WO2021238728A1 - 一种库存管理方法及系统 - Google Patents

一种库存管理方法及系统 Download PDF

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Publication number
WO2021238728A1
WO2021238728A1 PCT/CN2021/094416 CN2021094416W WO2021238728A1 WO 2021238728 A1 WO2021238728 A1 WO 2021238728A1 CN 2021094416 W CN2021094416 W CN 2021094416W WO 2021238728 A1 WO2021238728 A1 WO 2021238728A1
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Prior art keywords
autonomous mobile
mobile robot
inventory
robot
container
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Application number
PCT/CN2021/094416
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English (en)
French (fr)
Inventor
刘凯
Original Assignee
北京极智嘉科技股份有限公司
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Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Priority to JP2022563233A priority Critical patent/JP2023522087A/ja
Priority to US17/998,265 priority patent/US20230202755A1/en
Priority to EP21811869.3A priority patent/EP4160347A4/en
Publication of WO2021238728A1 publication Critical patent/WO2021238728A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

Definitions

  • This application relates to the technical field of warehousing and logistics, in particular to an inventory management method and system.
  • many e-commerce warehouses use multiple autonomous mobile robots to automatically move inventory containers with stored items to workstations, so as to facilitate the workers at the workstations to carry out storage and sorting work.
  • the embodiments of the present application provide an inventory management method and system to solve the technical shortcomings in the prior art and improve the efficiency of warehouse management to a greater extent.
  • an inventory management system including:
  • the control system is configured to schedule the first autonomous mobile robot and the second autonomous mobile robot to drive to the same target workstation to perform tasks according to task information;
  • the first autonomous mobile robot is configured to take one or more inventory containers from the inventory area according to instructions and transport them to the first working point in the target workstation;
  • the second autonomous mobile robot is configured to take one or more inventory containers from the inventory area according to instructions and transport them to a second working point in the target workstation.
  • control system is also configured as:
  • control system is also configured as:
  • control system is also configured as:
  • the autonomous mobile robot Determine the target height based at least in part on the workstation where the autonomous mobile robot is located, and dispatch the autonomous mobile robot to take out a stock container on itself and adjust it to the target height to be operated, and the autonomous mobile robot is the Any robot in the inventory system.
  • control system is also configured as:
  • the autonomous mobile robot When it is determined that the inventory container carried by the autonomous mobile robot is empty, a prompt message for taking out the empty box is issued, and the autonomous mobile robot is any robot in the inventory system.
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to accept packaged items at a workstation, and the packaged items are transported to a designated inventory area and placed in a designated storage place.
  • the autonomous mobile robot is any robot in the inventory system .
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to accept the inventory container containing the dismantled items at the workstation, move the inventory container to the designated inventory area and put it into the designated storage place, the autonomous mobile robot is any robot in the inventory system .
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to take inventory containers from the inventory area and transport them to the workstation for replenishment of the dismantled items. After the replenishment is completed, the inventory containers are transported to the designated inventory area and placed in the designated storage location.
  • the autonomous mobile robot It is any robot in the inventory system.
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to drive to the first end of the cache track line, and receive the packaged items from the first end of the cache track line, and the packaged items are loaded onto the cache roller conveyor at the second end of the cache track line Online and transported to the first end of the buffer roller line.
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to drive to the first end of the buffer roller line, and receive the inventory container containing the dismantled items from the first end of the buffer rail line, wherein the inventory container for the dismantled items is located at the first end of the buffer rail line.
  • the two ends are loaded on the buffer roller line and transferred to the first end of the buffer roller line.
  • an inventory management method including:
  • Control the second autonomous mobile robot to fetch one or more inventory containers from the inventory area according to instructions and transport them to a second working point in the target workstation.
  • it also includes:
  • it also includes:
  • it also includes:
  • the autonomous mobile robot Determine the target height based at least in part on the workstation where the autonomous mobile robot is located, and dispatch the autonomous mobile robot to take out a stock container on itself and adjust it to the target height to be operated, and the autonomous mobile robot is the Any robot in the inventory system.
  • it also includes:
  • the autonomous mobile robot When it is determined that the inventory container carried by the autonomous mobile robot is empty, a prompt message for taking out the empty box is issued, and the autonomous mobile robot is any one of the robots in the inventory method.
  • it also includes:
  • the autonomous mobile robot is dispatched to accept packaged items at a workstation, and the packaged items are transported to a designated inventory area and placed in a designated storage place, and the autonomous mobile robot is any one of the robots in the inventory method.
  • it also includes:
  • the autonomous mobile robot is dispatched to accept the inventory container for dismantling items at the workstation, and move the inventory container to the designated inventory area and put it into the designated storage place, and the autonomous mobile robot is any one of the robots in the inventory method. .
  • it also includes:
  • the autonomous mobile robot is dispatched to take inventory containers from the inventory area and transport them to the workstation for replenishment of the dismantled items. After the replenishment is completed, the inventory containers are transported to the designated inventory area and placed in the designated storage location.
  • the autonomous mobile robot It is any robot in the inventory method.
  • it also includes:
  • the autonomous mobile robot is dispatched to drive to the first end of the cache track line, and receive the packaged items from the first end of the cache track line, and the packaged items are loaded onto the cache roller conveyor at the second end of the cache track line Online and transported to the first end of the buffer roller line.
  • it also includes:
  • the autonomous mobile robot is dispatched to drive to the first end of the buffer roller line, and receive the inventory container containing the dismantled items from the first end of the buffer rail line, wherein the inventory container for the dismantled items is located at the first end of the buffer rail line.
  • the two ends are loaded on the buffer roller line and transferred to the first end of the buffer roller line.
  • the first autonomous mobile robot and the second autonomous mobile robot are dispatched to the same target workstation to perform tasks; the first autonomous mobile robot is controlled to take one or more inventory containers from the inventory area and transport them to the first in the target workstation. Work point; control the second autonomous mobile robot to take one or more inventory containers from the inventory area according to instructions and transport them to the second work point in the target workstation. Since the first working point and the second working point are two adjacent working points of the same station, workers can continue to carry them from the second autonomous mobile robot after picking goods from the inventory container carried by the first autonomous mobile robot Continuing to pick the goods in the inventory container can avoid the waste of time caused by the robot in the switching process caused by the traditional way that a station has only one working point for picking. Improve the efficiency of inventory management.
  • Figure 1 is a schematic structural diagram of an inventory management system provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of the layout and transportation of a storage area provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of the overall structure of a robot provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the overall structure of a robot provided by another embodiment of the present application.
  • FIG. 5 is a flowchart of an inventory management method provided by an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of an inventory management system provided by an embodiment of the present application.
  • first, second, etc. may be used to describe various information in one or more embodiments of this specification, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • word “if” as used herein can be interpreted as "when” or “when” or “in response to a certainty”.
  • autonomous mobile robots specifically refer to robots that can be used in warehousing and logistics scenarios, which can carry out cargo handling or cargo sorting, and autonomous mobile robots (AMR) can build maps or Pre-load facility drawing navigation.
  • Autonomous mobile robots can use data from cameras, built-in lidar and other sensors, laser scanners, and complex software to detect the surrounding environment and choose the most effective path to reach the target. It can work completely autonomously, and if there are forklifts, pallets, people or other obstacles in front of it, it can use the best alternative route to achieve a safe detour. As a result, it is possible to ensure that the material delivery wave keeps on schedule, thereby optimizing productivity.
  • High shelf According to the customary definition of the storage equipment industry, shelves with a height of more than 5 meters are called high shelves, including beam pallet shelves, through-type shelves, push-back shelves, double-depth shelves, narrow aisle shelves or automated three-dimensional warehouses Wait, it is the most common type of shelf in the warehouse.
  • the shelf itself has good picking efficiency and can realize quick access to goods.
  • Picking is the process by which the picking personnel of the warehouse distribution center take out the goods from the stored shelves or stacks according to the name, specification, model, and quantity of the goods required by the order, and move them to the tally area.
