WO2021190085A1 - 暂存层板、货架、控制方法、装置、设备和系统 - Google Patents

暂存层板、货架、控制方法、装置、设备和系统 Download PDF

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Publication number
WO2021190085A1
WO2021190085A1 PCT/CN2021/070889 CN2021070889W WO2021190085A1 WO 2021190085 A1 WO2021190085 A1 WO 2021190085A1 CN 2021070889 W CN2021070889 W CN 2021070889W WO 2021190085 A1 WO2021190085 A1 WO 2021190085A1
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WO
WIPO (PCT)
Prior art keywords
temporary storage
robot
target
travel
goods
Prior art date
Application number
PCT/CN2021/070889
Other languages
English (en)
French (fr)
Inventor
王馨浩
唐丹
邹扬威
何云迪
杨威
Original Assignee
上海快仓智能科技有限公司
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 CN202010231545.9A external-priority patent/CN111361908B/zh
Priority claimed from CN202010232310.1A external-priority patent/CN111453275B/zh
Priority claimed from CN202010231552.9A external-priority patent/CN111232530A/zh
Priority claimed from CN202022292766.5U external-priority patent/CN213651054U/zh
Priority to CA3173140A priority Critical patent/CA3173140A1/en
Priority to IL296793A priority patent/IL296793A/en
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Priority to BR112022019368A priority patent/BR112022019368A2/pt
Priority to EP21776149.3A priority patent/EP4105147A4/en
Priority to MX2022011908A priority patent/MX2022011908A/es
Priority to KR1020227026641A priority patent/KR20220122744A/ko
Priority to JP2022542147A priority patent/JP2023509543A/ja
Priority to AU2021240488A priority patent/AU2021240488A1/en
Publication of WO2021190085A1 publication Critical patent/WO2021190085A1/zh
Priority to US17/933,723 priority patent/US11634281B2/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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • 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
    • B65G1/0471—Storage devices mechanical with access from beneath
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]

Definitions

  • This application relates to the field of storage technology, in particular to a temporary storage laminate, shelf, control method, device, equipment and system.
  • Shelves are a kind of three-dimensional storage facilities, which can increase the utilization efficiency of warehouses.
  • the existing warehousing industry mostly uses robots that integrate automatic climbing and movement capabilities to store and move goods.
  • the robot needs to stop and extend the robotic arm to the shelf of the shelf when storing and retrieving goods, it will take a certain amount of time and reduce the efficiency of storing and retrieving goods.
  • the embodiments of the present application provide a temporary storage laminate, shelf, control method, device, equipment, and system to solve or alleviate one or more technical problems in related technologies.
  • the embodiments of the present application provide a temporary storage layer board for providing multiple temporary storage positions.
  • the fork arm is matched; the first robot's cargo access channel is formed under the temporary storage layer.
  • the first robot is located in the cargo access channel, and the fork groove is matched with the fork arm on the first robot to Access goods.
  • the embodiments of the present application provide a shelf, including:
  • At least one temporary storage laminate of any of the above embodiments At least one temporary storage laminate of any of the above embodiments.
  • At least one storage layer board is arranged at a distance from the temporary storage layer board in the vertical direction by a column, and the storage layer board is used for providing a plurality of storage places.
  • the embodiments of the present application provide a storage control method, including:
  • the second robot In the case of receiving the transfer completion signal sent by the first robot, the second robot is instructed to transfer the target goods from the target temporary storage location to the target storage location.
  • the embodiments of the present application provide a method for outbound control, including:
  • the embodiments of the present application provide a storage control device, including:
  • the first determining module is used to determine the target temporary storage location according to the target storage location of the target cargo
  • the first instruction module is used to instruct the first robot to transport the target goods to the target temporary storage location
  • the second instruction module is used to instruct the second robot to transport the target goods from the target temporary storage location to the target storage location when the transfer completion signal sent by the first robot is received.
  • an outbound control device including:
  • the first instruction module is used to instruct the second robot to move the target goods away from the current storage location
  • the first determining module is used to determine the target temporary storage location according to the position of the second robot, wherein the current storage location and the target temporary storage location are set in different layers;
  • the second instruction module is used to instruct the second robot to transport the target goods to the target temporary storage location
  • the third instruction module is used for instructing the first robot to move the target goods away from the target temporary storage location in the case of receiving the transfer completion signal sent by the second robot.
  • the embodiments of the present application provide a control device, including: a processor and a memory, and instructions are stored in the memory. method.
  • the embodiments of the present application provide a storage system, including:
  • control device of any of the above embodiments.
  • the embodiments of the present application provide a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the method of any of the above-mentioned embodiments is implemented .
  • the temporary storage layer plate provides a fork groove for matching with the fork arm of the first robot
  • the fork arm of the first robot can directly fork into the temporary storage layer plate
  • the first robot can directly access the goods on the temporary storage deck, eliminating the need to extend the robotic arm to the shelf, improving the efficiency of accessing goods; in addition, the temporary storage deck can temporarily store the goods.
  • the storage space provided by the storage shelf can store the goods for a long time, and it is convenient to coordinate the temporary storage shelf and the storage shelf to improve the efficiency of goods in and out of the warehouse.
  • Figure 1 shows a structural schematic diagram 1 of a shelf according to Embodiment 1 of the present application
  • Figure 2 shows a second structural diagram of a shelf according to Embodiment 1 of the present application
  • Fig. 3 shows a schematic structural diagram of a first robot according to Embodiment 1 of the present application
  • FIG. 4 shows a schematic diagram of the fork groove of the temporary storage layer and the fork arm of the first robot according to Embodiment 1 of the present application;
  • FIG. 5 shows a structural schematic diagram 1 of a storage device according to Embodiment 1 of the present application
  • Fig. 6 shows a schematic side view of Fig. 5;
  • FIG. 7 shows the second structural diagram of the storage device according to Embodiment 1 of the present application.
  • FIG. 8 shows a schematic diagram of the structure of a second robot according to Embodiment 1 of the present application.
  • FIG. 9 shows a projection diagram of a cargo box located on the temporary storage layer on the storage device according to Embodiment 1 of the present application.
  • FIG. 10A shows a structural schematic diagram 1 of a shelf according to Embodiment 2 of the present application.
  • FIG. 10B shows a schematic diagram of the structure of the temporary storage layer in FIG. 10A;
  • FIG. 10C shows a schematic diagram of the structure of the cross beam in FIG. 10A
  • Figure 11 shows a second structural diagram of a shelf according to Embodiment 2 of the present application.
  • FIG. 12A shows a third structural diagram of a shelf according to Embodiment 2 of the present application.
  • FIG. 12B shows a schematic diagram of the structure of the temporary storage layer in FIG. 12A;
  • FIG. 12C shows a schematic diagram of the cooperation of the first robot with the shelf in FIG. 12A;
  • FIG. 13A shows a structural schematic diagram 1 of a storage device according to Embodiment 2 of the present application.
  • FIG. 13B shows a second structural diagram of a storage device according to Embodiment 2 of the present application.
  • FIG. 14 shows a schematic flow chart of the warehousing control method according to Embodiment 3 of the present application.
  • FIG. 15 shows a schematic flowchart of step S1001 in FIG. 14;
  • FIG. 16 shows a schematic diagram of an application scenario of warehouse access control in Embodiment 3 of the present application.
  • FIG. 17 shows a schematic flow chart of the outbound control method according to Embodiment 3 of the present application.
  • FIG. 18 shows a schematic flowchart of step S1302 in FIG. 17;
  • FIG. 19 shows a schematic structural diagram of a storage system according to Embodiment 3 of the present application.
  • FIG. 20 shows a schematic structural diagram of a control device according to Embodiment 3 of the present application.
  • FIG. 21 shows a schematic structural diagram of a storage control device according to Embodiment 4 of the present application.
  • FIG. 22 shows a schematic diagram of the structure of the warehouse out control device according to Embodiment 4 of the present application.
  • Fig. 1 shows a first structural diagram of a shelf according to Embodiment 1 of the present application.
  • the shelf 100 may include: a plurality of uprights 110 arranged at intervals in the horizontal direction; at least one temporary storage layer 120, the temporary storage layer 120 is provided with fork grooves 121, The fork groove 121 is used to cooperate with the fork arm 210 of the first robot 200; at least one storage layer 130 is arranged at a distance from the temporary storage layer 120 in the vertical direction by the column 110, and the storage layer 130 is used to provide a plurality of storage Bit.
  • the shelf 100 may be a single-row shelf, a double-row shelf or a multi-row shelf, and the number of rows of the shelf 100 is not limited in the embodiment of the present application.
  • the plurality of uprights 110 may enclose a rectangular area where the temporary storage layer 120 and the storage shelf 130 are installed, so that the temporary storage layer 120 and the storage layer 130 are spaced apart in the vertical direction by the uprights 110.
  • the position of the column 110 is not limited in this embodiment, as long as the temporary storage layer 120 and the storage layer 130 can be spaced apart in the vertical direction.
  • the column 110 may also be inserted between the temporary storage layer 120 and the storage layer 130 in the vertical direction instead of the edge.
  • the two long sides of the temporary storage plate 120 are respectively set as the first side and the second side of the temporary storage plate 120, and the two long sides of the temporary storage plate 120 are The outer sides are respectively set as the first outer side and the second outer side of the temporary storage plate 120, and the two short sides of the temporary storage plate 120 are respectively set as the third side and the fourth side (temporary storage plate 120).
  • the two short sides of the layer board 120 may also be referred to as the first end and the second end of the temporary storage layer 120), and the outer sides of the two short sides of the temporary storage layer 120 are respectively set as the outer sides of the temporary storage layer 120.
  • the third outer side and the fourth outer side are Among them, the first outer side of the temporary storage layer 120 may also be referred to as the first outer side of the temporary storage layer 120
  • the temporary storage layer 120 can provide multiple temporary storage locations, the multiple temporary storage locations include two temporary storage locations and more than two temporary storage locations; each temporary storage location is provided with a fork groove 121, the fork groove 121
  • the shape of can be U-shaped, C-shaped, I-shaped, or V-shaped.
  • the shape of the fork groove 121 is not limited in the present application, as long as it can be matched with the fork arm 210 of the first robot 200.
  • the temporary storage layer 120 can be located on any layer of the shelf 100, which is not limited in the embodiment of the present application. Among them, when the temporary storage layer 120 is located in the middle layer of the shelf 100, the storage layer 130 is located above and below the temporary storage layer 120, which can shorten the distance between the temporary storage layer 120 and the storage layer 130 and improve the goods Transport efficiency between the temporary storage layer 120 and the storage layer 130.
  • the cargo can be a box containing materials, products, etc.
  • the box can be a carton or a material box. This application does not limit the type of the box and the articles it contains.
  • the first robot 200 may be an AGV (Automated Guided Vehicle, AGV for short) with a fork arm 210, and the fork arm 210 may be arranged on the top of the first robot 200 or may be arranged on the first robot 200.
  • AGV Automated Guided Vehicle
  • the embodiment of the present application does not limit the arrangement of the fork arm 210 of the first robot 200.
  • the temporary storage layer 120 provides a fork groove 121 for mating with the fork arm 210 of the first robot 200, so that the fork arm 210 of the first robot 200 can directly fork into the fork groove of the temporary storage layer 120 121. Furthermore, the first robot 200 can directly deposit and withdraw goods on the temporary storage layer 120, eliminating the need to extend the robot arm onto the shelf 100, and improving the efficiency of storing and storing goods; in addition, the temporary storage layer 120 can handle the goods.
  • the storage space provided by the storage deck 130 can store goods for a longer period of time, which facilitates the coordination of the temporary storage deck 120 and the storage deck 130 to improve the efficiency of goods in and out of the warehouse.
  • a cargo access channel 140 in which the first robot 200 is placed.
  • the first robot 200 is located in the cargo access channel 140, and the fork groove 121 is connected to the first robot.
  • the fork arms 210 on the 200 cooperate to deposit and withdraw the goods.
  • the first robot 200 aligns the fork arm 210 with the fork groove 121 from the first outer side of the temporary storage layer 120 and travels to the cargo access channel 140, so that the fork arm 210 directly forks Into the fork groove 121, and then the goods are located on the temporary storage layer 120, and then the fork arm 210 is lowered so that the cargo box remains on the temporary storage layer 120; in the case of picking up the goods, the first robot 200 travels to the storage and retrieval channel Under 140, align the fork arm 210 with the fork groove 121 from the bottom of the temporary storage layer 120 and raise the fork arm 210 to lift the cargo box, and then drive away from the first outer side of the temporary storage layer 120 to leave the storage.
  • the cargo passage 140 is used to take away the cargo box.
  • the first robot 200 can directly fork and pick up the goods without stopping or temporarily stopping, eliminating the need to control the robot arm to extend to the floor, which can improve the efficiency of loading and unloading the cargo box.
  • the access and access below the temporary storage layer 120 can effectively use the space of the shelf 100.
  • the cargo access channel can be used for the first robot to travel when it is empty.
  • the first robot 200 when the first robot 200 is empty (that is, the first robot 200 is not loaded with goods), the first robot 200 can directly travel in the cargo access channel 140, which can improve the efficiency of cargo handling.
  • the column 110 is disposed on the outer periphery of the storage layer 130, and a first travel for the first robot 200 is formed between the temporary storage layer 120 and the column 110 located on the first outer side of the temporary storage layer 120.
  • Channel 141 a first travel for the first robot 200 is formed between the temporary storage layer 120 and the column 110 located on the first outer side of the temporary storage layer 120.
  • the temporary storage layer 120 when the temporary storage layer 120 is located at the bottom of the column 110, the temporary storage layer 120 may form a first travel path for the first robot 200 to travel with the column 110 located on the first outer side of the temporary storage layer 120 and the ground. 141.
  • the temporary storage layer 120 when the temporary storage layer 120 is located on a layer other than the bottom layer of the column 110, the temporary storage layer 120 can be connected to the column 110 located on the first outer side of the temporary storage layer 120 and the layer located on the temporary storage layer 120.
  • the storage layer 130 of the next layer forms a first travel passage 141 for the first robot 200 to travel.
  • the first traveling channel 141 for the first robot 200 to travel is formed between the temporary storage layer 120 and the column 110 located on the first outer side of the temporary storage layer 120, so that the first robot 200 can be on the shelf. Traveling in any layer of 100 is convenient for the first robot 200 to cooperate with the temporary storage layer 120 and avoid occupying the aisle outside the shelf 100.
  • the shelf 100 may further include a beam 150 which is arranged in a horizontal direction and is used to fix the short sides of the temporary storage layer 120 and the storage layer 130 on the column 110.
  • Fig. 2 shows a second structural diagram of a shelf according to Embodiment 1 of the present application.
  • the structure of the shelf is similar to the structure of the shelf in FIG. 1, the difference is that, as shown in FIG.
  • the first robot 200 can pass through the rack 100 from the second travel aisle 142, which can shorten the travel distance of the first robot 200 and improve the transport efficiency of the cargo box.
  • the shelf 100 may further include a support column 160, which is arranged on the third side of the temporary storage layer 120 for support.
