WO2022028200A1 - 仓储系统控制方法、装置及存储介质 - Google Patents

仓储系统控制方法、装置及存储介质 Download PDF

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Publication number
WO2022028200A1
WO2022028200A1 PCT/CN2021/105168 CN2021105168W WO2022028200A1 WO 2022028200 A1 WO2022028200 A1 WO 2022028200A1 CN 2021105168 W CN2021105168 W CN 2021105168W WO 2022028200 A1 WO2022028200 A1 WO 2022028200A1
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Prior art keywords
shelf
target
rack
movement
moved
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PCT/CN2021/105168
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English (en)
French (fr)
Inventor
陈宇奇
陈叶广
苏瑞
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深圳市海柔创新科技有限公司
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Publication of WO2022028200A1 publication Critical patent/WO2022028200A1/zh

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    • 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
    • B65G1/1376—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 conveyor
    • 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
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means

Definitions

  • the present application relates to the technical field of storage systems, and in particular, to a storage system control method, device and storage medium.
  • the warehousing system in the prior art usually includes a rack and a cargo transport tool.
  • a rack In order to meet the needs of the cargo transport tool for transporting goods, it is usually necessary to reserve enough space between the rack and the rack so that the cargo transport tool can transport the goods. To the shelf, or take out the goods from the shelf and other operations.
  • the present application provides a storage system control method, device and storage medium, so as to realize the control of the storage system and effectively improve the utilization rate and flexibility of storage space.
  • an embodiment of the present application provides a storage system control method, including:
  • the target shelf is the shelf where the item to be stored and/or the item to be retrieved is located.
  • the target movement strategy of the rack in the storage system is determined, and the target movement strategy includes the rack to be moved and the movement information of the rack to be moved.
  • the to-be-moved rack is controlled to move according to the movement information, so that the goods transporter can store the items to be stored and/or take out the items to be retrieved on the target rack.
  • the target movement strategy of the shelves in the storage system is determined according to the position of the target shelf in the storage system in the task, and the mobile shelves are moved according to the movement information in the target movement strategy, which avoids the problems in the prior art.
  • the shelves in the storage system are fixed in a fixed position, and there is no need to reserve enough space for each shelf, and the supply transporter can access the goods. Therefore, on the basis of controlling the storage system, it is also possible to It can effectively improve the utilization rate of storage space in the storage system, improve the storage density, and improve the flexibility of the storage system.
  • the movement information includes movement distance and/or movement time, and according to the position of the target shelf in the storage system, the target movement strategy of the shelves in the storage system is determined, including:
  • the movement strategy with the smallest number of shelves to be moved, or the movement strategy with the shortest movement distance of the shelves to be moved, or the movement strategy with the shortest movement time of the shelves to be moved is used as the target movement strategy , improve the working efficiency of the storage system.
  • the target rack includes multiple, and according to the position of the target rack in the storage system, multiple movement strategies of the rack in the storage system are determined, including:
  • multiple movement strategies of the shelves in the storage system are determined, so as to ensure the integrity and reliability of the multiple movement strategies.
  • the target movement strategy among the multiple movement strategies can further improve the work efficiency of the warehouse system.
  • controlling the rack to be moved to move according to the movement information includes:
  • the movement information is sent to the shelf to be moved, so that the shelf to be moved moves according to the movement information.
  • the rack to be moved includes multiple racks, and the rack to be moved is controlled to move according to the movement information, including:
  • At least two to-be-moved shelves in the plurality of to-be-moved shelves are controlled to move simultaneously or almost simultaneously.
  • the to-be-moved shelves include multiple shelves, at least two to-be-moved shelves are controlled to move simultaneously, or to be moved almost simultaneously, the moving time of the to-be-moved shelves can be effectively saved.
  • the method before determining the target shelf in the task, the method further includes:
  • the method further includes: sending the task to the cargo transporter, so that the cargo transporter moves to the target rack, and stores the items to be stored and/or takes out the items to be picked up.
  • the task is sent to the cargo transportation tool, so as to realize the control of the cargo transportation tool.
  • sending the task to the cargo transport includes:
  • the task is sent to the cargo transporter.
  • the embodiment of the present application realizes the reasonable scheduling of the cargo transportation tool by sending the task to the cargo transportation tool that is currently in the idle state, effectively saves the waiting time for the cargo transportation tool, and can improve the efficiency of cargo transportation.
  • sending the task to the cargo transport vehicle further includes:
  • the estimated end time of the working state is determined.
  • the task is sent to the target cargo transportation tool, and the interval between the expected end time of the target cargo transportation tool and the moving time of the shelf to be moved is less than a preset time interval.
  • the task is sent to the interval between the estimated end time and the moving time of the shelf to be moved less than the preset time interval It can reduce the waiting time of the cargo transportation tool and the shelf for each other, and further improve the efficiency of cargo transportation.
  • sending the task to the cargo transport includes:
  • the moving distance of the cargo transport tool and the moving times of the racks can be reduced.
  • the tasks further include:
  • the tasks are sequenced, and the work efficiency of the cargo transportation tool is improved.
  • the means of transport of goods is a robot or a forklift.
  • the item to be stored is a bin or a tray
  • the item to be retrieved is a bin or a tray.
  • an embodiment of the present application provides a shelf unit, where the shelf unit includes M shelves, where M is a positive integer greater than 2, for implementing the storage system control method provided by the first aspect and the implementation manner of the first aspect.
  • the rack includes a driving device for driving the rack to move.
  • shelf unit provided in the embodiment of the present application
  • the racks are first racks, the M first racks are distributed in rows or columns, there are N lanes between the M first racks, the first racks include at least one layer, and each layer of the first racks includes a plurality of storage spaces, wherein , N is a positive integer less than M-1.
  • N is 1 or 2.
  • the shelf is a second shelf
  • M second shelves form a rectangular array
  • each row or column in the rectangular array includes at least one movable space
  • the second shelf includes at least one layer
  • each layer includes at least one movable space.
  • the second shelf includes a storage space.
  • the shelf includes a protective device for preventing the items in the shelf from falling off during the movement.
  • the shelf includes a detection module, and the detection module is used to detect whether there is an obstacle within a preset distance of the shelf, and/or, to detect the width of the roadway or the size of the movable space.
  • an embodiment of the present application provides a cargo transportation tool for executing the storage system control method provided by the first aspect and an optional manner of the first aspect.
  • the cargo transportation tool includes a detection module, and the detection module is used to detect whether the cargo transportation tool has obstacles within a preset range, and/or, to detect whether the cargo transportation tool is in the roadway or movable space. Can pass smoothly.
  • the cargo transportation tool provided in the embodiment of the present application further includes:
  • Item access device item access device is used to store or retrieve items.
  • the means of transport of goods is a robot or a forklift.
  • the embodiments of the present application provide a storage system, a cargo transportation tool, and a shelf unit provided in the second aspect and an optional manner of the second aspect.
  • an electronic device including:
  • the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method as provided by the first aspect or an implementable manner of the first aspect.
  • embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause a computer to execute the method provided in the first aspect or an implementable manner of the first aspect.
  • an embodiment of the present application provides a computer program product, including: executable instructions, where the executable instructions are used to implement the method provided in the first aspect or an optional manner of the first aspect.