  • Fig. 1 is a schematic diagram showing the structure of an inventory management system according to an embodiment of the present application. As shown in FIG. 1, the system includes a control system 101, a first autonomous mobile robot 102 and a second autonomous mobile robot 105, a workstation 103 and an inventory area 104.
  • the autonomous mobile robot performs storage and picking of the designated cargo box to the designated location according to the scheduling of the control system 101.
  • the box taking mechanism of the first autonomous mobile robot 102 and the second autonomous mobile robot 105 can store and take out one or more inventory containers in the inventory area. Multiple goods can be placed in the storage container, including but not limited to bins.
  • the target inventory container can be transported to the workstation 103.
  • the workstation 103 is provided with dual working points, namely the first working point 1031 and the second working point 1032, so that the workers can pick, count, tally or tally the items in the inventory container through the double working points.
  • the first autonomous mobile robot transports the inventory container to the work point 1031
  • the second autonomous mobile robot transports the inventory container to the work point 1032.
  • the control system 101 is used to store the corresponding relationship between the position of the cargo box and the identity (number) of the cargo box and inventory information, and can generate inventory container handling tasks according to the required work documents, and assign them to the first autonomous mobile robot 102 and
  • the second autonomous mobile robot 105 performs the cargo handling task, and at the same time plans a path for the first autonomous mobile robot 102 and the second autonomous mobile robot 105 to avoid collisions.
  • the control system 101 has a consistent path planned by one or more autonomous mobile robots whose work site is the same work point.
  • control system 101 realize communication and docking, so that information such as the working status, position, and identity of each autonomous mobile robot can be obtained in real time.
  • FIG. 2 is a schematic diagram of the layout and handling of a storage area provided by an embodiment of the present application. As shown in FIG. 2, it includes a storage area 201, a first autonomous mobile robot 102 and a second autonomous mobile robot 105, a control system 101, and a workstation 103 A plurality of the storage shelves are provided in the inventory area 201, and a robot channel 202 for the movement of the first autonomous mobile robot 102 and the second autonomous mobile robot 105 is provided between the adjacent storage shelves. Under the control of the control system 101, the first autonomous mobile robot 102 and the second autonomous mobile robot 105 can complete the logical operations of storing and taking out cargo boxes, and place the cargo boxes in the inventory area 101 and the Transport operations to and fro between workstations 103.
  • the first autonomous mobile robot 102 reaches the first working point 1031 through the path 1, and the second autonomous mobile robot 105 reaches the second working point 1032 through the path 5.
  • the path corresponding to the first autonomous mobile robot is completely inconsistent with the path corresponding to the second autonomous mobile robot.
  • the autonomous mobile robot provided by the embodiment of the present application may be as shown in FIG. 3.
  • the autonomous mobile robot may be an autonomous mobile robot with a cache mechanism, and the autonomous mobile robot includes:
  • the container picking mechanism 1021 is configured to acquire one or more target containers by embracing;
  • the lifting mechanism 1022 is configured to realize the up and down adjustment of the box taking mechanism 1021, so that the box taking mechanism 1021 can obtain the target containers on the storage shelves of different heights.
  • the robot motion chassis 1023 is configured to realize the driving of the autonomous mobile robot on the robot channel according to the running route planned by the control system;
  • the cache mechanism 1024 is configured to temporarily store at least one cargo box and arrange the cargo boxes in order.
  • the autonomous mobile robot provided by the embodiment of the present application may be as shown in FIG. 4, the autonomous mobile robot may be an autonomous mobile robot without a caching mechanism, and the autonomous mobile robot includes:
  • the box taking mechanism 1021 is configured to obtain one or more target cargo boxes
  • the lifting mechanism 1022 is configured to realize the up and down adjustment of the box taking mechanism 1021, so that the box taking mechanism 1021 can obtain the target containers on the storage shelves of different heights;
  • the robot motion chassis 1023 is configured to realize the driving of the robot on the robot channel according to the running route planned by the control system.
  • FIG. 5 is a schematic flowchart showing an inventory management method according to an embodiment of the present application. The method is applied to a control system and includes steps 502 to 516.
  • Step 502 The control system schedules the first autonomous mobile robot and the second autonomous mobile robot to drive to the same target workstation to perform tasks according to the task information.
  • the worker’s workload can be shortened as much as possible. Waiting time improves the work efficiency of workers. And then maximize the efficiency of inventory management. It is possible to set up dual working points on each workstation used for picking operations. For any one of the dual working points, the queuing path planned by the control system for one or more autonomous mobile robots corresponding to the working point is consistent. Similarly, for two different autonomous mobile robots corresponding to two operating points, the queuing paths planned by the control system for the two different autonomous mobile robots are completely different.
  • the dual working points included in any workstation are the first working point and the second working point
  • the path of one or more autonomous mobile machines dispatched by the control system to the first working point is consistent
  • the control system dispatches to The paths of one or more autonomous mobile machines at the second working point are consistent
  • the path of one or more autonomous mobile machines dispatched to the first working point is completely different from the path of one or more autonomous mobile machines dispatched to the second working point. Since the first work point and the second work point are two adjacent work points on the target workstation, the worker will continue to complete the second work after completing the picking operation of the inventory container carried by the autonomous mobile robot at the first work point Point picking operation of inventory containers carried by autonomous mobile robots. It shortens the waiting time of workers when switching between different robots, and greatly improves the efficiency of workers' picking operations in inventory management.
  • the first autonomous mobile robot is used to indicate the robot that is scheduled to the first working point.
  • the second autonomous mobile robot is used to indicate the robot that is scheduled to the second working point.
  • the target workstation is the working place used by the workers to carry out the picking operation.
  • the possible implementation process of step 502 is: when the first autonomous mobile robot executes the task at the first working point of the target workstation, the control system determines whether the second working point is in an idle state; When it is determined that the second working point is in an idle state, the second autonomous mobile robot is scheduled to drive to the second working point of the target workstation to perform the task.
  • the target workstation includes two adjacent work points, namely work point 1 and work point 2.
  • the control system determines whether work point 2 is idle.
  • the control system schedules the robot B to drive to the working point 2 to perform tasks.
  • Step 504 The control system controls the first autonomous mobile robot to take one or more inventory containers from the inventory area and transport them to the first working point in the target workstation.
  • the control system needs to first determine whether the first autonomous mobile robot is in an idle state. If the first autonomous mobile robot is currently in an idle state, the control system executes the operation of scheduling the first autonomous mobile robot to travel to the working point.
  • a possible implementation process of step 504 is: when the control system determines that the first working point is in an idle state, scheduling the first autonomous mobile robot to drive to the first working point to wait to be operated.
  • Step 506 The control system controls the second autonomous mobile robot to take one or more inventory containers from the inventory area according to the instruction and transport them to the second working point in the target workstation.
  • the control system needs to first determine whether the second autonomous mobile robot is in an idle state. If the second autonomous mobile robot is currently in an idle state, the control system executes the operation of scheduling the second autonomous mobile robot to travel to the working point.
  • a possible implementation process of step 504 is: when the control system determines that the second working point is in an idle state, schedule the second autonomous mobile robot to drive to the second working point and wait to be operated.
  • the second autonomous mobile robot is dispatched again to drive to the second working point waiting position and wait to be operated; or Sending a task cancellation instruction to the second autonomous mobile robot and scheduling other autonomous mobile robots to drive to the second working point to wait to be operated.
  • control system sends out a prompt message to take out the empty container when it is determined that the inventory container carried by the autonomous mobile robot is empty.
  • the autonomous mobile robot is any robot in the inventory system.
  • Step 508 When it is determined that the first autonomous mobile robot and the second autonomous mobile robot are performing tasks at the target workstation, the control system alternately schedules an inventory container carried by the first autonomous mobile robot and the second autonomous mobile robot at each other When being operated, take out an inventory container on itself in advance and wait for the next one to be operated.
  • the inventory management method in order to further improve the work efficiency of inventory management.