  • the temporary storage board 120 includes a plurality of temporary storage boards 122, each of the temporary storage boards 122 is provided with a fork groove 121, and one of the at least two temporary storage boards 122 A third travel path (refer to the third travel path 143 in FIG. 9) for the first robot 200 to travel is formed therebetween.
  • the first robot 200 can pass through the shelf 100 from between any two temporary storage boards 122 in the temporary storage layer board 120, which can shorten the travel distance of the first robot 200 and improve the efficiency of transporting the cargo box.
  • each temporary storage board 122 corresponds to a temporary storage location, so that each temporary storage board 122 can store goods.
  • the width of the temporary storage layer 120 is less than half of the width of the storage layer 130.
  • the shelf 100 may be a double-row shelf
  • the temporary storage layer 120 may be located in one of the rows of the double-row shelf
  • the storage layer 130 is from one row of the double-row shelf along the horizontal direction. Extend to another row, and set the width of the temporary storage layer 120 to be less than half of the storage layer 130.
  • the width of the goods channel will be greater than the width of the first robot 200
  • the width of the temporary storage layer 120 by setting the width of the temporary storage layer 120 to be less than half the width of the storage layer 130, the width of the first travel channel 141 can be made
  • the width is greater than the width of the storage layer 130, which provides a wide enough passage for the first robot 200 to carry goods; and, because the width of the storage layer 130 is greater than twice the width of the temporary storage layer 120, the storage layer 130 can be Store goods whose size is slightly larger than the temporary storage space.
  • Fig. 5 shows a first structural diagram of a storage device according to Embodiment 1 of the present application.
  • Fig. 6 shows a schematic side view of Fig. 5.
  • the storage device 1000 includes: a plurality of shelves 100 according to any one of the foregoing embodiments; wherein, the temporary storage layer 120 of the shelf 100 is used to provide a plurality of temporary storage positions; adjacent shelves 100 A second robot passage 310 for the second robot 300 to travel is formed therebetween, and the second robot 300 is used to transport goods between the temporary storage layer 120 and the storage layer 130.
  • the number of shelves 100 in the storage device 1000 includes two or more, which is not limited in the embodiment of the present application.
  • the second robot 300 can be an AGV vehicle with a lifting mechanism 320 and an access mechanism 330, or a stacker, etc.
  • the embodiment of the present application does not limit the type of the second robot 300, as long as it has access to and transport of goods The function can be.
  • the multiple shelves 100 may be arranged in columns, rows, or in a matrix.
  • the embodiment of the present application does not limit the arrangement of the multiple shelves 100.
  • the second robot aisle 310 is formed between adjacent shelves 100, so that the second robot 300 can travel in the second robot aisle 310 to move between the temporary storage layer 120 and the storage layer 130 Carrying goods, transporting the goods temporarily stored on the temporary storage floor 120 to the storage floor 130 for in-warehouse storage, or transporting the goods stored on the storage floor 130 to the temporary storage floor 120 for out-of-warehouse temporary storage, can improve The efficiency of storage and retrieval of goods and the efficiency of warehouse entry and exit; and, since the second robot passage 310 does not overlap with the travel passage of the first robot 200, the first robot 200 and the second robot 300 can be prevented from sharing the travel passage, and the first robot 200 can be improved The efficiency of coordination with the second robot 300 further improves the efficiency of warehouse entry and exit.
  • the storage device 1000 may include: a first robot channel for the first robot 200 to travel, and the first robot 200 is used to cooperate with the fork groove 121 through its fork arm 210 to access the temporary storage layer. Goods on 120.
  • the first robot channel may be defined by the structure of the shelf 100, or may be located on the side outside the shelf 100.
  • the second robot channel may be located on the other side of the shelf 100 to separate the first robot channel and the second robot channel to avoid occupation of the channel.
  • forming the first robot channel and the second robot channel separately can also prevent the first robot 200 and the second robot 300 from sharing the driving channel, which can improve the driving efficiency of the first robot 200 and the second robot 300, thereby increasing Inbound and outbound efficiency.
  • the second robot 300 integrated with the lifting mechanism 320 and the access mechanism 330 is usually used to transport and retrieve the goods; however, because the cost of the second robot 300 is high and the goods are received
  • the distance between the barge platform 400 and each temporary storage position and storage position in the shelf 100 is relatively long, which makes the cost of goods in and out of the warehouse per unit time high and low efficiency.
  • a second robot channel 310 is formed between adjacent shelves 100, and the second robot 300 can be configured to transport goods between the temporary storage layer and the storage layer, and the first robot 200 can be configured. It is used to transport and retrieve goods on the temporary storage layer.
  • the first robot 200 does not have a lifting mechanism, and its cost is much lower than that of the second robot 300.
  • one second robot 300 can be equipped with multiple first robots. 100 to cooperate with the storage and retrieval of goods, which can reduce the cost of goods in and out of the unit time and improve the efficiency of goods in and out of the warehouse.
  • the temporary storage layer includes a plurality of temporary storage boards, and a third travel channel 143 for the first robot 200 to travel is formed between at least two temporary storage boards.
  • the width of the third travel channel 143 may be the width of one, two, three or more temporary storage boards, which is not limited in the embodiment of the present application.
  • the temporary storage board can be detached from the temporary storage layer board to form the third travel channel 143. In this way, the first robot 200 can pass through the shelf through the third travel aisle 143 to improve travel efficiency.
  • a fourth traveling channel 144 for the first robot 200 to travel is formed between two adjacent shelves 100, and two third traveling channels 143 or two second traveling channels 143 are connected. Driving channel 142.
  • the first robot 200 can pass through the shelf 100 through the third travel channel 143 and then travel along the fourth travel channel 144 to the adjacent shelf 100, thereby shortening the travel distance of the first robot 200 and improving the efficiency of cargo handling.
  • the storage device 1000 further includes a docking platform 400 (the docking platform 400 may also be referred to as a docking port), and a supply platform is formed between the temporary storage layer and the column located on the third outer side of the temporary storage layer.
  • the second travel channel 142 where the first robot 200 travels, and a fifth travel channel 145 for the first robot 200 to travel is formed between the docking platform 400 and the shelf 100.
  • a fifth travel channel 145 for the first robot 200 to travel is formed between the docking platform 400 and the column located at the fourth outer side of the temporary storage floor. In this way, the first robot 200 can directly travel from the docking platform 400 along the fifth travel channel 145 to the first travel channel 141 of the first robot 200 in the rack 100, which can quickly reach the temporary storage layer and improve the coordination efficiency.
  • the fifth travel passage 145, the first travel passage 141, and the second travel passage 142/the fourth travel passage 144 form a first travel loop for the first robot 200 to travel (the line segment loop with arrows in FIG. 9) .
  • the cargo access channel 140 below the temporary storage layer may form a second travel loop (dashed line with arrow in FIG. 9) for the first robot to travel, so that the first robot 200 can travel when it is empty.
  • the first robot passage includes a cargo access passage 140, a first travel passage 141, a second travel passage 142, a third travel passage 143, a fourth travel passage 144, and a fifth travel passage 145 of the first robot.
  • the second robot passage 310 of the second robot 300 may form a loop line for the second robot 300 to travel (the dotted line with an arrow in FIG. 9).
  • first travel loop line By setting the first travel loop line, the second travel loop line, and the loop line traveled by the second robot 300 in the above example, it is possible to prevent the first robot 200 and the second robot 300 from occupying the travel passage with each other, and improve the coordination efficiency between the two.
  • a plurality of first robots 200 and a plurality of second robots 300 may be provided to realize the in and out of the goods and improve the efficiency of in and out of the warehouse.
  • FIG. 10A shows a structural schematic diagram 1 of a shelf according to Embodiment 2 of the present application.
  • FIG. 10B shows a schematic diagram of the structure of the temporary storage layer in FIG. 10A.
  • the difference between the shelf 500 and the aforementioned shelf 100 is that the temporary storage layer 520 includes a horizontal beam 521 and a plurality of temporary storage members 522 arranged at intervals on the inner side of the beam 521.
  • both ends of the beam 521 may be fixed to a column 510 respectively.
  • the temporary storage member 522 includes two support arms 522A and a fork groove 522B formed between the two support arms 522A.
  • the temporary storage position 523 can be formed by the temporary storage member 522.
  • the two support arms 522A of the temporary storage member 522 and the enclosed area can form a temporary storage position 523, and the fork groove 522B is located in the middle of the temporary storage position 523. It can be beneficial to cooperate with a single wishbone.
  • the multiple temporary storage members 522 can provide multiple temporary storage positions 523; when the temporary storage member 522 temporarily stores goods, the two support arms 522A of the temporary storage member 522 jointly carry the goods, so that the goods Temporarily stored on the temporary storage location 523.
  • the support arm 522A of the temporary storage member 522 can be made of square steel, so that the strength of the temporary storage member 522 is sufficient to carry goods and consumes less materials, which can save manufacturing costs.
  • the fork groove 522B formed between the two support arms 522A can be matched with the fork arm carrying goods, and the fork arm can directly fork into the fork groove 522B for cargo storage and retrieval, which can reduce the fork operation of the fork arms and improve the storage and retrieval speed of the goods. And access efficiency.
  • the storage layer 530 is vertically spaced from the temporary storage layer 520 through the column 510, and the storage layer 530 is used to provide a plurality of storage positions 533 for long-term storage of goods.
  • the temporary storage layer 520 can be located on any layer of the shelf 500.
  • the temporary storage layer 520 can be located at the bottom of the shelf 500, and the storage layer 530 is located above the temporary storage layer 520, which is beneficial to the storage of the shelf 500.
  • temporary storage layer 520 can be located on the top layer of shelf 500, while storage layer 530 is located below the temporary storage layer 520, which is conducive to temporary storage of goods on the top layer of shelf 500; temporary storage layer 520 can be located on the shelf In the middle layer of 500, the storage layer 530 is located above and below the temporary storage layer 520, which can improve the transport efficiency of goods between the temporary storage layer 520 and the storage layer 530.
  • the storage layer 530 includes a horizontal beam 531 and a plurality of support plates 532 arranged at intervals on the beam 531, wherein the beam 531 surrounds the plurality of supports
  • the two short sides of each supporting plate 532 are respectively connected to the inner side of the cross beam 531, and each supporting plate 532 is arranged in parallel with the adjacent supporting arm 522A of the adjacent temporary storage member 522, and the adjacent supporting plate 532 is on the opposite side
  • the edge and the enclosed area can form the storage location 533.
  • the middle portion of the storage position 533 is hollow, which can reduce the weight of the storage layer board 530 and reduce the manufacturing cost.
  • the temporary storage layer 520 provides a temporary storage member 522 for temporarily storing goods.
  • the two support arms 522A of the temporary storage member 522 form a fork groove 522B that can be matched with the fork arms, so that the fork arms can Directly fork into the fork groove 522B of the temporary storage member 522, and then the goods can be directly accessed on the temporary storage layer 520, which eliminates the fork operation of extending the fork arm onto the shelf 500 and improves the efficiency of loading and unloading goods; in addition,
  • the temporary storage layer 520 can temporarily store goods, and the storage space provided by the storage layer 530 can store the goods for a longer period of time, which is convenient for the temporary storage layer 520 and the storage layer 530 to cooperate to improve the storage and exit of the goods. efficient.
  • the column 510 can be arranged at the top corners of the temporary storage layer 520 and the storage layer 530, or can be arranged at the edge of the temporary storage layer 520 and the storage layer 530.
  • the position of the post 510 is not limited.
  • the temporary storage layer 520 and the storage layer 530 can be screwed and fixed on the column 510 by bolts and nuts.
  • the inner side of the cross beam 521 is fixedly connected to the first end of the support arm 522A; the temporary storage member 522 further includes a plurality of wing plates 522C, and each wing plate 522C is respectively connected to the cross beam 521 Between the inner side and the inner side of each support arm 522A. In this way, the strength between the support arm 522A and the cross beam 521 can be strengthened.
  • the cross-section of the cross beam 521 is L-shaped.
  • the cross beam 521 includes a horizontal beam 521A and a vertical beam 521B.
  • the inner side of the beam 521B is set as the inner side of the cross beam 521
  • the horizontal beam 521A is set on the inner side of the vertical beam 521B
  • the first end of the support arm 522A can be fixedly connected to the horizontal beam 521A
  • the end surface of the first end of the support arm 522A can be fixed Connected to the inner side of the vertical beam 521B
  • the wing plate 522C is respectively connected between the inner side of the vertical beam 521B and the inner side of the support arm 522A.
  • a protrusion 521C is formed on the top of the inner side of the vertical beam 521B, so that the vertical beam 521B and the horizontal beam 521A can jointly form a slot for the cross beam 521 (not marked in the drawings), so as to connect the first support arm 522A The end is clamped in the slot of the cross beam 521, which can improve the firmness of the connection between the support arm 522A and the cross beam 521.
  • the wing plate 522C is a right-angled triangle
  • the first right-angled edge of the wing plate 522C is arranged along the inner side of the cross beam 521
  • the second right-angled edge of the wing plate 522C is arranged along the inner side of the support arm 522A.
  • the first right-angle side of the wing plate 522C can be arranged along the inner side of the vertical beam 521B, and the first right-angle side of the wing plate 522C can also be clamped in the slot of the cross beam 521.
  • the length of the first right-angled side of the wing plate 522C may be less than the length of the second right-angled side, so that the width of the wing plate 522C is relatively narrow and the width of the wing plate 522C is directed toward the support arm 522A along the first end of the support arm 522A.
  • the middle part of the wing is gradually reduced to prevent the wing plate 522C from obstructing the operation of the wishbone.
  • the wing plate 522C is a right triangle, the stability of the connection between the support arm 522A and the cross beam 521 can be improved.
  • the temporary storage layer 520 may further include a plurality of fixing plates 522D, and each fixing plate 522D is respectively connected between adjacent temporary storage members 522 and connected to the inner side of the cross beam 521. This can not only strengthen the strength between the temporary storage member 522 and the cross beam 521, but also improve the stability of the temporary storage member 522, thereby increasing the stability of the temporary storage laminate 520.
  • the fixed plate 522D is rectangular, the long side of the fixed plate 522D is set as the side of the fixed plate 522D, the short side of the fixed plate 522D is set as the end of the fixed plate 522D, and the two sides of the fixed plate 522D can be connected to adjacent Between the outer sides of the adjacent support arms 522A of the temporary storage member 522, one end of the fixing plate 522D is connected to the inner side of the vertical beam 521B, and the other end of the fixing plate 522D is provided with a weight-reducing groove 524.
  • the groove bottom to the notch gradually increases.
  • the bottom of the weight-reducing groove 524 is the side of the weight-reducing groove 524 close to the beam 521, and the notch of the weight-reducing groove 524 is the side of the weight-reducing groove 524 away from the beam 521.
  • the temporary storage layer 520 may further include a plurality of wedges 522E, each of the wedges 522E is connected between adjacent temporary storage members 522, and the wedge 522E is close to The second end of the support arm 522A is provided.
  • the wedge 522E is connected between the outer sides of the adjacent support arms 522A of the adjacent temporary storage members 522, which can increase the connection strength between the adjacent support arms 522A of the adjacent temporary storage members 522, which is beneficial to improve the temporary storage.
