf location information or the cargo box location information.
  • the processing terminal 60 is specifically configured to:
  • the processing terminal 60 may dispatch the second storage robot to transport the portable shelf to the shelf, and put the larger or pendant goods on the corresponding portable shelf in advance, and the second storage robot Second, the storage robot transports the shelves with good goods to the corresponding warehouse location; and sets the corresponding relationship between the shelf where the storage box is located and the coordinate position of the warehouse where the shelf is located in the processing terminal 60.
  • the goods with the corresponding SKU information will be stored in the container carrying the logo, and the corresponding shelf, shelf position information, and correspondence between the container and the goods SKU information will be stored in the processing terminal 60 relationship.
  • the first storage robot and the second storage robot are uniformly dispatched by the processing terminal.
  • the processing terminal 60 pre-stores the correspondence between the goods SKU information, the container, the shelf, the shelf position, and the shelf type, and performs robot picking and distribution according to the SKU information in the received order. After receiving the goods order, the processing terminal 60 queries the cargo box corresponding to the SKU information, queries the shelf where the cargo box is located, and assigns tasks according to the type of the shelf; if the shelf type corresponds to the first storage robot, the task is assigned to The first storage robot, if the shelf type corresponds to the first storage robot, assign the task to the second storage robot.
  • the first storage robot 10 includes a mobile chassis 101, a storage shelf 102, a handling component 103 and a lifting component 104.
  • the storage rack 102, the conveying assembly 103 and the lifting assembly 104 are all installed on the mobile chassis 101.
  • the mobile chassis 101 is used to make the first storage robot 10 move according to a planned path.
  • the storage rack 102 is used to store goods.
  • the storage rack 102 may include a plurality of storage units, and each storage unit may place one or more goods.
  • the handling assembly 103 can move along the vertical direction, so that the position of the handling assembly 103 is horizontally opposite to any storage unit.
  • the handling assembly 103 is used to transport goods between the preset position of the first fixed shelf 50 and any storage unit.
  • the lifting assembly 104 is used to drive the conveying assembly 103 to move relative to the storage shelf 102 in a vertical direction
  • the lifting assembly 40 includes a lifting transmission mechanism and a lifting driving mechanism.
  • the lifting drive mechanism is used to provide a second driving force for the conveying device 103 to move in a vertical direction relative to the storage shelf 102
  • the lifting transmission mechanism is used to transmit the second drive force to the conveying device 103.
  • the second storage robot 20 includes a driving mechanism 201 and a lifting mechanism 202.
  • the driving mechanism 201 can drive the second storage robot 20 to be able to move in the working space.
  • the lifting mechanism 202 is used to carry the second portable shelf 30.
  • the lifting mechanism 202 is raised, the second storage shelf 30 can be raised from the ground, and when the lifting mechanism 202 is lowered, the second storage shelf 30 can be stored.
  • the shelf 30 is placed on the ground.
  • the smart storage system receives a first scheduling instruction through a first storage robot, moves to a fixed shelf to pick and place goods according to the first scheduling instruction, and transports the goods to the first target location and the second storage
  • the robot is used to receive the second dispatching instruction, move to the portable shelf according to the second dispatching instruction, and transport the portable shelf to the second target location, which improves the compatibility of the intelligent storage system and can be applied to different shelves.
  • the warehouse has increased the utilization rate of the warehouse.
  • an embodiment of the present application provides a schematic flow chart of a method for picking and placing goods.
  • the method for picking and placing goods is applied to the processing terminal of the above-mentioned smart storage system, wherein the smart storage system includes: a first storage robot and a second storage robot.
  • the storage robot as shown in Figure 6, the method includes:
  • the information of the goods to be picked up may include the order information to be picked up or the information of the goods that need to be put on the shelf.
  • the goods information may be the SKU information of the goods.
  • SKU information which can include the name, model, quantity, style, etc. of the goods to be picked up.
  • the goods can be stored in boxes or shelves, and the relationship between the information of the goods and the boxes and shelves can be established.
  • the location information is stored.
  • the location information may include the specific location information of the shelf where the goods are stored, And the specific location information of the container where the goods are stored.
  • S63 Send a first scheduling instruction to instruct the first storage robot to move to a fixed shelf to pick and place the container according to the information about the goods to be taken and placed, and transport the container to the first target location, and/or,
  • the type of the shelf for storing the goods, the attribute of the container for storing the goods, or the type of the goods can be determined.
  • the storage robot for picking and placing the goods can be determined.
  • different shelves There are corresponding storage robots for the type, container attribute or cargo type.
  • the fixed shelf corresponds to the first storage robot
  • the portable shelf corresponds to the second storage robot.
  • Picking and placing goods for example, sending a first scheduling instruction to instruct the first storage robot to move to a fixed shelf to pick and place goods, and transport the goods to a first target location, and/or send a second scheduling instruction to instruct the second
  • the storage robot moves to the portable rack and transports the portable rack to the second target location.
  • the method for picking and placing goods by acquiring the information of the goods to be picked and placed, and according to the information of the goods to be picked and placed, sending a first scheduling instruction to instruct the first storage robot to move to a fixed shelf to pick and place the goods, and The goods are transported to the first target location, and/or the second scheduling instruction is sent to instruct the second storage robot to move to the portable shelf, and the portable shelf is transported to the second target location, which improves the method of picking and placing goods Compatibility, it can be applied to warehouses with different shelves, which improves the utilization rate of warehouses.
  • FIG. 7a another embodiment of the present application provides a schematic flow chart of a method for picking and placing goods.
  • the method for picking and placing goods is applied to the processing terminal of the above-mentioned smart storage system.
  • the smart storage system includes: a first storage robot and The second storage robot, as shown in Fig. 7a, the method includes:
  • the cargo storage related information includes at least one of the following information:
  • these related information can be stored in the storage space of the processing terminal when the goods are put on the shelf, or the user enters part of the information in the storage space of the processing terminal in advance, such as the position of the shelf, and then establishes the goods and the container and the shelf when the goods are put on the shelf. The corresponding relationship.
  • the information of the goods to be picked up may include the order information to be picked up or the information of the goods that need to be put on the shelf.
  • the information of the goods may be the SKU information of the goods.
  • SKU information which can include the name, model, quantity, style, etc. of the goods to be picked up.
  • the goods can be stored in boxes or shelves, and the relationship between the information of the goods and the boxes and shelves can be established.
  • the location information is stored.
  • the location information may include the specific location information of the shelf where the goods are stored, And the specific location information of the container where the goods are stored.
  • S75 Determine the attributes of the container storing the goods to be taken and placed according to the information of the goods to be taken and placed.
  • the SKU information of the ordered goods can be obtained, and the attributes of the container storing the goods to be picked up can be determined according to the SKU information.
  • the container attributes include fixed-shelf containers, portable shelves, and/or portable shelves.
  • the storage related information corresponding to the SKU information can be inquired, and the storage capacity attribute of the SKU goods can be determined from the storage related information.
  • ordinary goods are stored in the container, and bulky goods and pendant goods are stored in the first portable shelf and/or the second portable shelf ;
  • Ordinary goods can be except bulky goods and pendant goods, which can be placed in the cargo box and stored in the first fixed shelf, the second fixed shelf, the first portable shelf, and the second portable shelf.
  • there may be different shelves such as a first fixed shelf and/or a second fixed shelf, a first portable shelf and/or a second portable shelf, wherein the second portable shelf is located in the In the space below the second fixed shelf, a combined shelf is formed.
  • the attribute of the container storing the goods to be taken and placed can be determined directly according to the information of the goods, for example, the SKU information can directly determine the attribute of the container storing the goods.
  • the goods to be placed are pendant goods, they can be The delivery information directly determines the attribute of the container in which the pendant goods are stored is a portable shelf, so that the pendant goods are put on the portable shelf.
  • the attributes of the container cannot be determined directly based on the pick-and-place information
  • the attributes of the container where the goods to be picked up can be determined in combination with the information related to the storage of the goods.
  • multiple containers that can store the general goods can be determined according to the order SKU. When selecting a specific container from the multiple containers, it can be determined according to the storage related information of the goods.
  • different container attributes correspond to different storage robots, wherein the container of the fixed shelf corresponds to the first storage robot, and the container or portable shelf of the portable shelf corresponds to the second storage robot.
  • the shelf type is a combined shelf
  • the first scheduling instruction is sent to instruct the first storage robot to move to the second fixed shelf of the combined shelf where the goods to be picked up are located , And take out the container where the goods to be picked up are located from the corresponding second fixed shelf to realize the pickup;
  • the attribute of the container where the goods to be picked up corresponds to the container of the portable shelf and/or the portable shelf
  • send the second dispatch instruction Instruct the second storage robot to move to the second portable shelf in the combined shelf where the goods to be picked up is located, and move the corresponding second portable shelf, so as to realize the pickup.
  • the shelf type includes a combination shelf and a first portable shelf
  • the first portable shelf is located at the entrance of the aisle
  • the position of the entrance of the aisle is shown in Figure 7b. If the attribute of the container in which the goods to be picked is located corresponds to the goods of the fixed shelf.
  • the first scheduling instruction is sent to instruct the first storage robot to move to the second fixed shelf of the combined shelf where the goods to be picked up is located, and take out the box where the goods to be picked up are located from the corresponding second fixed shelf, and transfer the box Store to the first portable shelf at the entrance of the lane; when the first portable shelf at the entrance of the lane needs to be moved, send a second scheduling instruction to instruct the second storage robot to transport the first portable shelf to the designated location; if the goods are to be picked up If the container attribute corresponds to the container and/or portable shelf of the portable shelf, the second scheduling instruction is sent to instruct the second storage robot to move to the second portable shelf of the combined shelf or the first portable shelf at the laneway where the goods to be picked up are located, And move the corresponding second portable shelf or the first portable shelf to achieve picking up.
  • the shelf type includes the first fixed shelf and the first portable shelf, and the first portable shelf is located at the entrance of the lane
  • the first dispatch instruction is sent to instruct the first A storage robot moves to the first fixed shelf where the goods to be picked up is located, and takes out the container where the goods to be picked up is located from the corresponding first fixed shelf, stores the box in the first portable shelf located at the entrance of the lane, and when it needs to move
  • the second dispatching instruction is sent to instruct the second storage robot to move the first portable shelf to the specified position; if the container attribute of the goods to be picked up corresponds to the container and/or portable shelf of the portable shelf ,
  • the second scheduling instruction is sent to instruct the second storage robot to move to the first portable shelf where the goods to be picked up is located, and move the corresponding first portable shelf to realize the pickup.
  • a storage system that uses a combination of two kinds of robots.
  • the processing terminal can dispatch the second storage robot to transport the portable shelves to the shelves, and put the bulky or pendant goods on the corresponding portable shelves in advance.
  • the second storage robot transports the shelves with the goods to the corresponding warehouse location; the processing terminal can set the corresponding relationship between the shelf where the storage box is located and the coordinate position of the warehouse where the shelf is located.