  • the inventory management method can also be used to control the system Alternately schedule the first autonomous mobile robot and the second autonomous mobile robot, and when an inventory container carried by the other party is operated, take out an inventory container on itself in advance and wait for the next one to be operated. That is, for any autonomous mobile robot, when it is detected that the inventory container carried by the autonomous mobile robot is operated, the control system scheduling sequence is located after the autonomous mobile robot and is next to the next autonomous mobile robot. The robot allows the autonomous mobile robot to take out an inventory container on itself in advance and wait for the next one to be operated. In order to reduce the time waste caused by the long waiting time of workers when the autonomous mobile robot switches, and then improve the work efficiency of inventory management.
  • the possible implementation process of step 508 is: when the inventory container carried by the first autonomous mobile robot is operated, the first autonomous mobile robot sends an operation message to the control system, and the operation message carries the The order information of the first autonomous machine.
  • the control system determines the second autonomous mobile robot located after the first autonomous mobile robot and adjacent to the first autonomous mobile robot according to the sequence information of the first autonomous robot, and controls the second autonomous mobile robot Take out an inventory container on itself in advance and wait for the next one to be operated.
  • Step 510 The control system alternately schedules the first autonomous mobile robot and the second autonomous mobile robot to take out an inventory container on itself in advance and adjust it to a specified height to wait for the next one when an inventory container handled by each other is operated. operate.
  • step 508 in order to facilitate the worker’s picking operation, in addition to controlling the next autonomous mobile robot to take out a stock container in advance based on step 508, it is also possible to adjust the box taking mechanism based on step 510. To match the height of the current worker, avoiding the worker’s picking operation by using the climbing ladder or bending over to pick the goods when the picking mechanism of the autonomous mobile robot is used for picking.
  • the possible implementation process of step 510 is: the control system determines the current height value suitable for worker picking, and sends the height value to all one or more autonomous mobile robots dispatched to the target workstation , The one or more autonomous mobile robots adjust the height of the box taking mechanism carried by themselves according to the height value, so that the height value of the adjusted box taking mechanism matches the height value of the actual picking operation performed by the worker.
  • the height of the adjusted box picking mechanism matches the height value of the actual picking operation performed by the worker, which may mean that the height of the adjusted box picking mechanism is consistent with the height of the actual picking operation performed by the worker. It can also mean that the height difference between the adjusted box picking mechanism and the height at which the worker actually performs the picking operation is less than the reference difference, which can be adjusted according to the actual situation, and is not specifically limited here.
  • the control system determines that the current height value suitable for worker picking is 70cm, and sends the height value of 70cm to an autonomous mobile robot that is carrying the inventory container and is about to arrive at the target workstation.
  • the autonomous mobile robot is robot A. After the robot A receives the height value, it adjusts the height of the box taking mechanism carried by itself, so that the height value of the adjusted box taking mechanism matches the height suitable for the worker to perform the picking operation.
  • the robot when the robot has the storage capacity of the container, that is, the storage mechanism, the robot can pick up the goods from the storage shelf at the workstation and adjust the box picking mechanism to a specified height value to facilitate the worker's picking operation. After the picking is completed, the empty box can be placed in the buffer rack, and the next box can be taken out to wait for the worker to perform the picking operation. It should be noted that the robot needs to adjust the box taking mechanism to a specified height value after taking out each container.
  • the possible realization process for the control system to adjust the autonomous mobile robot to a specified height is to determine the target height based at least in part on the workstation where the autonomous mobile robot is located, and dispatch the autonomous mobile robot to take out an inventory container on itself And adjust to the target height and wait to be operated.
  • the autonomous mobile robot is any robot in the inventory system.
  • control system determines the target height based on a small part of the workstation where the robot A is located.
  • the target height is the height of the workstation.
  • the robot A is dispatched to take out an inventory container on itself and adjust it to the target height to be operated.
  • target height can be individually set according to the height of different workstations.
  • the target height may be exactly the same as the height of the workstation, or the difference between the height of the workstation and the height of the workstation may be smaller than the reference difference, which is not specifically limited here.
  • the technical means involved in the picking operation of the workers in the inventory management work are optimized, so that the efficiency has been improved to a certain extent. It is also possible to further optimize the technical means involved in the cargo box storage operation in the inventory management work based on the following steps 512 to 516, so as to achieve the purpose of improving work efficiency in the inventory management work from various angles.
  • Step 512 The control system dispatches the autonomous mobile robot to take over the packaged items at the workstation, and transports the packaged items to the designated storage area and puts them into the designated storage location.
  • the autonomous mobile robot is any robot in the inventory method.
  • the control system dispatches the autonomous mobile robot to take over the packaged goods at the workstation.
  • the possible realization process is: the control system controls the autonomous mobile robot according to the control system to distribute the goods. Box handling task, drive to the target workstation. And through the pick-up agency to take over the target packaged goods loaded by the workers.
  • the autonomous mobile robot is scheduled to take over the packaged items by manual warehousing. This manual warehousing method can reduce costs because it does not need to configure a buffer roller line.
  • the control system dispatches the autonomous mobile robot to take over the whole package at the workstation.
  • the possible realization process is: the control system dispatches the autonomous mobile robot to the buffer track line The first end of the buffer rail line, and the first end of the cache track line to accept the packaged items.
  • the autonomous mobile robot is dispatched to take over the packaged items by means of automatic warehousing.
  • This automatic storage method can speed up the efficiency of goods transmission and reduce the waste of time between robots carrying goods on their own.
  • the packaged articles are loaded onto the buffer roller line at the second end of the buffer rail line and transferred to the first end of the buffer roller line.
  • control system autonomous mobile robot will transport the whole package to the designated storage area and put it into the designated storage location.
  • the possible realization process is: the control system can be based on the storage of pre-stored containers. The corresponding relationship between the position and the self-identification of the container determines the designated storage position of the target packaged item in the inventory area, and controls the autonomous mobile robot to move the packaged item to the designated inventory area and put it into the designated storage location .
  • the autonomous mobile robot has the caching capability of the container, that is, if it has the caching mechanism, for the whole box of goods
  • workers can directly place the whole box of goods in the box picking mechanism of the autonomous mobile robot at the workstation, or place it in the box with the robot.
  • the robot In the storage rack connected to the main body, the robot then carries the whole box of goods to the inventory area, and puts the whole box of goods into the designated storage location through the pick-and-place box.
  • Step 514 The control system dispatches the autonomous mobile robot to accept the inventory container for dismantling items at the workstation, and move the inventory container to the designated inventory area and put it into the designated storage location.
  • the autonomous mobile robot is any robot in the inventory method.
  • the control system dispatches the autonomous mobile robot to accept the inventory container for the dismantled items at the workstation.
  • the possible realization process is: the control system controls the autonomous mobile robot in accordance with the control
  • the cargo container handling task assigned by the system is driven to the target workstation.
  • the pick-up organization to accept the storage container for the dismantled items. That is, in the way of manual warehousing, the autonomous mobile robot is dispatched to take over the inventory container for the dismantled items.
  • This manual warehousing method can reduce costs because it does not need to configure a buffer roller line.
  • the control system dispatches the autonomous mobile robot to take over the inventory container for dismantled items at the workstation.
  • the possible realization process is: the control system dispatches the autonomous mobile robot to drive To the first end of the buffer roller line, and from the first end of the buffer rail line to receive a storage container for dismantled items.
  • the inventory container containing the dismantled items is loaded onto the buffer roller line at the second end of the buffer rail line and transferred to the first end of the buffer roller line.
  • the control system dispatches the autonomous mobile robot to move the inventory container to the designated inventory area and puts it into the designated storage location.
  • the possible implementation process is: the control system can be based on the storage location of the pre-stored container. The corresponding relationship with the self-identification of the cargo box determines the designated storage location in the inventory area of the inventory container containing the dismantled items, and controls the autonomous mobile robot to move the inventory container containing the dismantled items to the designated inventory area and put it into the designated storage area In the storage location.