  • the load-bearing capacity of the component 522 is beneficial to improve the temporary storage.
  • the shelf 500 may further include two support plates 540, the support plates 540 are connected to the end of the cross beam 521, the support arm 522A and the support arm 522A located at the end of the cross beam 521 Between the uprights 510.
  • the support plate 540 may be a right-angled trapezoid, the right-angle waist of the support plate 540 is connected to the inner side of the end of the cross beam 521, and the short bottom side of the support plate 540 is connected to the outer side of the support arm 522A at the end of the cross beam 521.
  • the long bottom side is connected to the upright 510; wherein, the length of the support arm 522A may be less than the length of the long bottom side of the support plate 540.
  • a cargo access channel 550 for placing the first robot is formed under the temporary storage layer 520; when the cargo is accessed, the first robot is located in the cargo access channel At 550, the fork groove 522B cooperates with the fork arm on the first robot to access the goods. Specifically, when storing goods (refer to FIG.
  • the first robot aligns the fork arms with the fork grooves 522B from the first outside of the temporary storage layer 520 and travels to the cargo access channel 550, so that the fork arms directly fork in The fork groove 522B, and the goods are located on the temporary storage layer 520, and then the fork arms are lowered so that the cargo box remains on the temporary storage layer 520; Align the fork arms with the fork grooves 522B under the storage board 520 and raise the fork arms to lift up the cargo box, and then drive in a direction away from the first outer side of the temporary storage board 520 to leave the cargo access channel 550 to take it away Cargo box.
  • the first robot can directly fork and take the goods without stopping or temporarily stopping, eliminating the need to control the robot arm to extend to the floor, which can improve the efficiency of accessing and storing the goods, and it is in temporary storage. Access and access under the floor 520 can effectively use the space of the shelf 500.
  • the cargo access channel 550 can be used for the first robot to travel when it is empty.
  • the first robot can directly travel in the cargo access channel 550, which can improve cargo handling efficiency.
  • FIG. 11 shows a second structural diagram of a shelf according to Embodiment 2 of the present application.
  • the difference between the shelf 500 and the foregoing embodiment is that the column 510 is arranged on the outer periphery of the storage layer 530, between the temporary storage layer 520 and the column 510 located on the first outer side of the temporary storage layer 520 A first travel path 610 for the first robot to travel is formed.
  • the first robot may be an AGV (Automated Guided Vehicle, AGV for short) with a fork arm, and the fork arm may be set on the top of the first robot or on the side of the first robot.
  • AGV Automate Guided Vehicle
  • the temporary storage layer 520 when the temporary storage layer 520 is located at the bottom of the column 510, the temporary storage layer 520 may form a first travel channel 610 for the first robot to travel with the column 510 located on the first outer side of the temporary storage layer 520 and the ground. .
  • the temporary storage layer 520 when the temporary storage layer 520 is located on a layer other than the bottom layer of the column 510, the temporary storage layer may be in contact with the column 510 located on the first outer side of the temporary storage layer 520 and the layer where the temporary storage layer 520 is located.
  • the storage layer 530 of the next layer forms the first travel channel 610 for the first robot to travel.
  • the first traveling channel 610 for the first robot to travel is formed between the temporary storage layer 520 and the column 510 located on the first outer side of the temporary storage layer 520, so that the first robot can be in the shelf 500 Traveling in any floor facilitates the cooperation between the first robot and the temporary storage floor 520, and avoids occupying the aisle outside the shelf 500.
  • the width of the temporary storage layer 520 is less than half of the width of the storage layer 530.
  • the shelf 500 may be a double-row shelf 500
  • the temporary storage layer 520 may be located in one row of the double-row shelf 500
  • the storage layer 530 extends horizontally from one row of the double-row shelf 500 to the other row.
  • the width of the temporary storage layer 520 is set to be smaller than the width of the storage layer 530
  • One row of goods can be temporarily stored on the temporary storage layer 520, and two rows of goods can be stored on the storage layer 530 to match the temporary storage and storage of the goods; and, due to the width of the storage layer 530 It is greater than twice the width of the temporary storage floor 520, so that the storage floor 530 can store goods with a size slightly larger than the temporary storage location 523.
  • the width of the temporary storage layer 520 is set to be less than half of the width of the storage layer 530, it is also advantageous to form a first travel between the first outer side of the temporary storage layer 520 and the column 510 for the first robot to travel.
  • the channel 610 is such that the width of the first travel channel 610 is greater than the width of the temporary storage layer 520, so as to provide a channel wide enough for the first robot to carry goods.
  • FIG. 12A shows the third structural diagram of the shelf of Embodiment 2 of the present application.
  • the adjacent support arms 522A adjacent to the temporary storage member 522 and the enclosed area are formed.
  • the first robot 700 aligns the two fork arms 701 with the fork grooves 522B on both sides of the temporary storage position 523 from the first outer side of the temporary storage layer 520 , So that the two fork arms 701 directly fork into the two fork grooves 522B to access the goods.
  • a support column 710 is further provided in the middle of the cross beam 521 of the temporary storage layer 520 to support the cross beam 521.
  • the upper and lower sides of the transverse beam 521 of the temporary storage layer 520 can also be provided with mounting plates 720, so that the transverse beam 521 can be installed on the column 510 through the mounting plate 720 to increase The installation strength between the beam 521 and the column 510.
  • the mounting plate 720 may be a right-angled triangle, the first right-angled side of the mounting plate 720 is connected to the side of the cross beam 521, and the edge of the second right-angled side of the mounting plate 720 is screwed and fixed to the column 510 by bolts and nuts.
  • the present application also provides a storage device 800, which may include: a plurality of shelves 500 according to any one of the foregoing embodiments; Robot channel 810, the second robot is used to transport goods between the temporary storage layer 520 and the storage layer 530.
  • the number of shelves 500 in the storage device 800 includes two or more than two, and the embodiment of the present application does not limit the number of shelves 500 in the storage device 800.
  • the second robot can be an AGV vehicle with a lifting mechanism and an access mechanism, or a stacker, etc.
  • the embodiment of the present application does not limit the type of the second robot, as long as it has the function of accessing and transporting goods .
  • the multiple shelves 500 can be arranged in columns (as shown in FIG. 13A), in rows (as shown in FIG. 13B, the second robot channel can be located on the side of the beam of the temporary storage layer 520 on the shelves 500) or arranged in a matrix.
  • the application embodiment does not limit the arrangement of multiple shelves 500.
  • the second robot can travel in the second robot channel 810 to transport between the temporary storage layer 520 and the storage layer 530
  • the goods temporarily stored on the temporary storage floor 520 are transported to the storage floor 530 for in-warehouse storage, or the goods stored on the storage floor 530 are transported to the temporary storage floor 520 for outbound temporary storage, which can improve the cargo
  • the second robot channel 810 does not overlap with the first robot’s travel channel, it can avoid the first robot and the second robot from sharing the travel channel, which can improve the difference between the first robot and the second robot. The efficiency of cooperation between the two, and then improve the efficiency of warehouse entry and exit.
  • the embodiment of the present application also provides a warehousing control method, which can be applied to the temporary storage layer 120, the shelf 100, the storage device 1000 in any one of the above-mentioned embodiments 1, or any one of the embodiments in the second embodiment.
  • the storage device 800 In Embodiment 3, the storage device 1000 is taken as an example for description.
  • FIG. 14 shows a schematic flow chart of a storage control method according to Embodiment 3 of the present application.
  • the warehousing control method may include:
  • S1001 Determine the target temporary storage location according to the target storage location of the target cargo
  • the temporary storage location can be set on the temporary storage shelf 120 of the shelf 100, and the storage location can be set on the storage shelf 130 of the shelf.
  • the storage positions can be arranged on different layers in the same shelf 100 or on adjacent shelves.
  • the temporary storage positions and storage positions can be adjusted and selected according to actual needs.
  • the setting method is not restricted.
  • the target storage location of the target cargo can be determined according to the type of the target cargo.
  • the storage space with the shortest time-consuming transportation can be allocated from the shelf as the target storage space for the target goods.
  • the temporary storage location is set on the bottom layer of the shelf, the storage location closest to the connection platform and located on the upper layer of the temporary storage location is the storage location that takes the shortest time to move.
  • the time-consuming storage location can be determined as the target storage location according to the degree of popularity of the target goods.
  • the second robot upon receiving the transfer completion signal sent by the first robot, the second robot can be instructed immediately to transport the target goods from the target temporary storage location to The target storage position may also be instructed by the second robot to carry the target goods from the target temporary storage position to the target storage position after the second robot has performed other operations.
  • the first robot and the second robot can use the temporary storage position to independently carry the target goods, and the first robot and the second robot do not need to directly perform the transfer cooperation of the target goods, and can travel efficiently and improve the efficiency of goods storage.
  • the warehousing control method may determine target temporary storage locations for the target storage locations of multiple target goods, and instruct multiple first robots to transport multiple target goods to the corresponding target temporary storage locations. In the case of receiving the transfer completion signal sent by multiple first robots, the second robot is instructed to transfer multiple target goods from the corresponding target temporary storage location to the corresponding target storage location.
  • the target temporary storage location is determined by the target storage location of the target cargo, and the first robot is respectively instructed to transport the target cargo to the target temporary storage location for temporary storage, and the second robot to carry the target cargo to the temporary storage location.
  • the first robot is respectively instructed to transport the target cargo to the target temporary storage location for temporary storage
  • the second robot to carry the target cargo to the temporary storage location. From the target temporary storage position to the target storage position, in order to separate the ground transportation of the target goods and the transportation of the target goods between the temporary storage position and the storage position, so that the first robot can independently complete the ground transportation of the target goods, and the second The robot can independently complete the transportation of the target goods between the temporary storage position and the storage position. There is no need for the first robot and the second robot to directly dock the target goods, avoiding the phenomenon of the first robot and the second robot waiting for each other, which is beneficial to improve The efficiency of the warehousing of goods.
  • the traveling speed of the first robot may be greater than the traveling speed of the second robot.
  • the second robot since the first robot usually transports the target goods from the docking platform to the target temporary storage position of the shelf, the second robot usually transports the target goods from the target temporary storage position to the target storage on one side of the shelf.
  • the distance between the docking platform and the shelf is much longer than the length of the shelf. Therefore, by making the driving speed of the first robot greater than that of the second robot, the first robot can carry the target quantity of goods to the target temporary storage position. It can be adapted to the number of target goods moved by the second robot from the target temporary storage location, so that the handling efficiency of the first robot is adapted to the handling efficiency of the second robot, and the storage efficiency of the target goods is improved.
  • the warehousing control method may also set multiple first robots to cooperate with the second robots, so that the handling efficiency of the multiple first robots matches the handling efficiency of the second robots; or, multiple first robots may be provided.
  • One robot cooperates with a plurality of second robots to match the handling efficiency of the plurality of first robots with the handling efficiency of the plurality of second robots, so as to improve the storage efficiency of the target goods.
  • the set number of the first robot and the second robot can be adjusted and selected according to actual needs, which is not limited in the embodiment of the present application.
  • step S1001 determining the target temporary storage location according to the target storage location of the target cargo may include:
  • S1101 Determine the first free temporary storage location closest to the target storage location
  • S1103 During the driving process of the first robot, update the occupancy status of each temporary storage position according to a preset time interval;
  • S1105 In a case where there is a second idle temporary storage bit, determine the second idle temporary storage bit as a target temporary storage bit.
  • the temporary storage of the adjacent row of the target storage board 131 can be determined
  • the temporary storage location provided by the board 123 or the temporary storage location provided by the temporary storage board 124 is the first idle temporary storage location, and instructs the first robot to drive to the first idle temporary storage location; if the first robot is traveling in the process ,
  • the temporary storage location provided by the temporary storage board 122 is updated to an idle state, and the time for the first robot to travel to the first idle temporary storage location is greater than the travel to the first preset time threshold, then it is determined that the temporary storage provided by the temporary storage board 122
  • the storage bit is the second free temporary storage bit, and it is set as the target temporary storage bit.
  • the target temporary storage position can be dynamically adjusted so that the transport distance between the target temporary storage position and the target storage position is smaller than the transport distance between the first idle temporary storage position and the target temporary storage position , Can reduce the transportation distance of the target goods, and improve the efficiency of goods storage.
  • the storage positions on both sides of the aisle between adjacent shelves can share a set of temporary storage spaces, that is, the target storage space and the target temporary storage space can be respectively located on two adjacent shelves, for example, As shown in FIG. 16, when the target storage location is above or below the fifth temporary storage location 415 of the first shelf 410, the first free temporary storage location may be the fifth temporary storage location 415 of the first shelf 410. It may also be the fifth temporary storage position 425 of the second shelf 420. In this way, the storage spaces located on both sides of the second robot travel aisle 440 can share the temporary storage spaces on the first shelf 410.
  • the temporary storage location below the target storage location is updated to an idle state, which can be triggered by the second robot removing the goods temporarily stored in the temporary storage location.
  • the first idle temporary storage bit is determined as the target temporary storage bit. In this way, the target temporary storage location can be directly determined according to the target storage location.
  • instructing the first robot to transport the target cargo to the target temporary storage location includes:
  • the first transport route is determined from the preset first robot channel.
  • the first robot channel includes the first outer side of the temporary storage shelf where the target temporary storage location is located.
  • the first travel aisle, and the first travel aisle is located in the vertical projection area of the storage shelf where the target storage location is located;
  • FIG. 16 a schematic diagram of a scene of a warehouse access control method according to an embodiment of the present application is shown, in which a line segment with an arrow indicates the first outer side of the temporary storage floor where the target temporary storage location is located.
  • a travel aisle 430 (refer to the first travel aisle 141 in FIG. 4).
  • the first travel aisle 430 is determined Transport line 431 and instruct the first robot 200 to travel along the first transport line 431 to below the fifth temporary storage location 415.
  • the first robot 200 can be driven in the preset first travel channel 430, which prevents the first robot 200 from occupying the travel channel of the second robot 300, and improves the driving efficiency between the first robot 200 and the second robot 300. In turn, the efficiency of warehousing is improved.
  • instructing the second robot to transport the target goods from the target temporary storage location to the target storage location includes:
  • the second robot passage is located outside the vertical projection area
  • the second robot aisle 440 (dotted line with an arrow) can be located outside the vertical projection area of the shelf, when the second robot 300 is located in the second temporary storage position in the first shelf 410
  • the side of the second temporary storage location 412 and the fifth temporary storage location are determined
  • the third outer side or the fourth outer side of the temporary storage layer plate is formed with a second traveling channel.
  • the temporary storage layer includes a plurality of temporary storage boards for providing temporary storage locations, a third travel channel is formed between at least two temporary storage boards, and the first robot channel includes a second travel channel and a third travel channel.
  • the first robot 200 can determine the driving route from the third driving channel, plan a shorter driving route for the first robot 200, and improve the driving efficiency of the first robot 200 .
  • the first robot channel includes a cargo access channel located below the temporary storage layer; the method further includes: when the first robot is empty, determining an empty travel route from the first robot channel; Instruct the first robot to travel along the no-load driving route.