  • the first warehousing robot When the first warehousing robot loads the goods, it will store the corresponding SKU goods in the box carrying the container identification, and the corresponding shelf, shelf position information, and the correspondence between the box and the SKU goods can be set and stored in the processing terminal.
  • the two types of robots can be scheduled uniformly.
  • the processing terminal will pre-store the corresponding relationship between the SKU and the container, shelf, and shelf position, and shelf type. According to the SKU information in the received order, the robot picks up and distributes. After receiving the order, query the container corresponding to the SKU, query the shelf where the container is located, and assign the task according to the container attribute corresponding to the container or shelf; if the container attribute corresponds to the first storage robot, assign the task to the first storage robot. A storage robot, if the container attribute corresponds to the second storage robot, the task is assigned to the second storage robot. If the same SKU appears in shelves with different attributes, a robot is selected for task assignment according to the best efficiency scheme. Different robots can transport the goods to the processing area after taking the goods.
  • the first portable shelf at the entrance of the lane it can be determined whether it needs to be moved according to the quantity of goods on the shelf, or according to the current actual situation, for example, the quantity of goods to be sorted on the sorting table.
  • the first portable shelf needs to be moved to the sorting table in time.
  • the goods taking and placing method provided in the embodiments of the present application can determine the storage robot for taking and placing goods according to the properties of the container storing the goods, which improves the speed of taking and placing goods. At the same time, it can be applied to different shelf scenarios and improve the goods taking and placing method. Compatibility and utilization rate of the warehouse.
  • FIG. 8 another embodiment of the present application provides a schematic flow chart of a method for picking and placing goods.
  • the method for picking and placing goods is applied to the processing terminal of the above-mentioned smart storage system, wherein the smart storage system includes: a first storage robot and The second storage robot, as shown in FIG. 8, the method includes:
  • the cargo storage related information includes at least one of the following information:
  • these related information can be stored in the storage space of the processing terminal when the goods are put on the shelf, or the user enters part of the information in the storage space of the processing terminal in advance, such as the position of the shelf, and then establishes the goods and the container and the shelf when the goods are put on the shelf. The corresponding relationship.
  • the information of the goods to be picked up may include the order information to be picked up or the information of the goods that need to be put on the shelf.
  • the goods information may be the SKU information of the goods.
  • SKU information which can include the name, model, quantity, style, etc. of the goods to be picked up.
  • the goods can be stored in boxes or shelves, and the relationship between the information of the goods and the boxes and shelves can be established.
  • the location information is stored.
  • the location information may include the specific location information of the shelf where the goods are stored, And the specific location information of the container where the goods are stored.
  • S85 Determine the type of the goods to be taken and placed according to the information of the goods to be taken and placed.
  • the types of goods to be taken and placed include the first general goods stored on a fixed shelf, the second general goods stored on a portable shelf, bulky goods or pendant goods.
  • the SKU information of the ordered goods can be obtained, and the type of the goods can be determined based on the SKU information.
  • the first general product is usually stored in a fixed shelf container
  • the second general product can be directly stored on a portable shelf
  • the second general product can usually be a product with a relatively large sales volume.
  • Direct storage on the portable shelf can save the time of loading goods into the box.
  • the type of goods can be determined according to the SKU information of the goods to be taken and placed, and the container or shelf that can store the goods to be taken and placed according to the type of goods.
  • the first general goods are stored on fixed shelves
  • the second Common goods are placed on portable shelves.
  • S87 According to the type of goods to be taken and placed, determine a storage robot for taking and placing goods from the first storage robot and/or the second storage robot.
  • different types of goods correspond to different storage robots, where the first general goods correspond to the first storage robot, and the second general goods, bulky goods or pendant goods correspond to the second storage robot.
  • the second storage robot is instructed to pick up the goods;
  • the goods to be picked up are the first general goods, the first storage robot is instructed to take them out of the fixed shelf
  • the container for storing the first general cargo is instructed to take them out of the fixed shelf
  • the two types of robots can be scheduled uniformly.
  • the processing terminal will perform robot picking and distribution based on the pre-stored containers, goods, shelves, and shelf positions, and according to the SKU information in the received order.
  • the second storage robot If it is a bulky cargo or a pendant cargo, it is assigned to the second storage robot to pick up the cargo. If it is the SKU of ordinary goods, it is assigned to the first storage robot to pick up the goods; after the first storage robot finishes taking the goods, it transports the goods to the first portable shelf at the entrance of the roadway.
  • the second storage robot When the first portable shelf at the entrance of the roadway is filled with goods Or when it needs to move, the second storage robot will be dispatched to transport the shelf to the area to be processed. That is to say, the first storage robot is firstly responsible for running in the same lane, and the second storage robot is responsible for transportation on the main road. According to the order situation, the robot can be assigned priority to the roadway with a large amount of goods in the same roadway. After the task in one roadway is completed, it will go to another roadway with high priority to pick up the goods.
  • the method for picking and placing goods provided by the embodiments of this application can determine the storage robots for picking and placing goods according to the type of goods to be picked and placing, which increases the speed of picking and placing goods.
  • different types of storage robots are used to pick and place different types of goods. Applicable to different scenarios, improving the compatibility of cargo pick-and-place methods and warehouse utilization.
  • FIG. 9 another embodiment of the present application provides a schematic flow chart of a method for picking and placing goods.
  • the method for picking and placing goods is applied to the processing terminal of the above-mentioned intelligent storage system, wherein the intelligent storage system includes: a first storage robot and The second storage robot, as shown in FIG. 9, the method includes:
  • the cargo storage related information includes at least one of the following information:
  • these related information can be stored in the storage space of the processing terminal when the goods are put on the shelf, or the user enters part of the information in the storage space of the processing terminal in advance, such as the position of the shelf, and then establishes the goods and the container and the shelf when the goods are put on the shelf. The corresponding relationship.
  • the information of the goods to be picked up may include the order information to be picked up or the information of the goods that need to be put on the shelf.
  • the goods information may be the SKU information of the goods.
  • SKU information which can include the name, model, quantity, style, etc. of the goods to be picked up.
  • the goods can be stored in boxes or shelves, and the relationship between the information of the goods and the boxes and shelves can be established.
  • the location information is stored.
  • the location information may include the specific location information of the shelf where the goods are stored, And the specific location information of the container where the goods are stored.
  • first fixed shelf and/or a second fixed shelf such as a first fixed shelf and/or a second fixed shelf, a first portable shelf and/or a second portable shelf, wherein the second portable shelf is located in the In the space below the second fixed shelf, a combined shelf is formed.
  • the shelf types include a first fixed shelf, a first portable shelf, and a combined shelf formed by a second fixed shelf and a second portable shelf.
  • the SKU information of the ordered goods can be obtained, and the type of shelf storing the goods to be picked up can be determined according to the SKU information.
  • the shelf types include a first fixed shelf, a first portable shelf, and a combined shelf formed by a second fixed shelf and a second portable shelf.
  • the goods storage related information corresponding to the SKU information can be inquired, and the shelf type storing the SKU goods can be determined from the storage related information.
  • the container or shelf where the goods to be stored can be stored is determined according to the SKU information of the goods. For example, general goods are stored in the container and bulky goods are stored on the shelf.
  • the type of shelf for storing the goods to be taken and placed can be determined directly based on the information of the goods.
  • the SKU information can directly determine the type of shelf for storing the goods.
  • the goods to be placed are pendant goods
  • the The delivery information directly determines that the type of the shelf where the pendant goods are stored is the first portable shelf, so that the pendant goods are put on the idle first portable shelf.
  • the type of shelf where the goods to be picked up can be determined based on the related information of the goods storage. For example, if a piece of ordinary goods is to be picked up according to the pickup order, the ordinary goods can be stored.
  • the box on the first fixed shelf can also be stored in the box on the second fixed shelf in the combined shelf.
  • multiple boxes that can store the general goods can be determined according to the order SKU, from multiple boxes When selecting a specific container, it can be determined based on the information related to the storage of the goods.
  • different shelf types correspond to different storage robots, where the first fixed shelf and the second fixed shelf correspond to the first storage robot, and the first portable shelf and the second portable shelf correspond to the second storage robot.
  • the first dispatching instruction is sent to instruct the first storage robot to move to the second fixed shelf in the combined shelf where the goods to be picked up is located, and take out the corresponding second fixed shelf where the goods to be picked up are located
  • the cargo box is used to pick up the goods
  • the second scheduling instruction is sent to instruct the second storage robot to move to the second portable shelf in the combined shelf where the goods to be picked up is located, and move the corresponding second portable shelf to realize the picking up.
  • the shelf type includes a combination shelf and a first portable shelf
  • the first portable shelf is located at the entrance of the lane
  • the type of goods to be picked up includes the first general goods, the second general goods, the bulky goods or the pendant goods
  • the second storage robot is instructed to pick up the goods; when the goods to be picked up are the first
  • the shelf storing the goods to be picked up is the second portable shelf of the combined shelf
  • the first storage robot is instructed to take out the container storing the goods to be picked from the second fixed shelf of the combined shelf, and store the container
  • a second scheduling instruction is sent to instruct the second storage robot to move the first portable shelf to a designated position.
  • the first dispatch instruction is sent to instruct the first storage robot to move to the first fixed shelf where the goods are located, and from the corresponding The first fixed shelf takes out the cargo box where the goods are located, and moves the cargo box to the first portable shelf at the lane entrance.
  • the first portable shelf at the lane entrance needs to be moved, it sends a second scheduling instruction to instruct the second storage robot to transfer the The first portable shelf is moved to the designated position, or the second dispatching instruction is sent to instruct the second storage robot to move to the first portable shelf where the goods are located, and move the corresponding first portable shelf, so as to obtain the goods.
  • the travel route of the storage robot can be planned.
  • the embodiment of the present application will be further described below with reference to FIG. 10.
  • the method may further include:
  • S1001. Determine the travel route of the storage robot at least according to the determined storage robot for picking and placing the goods and the associated position information of the goods storage.
  • the goods can be stored according to the associated location information, for example, according to the shelf position or the goods.
  • the position of the box is to determine the shelf or container with the shortest distance on the travel route of the storage robot.
  • S1101 according to the current positions and working status of the first storage robot and the second storage robot, determine the most efficient storage robot and its travel route.
  • the current position and working status of the storage robot can be combined to determine the most efficient storage robot and its travel route, especially when there are multiple
  • the current position and working status of the storage robots can be used as the storage robot with the best determination efficiency to obviously improve the efficiency of pickup.
  • the idle storage robot with the lower position of the goods to be picked up may be preferentially selected as the storage robot for pickup.
  • the travel route in the foregoing embodiment includes a main road and a roadway, and the method further includes:
  • the first storage robot and the second storage robot may first enter the lane through the main road, and travel from the lane to the target rack. Or the second storage robot can directly take the optimal path from the bottom of the shelf to enter the target shelf position to pick up the goods; after picking up the goods, enter the main road from the aisle to deliver the goods to the corresponding processing area.