  • Step 516 The control system dispatches the autonomous mobile robot to take the inventory container from the inventory area and transport it to the workstation for replenishment of the disassembled items. After the replenishment is completed, the inventory container will be transported to the designated inventory area and placed in the designated storage location, and move autonomously
  • the robot is any robot in the inventory method.
  • the possible implementation process of step 516 is: the autonomous mobile robot takes the inventory container from the inventory area. And according to the replenishment task assigned by the control system, it drives to the target workstation to replenish the dismantled items. After the replenishment is completed, the control system can determine the designated storage location of the inventory container after the replenishment is completed based on the corresponding relationship between the storage location of the pre-stored container and the container's own identification, and then the inventory container after the replenishment is completed Transport to the designated storage area and put in the designated storage location.
  • the inventory container taken by the autonomous mobile robot from the inventory area in the above process may be an empty container, or a container that contains part of the unpacked items but is not full, which is not specifically limited here.
  • the inventory container taken by the autonomous mobile robot from the inventory area is a container that contains partially unpacked items but is not full
  • the unpacked items in the container to be replenished are used by the workstation.
  • the items to be restocked are the same type of items
  • the unpacked items in the container to be replenished are the same items as the items to be put on the shelf.
  • the replenishment operation of disassembled items is also a regular inventory replenishment operation.
  • the unpacked items in the container to be replenished and the items used for replenishment in the workstation are different types of items.
  • the control system can be configured to allow different types of unpacked items to be mixed. model.
  • one or a few of the above-mentioned autonomous mobile robots can be equipped with an RFID (radio frequency identification) read-write device. After the autonomous mobile robot takes out the inventory container in the inventory area, it can directly read it through the RFID read-write device. Take the RFID of the product in the box of the inventory container to identify the memory of the product.
  • RFID radio frequency identification
  • the first autonomous mobile robot and the second autonomous mobile robot are scheduled to drive to the same target workstation to perform tasks according to the task information; the first autonomous mobile robot is controlled to take one or more inventory containers from the inventory area and transport them to the target The first working point in the workstation; controlling the second autonomous mobile robot to take one or more inventory containers from the inventory area according to instructions and transport them to the second working point in the target workstation. Since the first working point and the second working point are two adjacent working points of the same station, workers can continue to carry them from the second autonomous mobile robot after picking goods from the inventory container carried by the first autonomous mobile robot Continuing to pick the goods in the inventory container can avoid the waste of time caused by the robot in the switching process caused by the traditional way that a station has only one working point for picking. Improve the efficiency of inventory management.
  • FIG. 6 shows a schematic structural diagram of an inventory management system 600 according to an embodiment of this specification. As shown in Figure 6, the system includes:
  • the control system 601 is configured to schedule the first autonomous mobile robot and the second autonomous mobile robot to drive to the same target workstation to perform tasks according to task information;
  • a first autonomous mobile machine 602 where the first autonomous mobile robot is configured to fetch one or more inventory containers from the inventory area according to instructions and transport them to a first working point in a target workstation;
  • the second autonomous mobile robot 603 is configured to take one or more inventory containers from the inventory area according to instructions and transport them to a second working point in the target workstation.
  • control system is also configured as:
  • control system is also configured as:
  • control system is also configured as:
  • the autonomous mobile robot Determine the target height based at least in part on the workstation where the autonomous mobile robot is located, and dispatch the autonomous mobile robot to take out a stock container on itself and adjust it to the target height to be operated, and the autonomous mobile robot is the Any robot in the inventory system.
  • control system is also configured as:
  • the autonomous mobile robot When it is determined that the inventory container carried by the autonomous mobile robot is empty, a prompt message for taking out the empty box is issued, and the autonomous mobile robot is any robot in the inventory system.
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to accept packaged items at a workstation, and the packaged items are transported to a designated inventory area and placed in a designated storage place.
  • the autonomous mobile robot is any robot in the inventory system .
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to accept the inventory container containing the dismantled items at the workstation, move the inventory container to the designated inventory area and put it into the designated storage place, the autonomous mobile robot is any robot in the inventory system .
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to take inventory containers from the inventory area and transport them to the workstation for replenishment of the dismantled items. After the replenishment is completed, the inventory containers are transported to the designated inventory area and placed in the designated storage location.
  • the autonomous mobile robot It is any robot in the inventory system.
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to drive to the first end of the cache track line, and receive the packaged items from the first end of the cache track line, and the packaged items are loaded onto the cache roller conveyor at the second end of the cache track line Online and transported to the first end of the buffer roller line.
  • control system is also configured as:
  • the autonomous mobile robot is dispatched to drive to the first end of the cache roller line, and receive the inventory container containing the scrapped items from the first end of the cache track line, and the inventory container for the scrapped items is at the second end of the cache track line Load onto the buffer roller line and transfer to the first end of the buffer roller line.
  • the first autonomous mobile robot and the second autonomous mobile robot are scheduled to drive to the same target workstation to perform tasks according to the task information; the first autonomous mobile robot is controlled to take one or more inventory containers from the inventory area and transport them to the target The first working point in the workstation; controlling the second autonomous mobile robot to take one or more inventory containers from the inventory area according to instructions and transport them to the second working point in the target workstation. Since the first working point and the second working point are two adjacent working points of the same station, workers can continue to carry them from the second autonomous mobile robot after picking goods from the inventory container carried by the first autonomous mobile robot Continuing to pick the goods in the inventory container can avoid the waste of time caused by the robot in the switching process caused by the traditional way that a station has only one working point for picking. Improve the efficiency of inventory management.

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Abstract

一种库存管理方法及系统(600)，方法包括：通过根据任务信息调度第一自主移动机器人(102,602)和第二自主移动机器人(105,603)行驶至同一目标工作站(103)执行任务(502)；控制第一自主移动机器人(102,602)从库存区域(201)取一个或多个库存容器并搬运到目标工作站(103)中的第一工作点(1031) (504)；控制第二自主移动机器人(105,603)根据指令从库存区域(201)取一个或多个库存容器并搬运到目标工作站(103)中的第二工作点(1032) (506)。由于第一工作点(1031)和第二工作点(1032)为同一工位的相邻的两个工作点，这样工人从第一自主移动机器人(102,602)携带的库存容器中拣货完成后，可以继续从第二自主移动机器人(105,603)携带的库存容器中继续拣货，避免由于机器人切换过程中所造成的时间浪费。提高了库存管理工作的工作效率。

Description

一种库存管理方法及系统
本申请要求于2020年5月29日提交中国专利局、申请号为202010477658.7、发明名称为“一种库存管理方法及系统”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
本申请涉及仓储物流技术领域，特别涉及一种库存管理方法和系统。
背景技术
随着电子商务的爆炸性增长，仓储物流的库存管理工作的工作量也大幅增加。而如何最大程度的提高库存管理工作的工作效率，是当前本领域工作人员关注的主要问题之一。
相关技术中，很多电商仓库都使用多个自主移动机器人自动搬运存储有物品的库存容器至工作站，以方便工作站的工人实施仓储分拣工作。
但当多个自主移动机器人之间进行切换时，往往由于下一个自主移动机器人没有及时到达工作站而造成时间浪费的现象。因此还远远无法实现如今仓储物流领域所追求的高效率的目标。
发明内容
有鉴于此，本申请实施例提供了一种库存管理方法和系统，以解决现有技术中存在的技术缺陷，更大程度的提高仓库管理工作的工作效率。
根据本说明书实施例的第一方面，提供了一种库存管理系统，包括：
所述控制系统配置为，根据任务信息调度所述第一自主移动机器人和所述第二自主移动机器人行驶至同一个目标工作站执行任务；
所述第一自主移动机器人配置为，根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点；
所述第二自主移动机器人配置为，根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。
可选的，控制系统还配置为：
在确定所述第一自主移动机器人和所述第二自主移动机器人同在目标工作站执行任务的情况下，交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并等待下一个被操作。
可选的，控制系统还配置为：
交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并调整到指定的高度等待下一个被操作。
可选的，控制系统还配置为：
至少部分地根据所述自主移动机器人所在的工作站，确定目标高度，调度所述自主移动机器人将自身上的一个库存容器取出并调整到所述目标高度等待被操作，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
在确定所述自主移动机器人搬运的库存容器为空的情况下，发出空箱取出的提示消息，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述所述自主移动机器人在工作站承接整装物品，将所述整装物品搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述自主移动机器人在工作站承接容纳拆零物品的库存容器，将所述库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述自主移动机器人从库存区域取库存容器并搬运至工作站进行拆零物品的补货，待补货完毕后将库存容器搬运至指定的库存区域并放入指定的 存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述自主移动机器人行驶至缓存轨道线的第一末端，并从缓存轨道线的第一末端承接所述整装物品，所述整装物品在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