  • the first robot channel includes a cargo access channel 450 located below the temporary storage layer (refer to the cargo access channel 140 of the shelf 100 in Figure 1), that is, with an arrow in Figure 1 Dotted line.
  • the first robot can travel in the first travel channel 430, the second travel channel, and the cargo access channel 450.
  • the embodiment of the present application also provides a method for outbound control, which can be applied to the storage device 1000 of any one of the implementations in Embodiment 1 or the storage device 800 of any of the implementations in the second embodiment.
  • the storage device 1000 is taken as an example for description.
  • FIG. 17 shows a schematic flow chart of a method for outbound control according to Embodiment 3 of the present application.
  • the outbound control method may include:
  • S1302 Determine the target temporary storage location according to the position of the second robot, where the current storage location and the target temporary storage location are set in different layers;
  • the setting method of the temporary storage position and the storage position in the outbound control method can be the same as the setting method in the storage control method, and the setting method of the temporary storage position and the storage position will not be repeated here.
  • the current storage position of the target goods can be determined according to the identification information of the target goods in the outbound list.
  • the relationship mapping table between the current storage position of the target goods and the target goods identification information can be pre-stored, and when obtained from the outbound list
  • the current storage location of the target cargo can be queried from the relational mapping table.
  • the current storage location of the target cargo may also be determined in other ways, and the embodiment of the present application does not limit the method of determining the current storage location of the target cargo.
  • the first robot upon receiving the transfer completion signal sent by the second robot, the first robot can be instructed to move the target goods away from the target temporary storage position immediately , Or after the first robot has performed other operations, the first robot can be instructed to carry the target goods away from the target temporary storage location.
  • the first robot and the second robot can use the temporary storage position to independently carry the target cargo, and the first robot and the second robot do not need to directly perform the transfer cooperation of the target cargo, and can travel efficiently and improve the efficiency of cargo delivery.
  • the outbound control method may instruct the second robot to move multiple target goods away from the current storage locations of the multiple target goods, and determine the corresponding target temporary storage locations according to the positions of the second robots, and indicate The second robot transports the target goods to the corresponding target temporary storage location, so that multiple target goods can be transported to the corresponding target temporary storage location.
  • the target temporary storage location is determined by the position of the second robot, and the second robot is instructed to transport the target cargo to the target temporary storage location, and the first robot removes the target cargo from the target temporary storage location.
  • the second robot In order to separate the transportation of the target cargo between the temporary storage location and the storage location and the ground transportation of the target cargo, so that the second robot can independently complete the transportation of the target cargo between the temporary storage locations.
  • the first robot can Moving the target goods away from the target temporary storage location is completed independently, without the first robot and the second robot directly docking the target goods, avoiding the phenomenon that the first robot and the second robot wait for each other, which is beneficial to improve the efficiency of goods delivery.
  • a robot integrated with a lifting mechanism and an access mechanism is usually used to transport and retrieve the goods; however, due to the high cost of such robots, and the goods connection platform and the shelf are separate The distance between the temporary storage location and the storage location is relatively long, which makes the cost of goods in and out of the warehouse per unit time high and low efficiency.
  • the warehousing control method of the embodiment of the present application separates the ground transportation of the target goods and the transportation of the target goods between the temporary storage position and the storage position, so that the first robot can collectively complete the ground transportation of the target goods, and the second robot can concentrate. Complete the transportation of the target goods between the temporary storage location and the storage location.
  • the first robot does not have a lifting mechanism, and its cost is much lower than that of the second robot.
  • one second robot and multiple first robots can be used indirectly Cooperating with the control of the entry and exit of the target goods, the cost of entry and exit of the target goods per unit time can be reduced and the efficiency of the entry and exit of the goods and the capacity of the entry and exit can be improved.
  • the traveling speed of the first robot is greater than the traveling speed of the second robot.
  • the first robot usually transports the target goods from the target temporary storage position of the shelf to the docking platform
  • the second robot usually transports the target goods from the current storage position to the target temporary storage on one side of the shelf.
  • the distance between the docking platform and the shelf is much longer than the length of the shelf. Therefore, by making the traveling speed of the first robot greater than that of the second robot, the second robot can transport the target goods to the target temporary storage position.
  • the quantity is adapted to the quantity of the target goods that the first robot moves away from the target temporary storage location, so that the handling efficiency of the second robot is adapted to the handling efficiency of the first machine, and the efficiency of outgoing target goods is improved.
  • the warehousing control method may further provide multiple first robots to cooperate with the second robots to match the outgoing temporary storage flow rate of the target goods with the outgoing storage flow rate.
  • step S1302 determines the target temporary storage location according to the position of the second robot, which may include:
  • the fifth temporary storage location 415 of the first shelf 410 is The first idle temporary storage position of the second robot 300; if the occupation status of the fourth temporary storage position 414 of the first shelf 410 is updated to be idle while the second robot 300 is traveling to the first idle temporary storage position, Then, when the time for the second robot 300 to travel to the fifth temporary storage location 415 is greater than the second preset time threshold, the fourth temporary storage location 414 is determined to be the second idle temporary storage location closest to the second robot 300 , And determine it as the target temporary storage location. In this way, it is possible to dynamically adjust the target temporary storage position while the second robot 300 is carrying the target goods, reduce the transportation distance of the second robot 300, and improve the efficiency of goods delivery.
  • the temporary storage location below the target storage location is updated to an idle state, which can be triggered by the first robot removing the goods temporarily stored in the temporary storage location.
  • the first idle temporary storage bit is determined as the target temporary storage bit to directly determine the target temporary storage bit.
  • instructing the first robot to move the target goods away from the target temporary storage location includes:
  • the removal route is determined from the preset first robot passage.
  • the first robot passage includes the first robot on the side of the temporary storage shelf where the target temporary storage position is located.
  • the driving channel, and the first driving channel is located in the vertical projection area of the storage shelf where the target storage location is located;
  • the target temporary storage position is the second
  • the fifth temporary storage position 425 of the shelf 420 according to the position information between the first robot 200 and the target temporary storage position (that is, the fifth temporary storage position 425 of the second shelf), it is determined that the first robot 200 and The removal line 432 between the fifth temporary storage position 425 of the second shelf 420 and the second shelf 420, and instructs the first robot 200 to travel along the removal line 432 to the target temporary storage position (that is, the fifth temporary storage position of the second shelf) A temporary storage location 425) below to remove the target goods from the target temporary storage location.
  • FIG. 19 shows a structural block diagram of a storage system according to Embodiment 3 of the present application.
  • the storage system includes: a storage device 1000; a control device 1710, including a processor 1712 and a memory 1711, the memory 1711 stores instructions, and the instructions are loaded and executed by the processor 1712 to realize any of the above The method of the embodiment; the first robot 200 travels on the first robot channel, and has a fork arm matched with the fork groove; the second robot 300 travels on the second robot channel.
  • the traveling speed of the first robot 200 is greater than the traveling speed of the second robot 300.
  • Fig. 20 shows a structural block diagram of a control device according to Embodiment 3 of the present invention.
  • the control device 1710 includes a memory 1711 and a processor 1712, and the memory 1711 stores a computer program that can run on the processor 1712.
  • the processor 1712 implements the warehouse-in control method and the warehouse-out control method in the foregoing embodiment when the computer program is executed.
  • the number of the memory 1711 and the processor 1712 may be one or more.
  • the control device also includes a communication interface 1713, which is used to communicate with external devices and perform data interactive transmission.
  • the bus may be an Industry Standard Architecture (ISA) bus, Peripheral Component Interconnect (PCI) bus, or Extended Industry Standard Architecture (EISA) bus, etc.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the memory 1711, the processor 1712, and the communication interface 1713 may communicate with each other through internal interfaces.
  • the above-mentioned processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (Digital Dignal Processing, DSP), application specific integrated circuits (Application Specific Sntegrated Circuit, ASIC), and other general-purpose processors. Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor. It is worth noting that the processor may be a processor that supports an advanced reduced instruction set machine (advanced RISC machines, ARM) architecture.
  • the above-mentioned memory may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the control device, etc. .
  • the memory 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 may optionally include a memory remotely arranged with respect to the processor, and these remote memories may be connected to the control device through 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.
  • an embodiment of the present application also provides a warehousing control device, which can be applied to any of the temporary storage deck 120, the shelf 100, the storage device 1000, or any of the implementations in the above-mentioned embodiment 1.
  • a warehousing control device which can be applied to any of the temporary storage deck 120, the shelf 100, the storage device 1000, or any of the implementations in the above-mentioned embodiment 1.
  • the storage device 800 of the embodiment In the storage device 800 of the embodiment.
  • FIG. 21 shows a structural block diagram of a storage control device according to Embodiment 4 of the present application.
  • the warehousing control device 1800 may include: a first determination module 1810, which can be used to determine a target temporary storage location according to the target storage location of the target goods; a first indication module 1820, which can be used to instruct the first robot to target The goods are transported to the target temporary storage location; the second instruction module 1830 can be used to instruct the second robot to transport the target goods from the target temporary storage location to the target storage location when the transfer completion signal sent by the first robot is received.
  • the target storage location and the target temporary storage location are set in different layers.
  • the traveling speed of the first robot is greater than the traveling speed of the second robot.
  • the first determining module 1810 may include: a first determining unit, which can be used to determine the first free temporary storage location closest to the target storage location;
  • the first update unit can be used to update the occupancy status of each temporary storage space according to the preset time interval during the driving process of the first robot;
  • the second determination unit can be used to drive the first robot to When the time of the first free temporary storage bit is greater than the first preset time threshold, according to the updated occupancy state of each temporary storage bit, it is determined whether there is a second free temporary storage bit closest to the target storage position; third determination The unit can be used to determine the second idle temporary storage bit as the target temporary storage bit when there is a second idle temporary storage bit; when there is no second idle temporary storage bit, set the first idle temporary storage bit Determined as the target temporary storage location.
  • the first indication module 1820 may include: a fourth determining unit, which may be used to determine the first transport from the preset first robot channel according to the position information between the first robot and the target temporary storage location.
  • the first robot channel includes a first travel channel located on the side of the temporary storage shelf where the target temporary storage location is located, and the first travel channel is located in the vertical projection area of the storage shelf where the target storage location is located; the second indication The unit can be used to instruct the first robot to drive along the first transport line to below the target temporary storage location.
  • the first robot channel includes a cargo access channel located below the temporary storage layer; the device further includes: a second determination module, configured to transfer the goods from the first robot when the first robot is empty The no-load driving route is determined in the channel; the third instruction module is used to instruct the first robot to drive along the no-load driving route.
  • the second indication module 1830 may include: a fifth determination unit, which may be used to determine the second transport from the preset second robot channel according to the position information between the second robot and the target temporary storage location. Line, the second robot channel is located outside the vertical projection area; the third indication unit can be used to instruct the second robot to drive along the second transport line to the side of the target temporary storage location.
  • the third outer side or the fourth outer side of the temporary storage layer plate is formed with a second traveling channel.
  • the temporary storage layer is formed with a plurality of temporary storage boards for providing temporary storage locations, a third travel channel is formed between at least two temporary storage boards, and the first robot channel includes a second travel channel and a third travel channel.
  • an embodiment of the present application also provides an outbound control device, which can be applied to the storage device 1000 in any one of the above-mentioned embodiments 1 or the storage device 800 in any one of the two embodiments.
  • Fig. 22 shows a structural block diagram of a warehouse-out control device according to Embodiment 4 of the present application.
  • the storage and exit control device can be applied to the temporary storage layer 120, the shelf 100, the storage device 1000 of any one of the above-mentioned Embodiment 1 or the storage device 800 of any one of the two embodiments.
  • the outbound control device 1900 may include: a first instruction module 1910, which can be used to instruct the second robot to move the target goods away from the current storage location; a first determination module 1920, which can be used to The location determines the target temporary storage location, where the current storage location and the target temporary storage location are set in different layers; the second indication module 1930 can be used to instruct the second robot to transport the target goods to the target temporary storage location; the third indication module 1940 is available In the case of receiving the transfer completion signal sent by the second robot, the first robot is instructed to remove the target goods from the target temporary storage location.
  • the traveling speed of the first robot is greater than the traveling speed of the second robot.
  • the first determining module 1920 may include: a first determining unit, which can be used to determine the first free temporary storage location closest to the second robot; The idle temporary storage space is traveling; the update unit can be used to update the occupancy status of each temporary storage space according to the preset time interval during the driving process of the second robot; the second determination unit can be used to drive the second robot to the first When the time of the idle temporary storage bit is greater than the second preset time threshold, according to the updated occupancy state of each temporary storage position, it is determined whether there is a second idle temporary storage position closest to the second robot; the third determining unit, It can be used to determine the second idle temporary storage bit as the target temporary storage bit when there is a second idle temporary storage bit; when there is no second idle temporary storage bit, determine the first idle temporary storage bit as Target temporary storage bit.
  • the third indication module 1940 may include: a fourth determination unit, which may be used to determine the first transport from the preset first robot channel according to the position information between the first robot and the target temporary storage location.
  • the first robot channel includes a first travel channel located on the side of the temporary storage shelf where the target temporary storage location is located, and the first travel channel is located in the vertical projection area of the storage shelf where the target storage location is located; the second indication The unit can be used to instruct the first robot to drive along the first transport line to below the target temporary storage location.
  • the warehouse access control method and device are described above by taking the warehouse control method as an example, those skilled in the art can understand that the application should not be limited to this. In fact, the user can flexibly set the warehousing control method and device according to personal preferences and/or actual application scenarios, as long as the output and warehousing efficiency can be improved.
  • the embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the program is executed by a processor, the method provided in the embodiment of the present application is implemented.
  • Other configurations of the foregoing embodiments can be adopted in various technical solutions known to those of ordinary skill in the art now and in the future, and will not be described in detail here.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present application, “multiple” means two or more than two, unless otherwise specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, it can be an electrical connection, it can also be communication; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components .
  • installed can be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, it can be an electrical connection, it can also be communication; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components .
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • the "above”, “above” and “above” of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature.
  • the “below”, “below” and “below” of the first feature of the second feature include the first feature directly above and diagonally above the second feature, or it simply means that the level of the first feature is smaller than the second feature.