  • the storage system control method, device and storage medium provided by the present application determines the target rack in the task, the target rack is the rack where the item to be stored and/or the item to be retrieved is located, and according to the position of the target rack in the storage system , Determine the target movement strategy of the shelves in the storage system.
  • the target movement strategy includes the shelves to be moved and the movement information of the shelves to be moved.
  • the shelves to be moved are controlled to move according to the movement information, so that the cargo transportation tools can be stored on the target shelves. items and/or take out items for pickup.
  • the existing technology is avoided.
  • the shelves in the storage system are fixed in a fixed position, and there is no need to reserve enough space for each shelf, and the supply transporter can access the goods. Therefore, on the basis of realizing the control of the storage system, it is also necessary to It can effectively improve the utilization rate of storage space in the storage system, improve the storage density, and improve the flexibility of the storage system.
  • FIG. 1 is an architecture diagram of an exemplary application scenario provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a storage system control method provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a storage system provided by an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a storage system control method provided by another embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a storage system provided by another embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a storage system control method provided by another embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a storage system provided by another embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a shelf unit provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a shelf unit provided by another embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the warehousing system in the prior art usually includes a rack and a cargo transport tool.
  • a rack In order to meet the needs of the cargo transport tool for transporting goods, it is usually necessary to reserve enough space between the rack and the rack so that the cargo transport tool can transport the goods.
  • To the shelf or take out the goods from the shelf and other operations.
  • the utilization rate of the storage space is low and the flexibility is poor.
  • the concept of the storage system control method, device, and storage medium provided by the embodiments of the present application is that, by setting movable shelves in the storage system, the utilization rate of storage space is effectively improved, and the storage space is effectively improved according to the current task of accessing goods.
  • the racks in the system are moved, which ensures that the goods transporters can store items to be stored or take out items to be picked up on the racks, improving the flexibility of the storage system.
  • FIG. 1 is an architecture diagram of an exemplary application scenario provided by an embodiment of the present application. As shown in FIG. 1 , the architecture mainly includes: a plurality of shelves 01 and a cargo transportation tool 02 , and the shelf 01 is a movable shelf.
  • the bottom may be provided with rollers to realize the movement of the rack 01, or, a driving device may be provided in the rack 01, and the driving device may drive the movement of the rack 01, which is only an example in the embodiment of the present application.
  • a lane 03 may also be set between the multiple shelves 01, and the cargo transportation vehicle 02 can pass through the lane 03 to access the shelves on both sides of the lane 03.
  • the cargo transport tool may be a transport robot, a forklift, a cart, etc.
  • the embodiment of the present application is only an example, which is not limited.
  • Fig. 2 is a schematic flowchart of a storage system control method provided by an embodiment of the present application. The following describes the storage system control method with a terminal device as the execution subject. As shown in Fig. 2, the storage system control method provided by the embodiment of the present application can be include:
  • Step S101 Determine a target shelf in the task, where the target shelf is the shelf where the item to be stored and/or the item to be retrieved is located.
  • the shelf can include one or more storage spaces, and the storage space can be used to store items.
  • the task may include a task type, for example, storing an item, taking out an item, or accessing an item.
  • the task may also include an item identifier, quantity, etc. of the item to be stored or the item to be retrieved. It may include information on the item to be stored or the shelf where the item to be retrieved is located, and the embodiment of the present application is only an example, and is not limited to this.
  • the terminal device can determine the target shelf in the task by analyzing the relevant information of the target shelf in the task.
  • the task does not include the shelf where the item to be stored or the item to be picked up is located, and the task includes the item to be stored or the item to be picked up, and the terminal device can determine the target according to the item to be stored or the item to be picked up Shelf, the embodiment of the present application does not limit the specific implementation manner of determining the target shelf according to the item to be stored or the item to be retrieved.
  • the terminal device may determine the target shelf where the item to be stored or the item to be retrieved is located according to the corresponding relationship between the item to be retrieved and the item to be stored and the shelf.
  • the terminal device can record the position of the shelf where the item is when the item is stored on the shelf; the terminal device can also allocate a target shelf for the item to be stored according to the vacancy degree of the shelf and the shelf area where the item type is located. Taking this as an example, there is no restriction on this.
  • Step S102 Determine a target movement strategy of the shelf in the storage system according to the position of the target shelf in the storage system, where the target movement strategy includes the shelf to be moved and the movement information of the shelf to be moved.
  • the target movement strategy of the shelf in the storage system is determined according to the position of the target shelf in the storage system.
  • the embodiments of the present application are only taken as an example, and are not limited thereto.
  • the movable space may be a roadway.
  • FIG. 3 is a schematic structural diagram of a storage system provided by an embodiment of the present application.
  • the storage system includes ten racks, namely rack 1 , rack 2 , ..., rack 10 .
  • the target shelf as the shelf 3 as an example, the roadway is located between the shelf 6 and the shelf 7, and the shelf 4, the shelf 5 and the shelf 6 are spaced between the shelf 3 and the roadway.
  • the target moving strategy may include moving the racks between the target rack and the aisle toward the aisle, so that the aisle is located on one side of the target rack, that is Shelf 4, Shelf 5 and Shelf 6 move to the right respectively until the roadway is located between Shelf 3 and Shelf 4.
  • the shelves to be moved include Shelf 4, Shelf 5 and Shelf 6.
  • the movement information of Shelf 4 is to move one to the right.
  • the lane width and the movement information of the shelf 5 are one lane width moved to the right, and the movement information of the shelf 6 is one lane width moved to the right, and the embodiments of the present application only take this as an example.
  • the target moving strategy may further include moving the target rack and the rack between the target rack and the aisle toward the aisle, so that the aisle is located on one side of the target rack, namely, rack 3, rack 4.
  • the shelf 5 and the shelf 6 are moved to the right respectively until the roadway is located between the shelf 3 and the shelf 2.
  • the specific implementation of this possible implementation manner is not repeated in the embodiment of the present application.
  • Step S103 Controlling the to-be-moved rack to move according to the movement information, so that the goods transport vehicle can store the to-be-stored item on the target rack and/or take out the to-be-fetched item.
  • the to-be-moved shelves are controlled to move according to the movement information, so that the goods transporter can store items to be stored and/or take out items to be retrieved on the target shelves.
  • the cargo transport vehicle is a robot or a forklift.
  • controlling the rack to be moved to move according to the movement information includes: sending the movement information to the rack to be moved, so that the rack to be moved moves according to the movement information.
  • the rack to be moved may include a receiving module, and the receiving module is used to receive the movement information sent by the terminal device; after the receiving module in the rack to be moved receives the movement information, it can control the driving device in the rack to be moved to make the rack move. Move according to the movement information.
  • the target movement strategy in order to make the aisle on one side of the rack 3, includes moving the rack 4, the rack 5 and the rack 6 to the right respectively. , until the roadway is located between shelf 3 and shelf 4, you can first control shelf 6 to move to the right by one roadway width, then control shelf 5 to move to the right by one roadway width, and then control shelf 4 to move to the right by one roadway width.
  • the movement information controls the movement of the shelf to be moved. When the number of the racks to be moved is large, it will take more time to move the racks to be moved.
  • controlling the racks to be moved to move according to the movement information includes: controlling at least one of the racks to be moved according to the movement information of each rack to be moved respectively. The two racks to be moved are moved simultaneously.
  • the movement information can be sent to the shelves 4, 5 and 6 simultaneously to The rack 4, the rack 5 and the rack 6 are moved simultaneously according to the movement information.