  • the second storage robot can directly take the optimal path from the bottom of the shelf to enter the target shelf position to pick up the goods; after picking up the goods, enter the main road from the aisle to deliver the goods to the corresponding processing area.
  • other robots can be prevented from entering the aisle to avoid congestion; or the aisle can not be locked, other robots can also enter. If other robots are allowed to enter, the obstacle avoidance setting of the travel route can be given priority.
  • the second storage robot when the second storage robot meets the first storage robot in the lane, the second storage robot can firstly enter under the nearest fixed shelf to escape, give way to avoid collision. After a robot enters the roadway, it can turn the roadway into a one-way street to avoid congestion.
  • the travel route of the storage robot is determined by combining the cargo storage related information, the current position and working status of the storage robot, which further improves the efficiency of picking and releasing goods.
  • obstacle avoidance is performed. , Making the picking and placing of goods more scientific and reasonable.
  • FIG 11 is a schematic structural diagram of a processing terminal provided by an embodiment of the present application.
  • the processing terminal 1100 can be any type of electronic device, such as a back-end server, a computer device with processing capabilities, or A terminal device with a computing function or a dispatch function, etc., can execute the cargo picking and placing method provided by the corresponding method embodiment above.
  • the client terminal device 1100 includes:
  • One processor 1101 is taken as an example in FIG. 11.
  • the processor 1101 and the memory 1102 may be connected by a bus or in other ways. In FIG. 11, the connection by a bus is taken as an example.
  • the memory 1102 as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs, and the corresponding programs can execute the corresponding steps of the pick-and-place method (for example, Figures 6 to Each step shown in Figure 10).
  • the processor 1101 runs the non-transitory software program or instruction stored in the memory 1102 to execute the cargo picking and placing method, that is, implementing the cargo picking and placing method described in any of the corresponding method embodiments above.
  • the memory 1102 may include a storage program area and a storage data area.
  • the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created by performing the above-mentioned cargo picking and placing method.
  • the memory 1102 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 1102 may optionally include memories remotely provided with respect to the processor 1101, and these remote memories may be connected to the processing terminal 1100 via a network. Examples of the aforementioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 1102, and when executed by the one or more processors 1101, the cargo pick-and-place method in the corresponding method embodiment is executed, for example, the above-described diagram is executed.
  • the processing terminal 1100 can execute the cargo taking and placing method in the above corresponding method embodiment, and has the corresponding equipment and beneficial effects for executing the method.
  • the processing terminal 1100 can execute the cargo taking and placing method in the above corresponding method embodiment, and has the corresponding equipment and beneficial effects for executing the method.
  • the embodiment of the present application also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer execute the above method embodiments
  • the device configuration method in.
  • the computer-executable instructions are executed by one or more processors, such as being executed by a processor 1101 in FIG. 11, which can cause the aforementioned one or more processors to execute the cargo pick-and-place method in the corresponding method embodiment.
  • the functions of the method steps S1001, S1101, S1201 to S1205, etc. can cause the above-mentioned one or more processors to execute the cargo picking and placing method in the above-mentioned corresponding method embodiment.
  • the embodiments of the present application also provide a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer When the time, the computer is caused to execute the cargo taking and placing method in the above method embodiment.
  • the method steps S61 and S63 in FIG. 6, the method steps S71 to S77 in FIG. 7, the method steps S81 to S87 in FIG. 8, the method steps S91 to S97 in FIG. 9, and the method steps S91 to S97 in FIG. Functions of method steps S1001, S1101, S1201 to S1205, etc.
  • the embodiment of the present application also provides a combined shelf.
  • the combined shelf 600 includes: a second fixed shelf 502 and a second portable shelf 302.
  • the second portable shelf 302 is located on the second fixed shelf.
  • the second fixed shelf 502 is used to store cargo boxes and/or pallets
  • the second portable shelf 302 is used to store goods, cargo boxes and/or pallets
  • the cargo boxes are used to store goods
  • the pallet is used to hold goods or boxes.
  • the cargo boxes stored in the second fixed shelf 502 are transported by the first storage robot according to the first scheduling instruction,
  • the second portable shelf 302 is moved by the second storage robot according to the second scheduling instruction.
  • the combination shelf includes one or more, and the multiple combination shelves are respectively located at different positions.
  • the fixed shelves and portable shelves involved in the combined shelves of the embodiments of the present application are based on the same concept as the fixed shelves and portable shelves in the above-mentioned intelligent storage system.