Abstract

一种暂存层板、货架、控制方法、设备和系统，其中，暂存层板（120），用于提供多个暂存位，暂存层板上设置有叉槽（121），叉槽用于与第一机器人（200）的叉臂（210）配合；暂存层板的下方形成有第一机器人的存取货通道（140），当存取货物时，第一机器人位于存取货通道，且叉槽与第一机器人上的叉臂配合，以存取货物。该暂存层板、货架、控制方法、设备和系统可以提高货物的存取效率。

Description

暂存层板、货架、控制方法、装置、设备和系统
本申请要求于2020年03月27日提交中国专利局、申请号为202010231552.9、发明名称为“货架和仓储装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。本申请要求于2020年09月02日提交中国专利局、申请号为202021892576.0、实用新型名称为“货架和仓储装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。本申请要求于2020年03月27日提交中国专利局、申请号为202010231545.9、发明名称为“仓储装置、系统、控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。本申请要求于2020年03月27日提交中国专利局、申请号为202010232310.1、发明名称为“出入库控制方法、装置、设备、可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。以及本申请要求于2020年10月15日提交中国专利局、申请号为202022292766.5、实用新型名称为“接驳平台和工作站”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储技术领域，尤其涉及一种暂存层板、货架、控制方法、装置、设备和系统。
背景技术
货架是一种立体储存货物的设施，能增加仓库的利用效率。
现有仓储行业多采用集成有自动爬升能力和移动能力的机器人来存取货物和搬运货物。然而，由于机器人在存取货物时，需要停止并将机械臂伸至货架的层板上，这会耗费一定时间，降低存取货物的效率。
发明内容
本申请实施例提供一种暂存层板、货架、控制方法、装置、设备和系统，以解决或缓解相关技术中的一项或更多项技术问题。
为实现上述目的，本申请采取以下技术方案：
作为本申请实施例的第一方面，本申请实施例提供一种暂存层板，用于提供多个暂存位，暂存层板上设置有叉槽，叉槽用于与第一机器人的叉臂配合；暂存层板的下方形成有第一机器人的存取货通道，当存取货物时，第一机器人位于存取货通道，且叉槽与第一机器人上的叉臂配合，以存取货物。
作为本申请实施例的第二方面，本申请实施例提供一种货架，包括：
在水平方向上间隔设置的多个立柱；
至少一个上述任一种实施方式的暂存层板；
至少一个储存层板，通过立柱在竖直方向上与暂存层板间隔设置，储存层板用于提供多个储存位。
作为本申请实施例的第三方面，本申请实施例提供一种入库控制方法，包括：
根据目标货物的目标储存位确定目标暂存位；
指示第一机器人将目标货物搬运至目标暂存位；
在接收到第一机器人发送的搬运完成信号的情况下，指示第二机器人将目标货物从目标暂存位搬运至目标储存位。
作为本申请实施例的第四方面，本申请实施例提供一种出库控制方法，包括：
指示第二机器人将目标货物搬离当前储存位；
根据第二机器人的位置确定目标暂存位；
指示第二机器人将目标货物搬运至目标暂存位；
在接收到第二机器人发送的搬运完成信号的情况下，指示第一机器人将目标货物搬离目标暂存位。
作为本申请实施例的第五方面，本申请实施例提供一种入库控制装置，包括：
第一确定模块，用于根据目标货物的目标储存位确定目标暂存位；
第一指示模块，用于指示第一机器人将目标货物搬运至目标暂存位；
第二指示模块，用于在接收到第一机器人发送的搬运完成信号的情况下，指示第二机器人将目标货物从目标暂存位搬运至目标储存位。
作为本申请实施例的第六方面，本申请实施例提供一种出库控制装置，包括：
第一指示模块，用于指示第二机器人将目标货物搬离当前储存位；
第一确定模块，用于根据第二机器人的位置确定目标暂存位，其中，当前储存位与目标暂存位异层设置；
第二指示模块，用于指示第二机器人将目标货物搬运至目标暂存位；
第三指示模块，用于在接收到第二机器人发送的搬运完成信号的情况下，指示第一机器人将目标货物搬离目标暂存位。
作为本申请实施例的第七方面，本申请实施例提供一种控制设备，包括：包括处理器和存储器，存储器中存储指令，指令由处理器加载并执行，以实现上述任一种实施方式的方法。
作为本申请实施例的第八方面，本申请实施例提供一种仓储系统，包括：
上述任一种实施方式的暂存层板；以及，
上述任一种实施方式的控制设备。
作为本申请实施例的第九方面，本申请实施例提供一种计算机可读存储介质，计算机可读存储介质内存储有计算机程序，计算机程序被处理器执行时实现上述任一种实施方式的方法。
上述技术方案中的一个技术方案具有如下优点或有益效果：由于暂存层板提供用于与第一机器人的叉臂配合的叉槽，使得第一机器人的叉臂可以直接叉入暂存层板的叉槽，进而第一机器人可直接在暂存层板上存取货物，免去将机械臂伸至货架上的操作，提高存取货物的效率；此外，暂存层板可对货物进行暂时存放，储存层板提供的储存位可以对货物进行较长时间的储存，便于将暂存层板和储存层板进行配合来提高货物的出入库效率。
附图说明
为了更清楚地说明本发明实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明实施例中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1示出根据本申请实施例1的货架的结构示意图一；
图2示出根据本申请实施例1的货架的结构示意图二；
图3示出根据本申请实施例1的第一机器人的结构示意图；
图4示出根据本申请实施例1中暂存层板的叉槽与第一机器人的叉臂配合的示意图；
图5示出根据本申请实施例1的仓储装置的结构示意图一；
图6示出图5的侧视示意图；
图7示出根据本申请实施例1的仓储装置的结构示意图二；
图8示出根据本申请实施例1的第二机器人的结构示意；
图9示出根据本申请实施例1中位于暂存层板的货箱在仓储装置上的投影示意图；
图10A示出根据本申请实施例2的货架的结构示意图一；
图10B示出图10A中暂存层板的结构示意图；
图10C示出图10A中横梁的结构示意图；
图11示出根据本申请实施例2的货架的结构示意图二；
图12A示出根据本申请实施例2的货架的结构示意图三；
图12B示出图12A中暂存层板的结构示意图；
图12C示出第一机器人与图12A中货架配合的示意图；
图13A示出根据本申请实施例2的仓储装置的结构示意图一；
图13B示出根据本申请实施例2的仓储装置的结构示意图二；
图14示出本申请实施例3的入库控制方法的流程示意图；
图15示出图14中步骤S1001的流程示意图；
图16示出本申请实施例3的出入库控制应用场景示意图；
图17示出本申请实施例3的出库控制方法的流程示意图；
图18示出图17中步骤S1302的流程示意图；
图19示出本申请实施例3的仓储系统的结构示意图；
图20示出本申请实施例3的控制设备的结构示意图；
图21示出本申请实施例4的入库控制装置的结构示意图；
图22示出本申请实施例4的出库控制装置的结构示意图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
实施例1
图1示出根据本申请实施例1的货架的结构示意图一。如图1、图3和图4所示，该货架100可包括：在水平方向上间隔设置的多个立柱110；至少一个暂存层板120，暂存层板120上设置有叉槽121，叉槽121用于与第一机器人200的叉臂210配合；至少一个储存层板130，通过立柱110在竖直方向上与暂存层板120间隔设置，储存层板130用于提供多个储存位。
该货架100可以是单排货架、双排货架或多排货架，本申请实施例对货架100的排数不作限制。
在一个示例中，该多个立柱110可以围成安装暂存层板120和储存层板130的矩形区域，使得暂存层板120和储存层板130通过立柱110在竖直方向上间隔设置。但是，立柱110的设置位置本实施例不作限制，只要可以使得暂存层板120和储存层板130在竖直方向上间隔设置即可。例如，立柱110也可以在竖直方向上穿设在暂存层板120和储存层板130中间，而不是边缘。
为了便于说明，以下在实施例中，将暂存层板120的两个长边分别设定为暂存层板120的第一侧和第二侧，暂存层板120的两个长边的外侧分别设定为暂存层板120的第一外侧和第二外侧，将暂存层板120的两个短边分别设定为暂存层板120的第三侧和第四侧(暂存层板120的两个短边也可以分别称作暂存层120的第一端和第二端)，将暂存层板120的两个短边的外侧分别设定为暂存层板120的第三外侧和第四外侧。其中，暂存层板120的第一外侧也可以称作暂存层板120的第一外侧
该暂存层板120上可以提供多个暂存位，多个暂存位包括两个暂存位和两个以上的暂存位；每个暂存位下设置叉槽121，该叉槽121的形状可以呈U形、C形、I形或V形等形状，本申请对叉槽121的形状不作限制，只要能与第一机器人200的叉臂210配合即可。
该暂存层板120可位于货架100的任一层，本申请实施例对此不作限制。其中，当暂存层板120位于货架100的中间层时，储存层板130位于暂存层板120的上方和下方，可缩短暂存层板120与储存层板130之间的距离，提高货物在暂存层板120与储存层板130之间的搬运效率。货物可以是装有物料、产品等物品的箱体，该箱体可以是纸箱，也可以是料箱，本申请对箱体的类型及其容置的物品不作限制。
第一机器人200可以是具有叉臂210的AGV(Automated Guided Vehicle，自动导引运输车，简称AGV)车，其叉臂210可以设置于第一机器人200的顶部，也可以设置于第一机器人200的侧边，本申请实施例对第一机器人200的叉臂210的设置方式不作限制。
在本实施例中，暂存层板120提供用于与第一机器人200的叉臂210配合的叉槽121，使得第一机器人200的叉臂210可以直接叉入暂存层板120的叉槽121，进而第一机器人200可直接在暂存层板120上存取货物，免去将机械臂伸至货架100上的操作，提高存取货物的效率；此外，暂存层板120可对货物进行暂时存放，储存层板130提供的储存位可以对货物进行较长时间的储存，便于将暂存层板120和储存层板130进行配合来提高货物的出入库效率。
示例性地，暂存层板120的下方形成有放置第一机器人200的存取货通道140，当存取货物时，第一机器人200位于存取货通道140时，叉槽121与第一机器人200上的叉臂210配合，以存取货物。
在一个示例中，在存货物的情况下，第一机器人200从暂存层板120的第一外侧将叉臂210对准叉槽121并行驶至存取货通道140，使得叉臂210直接叉入叉槽121，进而货物位于暂存层板120上，再将叉臂210下降使得货箱留在暂存层板120上；在取货的情况下，第一机器人200行驶至存取货通道140下，从暂存层板120的下方将叉臂210对准叉槽121并将叉臂210上升来顶起货箱，再沿远离暂存层板120的第一外侧的方向行驶来离开存取货通道140以取走货箱。如此，第一机器人200可在不停止 行驶或短暂停止行驶的情况下直接进行货物的叉取，省去控制机械臂伸出至层板上的操作，可以提高存取货箱的效率，并且在暂存层板120下方存取获取，可以有效利用货架100的空间。
示例性地，存取货通道可用于供第一机器人空载时行驶。比如，在第一机器人200空载(即第一机器人200不装载货物)时，第一机器人200可直接在存取货通道140中行驶，可以提高货物的搬运效率。
在一种实施方式中，立柱110设置于储存层板130的外周，暂存层板120与位于暂存层板120第一外侧的立柱110之间形成有供第一机器人200行驶的第一行驶通道141。
在一个示例中，当暂存层板120位于立柱110的底层时，暂存层板120可与位于暂存层板120第一外侧的立柱110以及地面形成第一机器人200行驶的第一行驶通道141。此外，当暂存层板120位于除立柱110的底层之外的其他层时，暂存层板120可与位于暂存层板120第一外侧的立柱110以及位于暂存层板120所在层的下一层的储存层板130形成第一机器人200行驶的第一行驶通道141。
在本实施方式中，通过在暂存层板120与位于暂存层板120第一外侧的立柱110之间形成供第一机器人200行驶的第一行驶通道141，使得第一机器人200可在货架100的任一层中行驶，便于第一机器人200与暂存层板120进行配合，避免占用货架100外的通道。
在一个示例中，如图1所示，货架100还可以包括：横梁150，横梁150沿水平方向设置，用于将暂存层板120和储存层板130的短边固定于立柱110上。
图2示出根据本申请实施例1的货架的结构示意图二。该货架的结构与图1中货架的结构相似，其不同之处在于，如图2所示，暂存层板120与位于暂存层板120第三外侧的立柱110之间形成有供第一机器人200行驶的第二行驶通道142。如此，第一机器人200可从第二行驶通道142穿过货架100，可缩短第一机器人200的行驶距离，提高货箱的搬运效率。
在一个示例中，货架100还可以包括：支撑柱160，设置于暂存层板120的第三侧以进行支撑。
在一种实施方式中，如图1至图4所示，暂存层板120包括多个暂存板122，各暂存板122均设置有叉槽121，并且至少两个暂存板122之间形成有供第一机器人200行驶的第三行驶通道(可参考图9中的第三行驶通道143)。如此，第一机器人200可从暂存层板120中的任意两个暂存板122之间穿过货架100，可缩短第一机器人200的行驶距离，提高货箱的搬运效率。
在一个示例中，各暂存板122对应一个暂存位，使得各暂存板122上可以存放货物。
在一种实施方式中，暂存层板120的宽度小于储存层板130的宽度的一半。例如，如图1至图4所示，货架100可以是双排货架，暂存层板120可位于双排货架的其中一排，储存层板130从沿水平方向从双排货架的其中一排延伸至另一排，并设置暂存层板120的宽度小于储存层板130的一半。
在本实施方式中，由于货物的宽度通道会大于第一机器人200的宽度，通过将暂存层板120的宽度设置为小于储存层板130的宽度的一半，则可以使第一行驶通道141的宽度大于储存层板130的宽度，为第一机器人200提供足够宽的通道来搬运货物；并且，因储存层板130的宽度大于暂存层板120的宽度的两倍，使得储存层板130可以储存尺寸略大于暂存位的货物。
图5示出根据本申请实施例1的仓储装置的结构示意图一。图6示出图5的侧视示意图。如图5和图6所示，该仓储装置1000包括：多个上述任一种实施方式的货架100；其中，货架100的暂存层板120用于提供多个暂存位；相邻货架100之间形成有供第二机器人300行驶的第二机器人通道310，第二机器人300用于在暂存层板120与储存层板130之间搬运货物。
其中，该仓储装置1000中的货架100的数量包括两个或两个以上，本申请实施例对此不作限制。
该第二机器人300可以是具有升降机构320和存取机构330的AGV车，也可以是堆垛机等，本申请实施例对第二机器人300的类型不作限制，只要具备存取货物和搬运货物的功能即可。
如图5至图9所示，多个货架100可以按列排列、按行排列或呈矩阵排列，本申请实施例对多个货架100的排列方式不作限制。