  • the rack to be moved includes multiple racks
  • the multiple racks to be moved are controlled to move at the same time, thereby avoiding the need for other racks to move.
  • the waiting time can effectively save the moving time of the shelves to be moved.
  • controlling the racks to be moved to move according to the movement information includes: controlling at least two racks to be moved in the plurality of racks to be moved almost simultaneously according to the movement information of each rack to be moved. moving, wherein, at almost the same time, at least two racks to be moved start moving with a difference of a preset interval.
  • the racks to be moved can be sorted by using the positional relationship between the racks to be moved and the roadway. Since the roadway is located on the right side of the shelf 6, the shelf 5 is located on the right side of the shelf 4 and the racks need to move to the right, then the racks to be moved can be moved to the right in the order of rack 6, rack 5 and rack 4, and the start of the movement of rack 5 is different from that of rack 6 by preset
  • the interval, the starting movement time of the shelf 4 and the shelf 5 differs by a preset interval.
  • the specific value of the preset interval is not limited in this embodiment of the present application.
  • the preset interval may be 1 second, 3 seconds, 5 seconds, etc.
  • the embodiment is only taken as an example, and is not limited thereto.
  • the to-be-moved shelf includes multiple shelves
  • by controlling the multiple to-be-moved shelves to move almost simultaneously not only the waiting time for moving other shelves is avoided, but the moving time of the to-be-moved shelf can be effectively saved, and the , it can also effectively prevent the collision of adjacent shelves during the moving process, and further ensure the safety of the storage system.
  • the storage system in the prior art is avoided.
  • the shelves in the system are fixed in a fixed position, and there is no need to reserve enough space for each shelf, and the supply transporter can access the goods. Therefore, on the basis of controlling the storage system, it can also effectively Improve the utilization of storage space in the storage system, improve the storage density, and improve the flexibility of the storage system.
  • FIG. 4 is a schematic flowchart of a storage system control method provided by another embodiment of the present application.
  • the following describes the storage system control method with a terminal device as the execution subject.
  • the present application The step S102 in the storage system control method provided by the embodiment, that is, determining the target movement strategy of the rack in the storage system according to the position of the target rack in the storage system, may include:
  • Step S201 Determine multiple movement strategies of the shelves in the storage system according to the position of the target shelf in the storage system.
  • the embodiment of the present application does not limit the specific implementation manner of determining multiple movement strategies of the racks in the storage system according to the position of the target rack in the storage system.
  • the possible movement route to the target shelf is determined, and then the movement strategy under the possible movement route is determined as multiple movement strategies of the shelves in the storage system.
  • a possible moving route of the cargo transport tool to the target rack may be determined according to the position of the target rack in the storage system and the position of the movable space. For example, as shown in Fig. 3, the target shelf is shelf 3, the left side of shelf 3 is shelf 2, and the right side of shelf 3 is shelf 4, then the possible movement route of the cargo transportation tool to the target shelf can be: 4 moves to shelf 3, or moves from the position of shelf 2 to shelf 3.
  • the movement strategy may be to move the rack 4, or the rack 5, or the rack 6 to the right by one aisle, or the movement strategy may be to move the rack 3, the rack 4, or the rack 5 or the rack 6 to the right by one aisle.
  • the embodiments of the present application are only taken as an example, and are not limited thereto.
  • the cargo transportation tool can only be moved from the position of shelf 2 to shelf 1. At this time, the movement strategy can be to move shelf 3, shelf 4. Either shelf 5 or shelf 6 moves one lane to the right. If the left side of the shelf 1 is a movable space, the cargo transportation tool can also be moved from the left side of the shelf 1 to the shelf 1, and the shelf does not need to be moved at this time.
  • the embodiments of the present application are only taken as an example, and are not limited thereto.
  • the target rack may include multiple, for example, the task is to access an item, take an item from rack A, and store the item in rack B. Or, there are multiple tasks, and there may be one target rack or multiple target racks for multiple tasks.
  • the target racks include multiple ones, and according to the positions of the target racks in the storage system, multiple movement strategies of the racks in the storage system are determined, including: according to the location of each target rack in the storage system The location in the system, which determines the multiple movement strategies of the shelves in the storage system.
  • the possible movement route of the freight transporter may be that the freight transporter first moves to the current rack by moving to the current rack. 2 or the position of shelf 4 goes to shelf 3, and then moves to the current position of shelf 4 or shelf 6 to go to shelf 5.
  • multiple movement strategies of the shelves in the storage system can be determined.
  • the possible movement route of the cargo transportation tool can also be to move to the position of the current shelf 4 or shelf 6 to the shelf 5 and then move to the position of the current shelf 2 or the shelf 4 to the shelf 3.
  • the storage can also be determined. Multiple movement strategies for shelves in the system. The embodiments of the present application only take this as an example.
  • the method of determining the movement strategy under the possible movement route is as follows: For example, introduce.
  • the shelf to be moved is the shelf 6, and the movement information of the shelf 6 is to move one lane width to the right.
  • the shelves to be moved are the shelf 4 and the shelf 5, and the movement information of the shelf 4 and the shelf 5 is to move one lane width to the right, so that the lane is located at the edge of the shelf 3.
  • the cargo transportation tool can store or take out the items on the shelf 3 through the roadway on the right side of the shelf 3 .
  • the embodiments of the present application are only taken as an example, and are not limited thereto.
  • each shelf can include multiple layers, and each shelf can include a storage space.
  • Each shelf can be moved, or the shelf located at the edge of the shelf unit is fixed, and other shelves can be moved, or the shelves partially located at the edge of the shelf unit can be fixed, and other shelves can be moved, which is not limited in this embodiment of the present application.
  • Multiple shelves can be arranged in multiple rows and columns, and there is a movable space in each row or column for the supply rack to move.
  • the size of the movable space can be the size of one shelf, or it can be other sizes.
  • the movable space The size can meet the movement of cargo transport vehicles.
  • the numbering is performed by using the row and column where each shelf is located.
  • the possible moving routes of the cargo transportation tool may include multiple types.
  • the moving routes of the cargo transportation tool are the moving route A, The moving route C, moving route D, moving route E, etc. are taken as examples for description.
  • the moving routes of the cargo transportation tool are not limited to this, and each moving route may have at least one moving strategy, which is not repeated in this embodiment of the present application.
  • the embodiment of the present application may arbitrarily select one movement strategy from the above-mentioned multiple movement strategies as the target movement strategy, and then control the to-be-to-be-moved strategy according to the movement information of the target movement strategy.
  • the mobile rack moves so that the cargo carrier can store items for storage and/or retrieve items for retrieval on target racks.
  • the movement information includes movement distance and/or movement time, and after multiple movement strategies are determined, the target movement strategy may be determined through steps S202 and S203.
  • Step S202 Determine the shelf to be moved, the moving distance of the shelf to be moved, and/or the moving time of the shelf to be moved under each of the multiple movement strategies.
  • Step S203 take the movement strategy with the least number of racks to be moved as the target movement strategy, or, take the movement strategy with the shortest movement distance of the racks to be moved as the target movement strategy, or take the movement strategy with the shortest movement time of the racks to be moved as the target movement strategy.
  • Target movement strategy take the movement strategy with the least number of racks to be moved as the target movement strategy, or, take the movement strategy with the shortest movement distance of the racks to be moved as the target movement strategy, or take the movement strategy with the shortest movement time of the racks to be moved as the target movement strategy.