  • the description of the fixed shelves and portable shelves in the intelligent storage system is the same. Adapt to this embodiment.
  • the above-described device or device embodiments are merely illustrative.
  • the unit modules described as separate components may or may not be physically separated, and the components displayed as modular units may or may not be physical units. , Which can be located in one place, or can be distributed to multiple network module units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk , CD-ROM, etc., including a number of instructions to make a computer device (which may be a personal computer, a processing terminal, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiment.

Abstract

一种智能仓储系统、货物取放方法及其处理终端，其中，智能仓储系统（100）包括：第一仓储机器人（10）和第二仓储机器人（20），所述第一仓储机器人（10）用于接收第一调度指令，根据所述第一调度指令移动至固定货架（50）取放货箱，并将货箱运送至第一目标位置，所述第二仓储机器人（20）用于接收第二调度指令，根据所述第二调度指令移动至便携货架（30），并将所述便携货架（30）运送至第二目标位置。该智能仓储系统、货物取放方法及其处理终端提升了智能仓储系统的兼容性，可以适用于存在不同货架的仓库，提升了仓库的使用率。

Description

一种智能仓储系统、货物取放方法及其后台处理终端 技术领域
本申请涉及智能仓储领域，特别是涉及一种智能仓储系统、货物取放方法及其后台处理终端。
背景技术
随着电子商务与网络购物的兴起与日益发展，给货物的仓储物流的智能化带来了巨大的发展机遇，近年来，基于仓储机器人搬运货物的技术日益成熟。现有技术中，一种仓储机器人可以通过其顶部的升降圆盘抬起装有货物的货架，并通过扫描地面的二维码行进，从而可以将订单货物所在的货架搬运至人工处理区。
发明人在实现本申请的过程中发现，相关技术存在以下缺陷：由于仓储机器人搬运对象是存储有货物的货架，这对货架的高度有一定的限制，否则，存在倾倒的危险，同时，由于货架的高度受限制，从而使得仓库的空间无法被充分利用，导致仓库的使用率较低。
发明内容
本申请实施例提供一种智能仓储系统，通过提供不同类型的仓储机器人进行取放货，提升了智能仓储系统的兼容性，可以适用于存在不同货架的仓库，提升了仓库的使用率。
本申请提供一种智能仓储系统，其中，所述智能仓储系统包括：第一仓储机器人和第二仓储机器人，
所述第一仓储机器人用于接收第一调度指令，根据所述第一调度指令移动至固定货架取放货箱，并将货箱运送至第一目标位置，
所述第二仓储机器人用于接收第二调度指令，根据所述第二调度指令移动至便携货架，并将所述便携货架运送至第二目标位置。
可选地，所述智能仓储系统还包括：固定货架和/或便携货架，
所述固定货架用于存放货箱和/或托盘，
所述便携货架用于存放货物、货箱和/或托盘，
所述货箱用于存放货物，
所述托盘用于盛放货物或货箱。
可选地，所述固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架。
可选地，所述第一固定货架、和/或所述第一便携货架、和/或所述组合货架分别包括一个或多个，且所述第一固定货架、和/或第一便携货架、和/或所述组合货架分别位于不同的位置。
可选地，所述第一固定货架、第一便携货架及所述组合货架中相同类型的货架分别位于同一区域的不同位置。
可选地，所述仓储系统还包括操作台，所述操作台设置有订单墙，所述第一目标位置及所述第二目标位置位于所述操作台的预设区域，所述操作台用于将所述第一仓储机器人运送的货箱中的货物，以及所述第二仓储机器人运送的便携货架上的货物，分拣至货物相应的订单墙。
可选地，所述第一仓储机器人包括移动底盘、搬运组件、升降组件及存储货架，所述存储货架用于存储由所述搬运组件从所述固定货架上搬运的货箱。
可选地，所述智能仓储系统还包括：处理终端，
所述处理终端用于发送所述第一调度指令和/或所述第二调度指令，所述第一调度指令用于指示所述第一仓储机器人从所述固定货架取放 货箱，第二调度指令用于指示所述第二仓储机器人移动所述便携货架。
可选地，所述处理终端存储有货物存放关联信息，所述货物存放关联信息至少包括以下一项信息：
货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。
可选地，所述处理终端具体用于：
获取待取放货物信息，并根据所述待取放货物信息以及货物存放关联信息，确定待取放货物位置，
根据待取放货物位置，发送第一调度指令指示所述第一仓储机器人移动至固定货架，以实现取放货物，或者，
发送第二调度指令指示所述第二仓储机器人移动至便携货架，以实现取放货物。
本申请实施例提供一种货物取放方法，应用于处理终端，所述处理终端用于智能仓储系统，所述智能仓储系统包括：第一仓储机器人及第二仓储机器人，所述方法包括：
获取待取放货物信息，
根据所述待取放货物信息，发送第一调度指令指示所述第一仓储机器人移动至固定货架取放货箱，并将货物运送至第一目标位置，和/或，
发送第二调度指令指示所述第二仓储机器人移动至便携货架，并将所述便携货架运送至第二目标位置。
可选地，所述方法还包括：
存储货物存放关联信息，
所述货物存放关联信息至少包括以下一项信息：
货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位 置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。
可选地，所述方法还包括：
根据所述待取放货物信息，确定存放待取放货物的容器属性，其中，所述容器属性包括固定货架的货箱、便携货架的货箱和/或便携货架，
根据所述容器属性，从所述第一仓储机器人和第二仓储机器人中确定取放货物的仓储机器人，其中，固定货架的货箱对应第一仓储机器人，便携货架的货箱或便携货架对应第二仓储机器人。
可选地，所述的固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架；
当所述货架类型为组合货架，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
获取待取货物订单信息，
根据待取货物订单信息及货物存放关联信息，确定待取货物所在的容器属性；
若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，以实现取货；
若待取货物所在的容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架中的第二便携货架，并移动相应的第二便携货架，以实现取货。
可选地，所述的固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架；
当所述货架类型包括组合货架及第一便携货架，所述第一便携货架 位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
获取待取货物订单信息，
根据待取货物订单信息及货物存放关联信息，确定待取货物所在的容器属性；
若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，将所述货箱存储至位于巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架运货至指定位置；
若待取货物所在容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架的第二便携货架或巷道口的第一便携货架，并移动相应的第二便携货架或第一便携货架，以实现取货。
可选地，所述的固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架；
当所述货架类型包括第一固定货架和第一便携货架，所述第一便携货架位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法包括：
获取待取货物订单信息，
根据待取货物订单信息及货物存放关联信息，确定待取货物所在的容器属性；
若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在第一固定货架，并从相应的第一固定货架取出待取货物所在的货箱，将所述货箱存储至位于巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调 度指令指示第二仓储机器人将所述第一便携货架移动至指定位置；
若待取货物所在容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的第一便携货架，并移动相应的第一便携货架，以实现取货。
可选地，所述方法还包括：
根据所述待取放货物信息，确定待取放货物类型，其中，所述待取放货物类型包括存放于固定货架的第一普通货物、存放于便携货架的第二普通货物、大件货物或挂件货物，
根据待取放货物类型，从所述第一仓储机器人和/或第二仓储机器人确定取放货的仓储机器人，其中，所述第一普通货物对应第一仓储机器人，所述第二普通货物、大件货物或挂件货物对应第二仓储机器人。
可选地，所述固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架，所述方法还包括：
根据所述待取放货物信息，确定存放待取放货物的货架类型，其中，所述货架类型包括第一固定货架、第一便携货架以及由第二固定货架与第二便携货架形成的组合货架，
根据所述货架类型，从所述第一仓储机器人和第二仓储机器人中确定取放货物的仓储机器人，其中，第一固定货架和第二固定货架对应第一仓储机器人，第一便携货架和第二便携货架对应第二仓储机器人。
可选地，所述货架类型为组合货架，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
获取待取货物订单信息，根据待取货物订单信息，查询待取货物存放关联信息，根据待取货物存放关联信息确定待取货物所在的货架类型，并发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架中的第二固定货架，并从相应的第二固定货架取出待取货物所在的 货箱，以实现取货，或者发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架中的第二便携货架，并移动相应的第二便携货架，以实现取货。
可选地，所述货架类型包括组合货架及第一便携货架，所述第一便携货架位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
获取待取货物订单信息，根据待取货物订单信息，查询待取货物类型，其中，所述待取货物类型包括第一普通货物、第二普通货物、大件货物或挂件货物，
当待取货物为第二普通货物、大件货物或者挂件货物时，则指示第二仓储机器人进行取货；
当待取货物为第一普通货物时，则指示第一仓储机器人从所述组合货架的第二固定货架取出存储有待取货物的货箱，并且将货箱存储至位于巷道口的空闲第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置。
可选地，所述货架类型包括第一固定货架和第一便携货架，所述第一便携货架位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
获取待取货物订单信息，根据待取货物订单信息，查询待取货物存放关联信息，
根据待取货物存放关联信息，确定待取货物所在的货架类型，
发送第一调度指令指示第一仓储机器人移动至货物所在的第一固定货架，从相应的第一固定货架取出货物所在的货箱，并将货箱移动至巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置，或者，
发送第二调度指令指示第二仓储机器人移动至货物所在的第一便携货架，并移动相应的第一便携货架，以实现取货。
可选地，所述方法还包括：
至少根据所述确定的取放货物的仓储机器人及货物存放关联位置信息，确定仓储机器人的行进路线。
可选地，所述方法还包括：
根据所述第一仓储机器人和第二仓储机器人的当前位置及工作状态，确定效率最优的仓储机器人及其行进路线。
可选地，所述行进路线包括主干道和巷道，所述方法还包括：
当所述巷道中有仓储机器人行进时，锁定所述巷道为单行道，或者，
当所述巷道中同时有第一仓储机器人及第二仓储机器人行进时，所述第二仓储机器人进入距离其最近的第一固定货架，以让所述第一仓储机器人正常行进，或者，
当所述巷道中同时有两个以上同一类型的仓储机器人行进时，根据预设的任务优先级确定行进顺序。
本申请实施例提供一种处理终端，其特征在于，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述所述的货物取放方法。