在本实施例中，通过在相邻货架100之间形成第二机器人通道310，使得第二机器人300可以在第二机器人通道310中行驶，以在暂存层板120与储存层板130之间搬运货物，将暂存于暂存层板120的货物搬运至储存层板130进行入库储存，或者将储存于储存层板130的货物搬运至暂存层板120进行出库暂存，可提高货物的存取效率和出入库效率；并且，由于第二机器人通道310不与第一机器人200 的行驶通道重合，可避免第一机器人200和第二机器人300共用行驶通道，可提高第一机器人200与第二机器人300之间的配合效率，进而提高出入库效率。
在一种实施方式中，该仓储装置1000可以包括：供第一机器人200行驶的第一机器人通道，第一机器人200用于通过其叉臂210与叉槽121配合，以存取暂存层板120上的货物。其中，第一机器人通道可以由货架100的结构限定出，也可以位于货架100外的一侧。第二机器人通道可以位于货架100外的另一侧，以将第一机器人通道和第二机器人通道分离设置，避免通道占用。
在本实施方式中，分别形成第一机器人通道和第二机器人通道还能避免第一机器人200和第二机器人300共用行驶通道，可提高第一机器人200与第二机器人300的行驶效率，进而提高出入库效率。
需要说明的是，仓储装置1000中，通常采用集成有升降机构320和存取机构330的第二机器人300来搬运和存取货物；但是，由于第二机器人300的成本较高，并且货物的接驳平台400与货架100中各暂存位和存储位之间的距离较远，这就使得单位时间内货物的出入库成本较高且效率低。
本申请实施例的仓储装置1000通过在相邻货架100之间形成第二机器人通道310，可配置第二机器人300用于在暂存层板与储存层板之间搬运货物，配置第一机器人200用于在暂存层板搬运和存取货物，其中，第一机器人200可不具有升降机构，其成本远远低于第二机器人300，如此可以为一台第二机器人300配备多台第一机器人100来配合进行货物的存取，可降低单位时间内货物的出入库成本且可提高货物的出入库效率。
在一种实施方式中，如图9所示，暂存层板包括多个暂存板，至少两个暂存板之间形成有供第一机器人200行驶的第三行驶通道143。第三行驶通道143的宽度可以为一个、两个、三个或更多个暂存板的宽度，本申请实施例对此不作限制。例如，可以从暂存层板上拆卸暂存板来形成第三行驶通道143。如此，第一机器人200可从第三行驶通道143穿过货架，提高行驶效率。
在一种实施方式中，如图9所示，相邻两个货架100之间形成有供第一机器人200行驶的第四行驶通道144，并连接两个第三行驶通道143或两个第二行驶通道142。如此，可以使第一机器人200经第三行驶通道143穿过货架100后沿第四行驶通道144行驶至相邻货架100，缩短第一机器人200的行驶距离，提高货物的搬运效率。
在一种实施方式中，仓储装置1000还包括接驳平台400(接驳平台400也可以称作接驳口)，暂存层板与位于暂存层板第三外侧的立柱之间形成有供第一机器人200行驶的第二行驶通道142，接驳平台400与货架100之间形成有供第一机器人200行驶的第五行驶通道145。例如，接驳平台400与位于暂存层板第四外侧的立柱之间形成有供第一机器人200行驶的第五行驶通道145。如此，第一机器人200可以由接驳平台400沿第五行驶通道145直接行驶至货架100中第一机器人200的第一行驶通道141中，能够快速达到暂存层板，提高配合效率。
在一个示例中，第五行驶通道145、第一行驶通道141和第二行驶通道142/第四行驶通道144形成供第一机器人200行驶的第一行驶环线(图9中带箭头的线段环线)。
在一个示例中，暂存层板下方的存取货通道140可形成供第一机器人行驶的第二行驶环线(图9中带箭头的虚线)，以便第一机器人200在空载时行驶。
在一个示例中，第一机器人通道包括存取货通道140、第一机器人的第一行驶通道141、第二行驶通道142、第三行驶通道143、第四行驶通道144和第五行驶通道145。
在一个示例中，第二机器人300的第二机器人通道310可形成供第二机器人300行驶的环线(图9中带箭头的点线)。
通过设置上述示例的第一行驶环线、第二行驶环线和第二机器人300行驶的环线，可以避免第一机器人200和第二机器人300相互占用行驶通道，提高两者之间的配合效率。如此，可以设置多个第一机器人200和多个第二机器人300来实现货物的出入库，提高出入库效率。
实施例2
图10A示出根据本申请实施例2的货架的结构示意图一。图10B示出图10A中暂存层板的结构示意图。如图10A和图10B所示，该货架500与上述货架100的不同之处在于，暂存层板520包括沿水平方向设置的横梁521和间隔设置于横梁521内侧的多个暂存构件522。
示例性的，横梁521的两端可以分别固定于一个立柱510，例如，暂存构件522与横梁521内侧之间以及横梁521的两端与立柱510之间均可通过螺栓和螺母进行螺接固定，暂存构件522包括两个支撑臂522A以及在两个支撑臂522A之间形成的叉槽522B。其中，暂存位523可由暂存构件522形成，例如，暂存构件522的两个支撑臂522A及其围成的区域可形成一个暂存位523，叉槽522B位于暂存位523的中部，可有利于与单叉臂配合，多个暂存构件522可提供多个暂存位523；当暂存构件522暂存货物时，暂存构件522的两个支撑臂522A共同承载货物，使得货物暂存于暂存位523上。
优选地，暂存构件522的支撑臂522A可由方钢制成，使得暂存构件522的强度足够承载货物且耗材较少，可节省制作成本。两个支撑臂522A之间形成的叉槽522B可与运载货物的叉臂配合，叉臂可直接叉入叉槽522B进行货物存取，可减少叉臂的叉取操作，提高货物的存取速度和存取效率。
储存层板530通过立柱510在竖直方向上与暂存层板520间隔设置，储存层板530用于提供多个储存位533，以便对货物进行长时间储存。其中，暂存层板520可位于货架500的任一层，例如，暂存层板520可位于货架500的底层，则储存层板530位于暂存层板520的上方，有利于在货架500的底层暂存货物；暂存层板520可位于货架500的顶层，则储存层板530位于暂存层板520的下方，有利于在货架500的顶层暂存货物；暂存层板520可位于货架500的中间层，则储存层板530位于暂存层板520的上方和下方，可提高货物在暂存层板520与储存层板530之间的搬运效率。
在一个示例中，如图10A和图10B所示，储存层板530包括沿水平方向设置的横梁531和间隔设置于横梁531上的多个支撑板532，其中，横梁531围设于多个支撑板532的外周，各支撑板532的两个短边分别与横梁531的内侧连接，各支撑板532与相邻暂存构件522的相邻支撑臂522A平行设置，相邻支撑板532相对侧的边缘及其围成的区域可形成储存位533。如此，储存位533的中部为镂空状，可减轻储存层板530的重量和降低制作成本。
在本实施例中，暂存层板520提供用于暂存货物的暂存构件522，暂存构件522的两个支撑臂522A之间形成可与叉臂配合的叉槽522B，使得叉臂可以直接叉入暂存构件522的叉槽522B，进而可直接在暂存层板520上存取货物，免去将叉臂伸至货架500上的叉取操作，提高存取货物的效率；此外，暂存层板520可对货物进行暂时存放，储存层板530提供的储存位可以对货物进行较长时间的储存，便于将暂存层板520和储存层板530进行配合来提高货物的出入库效率。
在一种实施方式中，立柱510可设置于暂存层板520和储存层板530的顶角位置，也可以设置于暂存层板520和储存层板530的边缘处，本申请实施例对于立柱510设置位置不作限制。暂存层板520和储存层板530可通过螺栓和螺母螺接固定于立柱510上。
在一种实施方式中，如图10B所示，横梁521的内侧与支撑臂522A的第一端固定连接；暂存构件522还包括多个翼板522C，各翼板522C分别连接于横梁521的内侧与各支撑臂522A的内侧之间。如此，可以加强支撑臂522A与横梁521之间强度。
具体地，如图10B和图10C所示，横梁521的截面呈L形，横梁521包括水平梁521A和竖直梁521B，将竖直梁521B的外侧设定为横梁521的外侧，将竖直梁521B的内侧设置为横梁521的内侧，水平梁521A设置于竖直梁521B的内侧，支撑臂522A的第一端可固定连接于水平梁521A上，支撑臂522A的第一端的端面可固定连接于竖直梁521B的内侧，翼板522C分别连接于竖直梁521B的内侧与支撑臂522A的内侧之间。
进一步地，竖直梁521B内侧的顶部形成有凸起521C，使得竖直梁521B与水平梁521A可共同形成横梁521的卡槽(附图中未标记出)，以便将支撑臂522A的第一端卡设于横梁521的卡槽内，可提高支撑臂522A与横梁521之间连接的牢固性。
在一种实施方式中，翼板522C呈直角三角形，翼板522C的第一直角边沿横梁521的内侧设置，翼板522C的第二直角边沿支撑臂522A的内侧设置。例如，翼板522C的第一直角边可沿竖直梁521B的内侧设置，翼板522C的第一直角边还可以卡设于横梁521的卡槽内。
在一个示例中，翼板522C的第一直角边的长度可小于第二直角边的长度，使得翼板522C的宽度较窄并且翼板522C的宽度沿支撑臂522A的第一端向支撑臂522A的中部渐减，可避免翼板522C阻碍叉臂的操作。
基于此，由于翼板522C呈直角三角形，可提高支撑臂522A与横梁521之间连接的稳定性。
在一种实施方式中，暂存层板520还可以包括多个固定板522D，各固定板522D分别连接于相邻暂存构件522之间，并连接于横梁521的内侧。这样不仅可以加强暂存构件522与横梁521之间的强度，还能提升暂存构件522的稳定性，进而增加暂存层板520的稳定性。
具体地，固定板522D呈矩形，固定板522D的长边设定为固定板522D的侧，固定板522D的短边设定为固定板522D的端，固定板522D的两侧可连接于相邻暂存构件522的相邻支撑臂522A的外侧之间，固定板522D的一端连接于竖直梁521B的内侧，固定板522D的另一端开设有减重槽524，减重槽524的槽宽沿槽底至槽口渐增，其中，减重槽524的槽底为减重槽524靠近横梁521的一侧，减重槽524的槽口为减重槽524远离横梁521的一侧。
在一种实施方式中，如图10B和图10C所示，暂存层板520还可以包括多个楔板522E，各楔板522E分别连接于相邻暂存构件522之间，楔板522E靠近支撑臂522A的第二端设置。例如，楔板522E连接于相邻暂存构件522的相邻支撑臂522A的外侧之间，这样可以增加相邻暂存构件522的相邻支撑臂522A之间的连接强度，有利于提升暂存构件522的承载能力。
在一种实施方式中，如图10A和至图10C所示，货架500还可以包括两个支撑板540，支撑板540连接于横梁521的端部、位于横梁521的端部的支撑臂522A和立柱510之间。如此，可以增加位于横梁521端部的支撑臂522A的强度，还能提升其稳固性。例如，支撑板540可呈直角梯形，支撑板540的直角腰与横梁521端部的内侧连接，支撑板540的短底边与位于横梁521端部的支撑臂522A的外侧连接，支撑板540的长底边与立柱510连接；其中，支撑臂522A的长度可小于支撑板540的长底边的长度。
在一种实施方式中，如图10A和图10B所示，暂存层板520的下方形成有放置第一机器人的存取货通道550；当存取货物时，第一机器人位于存取货通道550时，叉槽522B与第一机器人上的叉臂配合，以存取货物。具体地，当存货物时(可参考图12C)，第一机器人从暂存层板520的第一外侧将叉臂对准叉槽522B并行驶至存取货通道550，使得叉臂直接叉入叉槽522B，进而货物位于暂存层板520上，再将叉臂下降使得货箱留在暂存层板520上；当取货时，第一机器人行驶至存取货通道550下，从暂存层板520的下方将叉臂对准叉槽522B并将叉臂上升来顶起货箱，再沿远离暂存层板520的第一外侧的方向行驶来离开存取货通道550以取走货箱。如此，第一机器人可在不停止行驶或短暂停止行驶的情况下直接进行货物的叉取，省去控制机械臂伸出至层板上的操作，可以提高存取货物的效率，并且在暂存层板520下方存取获取，可以有效利用货架500的空间。
在一种实施方式中，存取货通道550可用于供第一机器人空载时行驶。例如，当第一机器人空载(即第一机器人不装载货物)时，第一机器人可直接在存取货通道550中行驶，可以提高货物的搬运效率。
图11示出根据本申请实施例2的货架的结构示意图二。如图11所示，该货架500与上述实施例的不同之处在于，立柱510设置于储存层板530的外周，暂存层板520与位于暂存层板520第一外侧的立柱510之间形成有供第一机器人行驶的第一行驶通道610。其中，第一机器人可以是具有叉臂的AGV(Automated Guided Vehicle，自动导引运输车，简称AGV)车，其叉臂可以设置于第一机器人的顶部，也可以设置于第一机器人的侧边，本申请实施例对第一机器人的叉臂的设置方式不作限制。
在一个示例中，当暂存层板520位于立柱510的底层时，暂存层板520可与位于暂存层板520第一外侧的立柱510以及地面形成第一机器人行驶的第一行驶通道610。
在一个示例中，当暂存层板520位于除立柱510的底层之外的其他层时，暂存层可与位于暂存层板520第一外侧的立柱510以及位于暂存层板520所在层的下一层的储存层板530形成第一机器人行驶的第一行驶通道610。
在本实施方式中，通过在暂存层板520与位于暂存层板520第一外侧的立柱510之间形成供第一机器人行驶的第一行驶通道610，使得第一机器人可在货架500的任一层中行驶，便于第一机器人与暂存层板520进行配合，避免占用货架500外的通道。
在一种实施方式中，暂存层板520的宽度小于储存层板530的宽度的一半。例如，该货架500可以是双排货架500，暂存层板520可位于双排货架500的其中一排，储存层板530从沿水平方向从双排货 架500的其中一排延伸至另一排，并设置暂存层板520的宽度小于储存层板530的一半。由于暂存层板520可仅用于短时间内的货物暂存，而储存层板530可用于长时间内的货物储存，通过将暂存层板520的宽度设置为小于储存层板530的宽度的一半，则可以在暂存层板520上暂存一排货物，在储存层板530上储存两排货物，以与货物的暂存和储存相适配；并且，因储存层板530的宽度大于暂存层板520宽度的两倍，使得储存层板530可以储存尺寸略大于暂存位523的货物。此外，通过将暂存层板520的宽度设置为小于储存层板530的宽度的一半还有利于在暂存层板520的第一外侧与立柱510之间形成供第一机器人行驶的第一行驶通道610，以使第一行驶通道610的宽度大于暂存层板520的宽度，为第一机器人提供足够宽的通道来搬运货物。
图12A示出本申请实施例2的货架的结构示意图三，如图12A和图12B所示，该货架500与上述实施例的不同之处在于，暂存层板520的暂存位523由相邻暂存构件522的相邻支撑臂522A及其围成的区域构成，该暂存层板520的叉槽522B位于暂存位523的两侧，可有利于与具有双叉臂的第一机器人配合。具体地，如图12A至图12C所示，当暂存货物时，第一机器人700从暂存层板520的第一外侧将两个叉臂701对准暂存位523两侧的叉槽522B，使得两个叉臂701直接叉入两个叉槽522B，以进行货物的存取。
在一种实施方式中，暂存层板520横梁521的中部还设置有支撑柱710，以对该横梁521进行支撑。