  • the movement strategies of the racks can be movement strategy B (corresponding to movement route B) and movement strategy E (corresponding to movement route E) as an example, introduce.
  • the shelf to be moved of the moving strategy B is the shelf 34
  • the moving distance of the shelf to be moved is the first distance (including the moving distance of the shelf 34)
  • the moving time of the shelf to be moved is the first time
  • the shelf to be moved of the moving strategy E Including shelf 52, shelf 53 and shelf 34
  • the moving distance of the shelf to be moved is the second distance (including the moving distance of the shelf 52, the moving distance of the shelf 53, the moving distance of the shelf 34)
  • the moving time of the shelf to be moved is the first.
  • Second time (including the moving time of the shelf 52, the shelf 53 and the shelf 34).
  • the movement strategy B has the least number of shelves to be moved, and then the movement strategy B is the target movement strategy.
  • the work efficiency of the storage system can be effectively improved.
  • the movement strategy with the shortest movement distance of the shelf to be moved is used as the target movement strategy, assuming that the first distance is greater than the second distance, the movement distance of movement strategy B is the first distance, and the movement distance of movement strategy E is the first distance. If the moving distance is the second distance, then the moving distance of the moving strategy B is greater than the moving distance of the moving strategy E. Therefore, the moving strategy E is selected as the target moving strategy.
  • the movement strategy with the shortest movement distance as the target movement strategy not only the energy consumption of the rack movement can be saved, but also the loss of the rack drive device can be reduced.
  • the movement strategy with the shortest movement time of the shelf to be moved is used as the target movement strategy. Assuming that the first time is greater than the second time, the movement time of the movement strategy B is the first time, and the movement strategy of the movement strategy E is the first time. If the movement time is the second time, the movement time of the movement strategy B is greater than the movement time of the movement strategy E. Therefore, the movement strategy E is selected as the target movement strategy. In the embodiment of the present application, by using the movement strategy with the shortest movement time of the shelf to be moved as the target movement strategy, the movement time of the shelf can be effectively saved, thereby improving the efficiency of goods access.
  • the movement strategy of the cargo transport tool to move to each target shelf in the plurality of target shelves is determined, and then the movement of the shelf under the movement strategy is determined.
  • Strategies that can improve the efficiency of the warehousing system are possible.
  • FIG. 6 is a schematic flowchart of a storage system control method provided by another embodiment of the present application.
  • the method may further include:
  • Step S301 Receive a task, where the task includes items to be stored and/or items to be picked up.
  • the storage system control method provided by the embodiment of the present application may further include:
  • Step S302 Send the task to the cargo transporter, so that the cargo transporter moves to the target rack, and stores the items to be stored and/or takes out the items to be picked up.
  • FIG. 7 is a schematic structural diagram of a storage system provided by another embodiment of the present application.
  • the storage system includes a shelf unit, a terminal device, and a cargo transportation tool, wherein the terminal device carries out data with the shelves and the cargo transportation tool respectively.
  • the embodiment of the present application does not limit the communication mode between the terminal device, the shelf unit and the cargo transportation means.
  • the terminal device After receiving the task, the terminal device sends the task to the cargo transport vehicle, so that the cargo transport tool moves to the target rack, and stores the items to be stored and/or takes out the items to be picked up.
  • the task is sent to the cargo transportation tool, so as to realize the control of the cargo transportation tool.
  • sending the task to the cargo transportation tool includes:
  • the current state of the cargo transporter can be idle or working.
  • the current status of the cargo transporter is idle, it means that the cargo transporter has not received the task or the current task has been completed.
  • the current state is idle. It realizes the reasonable scheduling of the cargo transportation tools, effectively saves the waiting time for the cargo transportation tools, and can improve the efficiency of cargo transportation.
  • the estimated end time of the working state is determined.
  • the task is sent to the target cargo transportation tool, and the interval between the expected end time of the target cargo transportation tool and the moving time of the shelf to be moved is less than a preset time interval.
  • the estimated end time of the working state can be determined.
  • the cargo transportation tool includes cargo transportation tool A, cargo transportation tool B, and cargo transportation tool C respectively, and the cargo transportation tool A is 5 Ends in minutes, ends in 10 minutes for Cargo B, and ends in 15 minutes for Cargo C.
  • the cargo transporter A can be selected as the target cargo transporter, and the task is sent to the cargo transporter A.
  • the moving time of the shelf to be moved is, for example, 10 minutes, and the preset time interval is 5 minutes
  • the cargo transporter B can be selected as the target cargo transporter, and the task is sent to the cargo transporter B.
  • the interval between the estimated end time of the target cargo transport and the movement time of the rack to be moved is the smallest.
  • the task is sent to the interval between the estimated end time and the moving time of the shelf to be moved less than the preset time interval It can reduce the waiting time of the cargo transportation tool and the shelf for each other.
  • the task is sent to Cargo transport tools, including: sending tasks with the same target shelf in multiple tasks to the same cargo transport tool, or sending tasks in which the number of shelves between target shelves in multiple tasks is less than a preset value to the same Cargo transport.
  • Cargo transport tools including: sending tasks with the same target shelf in multiple tasks to the same cargo transport tool, or sending tasks in which the number of shelves between target shelves in multiple tasks is less than a preset value to the same Cargo transport.
  • the movement route of the cargo transportation tool under the target movement strategy is determined. Use the moving route to sort the tasks to get the sorted tasks.
  • Sending tasks to the cargo transporter includes: sending the sorted tasks and movement routes to the cargo transporter.
  • the target movement strategy of the shelves in the storage system is: Shelf 6 moves one lane to the right, and after a certain period of time, moves shelving 3, shelving 4 and shelving 5 one lane to the right, then, the moving route of the cargo transportation tool can be moved to the right side of shelving 5 first. The corresponding task is then moved to the aisle between the shelf 2 and the shelf 3, and the task corresponding to the shelf 2 and the shelf 3 is executed. Sort multiple tasks.
  • the sorted tasks can be the tasks corresponding to shelf 5, the tasks corresponding to shelf 3, and the tasks corresponding to shelf 2, or the tasks corresponding to shelf 5, the tasks corresponding to shelf 2, and the tasks corresponding to shelf 3. Task. Wherein, for multiple tasks whose target shelves are on the same shelf, or multiple tasks where the target shelves are adjacent shelves and there is movable space between adjacent shelves, the tasks may be sorted according to the time when the tasks are issued. The embodiments of the present application only take this as an example.
  • An embodiment of the present application provides a shelf unit, where the shelf unit includes M shelves, where M is a positive integer greater than 2, and can be used to implement the storage system control method provided by the above embodiment, the content and effect of which can be provided with reference to the embodiment of the present application The control method of the storage system is not repeated here.
  • the rack includes a driving device for driving the rack to move.
  • the shelf is the first shelf
  • the M first shelves are distributed in rows or columns
  • the first shelves It includes at least one layer
  • each layer of the first shelf includes a plurality of storage spaces, wherein N is a positive integer less than M-1.
  • FIG. 8 is a schematic structural diagram of a shelf unit provided by an embodiment of the present application.
  • a plurality of first shelves are distributed in a row, and each shelf unit includes 8 rows of shelves and 3 lanes.
  • the number of lanes and the first shelf for example, there may be one lane or two lanes.