本申请实施例提供一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的货物取放方法。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如上所述的货物取放方法。
本申请实施例提供的智能仓储系统，通过第一仓储机器人接收第一调度指令，根据所述第一调度指令移动至固定货架取放货物，并将货物运送至第一目标位置，以及第二仓储机器人用于接收第二调度指令，根据所述第二调度指令移动至便携货架，并将所述便携货架运送至第二目标位置，提升了智能仓储系统的兼容性，可以适用于存在不同货架的仓库，提升了仓库的使用率。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例的提供的智能仓储系统组成示意图；
图2a、图2b、图3a及图3b分别是本申请实施例的提供的智能仓储系统中组合货架放置示意图；
图4是本申请实施例提供的第一仓储机器人结构示意图；
图5是本申请实施例提供的第二仓储机器人结构示意图；
图6是本申请实施例提供一种货物取放方法流程示意图；
图7a是本申请另一实施例提供一种货物取放方法流程示意图；
图7b是本申请实施例提供的一种巷道口示意图；
图8是本申请另一实施例提供一种货物取放方法流程示意图；
图9是本申请另一实施例提供一种货物取放方法流程示意图；
图10是本申请实施例提供的一种货物取放方法流程示意图；
图11是本申请实施例提供的一种处理终端示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本文提供的智能仓储系统可应用于任何合适行业领域或技术领域，诸如智能仓储领域、智能物流领域、智能分拣领域等。本申请实施例以应用于智能仓储领域的可以根据货物订单进行智能取放货的智能仓储系统为例进行说明。
在本申请实施例提供的智能仓储系统组成示意图，请参阅图1，智能仓储系统100包括第一仓储机器人10、第二仓储机器人20，其中，第一仓储机器人10和第二仓储机器人20可以通过网络连接至处理终端60,该网络可以是有线网络，也可以是无线网络，第一仓储机器人10用于取放固定货架50上的货箱，货箱中存放有货物，第二仓储机器人20用于移动便携货架30，其中，便携货架30可以存放货箱或货物40，其中，货物可以是大件商品、挂件商品或普通商品，其中，普通商品可以包括第一普通商品，也可以包括第二普通商品，第一普通商品通常存放于货箱内，第二普通商品可以直接存放于便携货架30上，第二普通商品通常可以是销量比较大的商品，比如，爆款商品，直接存放于便携货架30上可以节省将商品装入货箱的时间。
在本申请实施例中，第一仓储机器人10可以接收第一调度指令，该第一调度指令可以用于指示第一仓储机器人10移动至固定货架50取放货箱，并且可以将货箱运送至第一目标位置，其中，第一目标位置可 以为预设的不同位置，比如，货物分拣台或者货物中转台等。
在本申请实施例中，第二仓储机器人20可以接收第二调度指令，该第二调度指令可以用于指示第一仓储机器人20移动至便携货架30，并且可以将便携货架运送至第二目标位置，其中，第二目标位置可以为预设的不同位置，比如，货物分拣台或者货物中转台等。
在本申请实施例中，所述仓储系统100还可以包括操作台，所述操作台设置有订单墙，所述第一目标位置及所述第二目标位置可以位于所述操作台的预设区域，所述操作台用于将所述第一仓储机器人10运送的货箱中的货物，以及所述第二仓储机器人20运送的便携货架上的货物，分拣至货物相应的订单墙。
在本申请实施例中，第一目标位置及第二目标位置均可以位于货物的处理区域，比如操作台或自动运输设备所在区域。当第一目标位置及第二目标位置位于操作台时，可以存在多个操作台，因此，第一目标位置与第二目标位置可以根据操作台的位置进行确定。其中，每个操作台设置有订单墙，仓储机器人将货物运送至操作台后，将相应的订单对应的货物拣选至订单墙，每一个操作台可以在订单墙设置单独的区域来放置大件的货物或者是挂件货物；或者设置一个单独的操作台专门处理大件的货物，或者在操作台将拣出的货物送入自动运输设备，例如传送带等。每一个仓储机器人可以在其中一个操作台拣选完货物后，再将剩下的货物送入其他操作台进行拣选。当第一目标位置及第二目标位置位于自动运输设备所在区域时，将仓储机器人取出的货物直接送入自动运输设备，在自动运输设备的行径过程中进行分拣。订单墙分配好后，可以用第一仓储机器人将货箱送入相应的打包区或者二次分拣区；或用第二仓储机器人将订单墙送至打包区或者二次分拣区。
在本申请实施例中，智能仓储系统100还可以包括固定货架50或便携货架30，也可以同时包括固定货架50和便携货架30，其中，所述固定货架50用于存放货箱和/或托盘，所述便携货架30用于存放货物、货箱和/或托盘，所述货箱用于存放货物，所述托盘用于盛放货物或货箱。用于盛放货物的托盘放置在便携货架30上，用于盛放货箱的托盘 可以放置在便携货架30上，也可以放置在固定货架50上。
在本申请实施例中，固定货架50可以包括第一固定货架501和/或第二固定货架502，所述便携货架30包括第一便携货架301和/或第二便携货架302，所述第二便携货架302位于所述第二固定货架502的下方空间内，形成组合货架，以便节省仓库空间。其中第一便携货架301和第二便携货架302结构可以相同，也可以不同，并不受本申请具体实施例的限制。
在本申请实施例中，第一仓储机器人10、第二仓储机器人20、第一便携货架301、第二便携货架302、第一固定货架501、第二固定货架502以及处理终端60均可以包括一个或多个，并且由第二固定货架502与第二便携货架302组成的组合货架也可以为一个或多个，同时，第一仓储机器人10、第二仓储机器人20、第一便携货架301、第一固定货架501，以及由第二固定货架502与第二便携货架302组成的组合货架，可以位于仓库中的不同位置，这些位置可以划分为不同的区域，比如，在仓库中划出特定区域A用于存放第一固定货架501，特定区域B用于存放第一便携货架301，特定区域C用于存放由第二固定货架502与第二便携货架302组成的组合货架。
在本申请实施例中，固定货架与便携货架可以在整个仓库中都混合部署，也可以分区域部署。如果是分区域部署，分配取放货任务时，可以是第一仓储机器人的取货任务优先分配第一固定货架区域，比如特定区域A，当A区没有待分配任务对应的货物时，才进入其他区域，比如组合货架区域，比如特定区域C区进行取货。例如：接收订单后，查询货物SKU(Stock Keeping Unit库存量单位,即库存进出计量的基本单元)信息所在的货箱及货架，若货架在A区中，则将任务分配给第一仓储机器人，若货物SKU信息对应的货物在C区中，则根据SKU信息对应货架所对应的机器人类型进行任务分配；若货架类型对应于第一仓储机器人，则将任务分配至第一仓储机器人，若货架类型对应于第二仓储机器人，则将任务分配至第二仓储机器人。若查询SKU信息在A区域以及C区域中都有相应货物，则优先分配A区任务给第一仓储机器人，也可以不优 先分配给第一仓储机器人，而根据各仓储机器人的取货效率进行统一分配。
在本申请实施例中，在不同仓库中，可以有不同的第一固定货架501、第一便携货架301以及由不同第二固定货架502和不同第二便携货架302组成的组合货架，而且，各种不同类型的货架可以有多种组合，以构成不同的仓库，在不同的仓库中都可以有一个或多个第一仓储机器人10，以及一个或多个第二仓储机器人20。
在本申请实施例中，比如，可以由至少两个第二固定货架502在竖直方向上并排放置，在这两个固定货架502形成的下方空间内放置至少一个第二便携货架302，从而形成组合货架，其中，两个第二固定货架502可以是包括存放货箱的多层空间，每一层空间的X轴(水平)方向上可以并排放置多个货箱，同时，每一层空间的Y轴(竖直)方向上可以放置一个货箱，也可以放置两个及以上货箱，如果每一层空间的竖直方向上放置一个货箱，则在这两个固定货架502形成的下方空间内可以在竖直方向上放置一个第二便携货架302，如果每一层空间的竖直方向上可以放置至少两个货箱，则在这两个固定货架502形成的下方空间内可以在竖直方向上并排放置至少两个第二便携货架302，具体示意图请分别参考图2a、图2b、图3a及图3b,其中，图2a是两个固定货架下方放置一个便携货架的示意图，该固定货架为单深位(即Y轴方向上放置一个货箱)的固定货架，且两个固定货架有档板，且货架两侧有档板，图2b是两个固定货架下方放置一个便携货架的示意图，该固定货架为单深位(即Y轴方向上放置一个货箱)的固定货架，且两个固定货架无档板，且货架两侧无档板，图3a是两个固定货架下方放置两个便携货架的示意图，该固定货架为双深位(即Y轴方向上放置两个货箱)的固定货架，且两个固定货架有档板，且货架两侧有档板，图3b是两个固定货架下方放置两个便携货架的示意图，该固定货架为双深位(即Y轴方向上放置两个货箱)的固定货架，且两个固定货架无档板，且货架两侧无档板，需要说明的是，对于图3b中的每个双深位固定货架也可以由两个无档板的单深位货架(如图2b)沿Y轴方向并排放置，由两个单 深位固定货架形式一个双深位固定货架。
在本申请实施例中，由于存在不同类型的货架，比如，第一便携货架301、第二便携货架302、第一固定货架501、第二固定货架502以及由第一便携货架301与第一固定货架501组合形成的组合货架，而且，各种类型的货架数量可以为一个或多个，因此，在放置货架的仓库中，可以存在多种不同形式的货架布设形式，比如，仓库中仅包含第一便携货架301与第一固定货架501，或者，仓库中包含组合货架与第一便携货架301，仓库中包含组合货架与第一固定货架501，或者，仓库中包含组合货架、第一便携货架301及第一固定货架501等。其中，对于第一便携货架301可以存在多种存放货物的方式，一种为直接将货物存放于货架上，另一种为将货物存放于货架上的货箱内；或者是货物和/或货箱存放于托盘上，托盘放置于第一便携货架上。另外，对于不同的便携货架可以位于不同的位置，比如，可以位于不同的巷道内或巷道口，当货架的位置不同时，也存在多种灵活的布设方式，基于上述情况，仓库中对于货架的布设方式存在数十种，本领域技术人员可以理解，此处不再具体阐述。
在本申请实施例中，所述智能仓储系统100还可以包括：处理终端60，所述处理终端可以用于发送所述第一调度指令和/或所述第二调度指令，其中，所述第一调度指令用于指示所述第一仓储机器人10从所述固定货架50取放货，第二调度指令用于指示所述第二仓储机器人20移动所述便携货架30。
在本申请实施例中，处理终端60可以是后台服务器，也可以是具备处理能力的计算机设备，还可以是具备计算功能或调度功能的终端设备，该处理终端60可以通过网络与第一仓储机器人10及第二仓储机器人20分别进行通信，以进行与第一仓储机器人10及第二仓储机器人20的信息交互，比如，发送调度指令，指示仓储机器人按行进路线进行取放货，而且，处理终端60也可以接收外部数据及信息，比如取货订单信息、位置信息，以及各种对应关系信息等。该处理终端60在发送调度指令时，通常需要根据取放货信息及货物存放关联信息，确定货物所 在的位置，并指示相应的仓储机器人进行取放货，比如，当取货订单的货物位于固定货架时，处理终端60发送第一调度指令，指示第一仓储机器人10移动至固定货架进行取货，当取货订单的货物位于便携货架时，处理终端60发送第二调度指令，指示第二仓储机器人10移动便携货架进行取货，其中，调度指令中可以包括指令的接收对象、接收对象的行进路线以及指令包含的具体执行内容，接收对象可以包括第一仓储机器人10或第二仓储机器人20，行进路线可以包括起始位置、行进轨迹及目标位置，具体执行内容可以包括取货或者放货等。
在本申请实施例中，所述处理终端60可以存储有货物存放关联信息，所述货物存放关联信息至少包括以下一项信息：
货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。
其中，货物标识信息可以是货物上的各种编码，比如，二维码或条形码或SKU信息，该编码信息中可以包含品牌、型号、配置、等级、花色、包装容量、单位、生产日期、保质期、用途、价格、产地等属性中的任一属性或多种属性。
货箱标识信息可以以不同的编号进行标识，每一个货箱具有其特定的编号，该编号信息可以包括其型号、规格、类型等属性信息中的一种或多种。
货架标识信息可以是根据不同类型的货架及其布设位置进行编号，以区别仓库中不同位置下的不同货架，比如，货架标识信息为GDHJ0101表示位于第一巷道的第一个固定货架。
存放货物的货架位置信息可以标识具体货物在仓库中具体的货架位置，比如，可以用二维码地图标识存有货物的具体货架的位置信息
存放货物的货箱位置信息可以标识存放货物的货箱在具体货架上的位置，比如，位于仓库中特定货架上的特定具体位置信息。
在本申请实施例中，为了根据货物信息，比如，用SKU号表示具体的一款商品货物信息，每一款商品货物均对应有唯一的SKU号，确定对 应的货架或货箱，需要预先在处理终端60中存储的货物存放关联信息中包含货架与货箱的对应关系、货架与货物的对应关系以及货箱与货物的对应关系，通过相应的对应关系以及货物信息，确定对应的货架或货箱，并根据货架标识信息、货箱标识信息、货架位置信息或货箱位置信息可以确定货物所在的位置。
所述处理终端60具体用于：
获取待取放货物信息，并根据所述待取放货物信息以及货物存放关联信息，确定待取放货物位置，
根据待取放货物位置，发送第一调度指令指示所述第一仓储机器人移动至固定货架，以实现取放货物，或者，
发送第二调度指令指示所述第二仓储机器人移动至便携货架，以实现取放货物。