可选的，控制系统还配置为：
调度所述自主移动机器人行驶至缓存辊道线的第一末端，并从缓存轨道线的第一末端承接容纳拆零物品的库存容器，其中，所述容纳拆零物品的库存容器在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
根据本说明书实施例的第二方面，提供了一种库存管理方法，包括：
根据任务信息调度所述第一自主移动机器人和所述第二自主移动机器人行驶至同一个目标工作站执行任务；
控制所述第一自主移动机器人从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点；
控制所述第二自主移动机器人根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。
可选的，还包括：
在确定所述第一自主移动机器人和所述第二自主移动机器人同在目标工作站执行任务的情况下，交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并等待下一个被操作。
可选的，还包括：
交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并调整到指定的高度等待下一个被操作。
可选的，还包括：
至少部分地根据所述自主移动机器人所在的工作站，确定目标高度，调度 所述自主移动机器人将自身上的一个库存容器取出并调整到所述目标高度等待被操作，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，还包括：
在确定所述自主移动机器人搬运的库存容器为空的情况下，发出空箱取出的提示消息，所述自主移动机器人为所述库存方法中的任意一个机器人。
可选的，还包括：
调度所述自主移动机器人在工作站承接整装物品，将所述整装物品搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存方法中的任意一个机器人。
可选的，还包括：
调度所述自主移动机器人在工作站承接容纳拆零物品的库存容器，将所述库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存方法中的任意一个机器人。
可选的，还包括：
调度所述自主移动机器人从库存区域取库存容器并搬运至工作站进行拆零物品的补货，待补货完毕后将库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存方法中的任意一个机器人。
可选的，还包括：
调度所述自主移动机器人行驶至缓存轨道线的第一末端，并从缓存轨道线的第一末端承接所述整装物品，所述整装物品在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
可选的，还包括：
调度所述自主移动机器人行驶至缓存辊道线的第一末端，并从缓存轨道线的第一末端承接容纳拆零物品的库存容器，其中，所述容纳拆零物品的库存容器在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
本申请实施例提供的技术方案带来的有益效果至少包括：
通过根据任务信息调度第一自主移动机器人和第二自主移动机器人行驶至同一目标工作站执行任务；控制第一自主移动机器人从该库存区域取一个或 多个库存容器并搬运到目标工作站中的第一工作点；控制第二自主移动机器人根据指令从该库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。由于第一工作点和第二工作点为同一工位的相邻的两个工作点，这样工人从第一自主移动机器人携带的库存容器中拣货完成后，可以继续从第二自主移动机器人携带的库存容器中继续拣货，可以避免传统的一个工位只有一个工作点进行拣货的方式所导致的机器人在切换过程中造成的时间浪费。提高了库存管理工作的工作效率。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1是本申请实施例提供的一种库存管理系统的结构示意图；
图2是本申请实施例提供的一种存储区域的布局以及搬运示意图；
图3是本申请实施例提供的机器人的整体结构示意图；
图4是本申请另一实施例提供的机器人的整体结构示意图；
图5是本申请实施例提供的库存管理方法的流程图；以及
图6是本申请实施例提供的库存管理系统的结构示意图。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施的限制。
在本说明书一个或多个实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本说明书一个或多个实施例。在本说明书一个或多个实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本说明书 一个或多个实施例中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本说明书一个或多个实施例中可能采用术语第一、第二等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本说明书一个或多个实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
首先，对本发明一个或多个实施例涉及的名词术语进行解释。
具体实施时，自主移动机器人(AMR)具体是指能够应用在仓储物流场景中的机器人，可以进行货物搬运或者货物分拣，并且自主移动机器人(AMR)通过搭载先进软件，可在现场构建地图或预先加载设施图纸导航。自主移动机器人(AMR)可使用来自摄像头、内置的激光雷达等传感器、激光扫描仪的数据以及复杂的软件，来探测周围环境，并选择最有效的路径到达目标。它能够实现完全自主工作，而且如果面前有叉车、货板、人员或其他障碍物，它都能使用最佳替代路线实现安全绕行。由此一来，就可以确保物料运送波次保持进度，从而优化生产力。
高位货架：根据仓储设备行业的习惯定义，高度为5米以上的货架称为高位货架，包括有横梁托盘货架、贯通式货架、后推式货架、双深度式货架、窄通道货架或自动化立体仓库等等，是仓库使用率最普遍的一种货架，货架本身有很好的拣取效率，可实现货物的快捷存取。
拣选：拣选是仓储配送中心的配货人员按订单要求的商品名、规格、型号、数量，将商品从存储的货架或货垛中取出，搬运到理货区的过程。
在本申请中，提供了一种库存管理方法和系统在下面的实施例中逐一进行详细说明。
图1是示出了根据本申请一实施例中提供的一种库存管理系统的结构示意图。如图1所示，该系统包括控制系统101、第一自主移动机器人102和第二自主移动机器人105、工作站103以及库存区域104。
本实施例中，自主移动机器人按照所述控制系统101的调度进行指定货箱 到指定位置的存储和拣选。所述第一自主移动机器人102和第二自主移动机器人105的取箱机构能够对库存区域中的一个或多个库存容器进行存放和取出。库存容器内能够放置多个货物，库存容器包括但不限于料箱。所述第一自主移动机器人102和第二自主移动机器人105从所述库存区域104上取出目标库存容器后，能够将所述目标库存容器运送至所述工作站103。所述工作站103内设置有双工作点，分别为第一工作点1031和第二工作点1032，使得工人可以通过该双工作点对所述库存容器中的物品进行拣货、盘点、理货或上架等操作。该第一自主移动机器人搬运库存容器至工作点1031，第二自主移动机器人搬运库存容器至工作点1032。所述控制系统101用于存储货箱的位置与货箱的身份标识(编号)的对应关系以及库存信息，能够根据需要作业的单据生成库存容器搬运任务，并分配给第一自主移动机器人102和第二自主移动机器人105执行所述货箱搬运任务，同时为所述第一自主移动机器人102和第二自主移动机器人105规划路径从而避免相撞，在本申请实施例提供的库存管理方法中，控制系统101为作业地点为同一工作点的一个或者多个自主移动机器人所规划的路径一致。也即是，控制系统101为作业地点为两个不同工作点的自主移动机器人所规划的路径是完全不同的。所述控制系统101与所述自主移动机器人之间实现通信对接，从而能够实时的获取每个所述自主移动机器人的工作状态、位置以及身份标识等信息。
图2是本申请实施例提供的一种存储区域的布局以及搬运示意图，如图2所示，包括库存区域201、第一自主移动机器人102和第二自主移动机器人105、控制系统101以及工作站103，在所述库存区域201内设有多个所述存储货架，在相邻的所述存储货架之间设有供所述第一自主移动机器人102和第二自主移动机器人105移动的机器人通道202，所述第一自主移动机器人102和第二自主移动机器人105能够在所述控制系统101的控制下完成货箱的存储和取出的逻辑操作，以及将货箱在所述库存区域101与所述工作站103之间往返的运输操作。
需要说明的是，如图3所示。第一自主移动机器人102通过路径1到达第一工作点1031，通过第二自主移动机器人105通过路径5到达第二工作点1032。第一自主移动机器人对应的路径与第二自主移动机器人对应的路径是完全不一致的。
本申请实施例提供的自主移动的机器人可以如图3所示，所述自主移动机器人可以是具有缓存机构的自主移动机器人，该自主移动机器人包括：
取箱机构1021，被配置为通过怀抱的方式取得一个或多个目标货箱；
升降机构1022，被配置为实现取箱机构1021的上下可调，从而实现了取箱机构1021对不同高度的所述存储货架上的目标货箱的取得。
机器人运动底盘1023，被配置为实现所述自主移动机器人在机器人通道上按照控制系统规划的运行路线的行驶；
缓存机构1024，被配置为暂时存放至少一个货箱，并将货箱按顺序排列。
本申请实施例提供的自主移动机器人可以如图4所示，所述自主移动机器人可以是不具有缓存机构的自主移动机器人，该自主移动机器人包括：
取箱机构1021，被配置为取得一个或多个目标货箱；
升降机构1022，被配置为实现取箱机构1021的上下可调，从而实现了取箱机构1021对不同高度的所述存储货架上的目标货箱的取得；
机器人运动底盘1023，被配置为实现所述机器人在机器人通道上按照控制系统规划的运行路线的行驶。
本实施例中，控制系统101可以执行图5所示方法中的步骤。图5是示出了根据本申请一实施例的库存管理方法的示意性流程图，该方法应用于控制系统，包括步骤502至步骤516。
步骤502：控制系统根据任务信息调度第一自主移动机器人和第二自主移动机器人行驶至同一个目标工作站执行任务。
在本申请实施例中，为了确保多个自主移动机器人运送库存容器至工作站以供工人可以对该库存容器的物品进行拣货操作的情况下，不同机器人之间进行切换时，可以尽量缩短工人的等待时间，提高工人的工作效率。进而最大化的提升库存管理工作的工作效率。可以在每个用于实施拣货操作的工作站上设置双工作点。针对双工作点中的任一工作点，控制系统为该工作点对应的一个或多个自主移动机器人所规划的排队路径是一致的。同样的，对于两个工作点分别对应的两个不同的自主移动机器人，控制系统为这两个不同的自主移动机器人所规划的排队路径是完全不同的。比如，该任一工作站包括的双工作点分别为第一工作点和第二工作点，该控制系统调度至第一工作点的一个或者多个 自主移动机器的路径是一致的，控制系统调度至第二工作点的一个或者多个自主移动机器的路径是一致的。且调度至第一工作点的一个或者多个自主移动机器的路径和第二工作点的一个或者多个自主移动机器的路径完全不同的。由于第一工作点和第二工作点为目标工作站上相邻的两个工作点，如此，工人完成第一工作点的自主移动机器人所携带的库存容器的拣货操作之后，继续完成第二工作点的自主移动机器人所携带的库存容器的拣货操作。缩短了不同机器人之间进行切换时工人的等待时间，大大提高了库存管理工作中，工人实施拣货操作的工作效率。
本实施例中，第一自主移动机器人用于指示被调度至第一工作点的机器人。第二自主移动机器人用于指示被调度至第二工作点的机器人。目标工作站为工人用于实施拣货操作的工作地点。