  • the position of the first shelf at the edge of the shelf unit can be fixed to avoid any movement of the first shelf in the shelf unit, resulting in a large position deviation of the first shelf, which is not conducive to the management of the shelf unit in the storage system.
  • each row of the first rack includes a driving device (not shown in FIG. 8 ), and the driving device is used to drive the first rack to move.
  • the driving device is used to drive the first rack to move.
  • the shelf is a second shelf, and M second shelves form a rectangular array, and each row or each of the rectangular arrays forms a rectangular array.
  • One row includes at least one movable space
  • the second shelf includes at least one level
  • each level of the second shelf includes a storage space.
  • FIG. 9 is a schematic structural diagram of a shelf unit provided by another embodiment of the present application.
  • M second shelves are distributed in a rectangular array
  • the shelf unit in FIG. 9 is a rectangle with 5 rows and 5 columns.
  • Array distribution each row of racks in the rectangular array includes at least one movable space for providing space for rack movement.
  • Each shelf also includes a driving device for driving each shelf to move, realizing individual control of each shelf, improving the flexibility of the storage system, and reducing storage space.
  • the shelf provided by the embodiment of the present application includes a protection device, the protection device is used to prevent the items in the shelf from falling during the movement process, and the protection device will not affect the transportation of goods on the shelf. Interfering with storing items to be stored or taking items out for retrieval.
  • the protection device can be located at the edge of each layer of the shelf, for example, it can be a guardrail, a partition net, etc., which is not limited in the embodiment of the present application. By setting the protection device on the shelf, it can effectively prevent the items in the shelf from moving during the movement process. drop occurred.
  • the rack provided in the embodiment of the present application includes a detection module, and the detection module is used to detect whether there is an obstacle within a preset distance of the rack, and/or, to detect the width of the roadway or the movement of the movable space. size.
  • the shelf can also include a detection module, which can be used to detect whether there is an obstacle within a preset distance of the shelf. If there is an obstacle, the user can be prompted to clear the obstacle by sending an alarm message to ensure the smooth progress of the shelf moving process.
  • the detection module can also be used to detect the width of the roadway or the size of the movable space to check whether the moving purpose of the shelf is achieved, which further ensures the smooth movement of the shelf.
  • Embodiments of the present application provide a cargo transportation tool, which is used to execute the storage system control method provided by the foregoing embodiments.
  • the means of transport of goods is a robot or a forklift.
  • the cargo transportation tool includes a detection module, and the detection module is used to detect whether the cargo transportation tool has obstacles within a preset range, and/or, to detect whether the cargo transportation tool is in the roadway or movable space. Can pass smoothly.
  • the cargo transportation tool provided by the embodiment of the present application further includes: an article access device, and the article access device is used for storing or taking out articles.
  • the article access device may be a robot arm, etc., which is not limited in this embodiment of the present application.
  • the embodiments of the present application provide a storage system, a cargo transport tool, and the shelf unit provided by the above embodiments, which are not limited in the embodiments of the present application.
  • a storage system shown in FIG.
  • the embodiment is only taken as an example, and is not limited thereto.
  • FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 10 , the electronic device includes:
  • a processor 61 a memory 62, a transceiver 63, and a computer program; wherein the transceiver 63 implements data transmission with other devices, the computer program is stored in the memory 62, and is configured to be executed by the processor 61, the computer program It includes instructions for executing the above-mentioned image fusion method.
  • the transceiver 63 implements data transmission with other devices
  • the computer program is stored in the memory 62, and is configured to be executed by the processor 61, the computer program It includes instructions for executing the above-mentioned image fusion method.
  • the method embodiment please refer to the method embodiment.
  • an embodiment of the present application further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when at least one processor of the user equipment executes the computer-executable instructions, the user equipment executes the above-mentioned various possibilities Methods.
  • computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another.
  • a storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
  • An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium.
  • the storage medium can also be an integral part of the processor.
  • the processor and storage medium may reside in an ASIC. Alternatively, the ASIC may be located in the user equipment.
  • the processor and storage medium may also exist in the communication device as discrete components.

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Abstract

一种仓储系统控制方法、装置及存储介质，包括：确定任务中的目标货架（3），目标货架（3）为待存物品和/或待取物品所在的货架（01），根据目标货架（3）在仓储系统中的位置，确定仓储系统中货架（01）的目标移动策略，目标移动策略包括待移动货架（4、5、6）以及待移动货架（4、5、6）的移动信息，根据移动信息控制待移动货架（4、5、6）进行移动，以使货物运输工具（02）可在目标货架（3）上存储待存物品和/或取出待取物品。

Description

仓储系统控制方法、装置及存储介质
本申请要求于2020年08月05日提交中国专利局、申请号为202010778966.3、申请名称为“仓储系统控制方法、装置及存储介质”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。
技术领域
本申请涉及仓储系统技术领域，特别是涉及一种仓储系统控制方法、装置及存储介质。
背景技术
随着物流行业的快速发展，在仓储系统领域中，自动化的仓储系统越来越被广泛使用，许多由人工进行搬运的仓储的作业现被自动化机器人所代替，现代仓储系统中，全自动化、高效、高密度成为仓储自动化的发展目标。
现有技术中的仓储系统，通常包括货架及货物运输工具，为了满足货物运输工具运送货物的需求，通常需要在货架与货架之间，预留足够的空间，以便于货物运输工具可以将货物运输至货架，或者从货架中将货物取出等操作。
然而，现有技术中，通过在每个货架之间预留足够的空间，仓储空间的利用率较低且灵活性较差。
发明内容
本申请提供一种仓储系统控制方法、装置及存储介质，以实现对仓储系统的控制，并且有效提高了仓储空间利用率和灵活性。
第一方面，本申请实施例提供一种仓储系统控制方法，包括：
确定任务中的目标货架，目标货架为待存物品和/或待取物品所在的货架。
根据目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，目标移动策略包括待移动货架以及待移动货架的移动信息。
根据移动信息控制待移动货架进行移动，以使货物运输工具可在目标货架上存储待存物品和/或取出待取物品。
本申请实施例中，通过根据任务中目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，并按照目标移动策略中的移动信息对待移动货架进行移动，避免了现有技术中将仓储系统中的货架固定在固定位置，也不需要为每个货架均预留足够的空间，供货物运输工具进行存取货物，因此，在实现对仓储系统进行控制的基础上，还可以有效的提高仓储系统中仓储空间的利用率，提高仓储密度，并且可以提高仓储系统的灵活性。
在一种可能的实施方式中，移动信息包括移动距离和/或移动时间，根据目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，包括：
根据目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略。
确定多个移动策略中每个移动策略下的待移动货架、以及待移动货架的移动距离和/或待移动货架的移动时间。
将待移动货架的数量最少的移动策略作为目标移动策略，或，将待移动货架的移动距离最短的移动策略作为目标移动策略，或，将待移动货架的移动时间最短的移动策略作为目标移动策略。
本申请实施例中，通过将待移动货架的数量最少的移动策略，或者，将待移动货架的移动距离最短的移动策略，或者，将待移动货架的移动时间最短的移动策略，作为目标移动策略，提高了仓储系统的工作效率。
在一种可能的实施方式中，目标货架包括多个，根据目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略，包括：
根据多个目标货架中每个目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略。
本申请实施例中，通过考虑到多个目标货架中每个目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略，保证了多个移动策略的完整性和可靠性，通过多个移动策略中的目标移动策略，可以进一步提高仓储系统的工作效率。
在一种可能的实施方式中，根据移动信息控制待移动货架进行移动，包括：
将移动信息发送至待移动货架，以使待移动货架按照移动信息进行移动。
在一种可能的实施方式中，待移动货架包括多个货架，则根据移动信息控制待移动货架进行移动，包括：
分别根据每个待移动货架的移动信息，控制多个待移动货架中的至少两个待移动货架同时或几乎同时进行移动。
本申请实施例中，通过在待移动货架包括多个货架时，控制至少两个待移动货架同时进行移动，或者，几乎同时进行移动，可以有效节约待移动货架的移动时间。
在一种可能的实施方式中，在确定任务中的目标货架之前，还包括：
接收任务，任务中包括待存物品和/或待取物品；
在确定任务中的目标货架之后，还包括：将任务发送至货物运输工具，以使货物运输工具移动至目标货架，并存储待存物品和/或取出待取物品。
本申请实施例中，通过在接收任务并确定任务中的目标货架之后，将任务发送至货物运输工具，实现了对货物运输工具的控制。
在一种可能的实施方式中，将任务发送至货物运输工具，包括：
确定货物运输工具的当前状态；
若货物运输工具的当前状态为空闲状态，则将任务发送至货物运输工具。
本申请实施例通过将任务发送至当前状态为空闲状态的货物运输工具，实现了对货物运输工具的合理调度，有效节约了对货物运输工具的等待时间，可以提高货物运输的效率。
在一种可能的实施方式中，将任务发送至货物运输工具，还包括：
若货物运输工具的当前状态为工作状态，则确定工作状态的预计结束时间。
将任务发送至目标货物运输工具，目标货物运输工具的预计结束时间与待移动货架的移动时间的间隔小于预设时间间隔。
本申请实施例中，通过同时考虑货物运输工具的工作状态的预计结束时间，以及待移 动货物的移动时间，并将任务发送至预计结束时间与待移动货架的移动时间的间隔小于预设时间间隔的货物运输工具上，可以减少货物运输工具和货架相互等待的时间，进一步提高货物运输的效率。