在一种实施方式中，如图12B所示，该暂存层板520的横梁521两端的上下两侧还可设置安装板720，以通过安装板720将横梁521安装于立柱510上，以增加横梁521与立柱510之间的安装强度。其中，安装板720可呈直角三角形，安装板720的第一直角边与横梁521的侧边连接，安装板720的第二直角边的边缘通过螺栓和螺母螺接固定于立柱510上。
如图13A和图13B所示，本申请还提供一种仓储装置800，可以包括：多个上述任一种实施方式的货架500；相邻货架500之间形成有供第二机器人行驶的第二机器人通道810，第二机器人用于在暂存层板520与储存层板530之间搬运货物。
其中，该仓储装置800中的货架500的数量包括两个或两个以上，本申请实施例对仓储装置800中货架500的数量不作限制。
该第二机器人可以是具有升降机构和存取机构的AGV车，也可以是堆垛机等，本申请实施例对第二机器人的类型不作限制，只要具备存取货物和搬运货物的功能即可。
多个货架500可以按列排列(如图13A所示)、按行排列(如图13B所示，第二机器人通道可位于货架500上暂存层板520的横梁侧)或呈矩阵排列，本申请实施例对多个货架500的排列方式不作限制。
在本实施例中，通过在相邻货架500之间形成第二机器人通道810，使得第二机器人可以在第二机器人通道810中行驶，以在暂存层板520与储存层板530之间搬运货物，将暂存于暂存层板520的货物搬运至储存层板530进行入库储存，或者将储存于储存层板530的货物搬运至暂存层板520进行出库暂存，可提高货物的存取效率和出入库效率；并且，由于第二机器人通道810不与第一机器人的行驶通道重合，可避免第一机器人和第二机器人共用行驶通道，可提高第一机器人与第二机器人之间的配合效率，进而提高出入库效率。
实施例3
本申请实施例还提供一种入库控制方法，可应用于上述实施例1中任一种实施方式的暂存层板120、货架100、仓储装置1000中或实施2中任一种实施方式的仓储装置800中。在实施例3中以仓储装置1000为例进行说明。
图14示出根据本申请实施例3的入库控制方法的流程示意图。如图14所示，该入库控制方法可以包括：
S1001、根据目标货物的目标储存位确定目标暂存位；
S1002、指示第一机器人将目标货物搬运至目标暂存位；
S1003、在接收到第一机器人发送的搬运完成信号的情况下，指示第二机器人将目标货物从目标暂存位搬运至目标储存位，其中，目标储存位与目标暂存位异层设置。
其中，请参考实施例1的图1，如图1所示，暂存位可设置在货架100的暂存层板120上，储存位 可设置在货架的储存层板130上，暂存位和储存位可在同一货架100中异层设置，也可以在相邻货架上异层设置，暂存位和储存位可根据实际需要进行调整和选择，本申请实施例对暂存位和储存位的设置方式不作限制。
目标货物的目标储存位可以根据目标货物的种类进行确定。示例性地，在目标货物的种类为最热销货物类型的情况下，可以从货架中为该目标货物分配搬运耗时最短的储存位作为目标储存位。例如，在暂存位设置于货架的底层时，则距离接驳平台最近且位于暂存位所在层的上一层的储存位为搬运耗时最短的储存位。如此，可以根据目标货物的热销程度来确定对应耗时的储存位作为目标储存位。
在一个示例中，由于目标暂存位可以对目标货物进行暂存，则在接收到第一机器人发送的搬运完成信号的情况下，可立即指示第二机器人将目标货物从目标暂存位搬运至目标储存位，也可待第二机器人执行完其他操作之后，再指示第二机器人执行将目标货物从目标暂存位搬运至目标储存位。如此，第一机器人和第二机器人可利用暂存位独立地进行目标货物的搬运，第一机器人和第二机器人无需直接进行目标货物的转移配合，能够高效地行驶，提高货物的入库效率。
在一个示例中，该入库控制方法可以对多个目标货物的目标储存位分别确定目标暂存位，并指示多个第一机器人分别将多个目标货物搬运至对应的目标暂存位，在接收到多个第一机器人发送到搬运完成信号的情况下，指示第二机器人分别将多个目标货物从对应的目标暂存位搬运至对应的目标储存位。
根据本申请实施例的入库控制方法，通过目标货物的目标储存位来确定目标暂存位，并分别指示第一机器人将目标货物搬运至目标暂存位进行暂存、第二机器人将目标货物从目标暂存位搬运至目标储存位，以便将目标货物的地面搬运以及目标货物在暂存位与储存位之间的搬运进行分离，使得第一机器人可独立完成目标货物的地面搬运，第二机器人可独立完成目标货物在暂存位和储存位之间的搬运，无需第一机器人和第二机器人对目标货物进行直接对接，避免出现第一机器人和第二机器人相互等待的现象，有利于提高货物的入库效率。
在一种实施方式中，第一机器人的行驶速度可以大于第二机器人的行驶速度。
在入库控制中，由于第一机器人通常是从接驳平台将目标货物搬运至货架的目标暂存位，第二机器人通常是在货架的一侧将目标货物从目标暂存位搬运至目标储存位，接驳平台与货架之间的距离远远大于货架的长度，因而通过使第一机器人的行驶速度大于第二机器人的行驶速度，可让第一机器人搬运至目标暂存位的目标货物数量能够与第二机器人从目标暂存位搬走的目标货物数量适配，使得第一机器人的搬运效率与第二机器人的搬运效率适配，提高目标货物的入库效率。
在一个示例中，该入库控制方法还可以设置多个第一机器人与第二机器人进行配合，以使多个第一机器人的搬运效率与第二机器人的搬运效率匹配；或者，设置多个第一机器人与多个第二机器人进行配合，以使多个第一机器人的搬运效率和多个第二机器人的搬运效率匹配，以提高目标货物的入库效率。第一机器人和第二机器人设置数量可以根据实际的需要进行调整和选择，本申请实施例对此不作限制。
示例性地，如图15所示，步骤S1001、根据目标货物的目标储存位确定目标暂存位可以包括：
S1101、确定距离目标储存位最近的第一空闲暂存位；
S1102、指示第一机器人向第一空闲暂存位行驶；
S1103、在第一机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；
S1104、在第一机器人行驶至第一空闲暂存位的时间大于第一预设时间阈值的情况下，根据更新后的各暂存位的占用状态，确定是否存在距离目标储存位最近的第二空闲暂存位；
S1105、在存在第二空闲暂存位的情况下，将第二空闲暂存位确定为目标暂存位。
示例性地，如图1所示，当目标储存板131所提供的目标存储位下方由暂存板122提供的暂存位为占用状态时，则可确定目标储存板131相邻列的暂存板123所提供的暂存位或暂存板124所提供的暂存位为第一空闲暂存位，并指示第一机器人向第一空闲暂存位行驶；若在第一机器人行驶的过程中，暂存板122所提供的暂存位更新为空闲状态，且第一机器人行驶至第一空闲暂存位的时间大于行驶至第一预设时间阈值，则确定暂存板122所提供的暂存位为第二空闲暂存位，并将其设定为目标暂存位。如此，在第一机器人行驶的过程中，可动态调整目标暂存位，使得目标暂存位与目标储存位之间的搬运距离小于第一空闲暂存位与目标暂存位之间的搬运距离，可以减少目标货物的搬运距离，提高货物的入库效率。
需要说明的是，相邻货架之间的通道两侧的储存位可以共用一组暂存位，也就是说，目标储存位和目标暂存位可以分别位于相邻的两个货架上，例如，如图16所示，当目标储存位位于第一货架410的第五个暂存位415的上方或下方时，第一空闲暂存位可以是第一货架410的第五个暂存位415，也可以是第二货架420的第五个暂存位425。如此，位于第二机器人行驶通道440两侧的储存位可以共用第一货架410上的暂存位。
其中，目标储存位下方的暂存位更新为空闲状态可由第二机器人将暂存于该暂存位上的货物搬离而触发产生。
在一种实施方式中，在不存在第二空闲暂存位的情况下，将第一空闲暂存位确定为目标暂存位。如此，可以根据目标储存位直接确定出目标暂存位。
在一种实施方式中，指示第一机器人将目标货物搬运至目标暂存位，包括：
根据第一机器人与目标暂存位之间的位置信息，从预设的第一机器人通道中确定第一搬运线路，第一机器人通道包括位于目标暂存位所在的暂存层板第一外侧的第一行驶通道，且第一行驶通道位于目标储存位所在的储存层板的竖直投影区内；
指示第一机器人沿第一搬运线路行驶至目标暂存位的下方。
在一个示例中，如图16所示，示出根据本申请实施例的出入库控制方法的场景示意图，其中，带箭头的线段表示位于目标暂存位所在的暂存层板第一外侧的第一行驶通道430(可参考图4中第一行驶通道141)，当目标暂存位为第一货架410中的第五个暂存位415时，则从第一行驶通道430中确定出第一搬运线路431，并指示第一机器人200沿第一搬运线路431行驶至该第五个暂存位415的下方。如此，可以使第一机器人200在预设的第一行驶通道430中行驶，避免第一机器人200占用第二机器人300的行驶通道，提高第一机器人200和第二机器人300之间的行驶效率，进而提升入库效率。
在一种实施方式中，指示第二机器人将目标货物从目标暂存位搬运至目标储存位，包括：
根据第二机器人与目标暂存位之间的位置信息，从预设的第二机器人通道中确定第二搬运线路，第二机器人通道位于竖直投影区外侧；
指示第二机器人沿第二搬运线路行驶至目标暂存位的侧面。
在一个示例中，如图16所示，第二机器人通道440(带箭头的点线)可位于货架的竖直投影区外侧，当第二机器人300位于第一货架410中第二个暂存位412的侧面时，则根据第二机器人300与目标暂存位(即第五个暂存位415)之间的位置信息，确定出第二个暂存位412的侧面与第五个暂存位415的侧面之间的第二搬运线路441，并指示第二机器人300沿该第二搬运线路441行驶至第五个暂存位415的侧面，以从第五个暂存位415取出目标货物。
在一种实施方式中，暂存层板的第三外侧或第四外侧形成有第二行驶通道。暂存层板包括多个用于提供暂存位的暂存板，至少两个暂存板之间形成有第三行驶通道，第一机器人通道包括第二行驶通道和第三行驶通道。
示例性地，如图16所示，第一货架410的第五个暂存位415与第六个暂存位416之间，以及第八个暂存位418与第九个暂存位419之间具有第三行驶通道(图中未标出)，进而第一机器人200可从第三行驶通道中确定行驶线路，为第一机器人200规划较短的行驶线路，提高第一机器人200的行驶效率。
在一种实施方式中，第一机器人通道包括位于暂存层板下方的存取货通道；方法还包括：在第一机器人空载的情况下，从第一机器人通道中确定空载行驶线路；指示第一机器人沿空载行驶线路行驶。
在一个示例中，如图23所示，第一机器人通道包括位于暂存层板下方的存取货通道450(可参考图1中货架100的存取货通道140)，即图1中带箭头的虚线。在第一机器人空载(即第一机器人不带载货物)的情况下，第一机器人可在第一行驶通道430、第二行驶通道和存取货通道450中行驶。
本申请实施例还提供一种出库控制方法，可应用于上述实施例1中任一种实施方式的仓储装置1000中或实施2中任一种实施方式的仓储装置800中。在实施例3中以仓储装置1000为例进行说明。
图17示出根据本申请实施例3的出库控制方法的流程示意图。如图17所示，该出库控制方法可以包括：
S1301、指示第二机器人将目标货物搬离当前储存位；
S1302、根据第二机器人的位置确定目标暂存位，其中，当前储存位与目标暂存位异层设置；
S1303、指示第二机器人将目标货物搬运至目标暂存位；
S1304、在接收到第二机器人发送的搬运完成信号的情况下，指示第一机器人将目标货物搬离目标暂存位。
其中，出库控制方法中暂存位和储存位的设置方式可与入库控制方法中的设置方式相同，在此对暂存位和储存位的设置方式不再赘述。
目标货物的当前储存位可以根据出库清单中目标货物的标识信息来确定，例如，可以预先储存目标货物的当前储存位与目标货物标识信息之间的关系映射表，当从出库清单中获取到目标货物的标识信息时，可以从关系映射表中查询到目标货物的当前储存位。目标货物的当前储存位还可以通过其他方式来确定，本申请实施例对目标货物的当前储存位的确定方式不作限制。
在一个示例中，由于目标暂存位可以对目标货物进行暂存，则在接收到第二机器人发送的搬运完成信号的情况下，可立即指示第一机器人将目标货物从目标暂存位搬离，也可待第一机器人执行完其他操作之后，再指示第一机器人执行将目标货物从目标暂存位搬运离。如此，第一机器人和第二机器人可利用暂存位独立地进行目标货物的搬运，第一机器人和第二机器人无需直接进行目标货物的转移配合，能够高效地行驶，提高货物的出库效率。
在一个示例中，该出库控制方法可以指示第二机器人将多个目标货物分别搬离多个目标货物的当前储存位，并根据第二机器人的位置分别确定对应的目标暂存位，并指示第二机器人将目标货物搬运至对应的目标暂存位，如此，可以将多个目标货物搬运至对应的目标暂存位。
根据本申请实施例的出库控制方法，通过第二机器人的位置确定目标暂存位，并分别指示第二机器人将目标货物搬运至目标暂存位、第一机器人将目标货物搬离目标暂存位，以便将目标货物在暂存位与储存位之间的搬运以及目标货物的地面搬运进行分离，使得第二机器人可独立完成目标货物在储存位于暂存位之间的搬运，第一机器人可独立完成将目标货物搬离目标暂存位，无需第一机器人和第二机器人对目标货物进行直接对接，避免出现第一机器人和第二机器人相互等待的现象，有利于提高货物的出库效率。
需要说明的是，出入库控制方法中通常采用集成有升降机构和存取机构的机器人来搬运和存取货物；但是，由于这种机器人的成本较高，并且货物的接驳平台与货架中各暂存位和存储位之间的距离较远，这就使得单位时间内货物的出入库成本较高且效率低。
本申请实施例的出入库控制方法通过将目标货物的地面搬运以及目标货物在暂存位与储存位之间的搬运分离，使得第一机器人可集中完成目标货物的地面搬运，第二机器人可集中完成目标货物在暂存位和储存位之间的搬运，其中，第一机器人可不具有升降机构，其成本远远低于第二机器人，如此可以利用一台第二机器人与多台第一机器人间接配合进行目标货物的出入库控制，可降低单位时间内目标货物的出入库成本且可提高货物的出入库效率和出入库产能。
在一种实施方式中，第一机器人的行驶速度大于第二机器人的行驶速度。
由于在出库控制中，第一机器人通常是将目标货物从货架的目标暂存位搬运至接驳平台，第二机器人通常是在货架的一侧将目标货物从当前储存位搬运至目标暂存位，并且接驳平台与货架之间的距离远远大于货架的长度，因而通过使第一机器人的行驶速度大于第二机器人的行驶速度，可以让第二机器人搬运至目标暂存位的目标货物数量与第一机器人搬离目标暂存位的目标货物数量适配，使得第二机器人的搬运效率与第一机器的搬运效率适配，提高目标货物的出库效率。
在一个示例中，该入库控制方法还可以设置多个第一机器人与第二机器人进行配合，以将目标货物的出库暂存流量与出库储存流量进行匹配。
在一种实施方式中，如图18所示，步骤S1302根据第二机器人的位置确定目标暂存位，可以包括：
S1401、确定距离第二机器人最近的第一空闲暂存位；
S1402、指示第二机器人向第一空闲暂存位行驶；
S1403、在第二机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；
S1404、在第二机器人行驶至第一空闲暂存位的时间大于第二预设时间阈值的情况下，根据更新后 的各暂存位的占用状态，确定是否存在距离第二机器人最近的第二空闲暂存位；
S1405、在存在第二空闲暂存位的情况下，将第二空闲暂存位确定为目标暂存位。
在一个示例中，如图16所示，当第二机器人300位于第一货架410的第二个暂存位412的一侧时，则可确定第一货架410的第五个暂存位415为第二机器人300的第一空闲暂存位；若在第二机器300人向第一空闲暂存位行驶的过程中，第一货架410的第四个暂存位414的占用状态更新为空闲，则在第二机器人300行驶至第五个暂存位415的时间大于第二预设时间阈值的情况下，确定第四个暂存位414为距离第二机器人300最近的第二空闲暂存位，并将其确定为目标暂存位。如此，可以在第二机器人300搬运目标货物的过程中，可动态调整目标暂存位，减少第二机器人300的搬运距离，提高货物的出库效率。