在本申请实施例中，在货物上架时，可以由处理终端60调度第二仓储机器人将便携货架运送至上架处，预先将体积较大或者挂件的货物上架至相应的便携货架上，并由第二仓储机器人将上好货的货架再运送至相应的仓库位置；并在处理终端60中设置存储货箱所在货架、以及货架所在仓库坐标位置的对应关系。当由第一仓储机器人上货时，则将携带标识的货箱中存入相应SKU信息的货物，并在处理终端60中设置存储相应的货架、货架位置信息、货箱与货物SKU信息的对应关系。第一仓储机器人及第二仓储机器人由处理终端统一进行调度。处理终端60中会预存货物SKU信息与货箱、货架、以及货架位置、货架类型的对应关系，根据接收到的订单中SKU信息，进行机器人取货分配。处理终端60接收货物订单后，查询SKU信息对应的货箱，根据所在货箱查询所在的货架，根据货架对应的类型，进行任务分配；若货架类型对应于第一仓储机器人，则将任务分配至第一仓储机器人，若货架类型对应于第一仓储机器人，则将任务分配至第二仓储机器人。
本申请实施例提供的第一仓储机器人10结构示意图，请参阅图4，第一仓储机器人10包括移动底盘101、存储货架102、搬运组件103及升降组件104。其中，存储货架102、搬运组件103以及升降组件104 均安装于移动底盘101。移动底盘101用于使第一仓储机器人10按照规划的路径移动。存储货架102用于存放货物，在一些实施例中，存储货架102可包括多个存储单元，每个存储单元可放置一个或多个货物。搬运组件103可沿所述竖直方向移动，使得搬运组件103的位置与任意一个存储单元水平相对，搬运组件103用于在第一固定货架50的预设位置和任何一个存储单元之间搬运货物。升降组件104用于驱动搬运组件103沿竖直方向相对于存储货架102移动，升降组件40包括升降传动机构和升降驱动机构。其中，升降驱动机构用于提供搬运装置103相对于存储货架102沿竖直方向移动的第二驱动力，升降传动机构用于将第二驱动力传递至搬运装置103。
本申请实施例提供的第二仓储机器人20结构示意图,请参阅图5，第二仓储机器人20包括驱动机构201和举升机构202,其中，驱动机构201可以驱动第二仓储机器人20能够在工作空间，比如，仓库内移动，举升机构202用于搬运第二便携货架30,举升机构202升起时可以将第二存储货架30从地面抬起，举升机构202下降时可以将第二存储货架30放在地面上。
本申请实施例提供的智能仓储系统，通过第一仓储机器人接收第一调度指令，根据所述第一调度指令移动至固定货架取放货物，并将货物运送至第一目标位置，以及第二仓储机器人用于接收第二调度指令，根据所述第二调度指令移动至便携货架，并将所述便携货架运送至第二目标位置，提升了智能仓储系统的兼容性，可以适用于存在不同货架的仓库，提升了仓库的使用率。
请参阅图6，本申请实施例提供一种货物取放方法流程示意图，该货物取放方法应用于上述智能仓储系统的处理终端，其中，所述智能仓储系统包括：第一仓储机器人及第二仓储机器人，如图6所示，所述方法包括：
S61、获取待取放货物信息。
在本申请实施例中，待取放货物信息可以包括待取货的订单信息或 者是需要上架的货物信息，这些货物信息可以是货物的SKU信息，当需要取货时，可以获取订单上的货物的SKU信息，这些信息可以包括待取货的货物名称、型号、数量、款式等。当需要将货物上架时，可以将货物存放于货箱或货架，并建立货物信息与货箱、货架的关联关系，比如，货物SKU信息与货箱标识信息的对应关系，货物SKU信息与货架标识信息的对应关系，货箱标识信息与货架标识信息的对应关系，而且，当货物完成上架，并放置于指定目标位置时，存储该位置信息，该位置信息可以包括存放货物的货架具体位置信息、以及存放货物的货箱具体位置信息。
S63、根据所述待取放货物信息，发送第一调度指令指示所述第一仓储机器人移动至固定货架取放货箱，并将货箱运送至第一目标位置，和/或，
发送第二调度指令指示所述第二仓储机器人移动至便携货架，并将所述便携货架运送至第二目标位置。
在本申请实施例中，根据待取放货物信息，可以确定存放货物的货架类型、存放货物的容器属性或者货物的类型，根据这些信息，可以确定取放货的仓储机器人，其中，不同的货架类型、容器属性或货物类型有对应的仓储机器人，比如，固定货架对应第一仓储机器人，便携货架对应第二仓储机器人，当确认出相应的仓储机器人后，可以发送调度指令指示相应的仓储机器人进行取放货，比如，发送第一调度指令指示所述第一仓储机器人移动至固定货架取放货物，并将货物运送至第一目标位置，和/或，发送第二调度指令指示所述第二仓储机器人移动至便携货架，并将所述便携货架运送至第二目标位置。
本申请实施例提供的货物取放方法，通过获取待取放货物信息，并根据所述待取放货物信息，发送第一调度指令指示所述第一仓储机器人移动至固定货架取放货物，并将货物运送至第一目标位置，和/或，发送第二调度指令指示所述第二仓储机器人移动至便携货架，并将所述便携货架运送至第二目标位置，提升了货物取放方法的兼容性，可以适用于存在不同货架的仓库，提升了仓库的使用率。
请参阅图7a，本申请另一实施例提供一种货物取放方法流程示意图，该货物取放方法应用于上述智能仓储系统的处理终端，其中，所述智能仓储系统包括：第一仓储机器人及第二仓储机器人，如图7a所示，所述方法包括：
S71、预先存储货物存放关联信息。
在本申请实施例中，所述货物存放关联信息至少包括以下一项信息：
货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。其中，这些关联信息可以在货物上架时存储至处理终端的存储空间内，或者，用户事先将部分信息输入处理终端的存储空间，比如，货架位置，然后在货物上架时建立货物与货箱、货架的对应关系。
S73、获取待取放货物信息。
在本申请实施例中，待取放货物信息可以包括待取货的订单信息或者是需要上架的货物信息，这些货物信息可以是货物的SKU信息，当需要取货时，可以获取订单上的货物的SKU信息，这些信息可以包括待取货的货物名称、型号、数量、款式等。当需要将货物上架时，可以将货物存放于货箱或货架，并建立货物信息与货箱、货架的关联关系，比如，货物SKU信息与货箱标识信息的对应关系，货物SKU信息与货架标识信息的对应关系，货箱标识信息与货架标识信息的对应关系，而且，当货物完成上架，并放置于指定目标位置时，存储该位置信息，该位置信息可以包括存放货物的货架具体位置信息、以及存放货物的货箱具体位置信息。
S75、根据所述待取放货物信息，确定存放待取放货物的容器属性。
在本申请实施例中，获取到待取放货物信息后，比如，当需要取货时，可以获取订单货物的SKU信息，并根据该SKU信息确定存放所述待取货的容器属性，所述容器属性包括固定货架的货箱、便携货架的货箱和/或便携货架。可以根据该SKU信息，查询与该SKU信息对应的货物 存放关联信息，从存放关联信息中确定存放该SKU货物的容量属性。当需要存货时，根据货物的SKU信息确定可以存放待存货物的货箱或货架，比如，普通货物存放于货箱，大件货物、挂件货物存放于第一便携货架和/或第二便携货架；普通货物可以是除大件货物、挂件货物外的，能放置在货箱并存放于第一固定货架、第二固定货架第一便携货架、第二便携货架的货物类型。
在本申请实施例中，可以存在不同的货架，比如，第一固定货架和/或第二固定货架，第一便携货架和/或第二便携货架，其中，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架。
在本申请实施例中，确定存放待取放货物的容器属性可以直接根据取放货信息，比如，SKU信息直接确定存放该货物容器属性，比如，如果待放货物为挂件货物，则可以根据该放货信息直接确定该挂件货物存放的容器属性为便携货架，从而将该挂件货物上架至便携货架。另外，如果不能直接根据取放货信息确定容器属性，则可以结合货物存放关联信息确定待取货物所在的容器属性，比如，如果根据取货订单要取一件普通货物，该普通货物存放可以存放于固定货架的任意一个货箱，此时，可以根据订单SKU确定可以存放有该普通货物的多个货箱，从多货箱中选择具体货箱时，可以根据货物存放关联信息进行确定。
S77、根据所述容器属性，从所述第一仓储机器人和第二仓储机器人中确定取放货物的仓储机器人。
在本申请实施例中，不同的容器属性对应不同的仓储机器人，其中，固定货架的货箱对应第一仓储机器人，便携货架的货箱或便携货架对应第二仓储机器人。
在本申请实施例中，当存在不同类型的货架时，其容器属性各不相同，确定仓储机器人的方法也不尽相同。
比如，当货架类型为组合货架时，若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，以实现取货；若待取货物所在的容器属性对应为便 携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架中的第二便携货架，并移动相应的第二便携货架，以实现取货。
当所述货架类型包括组合货架及第一便携货架，所述第一便携货架位于巷道口时，其中，巷道口的位置如图7b所示，若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，将所述货箱存储至位于巷道口的第一便携货架；当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架运货至指定位置；若待取货物所在容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架的第二便携货架或巷道口的第一便携货架，并移动相应的第二便携货架或第一便携货架，以实现取货。
当所述货架类型包括第一固定货架和第一便携货架，所述第一便携货架位于巷道口时，若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在第一固定货架，并从相应的第一固定货架取出待取货物所在的货箱，将所述货箱存储至位于巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置；若待取货物所在容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的第一便携货架，并移动相应的第一便携货架，以实现取货。
采用两种机器人结合使用的仓储系统，在货物上架时，可以由处理终端调度第二仓储机器人将便携货架运送至上架处，预先将体积较大或者挂件的货物上架至相应的便携货架上，并由第二仓储机器人将上好货的货架再运送至相应的仓库位置；处理终端中可以设置存储货箱所在货架、以及货架所在仓库坐标位置的对应关系。
当第一仓储机器人上货时，则将携带货箱标识的箱子中存入相应的 SKU货物，在处理终端中可以设置存储相应的货架、货架位置信息、箱子与SKU货物的对应关系。
两种类型的机器人可以统一进行调度。处理终端中会预存SKU与货箱、货架、以及货架位置、货架类型的对应关系，根据接收到的订单中SKU信息，进行机器人取货分配。接收订单后，查询SKU对应的货箱、根据所在货箱查询所在的货架，根据货箱或货架对应的容器属性，进行任务分配；若容器属性对应于第一仓储机器人，则将任务分配至第一仓储机器人，若容器属性对应于第二仓储机器人，则将任务分配至第二仓储机器人。若出现同一SKU出现在不同属性的货架中，则根据效率最优方案选择一种机器人进行任务分配。不同的机器人取完货物后都可以将货物运送至处理区域。
在本申请实施例中，对于巷道口的第一便携货架，可以根据货架上的货物数量决定是否需要进行移动，也可以根据当前实际情况，比如，分拣台待分拣货物量的多少确定是否需要及时将第一便携货架移动至分拣台。
本申请实施例提供的货物取放方法，可以根据存放货物的容器属性确定取放货的仓储机器人，提升了取放货的速度，同时，可以适用于不同货架的场景，提升了货物取放方法的兼容性及仓库的使用率。
请参阅图8，本申请另一实施例提供一种货物取放方法流程示意图，该货物取放方法应用于上述智能仓储系统的处理终端，其中，所述智能仓储系统包括：第一仓储机器人及第二仓储机器人，如图8所示，所述方法包括：
S81、预先存储货物存放关联信息。
在本申请实施例中，所述货物存放关联信息至少包括以下一项信息：
货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。其中，这些关联信息可以在货物上架时存储至处理终端的存储空间内，或者，用户事先将部分信息输 入处理终端的存储空间，比如，货架位置，然后在货物上架时建立货物与货箱、货架的对应关系。
S83、获取待取放货物信息。
在本申请实施例中，待取放货物信息可以包括待取货的订单信息或者是需要上架的货物信息，这些货物信息可以是货物的SKU信息，当需要取货时，可以获取订单上的货物的SKU信息，这些信息可以包括待取货的货物名称、型号、数量、款式等。当需要将货物上架时，可以将货物存放于货箱或货架，并建立货物信息与货箱、货架的关联关系，比如，货物SKU信息与货箱标识信息的对应关系，货物SKU信息与货架标识信息的对应关系，货箱标识信息与货架标识信息的对应关系，而且，当货物完成上架，并放置于指定目标位置时，存储该位置信息，该位置信息可以包括存放货物的货架具体位置信息、以及存放货物的货箱具体位置信息。
S85、根据所述待取放货物信息，确定待取放货物类型。
在本申请实施例中，所述待取放货物类型包括存放于固定货架的第一普通货物、存放于便携货架的第二普通货物、大件货物或挂件货物。
在本申请实施例中，获取到待取放货物信息后，比如，当需要取货时，可以获取订单货物的SKU信息，并根据该SKU信息确定货物类型，所述待取放货物类型包括存放于固定货架的第一普通货物、存放于便携货架的第二普通货物、大件货物或挂件货物。其中，第一普通商品通常存放于固定货架货箱内，第二普通商品可以直接存放于便携货架上，第二普通商品通常可以是销量比较大的商品，比如，爆款商品，将爆款商量直接存放于便携货架上可以节省将商品装入货箱的时间。当需要取放货物时，可以根据待取放货物的SKU信息确定货物类型，并根据货物类型确定可以存放待取放货物的货箱或货架，比如，第一普通货物存放于固定货架，第二普通货物货放于便携货架。