在一种可能的实施方式中，将任务发送至货物运输工具，包括：
将多个任务中目标货架相同的任务，发送至相同的货物运输工具，或者，将多个任务中目标货架之间的货架数量小于预设值的任务，发送至相同的货物运输工具。
本申请实施例中，通过将目标货架相同的任务、或者目标货架之间的货架数量小于预设值的任务发送至相同的货物运输工具，可以减少货物运输工具的移动距离以及货架的移动次数。
在一种可能的实施方式中，任务为多个，在确定仓储系统中货架的目标移动策略之后，还包括：
确定目标移动策略下，货物运输工具的移动路线。
利用移动路线，对任务进行排序，得到排序后的任务。
将任务发送至货物运输工具，包括：
将排序后的任务和移动路线，发送至货物运输工具。
本申请实施例中，通过利用货物运输工具的移动路线，对任务进行排序，提高货物运输工具的工作效率。
在一种可能的实施方式中，货物运输工具为机器人或叉车。
在一种可能的实施方式中，待存物品为料箱或托盘，待取物品为料箱或托盘。
下面介绍本申请实施例提供的货架单元、货物运输工具、仓储系统、电子设备、计算机可读存储介质以及计算机程序产品，其内容和效果可参考本申请实施例提供的仓储系统控制方法，不再赘述。
第二方面，本申请实施例提供一种货架单元，货架单元包括M个货架，M为大于2的正整数，用于执行如第一方面及第一方面可实现方式提供的仓储系统控制方法。
在一种可能的实施方式中，货架包括驱动装置，驱动装置用于驱动货架进行移动。
在一种可能的实施方式中，本申请实施例提供的货架单元，
货架为第一货架，M个第一货架成行或成列分布，M个第一货架之间存在N个巷道，第一货架包括至少一层，且每层第一货架包括多个存储空间，其中，N为小于M-1的正整数。
在一种可能的实施方式中，N为1或2。
在一种可能的实施方式中，货架为第二货架，M个第二货架组成矩形阵列，矩形阵列中每一行或每一列包括至少一个可移动空间，第二货架包括至少一层，且每层第二货架包括一个存储空间。
在一种可能的实施方式中，货架包括保护装置，保护装置用于防止货架中的物品在移动过程中掉落。
在一种可能的实施方式中，货架包括检测模块，检测模块用于检测货架预设距离内是否存在障碍，和/或，用于检测巷道宽度或可移动空间的大小。
第三方面，本申请实施例提供一种货物运输工具，用于执行如第一方面及第一方面可选方式提供的仓储系统控制方法。
在一种可能的实施方式中，货物运输工具包括检测模块，检测模块用于检测货物运输工具在预设范围内是否存在障碍，和/或，用于检测货物运输工具在巷道或可移动空间是否可顺利通行。
在一种可能的实施方式中，本申请实施例提供的货物运输工具，还包括：
物品存取装置，物品存取装置用于存储物品或取出物品。
在一种可能的实施方式中，货物运输工具为机器人或叉车。
第四方面，本申请实施例提供一种仓储系统，货物运输工具和如第二方面及第二方面可选方式提供的货架单元。
第五方面，本申请实施例提供一种电子设备，包括：
至少一个处理器；以及
与至少一个处理器通信连接的存储器；其中
存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行如第一方面或第一方面可实现方式提供的方法。
第六方面，本申请实施例提供一种存储有计算机指令的非瞬时计算机可读存储介质，计算机指令用于使计算机执行如第一方面或第一方面可实现方式提供的方法。
第七方面，本申请实施例提供一种计算机程序产品，包括：可执行指令，可执行指令用于实现如第一方面或第一方面可选方式提供的方法。
本申请提供的仓储系统控制方法、装置及存储介质，该方法通过确定任务中的目标货架，目标货架为待存物品和/或待取物品所在的货架，并根据目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，目标移动策略包括待移动货架以及待移动货架的移动信息，最后根据移动信息控制待移动货架进行移动，以使货物运输工具可在目标货架上存储待存物品和/或取出待取物品。本申请实施例中，由于通过根据任务中目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，并按照目标移动策略中的移动信息对待移动货架进行移动，避免了现有技术中将仓储系统中的货架固定在固定位置，也不需要为每个货架均预留足够的空间，供货物运输工具进行存取货物，因此，在实现对仓储系统进行控制的基础上，还可以有效的提高仓储系统中仓储空间的利用率，提高仓储密度，并且可以提高仓储系统的灵活性。
附图说明
图1是本申请实施例提供的一示例性应用场景架构图；
图2是本申请一实施例提供的仓储系统控制方法的流程示意图；
图3是本申请一实施例提供的仓储系统的结构示意图；
图4是本申请另一实施例提供的仓储系统控制方法的流程示意图；
图5是本申请另一实施例提供的仓储系统的结构示意图；
图6是本申请另一实施例提供的仓储系统控制方法的流程示意图；
图7是本申请另一实施例提供的仓储系统的结构示意图；
图8是本申请实施例提供的货架单元的结构示意图；
图9是本申请另一实施例提供的货架单元的结构示意图；
图10是本申请实施例提供的电子设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。
此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
随着物流行业的快速发展，在仓储系统领域中，自动化的仓储系统越来越被广泛使用，许多由人工进行搬运的仓储的作业现被自动化机器人所代替，现代仓储系统中，全自动化、高效、高密度成为仓储自动化的发展目标。现有技术中的仓储系统，通常包括货架及货物运输工具，为了满足货物运输工具运送货物的需求，通常需要在货架与货架之间，预留足够的空间，以便于货物运输工具可以将货物运输至货架，或者从货架中将货物取出等操作。然而，现有技术中，通过在每个货架之间预留足够的空间，仓储空间的利用率较低且灵活性较差。
本申请实施例提供的仓储系统控制方法、装置及存储介质的构思在于，通过在仓储系统中设置可移动的货架，有效提高仓储空间的利用率，并且通过根据当前存取货物的任务，对仓储系统中的货架进行移动，保证了货物运输工具可在货架上存储待存物品或取出待取物品，提高仓储系统的灵活性。
以下，对本申请实施例的示例性应用场景进行介绍。
本申请实施例提供的仓储系统控制方法可以通过本申请实施例提供的货架执行，也可以通过本申请实施例提供的电子设备执行，本申请实施例对电子设备的具体类型不做限制，例如，电子设备可以是处理器、芯片、智能手机、个人电脑、平板电脑、可穿戴设备、车载终端、监控设备、摄像机、机器人、叉车等。图1是本申请实施例提供的一示例性应用场景架构图，如图1所示，该架构主要包括：多个货架01和货物运输工具02，货架01为可移动货架，例如，货架01的底部可以设置滚轮的方式实现货架01的移动，或者，可以通过在货架01中设置驱动装置，驱动装置驱动货架01的移动，本申请实施例仅以此为例。如图1所示，多个货架01之间还可以设置有巷道03，货物运输工具02可以通过巷道03，对巷道03两侧的货架进行存取物品，本申请实施例仅以图1中所示为例，并不限于此。货物运输工具可以为运输机器人、叉车、推车等，本申请实施例仅以此为例，对此不做限制。
图2是本申请一实施例提供的仓储系统控制方法的流程示意图，下面以终端设备为执行主体对仓储系统控制方法进行说明，如图2所示，本申请实施例提供的仓储系统控制方法可以包括：
步骤S101：确定任务中的目标货架，目标货架为待存物品和/或待取物品所在的货架。
在仓储系统中，货架上可以包括一个或多个存储空间，通过存储空间可以用于存储物品，在需要将货架上的物品取出或者将物品存储至货架上时，可以通过向终端设备发送任务的方式，通知终端设备。在一种可能的实施方式中，任务中可以包括任务类型，例如，存储物品、取出物品或存取物品，任务中还可以包括待存物品或待取物品的物品标识、数量等，任务中还可以包括待存物品或待取物品所在的货架信息等，本申请实施例仅以此为例，并不限于此。
在一种可能的实施方式中，任务中存在待存物品或待取物品所在的货架，即，目标货架，终端设备可以通过解析任务中目标货架的相关信息确定任务中的目标货架。在另一种可能的实施方式中，任务中不包括待存物品或待取物品所在的货架，任务中包括待存物品或待取物品，则终端设备可以根据待存物品或待取物品确定目标货架，本申请实施例对根据待存物品或待取物品确定目标货架的具体实现方式不做限制。例如，终端设备可以根据待取物品和待存物品与货架之间的对应关系，确定待存物品或待取物品所在的目标货架。其中，终端设备可以在物品存储至货架上时，记录物品所在的货架位置；终端设备还可以根据货架的空闲程度以及物品类型所在的货架区域，为待存物品分配目标货架，本申请实施例仅以此为例，对此并不做限制。
步骤S102：根据目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，目标移动策略包括待移动货架以及待移动货架的移动信息。
在确定任务中的目标货架之后，根据目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，本申请实施例对如何根据目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略的具体实现方式不做限制，在一种可能的实施方式中，可以利用目标货架与可移动空间之间的相对位置，确定仓储系统中货架的目标移动策略。本申请实施例仅以此为例，并不限于此。其中，可移动空间可以为巷道。