其中，目标储存位下方的暂存位更新为空闲状态可由第一机器人将暂存于该暂存位上的货物搬离而触发产生。
在一种实施方式中，在不存在第二空闲暂存位的情况下，将第一空闲暂存位确定为目标暂存位，以直接确定出目标暂存位。
在一种实施方式中，指示第一机器人将目标货物搬离目标暂存位，包括：
根据第一机器人与目标暂存位之间的位置信息，从预设的第一机器人通道中确定搬离线路，第一机器人通道包括位于目标暂存位所在的暂存层板一侧的第一行驶通道，且第一行驶通道位于目标储存位所在的储存层板的竖直投影区内；
指示第一机器人沿搬离线路行驶至目标暂存位的下方。
在一个示例中，如图16所示，当第一机器人200位于第二货架420第二货架420的第一行驶通道中靠近第八个暂存位428的位置，且目标暂存位为第二货架420的第五个暂存位425时，则根据第一机器人200与目标暂存位(即第二货架的第五个暂存位425)之间的位置信息，确定出第一机器人200与第二货架420第二货架420的第五个暂存位425之间的搬离线路432，并指示第一机器人200沿该搬离线路432行驶至目标暂存位(即第二货架的第五个暂存位425)下方以将目标货物从目标暂存位上搬离。
图19示出根据本申请实施例3的仓储系统的结构框图。如图19和图20所示，该仓储系统包括：仓储装置1000；控制设备1710，包括处理器1712和存储器1711，存储器1711中存储指令，指令由处理器1712加载并执行，以实现上述任一实施方式的方法；第一机器人200，行驶于第一机器人通道，并具有与叉槽配合的叉臂；第二机器人300，行驶于第二机器人通道。
在一种实施方式中，第一机器人200的行驶速度大于第二机器人300的行驶速度。
图20示出根据本发明实施例3的控制设备的结构框图。如图20所示，该控制设备1710包括：存储器1711和处理器1712，存储器1711内存储有可在处理器1712上运行的计算机程序。处理器1712执行该计算机程序时实现上述实施例中的入库控制方法和出库控制方法。存储器1711和处理器1712的数量可以为一个或多个。
该控制设备还包括：通信接口1713，用于与外界设备进行通信，进行数据交互传输。
如果存储器1711、处理器1712和通信接口1713独立实现，则存储器1711、处理器1712和通信接口1713可通过总线相互连接并完成相互间的通信。该总线可以是工业标准体系结构(Industry Standard Architecture，ISA)总线、外部设备互连(Peripheral Component Interconnect，PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，EISA)总线等。该总线可分为地址总线、数据总线、控制总线等。为便于表示，图20中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器1711、处理器1712及通信接口1713集成在一块芯片上，则存储器1711、处理器1712及通信接口1713可以通过内部接口完成相互间的通信。
上述处理器可以是中央处理器(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Dignal Processing，DSP)、专用集成电路(Application Specific Sntegrated Circuit，ASIC)、现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者是任何常规的处理器等。值得说明的是， 处理器可以是支持进阶精简指令集机器(advanced RISC machines，ARM)架构的处理器。
可选的，上述存储器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；存储数据区可存储根据控制设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非瞬时存储器，例如至少一个磁盘存储器件、闪存器件、或其他非瞬时固态存储器件。在一些实施例中，存储器可选包括相对于处理器远程设置的存储器，这些远程存储器可以通过网络连接至控制设备。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。
实施例4
相应地，本申请实施例还提供一种入库控制装置，可应用于上述实施例1中任一种实施方式的暂存层板120、货架100、仓储装置1000中或实施2中任一种实施方式的仓储装置800中。
图21示出根据本申请实施例4的入库控制装置的结构框图。如图21所示，该入库控制装置1800可以包括：第一确定模块1810，可用于根据目标货物的目标储存位确定目标暂存位；第一指示模块1820，可用于指示第一机器人将目标货物搬运至目标暂存位；第二指示模块1830，可用于在接收到第一机器人发送的搬运完成信号的情况下，指示第二机器人将目标货物从目标暂存位搬运至目标储存位，其中，目标储存位与目标暂存位异层设置。
在一种实施方式中，第一机器人的行驶速度大于第二机器人的行驶速度。
在一种实施方式中，第一确定模块1810可以包括：第一确定单元，可用于确定距离目标储存位最近的第一空闲暂存位；第一指示单元，可用于指示第一机器人向第一空闲暂存位行驶；第一更新单元，可用于在第一机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；第二确定单元，可用于在第一机器人行驶至第一空闲暂存位的时间大于第一预设时间阈值的情况下，根据更新后的各暂存位的占用状态，确定是否存在距离目标储存位最近的第二空闲暂存位；第三确定单元，可用于在存在第二空闲暂存位的情况下，将第二空闲暂存位确定为目标暂存位；在不存在第二空闲暂存位的情况下，将第一空闲暂存位确定为目标暂存位。
在一种实施方式中，第一指示模块1820可以包括：第四确定单元，可用于根据第一机器人与目标暂存位之间的位置信息，从预设的第一机器人通道中确定第一搬运线路，第一机器人通道包括位于目标暂存位所在的暂存层板一侧的第一行驶通道，且第一行驶通道位于目标储存位所在的储存层板的竖直投影区内；第二指示单元，可用于指示第一机器人沿第一搬运线路行驶至目标暂存位的下方。
在一种实施方式中，第一机器人通道包括位于暂存层板下方的存取货通道；该装置还包括：第二确定模块，用于在第一机器人空载的情况下，从第一机器人通道中确定空载行驶线路；第三指示模块，用于指示第一机器人沿空载行驶线路行驶。
在一种实施方式中，第二指示模块1830可以包括：第五确定单元，可用于根据第二机器人与目标暂存位之间的位置信息，从预设的第二机器人通道中确定第二搬运线路，第二机器人通道位于竖直投影区外侧；第三指示单元，可用于指示第二机器人沿第二搬运线路行驶至目标暂存位的侧面。
在一种实施方式中，暂存层板的第三外侧或第四外侧形成有第二行驶通道。暂存层板形成有多个用于提供暂存位的暂存板，至少两个暂存板之间形成有第三行驶通道，第一机器人通道包括第二行驶通道和第三行驶通道。
相应地，本申请实施例还提供一种出库控制装置，可应用于上述实施例1中任一种实施方式的仓储装置1000中或实施2中任一种实施方式的仓储装置800中。
图22示出根据本申请实施例4的出库控制装置的结构框图。该出入库控制装置可应用于上述实施例1中任一种实施方式的暂存层板120、货架100、仓储装置1000中或实施2中任一种实施方式的仓储装置800中。
如图22所示，该出库控制装置1900，可以包括：第一指示模块1910，可用于指示第二机器人将目标货物搬离当前储存位；第一确定模块1920，可用于根据第二机器人的位置确定目标暂存位，其中，当前储存位与目标暂存位异层设置；第二指示模块1930，可用于指示第二机器人将目标货物搬运至目标暂存位；第三指示模块1940，可用于在接收到第二机器人发送的搬运完成信号的情况下，指示第一 机器人将目标货物搬离目标暂存位。
在一种实施方式中，第一机器人的行驶速度大于第二机器人的行驶速度。
在一种实施方式中，第一确定模块1920可以包括：第一确定单元，可用于确定距离第二机器人最近的第一空闲暂存位；第一指示单元，可用于指示第二机器人向第一空闲暂存位行驶；更新单元，可用于在第二机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；第二确定单元，可用于在第二机器人行驶至第一空闲暂存位的时间大于第二预设时间阈值的情况下，根据更新后的各暂存位的占用状态，确定是否存在距离第二机器人最近的第二空闲暂存位；第三确定单元，可用于在存在第二空闲暂存位的情况下，将第二空闲暂存位确定为目标暂存位；在不存在第二空闲暂存位的情况下，将第一空闲暂存位确定为目标暂存位。
在一种实施方式中，第三指示模块1940可以包括：第四确定单元，可用于根据第一机器人与目标暂存位之间的位置信息，从预设的第一机器人通道中确定第一搬运线路，第一机器人通道包括位于目标暂存位所在的暂存层板一侧的第一行驶通道，且第一行驶通道位于目标储存位所在的储存层板的竖直投影区内；第二指示单元，可用于指示第一机器人沿第一搬运线路行驶至目标暂存位的下方。
本发明实施例各装置中的各模块的功能可以参见上述方法中的对应描述，在此不再赘述。
需要说明的是，尽管以出人库控制方法作为示例介绍了出入库控制方法和装置如上，但本领域技术人员能够理解，本申请应不限于此。事实上，用户完全可根据个人喜好和/或实际应用场景灵活设定出入库控制方法和装置，只要能够提高输出入库效率即可。
本发明实施例提供了一种计算机可读存储介质，其存储有计算机程序，该程序被处理器执行时实现本申请实施例中提供的方法。上述实施例的其他构成可以采用于本领域普通技术人员现在和未来知悉的各种技术方案，这里不再详细描述。
在本说明书的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接，还可以是通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到其各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (20)

  1. 一种暂存层板，其特征在于，用于提供暂存位，所述暂存层板上设置有叉槽，所述叉槽用于与第一机器人的叉臂配合；所述暂存层板的下方形成有所述第一机器人的存取货通道，当存取货物时，所述第一机器人位于所述存取货通道，且所述叉槽与所述第一机器人上的叉臂配合，以存取货物。
  2. 根据权利要求1所述的暂存层板，其特征在于，所述暂存层板的第一外侧和/或第二外侧形成有供所述第一机器人行驶的第一行驶通道，所述第一外侧和所述第二外侧相对设置。
  3. 根据权利要求2所述的暂存层板，其特征在于，所述暂存层板的第三外侧和/或第四外侧形成有供所述第一机器人行驶的第二行驶通道，所述第二行驶通道与所述第一行驶通道相接，所述第三外侧与所述第四外侧相对设置。
  4. 根据权利要求1所述的暂存层板，其特征在于，所述暂存层板包括多个暂存板，各所述暂存板均设置有所述叉槽，并且至少两个所述暂存板之间形成有供所述第一机器人行驶的第三行驶通道。
  5. 根据权利要求1所述的暂存层板，其特征在于，所述暂存层板包括沿水平方向设置的横梁和间隔设置于所述横梁内侧的多个暂存构件，所述暂存构件包括两个支撑臂，在两个所述支撑臂之间形成所述叉槽。
  6. 根据权利要求5所述的暂存层板，其特征在于，所述暂存位由所述暂存构件形成或由相邻暂存构件的相邻支撑臂形成。
  7. 根据权利要求5所述的暂存层板，其特征在于，所述横梁的内侧与所述支撑臂的第一端固定连接；所述暂存构件还包括多个翼板，各所述翼板分别连接于所述横梁的内侧与各所述支撑臂的内侧之间。
  8. 根据权利要求5所述的暂存层板，其特征在于，所述暂存层板还包括：
    多个固定板，分别连接于相邻暂存构件之间，并连接于所述横梁的内侧。
  9. 一种货架，其特征在于，包括：
    在水平方向上间隔设置的多个立柱；
    至少一个如权利要求1至8中任一项所述的暂存层板；
    至少一个储存层板，通过所述立柱在竖直方向上与所述暂存层板间隔设置，所述储存层板用于提供多个储存位。
  10. 一种入库控制方法，其特征在于，包括：
    根据目标货物的目标储存位确定目标暂存位；
    指示第一机器人将所述目标货物搬运至所述目标暂存位；
    在接收到所述第一机器人发送的搬运完成信号的情况下，指示第二机器人将所述目标货物从所述目标暂存位搬运至所述目标储存位。
  11. 根据权利要求10所述的方法，其特征在于，指示第一机器人将所述目标货物搬运至所述目标暂存位，包括：
    根据所述第一机器人与所述目标暂存位之间的位置信息，从所述第一机器人通道中确定第一搬运线路；
    指示所述第一机器人沿所述第一搬运线路行驶至所述目标暂存位的下方。
  12. 根据权利要求11所述的方法，其特征在于，所述第一机器人通道包括位于所述目标暂存位所在的暂存层板的第一外侧的第一行驶通道，且所述第一行驶通道位于所述目标储存位所在的储存层板的竖直投影区内。
  13. 根据权利要求12所述的方法，其特征在于，所述第一机器人通道包括位于所述暂存层板下方的存取货通道；所述方法还包括：
    在所述第一机器人空载的情况下，从所述第一机器人通道中确定空载行驶线路；
    指示所述第一机器人沿所述空载行驶线路行驶。
  14. 根据权利要求10所述的方法，其特征在于，所述目标储存位与所述目标暂存位异层设置。
  15. 根据权利要求11所述的方法，其特征在于，所述暂存层板的第三外侧和/或第四外侧形成有第二行驶通道；所述暂存层板形成有多个用于提供暂存位的暂存板，至少两个所述暂存板之间形成有第三行 驶通道，所述第一机器人通道包括所述第二行驶通道和所述第三行驶通道。
  16. 一种出库控制方法，其特征在于，包括：
    指示第二机器人将目标货物搬离当前储存位；
    根据所述第二机器人的位置确定目标暂存位；
    指示所述第二机器人将所述目标货物搬运至所述目标暂存位；
    在接收到所述第二机器人发送的搬运完成信号的情况下，指示第一机器人将所述目标货物搬离所述目标暂存位。
  17. 根据权利要求16所述的方法，其特征在于，指示第一机器人将所述目标货物搬离所述目标暂存位，包括：
    根据所述第一机器人与所述目标暂存位之间的位置信息，从所述第一机器人通道中确定搬离线路；
    指示所述第一机器人沿所述搬离线路行驶至所述目标暂存位的下方。
  18. 根据权利要求17所述的方法，其特征在于，所述第一机器人通道包括位于所述目标暂存位所在的暂存层板的第一外侧的第一行驶通道，且所述第一行驶通道位于目标储存位所在的储存层板的竖直投影区内。
  19. 一种控制设备，其特征在于，包括：包括处理器和存储器，所述存储器中存储指令，所述指令由所述处理器加载并执行，以实现如权利要求10至18中任一项所述的方法。
  20. 一种仓储系统，其特征在于，包括：
    如权利要求1至8中任一项所述的暂存层板；以及，
    如权利要求19所述的控制设备。
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