在一种可能的实现方式中，步骤502可能的实现过程为：控制系统在第一自主移动机器人在目标工作站的第一工作点执行任务时，确定第二工作点是否为空闲状态；控制系统在确定所述第二工作点为空闲状态的情况下，调度第二自主移动机器人行驶至目标工作站的第二工作点执行任务。
比如：目标工作站包括相邻的两个工作点，分别为工作点1和工作点2。机器人A在目标工作站的工作点1正在执行任务时，控制系统确定工作点2是否为空闲状态。控制系统在确定工作点2为空闲状态的情况下，控制系统调度机器人B行驶至工作点2执行任务。
步骤504：控制系统控制第一自主移动机器人从该库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点。
需要说明的是，控制系统在控制第一自主移动机器人行驶至第一工作点之前，需要先将判断第一自主移动机器人是否处于空闲状态。若第一自主移动机器人当前处于空闲状态，则控制系统执行调度该第一自主移动机器人行驶至工作点的操作。
在一种可能的实现方式中，步骤504可能的实现过程为：控制系统在确定第一工作点为空闲状态的情况下，调度第一自主移动机器人行驶至第一工作点等待被操作。
步骤506：控制系统控制第二自主移动机器人根据指令从该库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。
需要说明的是，控制系统在控制第二自主移动机器人行驶至第二工作点之前，需要先将判断第二自主移动机器人是否处于空闲状态。若第二自主移动机器人当前处于空闲状态，则控制系统执行调度该第二自主移动机器人行驶至工作点的操作。
在一种可能的实现方式中，步骤504可能的实现过程为：控制系统在确定第二工作点为空闲状态的情况下，调度第二自主移动机器人行驶至第二工作点等待被操作。
此外，控制系统若确定预定时限内所述第二自主移动机器人未到达所述第二工作点，则再次调度所述第二自主移动机器人行驶至所述第二工作点等待位等待被操作；或者向第二自主移动机器人发送任务撤销指令并调度其他自主移动机器人行驶至所述第二工作点等待被操作。
此外，通过上述步骤504～步骤506，控制系统控制第一自主移动机器人将自身携带的库存容器搬运至目标工作站之后，由工人对第一自主移动机器人所携带的库存容器的物品实施拣货操作。
另外，为了提高自主移动机器人的利用率，控制系统在确定所述自主移动机器人搬运的库存容器为空的情况下，发出空箱取出的提示消息。自主移动机器人为所述库存系统中的任意一个机器人。
值得注意的是，当控制系统发出空箱取出的提示信息之后，工人则从自主移动机器人上取出空容器。这样可以避免拣货完成后，机器人将空容器送回库存区域中所导致的自主移动机器人利用率低的问题。
步骤508：控制系统在确定第一自主移动机器人和第二自主移动机器人同在目标工作站执行任务的情况下，交替性地调度第一自主移动机器人和第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并等待下一个被操作。
在本申请实施例中，为了进一步的提高库存管理的工作效率。除了基于上述步骤502～506，同时调度第一自主机器人和第二自主机器人进行库存容器的搬运工作以提高库存管理工作的工作效率外，还可以通过本申请实施例提供的库存管理方法，控制系统交替性地调度第一自主移动机器人和第二自主移动机器人，在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并等待下一个被操作。也即是，针对任一自主移动机器人，当检测到该自主 移动机器人所携带的库存容器被操作时，控制系统调度次序位于该自主移动机器人之后且与该自主移动机器人相邻的下一个自主移动机器人，使得该自主移动机器人将自身上的一个库存容器提前取出并等待下一个被操作。以减少由于自主移动机器人切换时工人等待时间过长所导致的时间浪费，进而提高库存管理工作的工作效率。
在一种可能的实现方式中，步骤508可能的实现过程为：到第一自主移动机器人所携带的库存容器被操作时，第一自主移动机器人向控制系统发送一个操作消息，该操作消息携带该第一自主机器的次序信息。控制系统接收到该操作消息后，根据第一自主机器人的次序信息确定出位于第一自主移动机器人之后且与第一自主移动机器人相邻的第二自主移动机器人，并控制该第二自主移动机器人将自身上的一个库存容器提前取出并等待下一个被操作。
步骤510：控制系统交替性地调度第一自主移动机器人和第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并调整到指定的高度等待下一个被操作。
在本申请实施例中，为了方便工人的拣货操作，除了可以基于步骤508提前控制下一个自主移动机器人将自身上的一个库存容器提前取出之外，还可以基于步骤510，同时调整取箱机构的高度，以匹配当前工人的高度，避免工人在通过自主移动机器人的取箱机构进行拣货操作时，使用登高梯进行拣货或者弯腰拣货等行为。
在一种可能的实现方式中，步骤510可能的实现过程为：控制系统确定出当前适合工人拣货的高度值，并将高度值发送至所有被调度至目标工作站的一个或多个自主移动机器人，该一个或多个自主移动机器人根据该高度值调整自身携带的取箱机构的高度，使得调整后的取箱机构的于工人实际进行拣货操作的高度值相匹配。
本实施例中，调整后的取箱机构的高度与工人实际进行拣货操作的高度值相匹配，可以是指调整后的取箱机构的高度与工人实际进行拣货操作的高度相一致。也可以是指调整后的取箱机构的与工人实际进行拣货操作的高度之间的高度差小于参考差值，该参考差值可以根据实际情况作相关调整，在此并不做具体限定。
比如：控制系统确定出当前适合工人拣货的高度值为70cm，将该高度值 70cm发送至正在搬运库存容器且即将到达目标工作站的一个自主移动机器人，假设该自主移动机器人为机器人A。机器人A接收到该高度值之后，调整自身携带的取箱机构的高度，使得调整后的取箱机构的高度值与适合工人进行拣货操作的高度相匹配。
此外，在机器人具备货箱的缓存能力即具备缓存机构的情况下，机器人可以在工作站将货物从缓存货架中抱出，并调整取箱机构至指定的高度值，以方便工人实施拣货操作。拣货完成后可以将该空箱放置在缓存架中，并取出下一个货箱等待工人实施拣货操作。需要说明的是，机器人在取出每个货箱之后均需要调整取箱机构至指定的高度值。
另外，上述过程中，控制系统调整自主移动机器人至指定的高度的可能的实现过程为：至少部分地根据自主移动机器人所在的工作站，确定目标高度，调度自主移动机器人将自身上的一个库存容器取出并调整到目标高度等待被操作，自主移动机器人为库存系统中的任意一个机器人。
比如，控制系统少部分地根据机器人A所在的工作站确定出目标高度，该目标高度也即是工作站的高度，调度机器人A将自身上的一个库存容器取出并调整到目标高度等待被操作。
值得注意的是，上述目标高度可以根据不同工位的高度单独进行设定。目标高度可以与工位的高度完全一致，也可以与工位的高度之间的差值小于参考差值，在此并不做具体限定。
在基于上述步骤502～步骤510对库存管理工作中工人拣选操作方面的涉及的技术手段进行优化，使得效率得到了一定程度的提升。还可以基于下述步骤512～步骤516对库存管理工作中涉及的货箱入库操作方面的技术手段做进一步的优化，以实现在库存管理工作中从多方面的角度提升工作效率的目的。
步骤512：控制系统调度自主移动机器人在工作站承接整装物品，将整装物品搬运至指定的库存区域并放入指定的存储位，自主移动机器人为库存方法中的任意一个机器人。
在一种可能的实现方式中，库存管理系统没有配置缓存辊道线时，控制系统调度自主移动机器人在工作站承接整装物品可能的实现过程为：控制系统控制自主移动机器人按照控制系统分配的货箱搬运任务，行驶至目标工作站。并通过取货机构承接工人装入的目标整装物品。也即是，以人工入库的方式，调 度自主移动机器人承接整装物品。这种人工入库的方式，由于无需配置缓存辊道线，可以降低成本。
在另一种可能的实现方式中，库存管理系统配置有缓存辊道线时，控制系统调度自主移动机器人在工作站承接整装物品可能的实现过程为：控制系统调度自主移动机器人行驶至缓存轨道线的第一末端，并从缓存轨道线的第一末端承接整装物品。也即是，以自动入库的方式，调度自主移动机器人承接整装物品。这种自动入库的方式，可以加快货物的传输效率，减少机器人自行搬运物品之间的时间浪费。
本实施例中，整装物品在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
此外，在一种可能的实现方式中，控制系统自主移动机器人将整装物品搬运至指定的库存区域并放入指定的存储位的可能的实现过程为：控制系统可以根据预存的货箱的存储位与货箱的自身标识的对应关系，确定出目标整装物品在库存区域中的指定的存储位，并控制自主移动机器人将整装物品搬运至指定的库存区域并放入指定的存储位中。
此外，自主移动机器人具备货箱的缓存能力即具备缓存机构的情况下，对于整箱商品，工人可在工作站将整箱商品直接放置在自主移动机器人的取箱机构内，也可以放置在与机器人本体连接的存储架内，然后机器人携带整箱商品搬运到库存区域，通过取放箱将整箱商品放入到指定的存储位上。
步骤514：控制系统调度自主移动机器人在工作站承接容纳拆零物品的库存容器，将库存容器搬运至指定的库存区域并放入指定的存储位，自主移动机器人为库存方法中的任意一个机器人。
在一种可能的实现方式中，库存管理系统没有配置缓存辊道线时，控制系统调度自主移动机器人在工作站承接容纳拆零物品的库存容器的可能的实现过程为：控制系统控制自主移动机器人按照控制系统分配的货箱搬运任务，行驶至目标工作站。并通过取货机构承接容纳拆零物品的库存容器。也即是，以人工入库的方式，调度自主移动机器人承接容纳拆零物品的库存容器。这种人工入库的方式，由于无需配置缓存辊道线，可以降低成本。
在另一种可能的实现方式中，库存管理系统配置有缓存辊道线时，控制系统调度自主移动机器人在工作站承接容纳拆零物品的库存容器的可能的实现 过程为：控制系统调度自主移动机器人行驶至缓存辊道线的第一末端，并从缓存轨道线的第一末端承接容纳拆零物品的库存容器。
本实施例中，容纳拆零物品的库存容器在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
此外，在一种可能的实现方式中，控制系统调度自主移动机器人将库存容器搬运至指定的库存区域并放入指定的存储位可能的实现过程为：控制系统可以根据预存的货箱的存储位与货箱的自身标识的对应关系，确定出容纳拆零物品的库存容器在库存区域中的指定的存储位，并控制自主移动机器人将容纳拆零物品的库存容器搬运至指定的库存区域并放入指定的存储位中。
步骤516：控制系统调度自主移动机器人从库存区域取库存容器并搬运至工作站进行拆零物品的补货，待补货完毕后将库存容器搬运至指定的库存区域并放入指定的存储位，自主移动机器人为库存方法中的任意一个机器人。
在一种可能的实现方式中，步骤516可能的实现过程为：自主移动机器人从库存区域取库存容器。并按照控制系统分配的补货任务，行驶至目标工作站进行拆零物品的补货。补货完毕后之后，控制系统可以根据预存的货箱的存储位与货箱的自身标识的对应关系，确定出补货完毕后的库存容器指定的存储位，再将补货完毕后的库存容器搬运至指定的库存区域并放入指定的存储位。
需要说明的是，上述过程自主移动机器人从库存区域所取的库存容器，可以为空货箱，也可以为容纳部分拆零物品但未放满的货箱，在此并不做具体限定。
本实施例中，当自主移动机器人从库存区域所取的库存容器为容纳部分拆零物品但未放满的货箱时，第一种情况，待补货的货箱中的拆零物品与工作站的用于补货的物品为同一种类型的物品，且待补货的货箱中的拆零物品与待上架物品相同的物品。这种情况下，拆零物品的补货操作也即是常规的库存补充操作。第二种情况，待补货的货箱中的拆零物品与工作站中用于补货的物品为不同类型的物品，这种情况下，控制系统可以被配置为允许不同类型的拆零物品混放的模式。