S87、根据待取放货物类型，从所述第一仓储机器人和/或第二仓储机器人确定取放货的仓储机器人。
在本申请实施例中，不同的货物类型对应不同的仓储机器人，其中， 所述第一普通货物对应第一仓储机器人，所述第二普通货物、大件货物或挂件货物对应第二仓储机器人。当待取货物为第二普通货物、大件货物或者挂件货物时，则指示第二仓储机器人进行取货；当待取货物为第一普通货物时，则指示第一仓储机器人从固定货架中取出存放第一普通货物的货箱。
在本申请实施例中，两种类型的机器人可以统一进行调度。处理终端中会根据预存的货箱、货物、货架、以及货架位置关系，根据接收到的订单中SKU信息，进行机器人取货分配。
如果是大件货物或者是挂件货物，则分配给第二仓储机器人进行取货。如果是普通货物的SKU,则分配给第一仓储机器人取货；第一仓储机器人取完货物后，将货物运送巷道口的第一便携货架上，当巷道口的第一便携货架装满货物后或者需要移动时，会调度第二仓储机器人将该货架运送至待处理区域。也就是说第一仓储机器人优先负责在同一个巷道内运行，在主干道上都由第二仓储机器人负责运输。根据订单情况，可以优先给机器人分配同一巷道中取货量大的巷道，一个巷道中的任务完成后，再去另外优先级高的巷道取货。
本申请实施例提供的货物取放方法，可以根据待取放货物类型确定取放货的仓储机器人，提升了取放货的速度，同时，利用不同类型的仓储机器人取放不同类型的货物，可以适用于不同场景，提升了货物取放方法的兼容性及仓库的使用率。
请参阅图9，本申请另一实施例提供一种货物取放方法流程示意图，该货物取放方法应用于上述智能仓储系统的处理终端，其中，所述智能仓储系统包括：第一仓储机器人及第二仓储机器人，如图9所示，所述方法包括：
S91、预先存储货物存放关联信息。
在本申请实施例中，所述货物存放关联信息至少包括以下一项信息：
货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。其中，这些关联信息可以在货 物上架时存储至处理终端的存储空间内，或者，用户事先将部分信息输入处理终端的存储空间，比如，货架位置，然后在货物上架时建立货物与货箱、货架的对应关系。
S93、获取待取放货物信息。
在本申请实施例中，待取放货物信息可以包括待取货的订单信息或者是需要上架的货物信息，这些货物信息可以是货物的SKU信息，当需要取货时，可以获取订单上的货物的SKU信息，这些信息可以包括待取货的货物名称、型号、数量、款式等。当需要将货物上架时，可以将货物存放于货箱或货架，并建立货物信息与货箱、货架的关联关系，比如，货物SKU信息与货箱标识信息的对应关系，货物SKU信息与货架标识信息的对应关系，货箱标识信息与货架标识信息的对应关系，而且，当货物完成上架，并放置于指定目标位置时，存储该位置信息，该位置信息可以包括存放货物的货架具体位置信息、以及存放货物的货箱具体位置信息。
S95、根据所述待取放货物信息，确定存放待取放货物的货架类型。
在本申请实施例中，可以存在不同的货架，比如，第一固定货架和/或第二固定货架，第一便携货架和/或第二便携货架，其中，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架。所述货架类型包括第一固定货架、第一便携货架以及由第二固定货架与第二便携货架形成的组合货架。
在本申请实施例中，获取到待取放货物信息后，比如，当需要取货时，可以获取订单货物的SKU信息，并根据该SKU信息确定存放所述待取货的货架类型，所述货架类型包括第一固定货架、第一便携货架以及由第二固定货架与第二便携货架形成的组合货架。可以根据该SKU信息，查询与该SKU信息对应的货物存放关联信息，从存放关联信息中确定存放该SKU货物的货架类型。当需要存货时，根据货物的SKU信息确定可以存放待存货物的货箱或货架，比如，普通货物存放于货箱，大件货物存放于货架。
在本申请实施例中，确定存放待取放货物的货架类型可以直接根据 取放货信息，比如，SKU信息直接确定存放该货物货架类型，比如，如果待放货物为挂件货物，则可以根据该放货信息直接确定该挂件货物存放的货架类型为第一便携货架，从而将该挂件货物上架至空闲的第一便携货架。另外，如果不能直接根据取放货信息确定货架类型，则可以结合货物存放关联信息确定待取货物所在的货架类型，比如，如果根据取货订单要取一件普通货物，该普通货物存放可以存放于第一固定货架的货箱，也可以存放于组合货架中第二固定货架的货箱，此时，可以根据订单SKU确定可以存放有该普通货物的多个货箱，从多个货箱中选择具体货箱时，可以根据货物存放关联信息进行确定。
S97、根据所述货架类型，从所述第一仓储机器人和第二仓储机器人中确定取放货物的仓储机器人。
在本申请实施例中，不同的货架类型对应不同的仓储机器人，其中，第一固定货架和第二固定货架对应第一仓储机器人，第一便携货架和第二便携货架对应第二仓储机器人。
在本申请实施例中，当存在不同类型的货架时，其货架类型各不相同，确定仓储机器人的方法也不尽相同。
当所述货架类型为组合货架时，发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架中的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，以实现取货，或者发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架中的第二便携货架，并移动相应的第二便携货架，以实现取货。
当所述货架类型包括组合货架及第一便携货架，所述第一便携货架位于巷道口，所述待取货物类型包括第一普通货物、第二普通货物、大件货物或挂件货物时，当待取货物为第二普通货物、大件货物或者挂件货物时，存储待取放货物的货架为组合货架的第二便携货架，则指示第二仓储机器人进行取货；当待取货物为第一普通货物时，存储待取放货物的货架为组合货架的第二便携货架，则指示第一仓储机器人从所述组合货架的第二固定货架取出存储有待取货物的货箱，并且将货箱存储至位于巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发 送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置。
当所述货架类型包括第一固定货架和第一便携货架，所述第一便携货架位于巷道口时，发送第一调度指令指示第一仓储机器人移动至货物所在的第一固定货架，从相应的第一固定货架取出货物所在的货箱，并将货箱移动至巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置，或者，发送第二调度指令指示第二仓储机器人移动至货物所在的第一便携货架，并移动相应的第一便携货架，以实现取货。
当确定仓储机器人后，为进一步提升取放货效率，可以对仓储机器人的行进路线进行规划，下面结合附图10对本申请实施例作进一步说明。
在本申请上述各实施例所述的货物取放方法中，如图10所示，所述方法还可以包括：
S1001、至少根据所述确定的取放货物的仓储机器人及货物存放关联位置信息，确定仓储机器人的行进路线。
在本申请实施例中，当确定了取放货物的仓储机器人之后，为了实现有效取放货，避免各仓储机器人之间的行进冲突，可以根据货物存放关联位置信息，比如，根据货架位置或货箱位置，确定仓储机器人行进路线上距离最短的货架或货箱，同时，在规划好行进路线后，可以根据不同仓储机器人的行进路线，确定是否存在行进冲突，如果存在行进冲突，则可以重新作出调整，比如，调整仓储机器人的行进速度或者改变行进方向等。
需要说明的是，上述方法步骤可以适用于上述各实施例，并分别于步骤S77、S87或S97之后执行。
在本申请上述实施例所述的货物取放方法中，还可以包括：
S1101、根据所述第一仓储机器人和第二仓储机器人的当前位置及工作状态，确定效率最优的仓储机器人及其行进路线。
在本申请实施例中，为进一步合理规划仓储机器人的行进路线，可 以结合仓储机器人的当前位置及工作状态，确定效率最优的仓储机器人及其行进路线，尤其是当仓储系统中同时存在多个同种类型的仓储机器人以及在多个不同位置同时存在同一类型的待取货物时，仓储机器人的当前位置及工作状态用来作为确定效率最优的仓储机器人明显可以提升取货效率，比如，离待取货物位置较低的空闲仓储机器人就可能被优先选择用来作为取货的仓储机器人。
需要说明的是，上述方法步骤可以适用于上述各实施例，可分别于步骤S77、S87、S97或S1001之后执行。
其中，上述实施例的行进路线包括主干道和巷道，所述方法还包括：
S1201、当所述巷道中有仓储机器人行进时，锁定所述巷道为单行道，或者，
S1203、当所述巷道中同时有第一仓储机器人及第二仓储机器人行进时，所述第二仓储机器人进入距离其最近的第一固定货架，以让所述第一仓储机器人正常行进，或者，
S1205、当所述巷道中同时有两个以上同一类型的仓储机器人行进时，根据预设的任务优先级确定行进顺序。
需要说明的是，上述各步骤可以适用于上述各实施例，并分别于步骤S1001、S1101之后执行。
在本申请实施例中，当仓库中的货架混合部署或者不分区域部署时，第一仓储机器人和第二仓储机器人可以先通过主干道进入巷道，从巷道行进至目标货架。或者第二仓储机器人可以直接从货架底部走最优路径进入目标货架位置进行取货；取货后再由巷道进入主干道将货物送至相应的处理区域。当某一机器人进入巷道后，可以不让其他机器人进入该巷道，以避免拥堵；也可以不锁定该巷道，其他机器人也可以进入，如果允许其他机器人进入，则可以优先进行行进路线避障设置，比如，当在巷道中第二仓储机器人与第一仓储机器人相遇后，第二仓储机器人可以优先进入最近的固定货架下方躲避，让出路径，避免碰撞。某一机器人进入巷道后，可以将巷道变为单行道，以避免拥堵。
在本申请实施例中，当第一仓储机器人路径在巷道内且与第二仓储 机器人的路径有重叠时，两种机器人路径同向则一起前进，第二仓储机器人路径与巷道垂直时，可先于固定货架正下方等待第一仓储机器人路过，以避免碰撞。
在本申请实施例中，当在巷道中两个第二仓储机器人相遇时，路径同向则一起前进，否则可以对这两个第二仓储机器人的任务优先级、或者可以躲避的位置进行考虑，让其中一个第二机器人躲避至货架下方。
需要说明的是，由于上述货物取放方法实施例与智能仓储系统基于相同的发明构思，因此，上述智能仓储系统实施例的相应内容以及有益效果同样适用于取放货方法实施例，此处不再详述。
本申请实施例，通过结合货物存放关联信息、仓储机器人的当前位置及工作状态确定仓储机器人的行进路线，进一步提升了取放货效率，同时，对于行进线路中存在行进冲突时，进行避障处理，使得取放货更为科学与合理。
图11是本申请实施例提供的一种处理终端的结构示意图，该处理终端1100可以是任意类型的电子设备，如：可以是后台服务器，也可以是具备处理能力的计算机设备，还可以是具备计算功能或调度功能的终端设备等，能够执行上述相应的方法实施例提供的货物取放方法。
具体地，请参阅图11，该客户终端设备1100包括：
一个或多个处理器1101以及与该至少一个处理器1101通信连接的存储器1102，图11中以一个处理器1101为例。
处理器1101和存储器1102可以通过总线或者其他方式连接，图11中以通过总线连接为例。
存储器1102作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态性计算机可执行程序，相应程序可以执行取放货方法的相应步骤(例如，附图6至附图10所示的各个步骤)。处理器1101通过运行存储在存储器1102中的非暂态软件程序或指令，从而执行货物取放方法，即实现上述对应的任一方法实施例所述的货物取放方法。
存储器1102可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储执行上述货物取放方法所创建的数据等。此外，存储器1102可以包 括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器1102可选包括相对于处理器1101远程设置的存储器，这些远程存储器可以通过网络连接至处理终端1100。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器1102中，当被所述一个或者多个处理器1101执行时，执行上述对应的方法实施例中的货物取放方法，例如，执行以上描述的图6中的方法步骤S61及S63，图7中的方法步骤S71至S77，图8中的方法步骤S81至S87，图9中的方法步骤S91至S97，图10中的方法步骤S1001、S1101、S1201至S1205等。
处理终端1100可执行上述对应的方法实施例中的货物取放方法，具备执行方法相应的设备和有益效果，未在货物取放方法实施例中详尽描述的技术细节，可参见上述对应的智能仓储系统实施例中的描述。
本申请实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行上述方法实施例中的设备配置方法。例如，该计算机可执行指令被一个或多个处理器执行，如被图11中的一个处理器1101执行，可使得上述一个或多个处理器执行上述对应的方法实施例中的货物取放方法，例如，执行以上描述的图6中的方法步骤S61及S63，图7中的方法步骤S71至S77，图8中的方法步骤S81至S87，图9中的方法步骤S91至S97，图10中的方法步骤S1001、S1101、S1201至S1205等的功能，可使得上述一个或多个处理器执行上述对应的方法实施例中的货物取放方法。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述方法实施例中的货物取放方法。例如，执行以上描述的图6中的方法步骤S61及S63，图7中的方法步骤S71至S77，图8中的方法步骤 S81至S87，图9中的方法步骤S91至S97，图10中的方法步骤S1001、S1101、S1201至S1205等的功能。