此外，该上述自主移动机器人中的一台或者少量几台可以安装RFID(radio frequency identification，射频识别)读写装置，自主移动机器人在库存区域取出库存容器后，可以直接通过该RFID读写装置读取该库存容器 的箱内商品的RFID，从而识别该商品的内存。
本申请实施例，通过根据任务信息调度第一自主移动机器人和第二自主移动机器人行驶至同一目标工作站执行任务；控制第一自主移动机器人从该库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点；控制第二自主移动机器人根据指令从该库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。由于第一工作点和第二工作点为同一工位的相邻的两个工作点，这样工人从第一自主移动机器人携带的库存容器中拣货完成后，可以继续从第二自主移动机器人携带的库存容器中继续拣货，可以避免传统的一个工位只有一个工作点进行拣货的方式所导致的机器人在切换过程中造成的时间浪费。提高了库存管理工作的工作效率。
与上述方法实施例相对应，本说明书还提供了库存管理系统实施例，图6示出了本说明书一个实施例的库存管理系统600的结构示意图。如图6所示，该系统包括：
控制系统601，所述控制系统配置为，根据任务信息调度所述第一自主移动机器人和所述第二自主移动机器人行驶至同一个目标工作站执行任务；
第一自主移动机器602，所述第一自主移动机器人配置为，根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点；
第二自主移动机器人603，所述第二自主移动机器人配置为，根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。
可选的，控制系统还配置为：
在确定所述第一自主移动机器人和所述第二自主移动机器人同在目标工作站执行任务的情况下，交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并等待下一个被操作。
可选的，控制系统还配置为：
交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并调整到指定的高度等待下一个被操作。
可选的，控制系统还配置为：
至少部分地根据所述自主移动机器人所在的工作站，确定目标高度，调度所述自主移动机器人将自身上的一个库存容器取出并调整到所述目标高度等待被操作，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
在确定所述自主移动机器人搬运的库存容器为空的情况下，发出空箱取出的提示消息，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述所述自主移动机器人在工作站承接整装物品，将所述整装物品搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述自主移动机器人在工作站承接容纳拆零物品的库存容器，将所述库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述自主移动机器人从库存区域取库存容器并搬运至工作站进行拆零物品的补货，待补货完毕后将库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
可选的，控制系统还配置为：
调度所述自主移动机器人行驶至缓存轨道线的第一末端，并从缓存轨道线的第一末端承接所述整装物品，所述整装物品在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
可选的，控制系统还配置为：
调度所述自主移动机器人行驶至缓存辊道线的第一末端，并从缓存轨道线的第一末端承接容纳拆零物品的库存容器，所述容纳拆零物品的库存容器在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
本申请实施例，通过根据任务信息调度第一自主移动机器人和第二自主移动机器人行驶至同一目标工作站执行任务；控制第一自主移动机器人从该库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点；控制第二自 主移动机器人根据指令从该库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。由于第一工作点和第二工作点为同一工位的相邻的两个工作点，这样工人从第一自主移动机器人携带的库存容器中拣货完成后，可以继续从第二自主移动机器人携带的库存容器中继续拣货，可以避免传统的一个工位只有一个工作点进行拣货的方式所导致的机器人在切换过程中造成的时间浪费。提高了库存管理工作的工作效率。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
以上公开的本申请优选实施例只是用于帮助阐述本申请。可选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本说明书的内容，可作很多的修改和变化。本说明书选取并具体描述这些实施例，是为了更好地解释本申请的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本申请。本申请仅受权利要求书及其全部范围和等效物的限制。

Claims (20)

  1. 一种库存管理系统，包括一个或多个库存区域、多个自主移动机器人、一个或多个工作站以及一个或多个控制系统，一个工作站包括至少两个工作点，多个自主移动机器人至少包括第一自主移动机器人和第二自主移动机器人，其中：
    所述控制系统配置为，根据任务信息调度所述第一自主移动机器人和所述第二自主移动机器人行驶至同一个目标工作站执行任务；
    所述第一自主移动机器人配置为，根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点；
    所述第二自主移动机器人配置为，根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。
  2. 根据权利要求1所述的系统，控制系统还配置为，在确定所述第一自主移动机器人和所述第二自主移动机器人同在目标工作站执行任务的情况下，交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并等待下一个被操作。
  3. 根据权利要求2所述的系统，控制系统还配置为，交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并调整到指定的高度等待下一个被操作。
  4. 根据权利要求1或3所述的系统，控制系统还配置为，至少部分地根据所述自主移动机器人所在的工作站，确定目标高度，调度所述自主移动机器人将自身上的一个库存容器取出并调整到所述目标高度等待被操作，所述自主移动机器人为所述库存系统中的任意一个机器人。
  5. 根据权利要求1所述的系统，控制系统还配置为，在确定所述自主移动机器人搬运的库存容器为空的情况下，发出空箱取出的提示消息，所述自主移动机器人为所述库存系统中的任意一个机器人。
  6. 根据权利要求1所述的系统，控制系统还配置为，调度所述所述自主 移动机器人在工作站承接整装物品，将所述整装物品搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
  7. 根据权利要求1所述的系统，控制系统还配置为，调度所述自主移动机器人在工作站承接容纳拆零物品的库存容器，将所述库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
  8. 根据权利要求1所述的系统，控制系统还配置为，调度所述自主移动机器人从库存区域取库存容器并搬运至工作站进行拆零物品的补货，待补货完毕后将库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存系统中的任意一个机器人。
  9. 根据权利要求6所述的系统，控制系统还配置为，调度所述自主移动机器人行驶至缓存轨道线的第一末端，并从缓存轨道线的第一末端承接所述整装物品，所述整装物品在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
  10. 根据权利要求7或8所述的系统，控制系统还配置为，调度所述自主移动机器人行驶至缓存辊道线的第一末端，并从缓存轨道线的第一末端承接容纳拆零物品的库存容器，其中，所述容纳拆零物品的库存容器在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
  11. 一种库存管理方法，应用于库存管理系统的控制系统中，所述库存管理系统包括一个或多个库存区域、多个自主移动机器人和一个或多个工作站，多个自主移动机器人至少包括第一自主移动机器人和第二自主移动机器人，所述方法包括：
    根据任务信息调度所述第一自主移动机器人和所述第二自主移动机器人行驶至同一个目标工作站执行任务；
    控制所述第一自主移动机器人从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第一工作点；
    控制所述第二自主移动机器人根据指令从所述库存区域取一个或多个库存容器并搬运到目标工作站中的第二工作点。
  12. 根据权利要求11所述的方法，还包括，在确定所述第一自主移动机 器人和所述第二自主移动机器人同在目标工作站执行任务的情况下，交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并等待下一个被操作。
  13. 根据权利要求12所述的方法，还包括，交替性地调度所述第一自主移动机器人和所述第二自主移动机器人在对方搬运的一个库存容器被操作时，将自身上的一个库存容器提前取出并调整到指定的高度等待下一个被操作。
  14. 根据权利要求11或13所述的方法，还包括，至少部分地根据所述自主移动机器人所在的工作站，确定目标高度，调度所述自主移动机器人将自身上的一个库存容器取出并调整到所述目标高度等待被操作，所述自主移动机器人为所述库存系统中的任意一个机器人。
  15. 根据权利要求11所述的方法，还包括，在确定所述自主移动机器人搬运的库存容器为空的情况下，发出空箱取出的提示消息，所述自主移动机器人为所述库存方法中的任意一个机器人。
  16. 根据权利要求11所述的方法，还包括，调度所述自主移动机器人在工作站承接整装物品，将所述整装物品搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存方法中的任意一个机器人。
  17. 根据权利要求11所述的方法，还包括，调度所述自主移动机器人在工作站承接容纳拆零物品的库存容器，将所述库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存方法中的任意一个机器人。
  18. 根据权利要求11所述的方法，还包括，调度所述自主移动机器人从库存区域取库存容器并搬运至工作站进行拆零物品的补货，待补货完毕后将库存容器搬运至指定的库存区域并放入指定的存储位，所述自主移动机器人为所述库存方法中的任意一个机器人。
  19. 根据权利要求16所述的方法，还包括，调度所述自主移动机器人行驶至缓存轨道线的第一末端，并从缓存轨道线的第一末端承接所述整装物品，所述整装物品在缓存轨道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
  20. 根据权利要求17或18所述的方法，还包括，调度所述自主移动机器 人行驶至缓存辊道线的第一末端，并从缓存轨道线的第一末端承接容纳拆零物品的库存容器，其中，所述容纳拆零物品的库存容器在缓存辊道线的第二末端加载到缓存辊道线上并传输到缓存辊道线的第一末端。
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