本申请实施例还提供一种组合货架，如图12所示，所述组合货架600包括：第二固定货架502和第二便携货架302，所述第二便携货架302位于所述第二固定货架502的下方空间内，所述第二固定货架502用于存放货箱和/或托盘，所述第二便携货架302用于存放货物、货箱和/或托盘，所述货箱用于存放货物，所述托盘用于盛放货物或货箱。
所述第二固定货架502存放的货箱由第一仓储机器人根据第一调度指令进行运送，
所述第二便携货架302由第二仓储机器人根据第二调度指令进行移动。
所述组合货架包括一个或多个，且多个所述组合货架分别位于不同的位置。
需要说明的是，本申请实施例的组合货架中涉及固定货架、便携货架与上述智能仓储系统中的固定货架、便携货架基于相同的构思，智能仓储系统中的关于固定货架、便携货架的描述同样适应本实施例。
以上所描述的装置或设备实施例仅仅是示意性的，其中所述作为分离部件说明的单元模块可以是或者也可以不是物理上分开的，作为模块单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络模块单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，处理终端，或者网络设 备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (25)

  1. 一种智能仓储系统，其特征在于，所述智能仓储系统包括：第一仓储机器人和第二仓储机器人，
    所述第一仓储机器人用于接收第一调度指令，根据所述第一调度指令移动至固定货架取放货箱，并将货箱运送至第一目标位置，
    所述第二仓储机器人用于接收第二调度指令，根据所述第二调度指令移动至便携货架，并将所述便携货架运送至第二目标位置。
  2. 根据权利要求1所述的仓储系统，其特征在于，所述智能仓储系统还包括：固定货架和/或便携货架，
    所述固定货架用于存放货箱和/或托盘，
    所述便携货架用于存放货物、货箱和/或托盘，
    所述货箱用于存放货物，
    所述托盘用于盛放货物或货箱。
  3. 根据权利要求2所述的仓储系统，其特征在于，所述固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架。
  4. 根据权利要求3所述的仓储系统，其特征在于：
    所述第一固定货架、和/或所述第一便携货架、和/或所述组合货架分别包括一个或多个，且所述第一固定货架、和/或第一便携货架、和/或所述组合货架分别位于不同的位置。
  5. 根据权利要求2-4任一项所述的仓储系统，其特征在于，所述第一固定货架、第一便携货架及所述组合货架中相同类型的货架分别位于同一区域的不同位置。
  6. 根据权利要求1所述的仓储系统，其特征在于，所述仓储系统还包括操作台，所述操作台设置有订单墙，所述第一目标位置及所述第二目标位置位于所述操作台的预设区域，所述操作台用于将所述第一仓储机器人运送的货箱中的货物，以及所述第二仓储机器人运送的便携货架上的货物，分拣至货物相应的订单墙。
  7. 根据权利要求1所述的仓储系统，其特征在于，所述第一仓储机器人包括移动底盘、搬运组件、升降组件及存储货架，所述存储货架用于存储由所述搬运组件从所述固定货架上搬运的货箱。
  8. 根据权利要求1-7任一项所述的仓储系统，其特征在于，所述智能仓储系统还包括：处理终端，
    所述处理终端用于发送所述第一调度指令和/或所述第二调度指令，所述第一调度指令用于指示所述第一仓储机器人从所述固定货架取放货，第二调度指令用于指示所述第二仓储机器人移动所述便携货架。
  9. 根据权利要求8所述的仓储系统，其特征在于，所述处理终端存储有货物存放关联信息，所述货物存放关联信息至少包括以下一项信息：
    货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。
  10. 根据权利要求9所述的仓储系统，其特征在于，所述处理终端具体用于：
    获取待取放货物信息，并根据所述待取放货物信息以及货物存放关联信息，确定待取放货物位置，
    根据待取放货物位置，发送第一调度指令指示所述第一仓储机器人 移动至固定货架，以实现取放货物，或者，
    发送第二调度指令指示所述第二仓储机器人移动至便携货架，以实现取放货物。
  11. 一种货物取放方法，应用于处理终端，所述处理终端用于智能仓储系统，所述智能仓储系统包括：第一仓储机器人及第二仓储机器人，所述方法包括：
    获取待取放货物信息，
    根据所述待取放货物信息，发送第一调度指令指示所述第一仓储机器人移动至固定货架取放货箱，并将货箱运送至第一目标位置，和/或，
    发送第二调度指令指示所述第二仓储机器人移动至便携货架，并将所述便携货架运送至第二目标位置。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    存储货物存放关联信息，
    所述货物存放关联信息至少包括以下一项信息：
    货物标识信息、货箱标识信息、货架标识信息、存放货物的货架位置信息、存放货物的货箱位置信息、货架与货箱的对应关系、货架与货物的对应关系、货箱与货物的对应关系。
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    根据所述待取放货物信息，确定存放待取放货物的容器属性，其中，所述容器属性包括固定货架的货箱、便携货架的货箱和/或便携货架，
    根据所述容器属性，从所述第一仓储机器人和第二仓储机器人中确定取放货物的仓储机器人，其中，固定货架的货箱对应第一仓储机器人，便携货架的货箱或便携货架对应第二仓储机器人。
  14. 根据权利要求13所述的方法，所述的固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便 携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架；
    当所述货架类型为组合货架，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
    获取待取货物订单信息，
    根据待取货物订单信息及货物存放关联信息，确定待取货物所在的容器属性；
    若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，以实现取货；
    若待取货物所在的容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架中的第二便携货架，并移动相应的第二便携货架，以实现取货。
  15. 根据权利要求13所述的方法，所述的固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架；
    当所述货架类型包括组合货架及第一便携货架，所述第一便携货架位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
    获取待取货物订单信息，
    根据待取货物订单信息及货物存放关联信息，确定待取货物所在的容器属性；
    若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，将所述货箱存储至位于巷道口的第一便携货架；
    当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二 仓储机器人将所述第一便携货架运货至指定位置；
    若待取货物所在容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架的第二便携货架或巷道口的第一便携货架，并移动相应的第二便携货架或第一便携货架，以实现取货。
  16. 根据权利要求13所述的方法，所述的固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架；
    当所述货架类型包括第一固定货架和第一便携货架，所述第一便携货架位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法包括：
    获取待取货物订单信息，
    根据待取货物订单信息及货物存放关联信息，确定待取货物所在的容器属性；
    若待取货物所在容器属性对应为固定货架的货箱，则发送第一调度指令指示第一仓储机器人移动至待取货物所在第一固定货架，并从相应的第一固定货架取出待取货物所在的货箱，将所述货箱存储至位于巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置；
    若待取货物所在容器属性对应为便携货架的货箱和/或便携货架，则发送第二调度指令指示第二仓储机器人移动至待取货物所在的第一便携货架，并移动相应的第一便携货架，以实现取货。
  17. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    根据所述待取放货物信息，确定待取放货物类型，其中，所述待取放货物类型包括存放于固定货架的第一普通货物、存放于便携货架的第二普通货物、大件货物或挂件货物，
    根据待取放货物类型，从所述第一仓储机器人和/或第二仓储机器人确定取放货的仓储机器人，其中，所述第一普通货物对应第一仓储机器人，所述第二普通货物、大件货物或挂件货物对应第二仓储机器人。
  18. 根据权利要求12所述的方法，其特征在于，所述固定货架包括第一固定货架和/或第二固定货架，所述便携货架包括第一便携货架和/或第二便携货架，所述第二便携货架位于所述第二固定货架的下方空间内，形成组合货架，所述方法还包括：
    根据所述待取放货物信息，确定存放待取放货物的货架类型，其中，所述货架类型包括第一固定货架、第一便携货架以及由第二固定货架与第二便携货架形成的组合货架，
    根据所述货架类型，从所述第一仓储机器人和第二仓储机器人中确定取放货物的仓储机器人，其中，第一固定货架和第二固定货架对应第一仓储机器人，第一便携货架和第二便携货架对应第二仓储机器人。
  19. 根据权利要求18所述的方法，其特征在于，所述货架类型为组合货架，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
    获取待取货物订单信息，根据待取货物订单信息，查询待取货物存放关联信息，根据待取货物存放关联信息确定待取货物所在的货架类型，并发送第一调度指令指示第一仓储机器人移动至待取货物所在的组合货架中的第二固定货架，并从相应的第二固定货架取出待取货物所在的货箱，以实现取货，或者发送第二调度指令指示第二仓储机器人移动至待取货物所在的组合货架中的第二便携货架，并移动相应的第二便携货架，以实现取货。
  20. 根据权利要求18所述的方法，其特征在于，所述货架类型包括组合货架及第一便携货架，所述第一便携货架位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
    获取待取货物订单信息，根据待取货物订单信息，查询待取货物类型，其中，所述待取货物类型包括第一普通货物、第二普通货物、大件货物或挂件货物，
    当待取货物为第二普通货物、大件货物或者挂件货物时，则指示第二仓储机器人进行取货；
    当待取货物为第一普通货物时，则指示第一仓储机器人从所述组合货架的第二固定货架取出存储有待取货物的货箱，并且将货箱存储至位于巷道口的空闲第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置。
  21. 根据权利要求18所述的方法，其特征在于，所述货架类型包括第一固定货架和第一便携货架，所述第一便携货架位于巷道口，所述待取放货物信息包括：待取货物订单信息，所述方法具体包括：
    获取待取货物订单信息，根据待取货物订单信息，查询待取货物存放关联信息，
    根据待取货物存放关联信息，确定待取货物所在的货架类型，
    发送第一调度指令指示第一仓储机器人移动至货物所在的第一固定货架，从相应的第一固定货架取出货物所在的货箱，并将货箱移动至巷道口的第一便携货架，当需要移动巷道口的第一便携货架时，发送第二调度指令指示第二仓储机器人将所述第一便携货架移动至指定位置，或者，
    发送第二调度指令指示第二仓储机器人移动至货物所在的第一便携货架，并移动相应的第一便携货架，以实现取货。
  22. 根据权利要求13-21任一项所述的方法，其特征在于，所述方法还包括：
    至少根据所述确定的取放货物的仓储机器人及货物存放关联位置信息，确定仓储机器人的行进路线。
  23. 根据权利要求13-21任一项所述的方法，其特征在于，所述方法还包括：
    根据所述第一仓储机器人和第二仓储机器人的当前位置及工作状态，确定效率最优的仓储机器人及其行进路线。
  24. 根据权利要求22-23任一项所述的方法，其特征在于，所述行进路线包括主干道和巷道，所述方法还包括：
    当所述巷道中有仓储机器人行进时，锁定所述巷道为单行道，或者，
    当所述巷道中同时有第一仓储机器人及第二仓储机器人行进时，所述第二仓储机器人进入距离其最近的第一固定货架，以让所述第一仓储机器人正常行进，或者，
    当所述巷道中同时有两个以上同一类型的仓储机器人行进时，根据预设的任务优先级确定行进顺序。
  25. 一种处理终端，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求11-24任一项所述的货物取放方法。
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