示例性的，图3是本申请一实施例提供的仓储系统的结构示意图，如图3所示，仓储系统中包括十个货架，分别是货架1、货架2、……、货架10。以目标货架为货架3为例，巷道位于货架6和货架7之间，货架3与巷道之间间隔了货架4、货架5和货架6。为了使巷道在货架3的一侧，在一种可能的实施方式中，目标移动策略可以包括分别将目标货架与巷道之间的货架向巷道方向移动，以使巷道位于目标货架的一侧，即将货架4、货架5和货架6分别向右移动，直到巷道位于货架3和货架4之间，此时，待移动货架包括货架4、货架5和货架6，货架4的移动信息为向右移动一个巷道宽度、货架5的移动信息为向右移动一个巷道宽度、货架6的移动信息为向右移动一个巷道宽度，本申请实施例仅以此为例。在另一种可能的实施方式中，目标移动策略还可以包括分别将目标货架以及目标货架与巷道之间的货架，向巷道方向移动，以使巷道位于目标货架的一侧，即将货架3、货架4、货架5和货架6分别向右移动，直到巷道位于货架3和货架2之间，本申请实施例对该种可能的实施方式的具体实现方式不再赘述。
步骤S103：根据移动信息控制待移动货架进行移动，以使货物运输工具可在目标货架上存储待存物品和/或取出待取物品。
在确定仓储系统中货架的目标移动策略之后，根据移动信息控制待移动货架进行移动，以使货物运输工具可在目标货架上存储待存物品和/或取出待取物品。在一种可能的实施方 式中，货物运输工具为机器人或叉车。
本申请实施例对根据移动信息控制待移动货架进行移动的具体实现方式不做限制。在一种可能的实施方式中，可以通过终端设备控制待移动货架中的驱动装置，以驱动待移动货架进行移动。在另一种可能的实施方式中，根据移动信息控制待移动货架进行移动，包括：将移动信息发送至待移动货架，以使待移动货架按照移动信息进行移动。
待移动货架中可以包括接收模块，接收模块用于接收终端设备发送的移动信息；待移动货架中的接收模块在接收到移动信息之后，可以通过控制待移动货架中的驱动装置，以使移动货架按照移动信息进行移动。
在又一种可能的实施方式中，如上述图3所示的实施例为例，为了使巷道在货架3的一侧，目标移动策略包括分别将货架4、货架5和货架6分别向右移动，直到巷道位于货架3和货架4之间，则可以首先控制货架6向右移动一个巷道宽度，然后控制货架5向右移动一个巷道宽度，然后控制货架4向右移动一个巷道宽度，实现了根据移动信息控制待移动货架进行移动。在待移动货架的数量较多时，会花费较多的时间进行待移动货架的移动。
为了节约待移动货架的移动时间，在一种可能的实施方式中，根据移动信息控制待移动货架进行移动，包括：分别根据每个待移动货架的移动信息，控制多个待移动货架中的至少两个待移动货架同时进行移动。
示例性的，为便于理解，以上述示例为例，可以控制货架4、货架5和货架6同时向右移动一个巷道宽度，例如，可以同时向货架4、货架5和货架6发送移动信息，以使货架4、货架5和货架6按照移动信息同时进行移动，本申请实施例中，通过在待移动货架包括多个货架时，控制多个待移动货架同时进行移动，避免了对其他货架移动的等待时间，可以有效节约待移动货架的移动时间。
在又一种可能的实施方式中，根据移动信息控制待移动货架进行移动，包括：分别根据每个待移动货架的移动信息，控制多个待移动货架中的至少两个待移动货架几乎同时进行移动，其中，几乎同时为至少两个待移动货架的开始移动时刻相差预设间隔。
示例性的，为便于理解，以上述示例为例，可以通过利用待移动货架与巷道之间的位置关系，对待移动货架进行排序，由于巷道位于货架6的右侧，货架5位于货架4的右侧，且货架均需要向右移动，则可以将待移动货架按照货架6、货架5和货架4的顺序，依次向右移动，且货架5的开始移动时刻与货架6的开始移动时刻相差预设间隔、货架4与货架5的开始移动时刻相差预设间隔，本申请实施例对预设间隔的具体数值不做限制，例如，预设间隔可以为1秒、3秒、5秒等，本申请实施例仅以此为例，并不限于此。本申请实施例中，通过在待移动货架包括多个货架时，控制多个待移动货架几乎同时进行移动，不仅避免了对其他货架移动的等待时间，可以有效节约待移动货架的移动时间，而且，还可以有效防止相邻货架在移动过程中发生碰撞，进一步保证了仓储系统的安全性。
本申请实施例中，通过根据任务中目标货架在仓储系统中的位置，确定仓储系统中货架的移动策略，并按照移动策略中的移动信息对待移动货架进行移动，避免了现有技术中将仓储系统中的货架固定在固定位置，也不需要为每个货架均预留足够的空间，供货物运输工具进行存取货物，因此，在实现对仓储系统进行控制的基础上，还可以有效的提高仓储系统中仓储空间的利用率，提高仓储密度，并且可以提高仓储系统的灵活性。
在上述实施例的基础上，图4是本申请另一实施例提供的仓储系统控制方法的流程示意图，下面以终端设备为执行主体对仓储系统控制方法进行说明，如图4所示，本申请实施例提供的仓储系统控制方法中的步骤S102，即根据目标货架在仓储系统中的位置，确定仓储系统中货架的目标移动策略，可以包括：
步骤S201：根据目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略。
本申请实施例对根据目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略的具体实现方式不做限制，在一种可能的实施方式中，可以通过首先确定货物运输工具移动至目标货架的可能移动路线，然后确定该可能移动路线下的移动策略，作为仓储系统中货架的多个移动策略。在一种可能的实施方式中，可以根据目标货架在仓储系统中的位置以及可移动空间的位置，确定货物运输工具移动至目标货架的可能移动路线。例如，如图3所示，目标货架为货架3，且货架3的左侧为货架2，货架3的右侧为货架4，则货物运输工具移动至目标货架的可能移动路线可以为：从货架4所在的位置移动至货架3，或者，从货架2所在的位置移动至货架3。相应的，移动策略可以为将货架4、或货架5或货架6向右移动一个巷道，或，移动策略可以为将货架3、货架4、或货架5或货架6向右移动一个巷道。本申请实施例仅以此为例，并不限于此。
再例如，若目标货架为货架1，则若货架1的左侧靠墙固定，则货物运输工具只能从货架2的位置处移动至货架1，此时，移动策略可以为将货架3、货架4、或货架5或货架6向右移动一个巷道。若货架1的左侧为可移动空间，则货物运输工具还可以从货架1的左侧移动至货架1，此时不需要对货架进行移动。本申请实施例仅以此为例，并不限于此。
上述实施例仅以目标货架为1个，巷道为1个为例进行说明。在一种可能的实施方式中，目标货架可能包括多个，例如，任务为存取物品，从货架A中取出物品，并将该物品存储至货架B。或者，任务为多个，多个任务可能存在一个目标货架或多个目标货架。
在一种可能的实施方式中，目标货架包括多个，根据目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略，包括：根据多个目标货架中每个目标货架在仓储系统中的位置，确定仓储系统中货架的多个移动策略。
示例性的，如图3所示，若目标货架包括货架3和货架5，且巷道位于货架6和货架7之间，则货物运输工具的可能移动路线可以是货物运输工具首先通过移动到当前货架2或货架4所在的位置去货架3之后，之后移动到当前货架4或货架6所在的位置去货架5，在该场景下，可以确定仓储系统中货架的多个移动策略。货物运输工具的可能移动路线也可以是先移动到当前货架4或货架6所在的位置去货架5再移动到当前货架2或货架4所在的位置去货架3，在该场景下，也可以确定仓储系统中货架的多个移动策略。本申请实施例仅以此为例。
下面对货物运输工具的可能移动路线为先移动到当前货架6所在的位置去货架5再移动到当前货架4所在的位置去货架3为例，确定该可能移动路线下的移动策略的方式为例，进行介绍。在货物运输工具先移动到当前货架6所在的位置去货架5时，待移动货架为货架6，且货架6的移动信息为向右移动一个巷道宽度。在货物运输工具在货架5上完成存储或取出物品的任务之后，待移动货架为货架4和货架5，货架4和货架5的移动信息为向右移动一个巷道宽度，以使巷道位于货架3的右侧，货物运输工具可以通过货架3右侧的巷道，对货架3上的物品进行存储或取出操作。本申请实施例仅以此为例，并不限于此。
本申请实施例中的仓储系统不限于图3中所示的仓储系统，在一种可能的实施方式中，图5是本申请另一实施例提供的仓储系统的结构示意图，如图5所示的仓储系统中，每个货架可以包括多层，每层货架可以包括一个存储空间。每个货架均可以进行移动，或者位于货架单元边缘的货架固定，其他货架可以移动，或者部分位于货架单元边缘的货架固定，其他货架可以移动，本申请实施例对此不做限制。多个货架可以排列成多排多列，每一排或每一列中存在一个可移动空间供货架进行移动，可移动空间的大小可以为一个货架的空间大小，也可以为其他尺寸，可移动空间的大小可以满足货物运输工具进行移动。
图5中利用每个货架所在的行和列进行了编号，详情请参考附图5，不再赘述。示例性的，如图5所示，若目标货架包括货架33，则货物运输工具的可能移动路线可以包括多种，本申请实施例以货物运输工具的移动路线为移动路线A、移动路线B、移动路线C、移动路线D、移动路线E等为例进行说明，货物运输工具的移动路线不限于此，则每种移动路线可能存在至少一种移动策略，本申请实施例对此不再赘述。
在一种可能的实施方式中，在确定多个移动策略之后，本申请实施例可以通过在上述多个移动策略中任意选择一个移动策略作为目标移动策略，进而根据目标移动策略的移动信息控制待移动货架进行移动，以使货物运输工具可在目标货架上存储待存物品和/或取出待取物品。
在另一种可能的方式中，移动信息包括移动距离和/或移动时间，在确定多个移动策略之后，可以通过步骤S202和步骤S203，确定目标移动策略。
步骤S202：确定多个移动策略中每个移动策略下的待移动货架、以及待移动货架的移动距离和/或待移动货架的移动时间。
步骤S203：将待移动货架的数量最少的移动策略作为目标移动策略，或，将待移动货架的移动距离最短的移动策略作为目标移动策略，或，将待移动货架的移动时间最短的移动策略作为目标移动策略。
示例性的，如图5所示，以上述目标货架包括货架33以及货架34，货架的移动策略可以为移动策略B(对应移动路线B)和移动策略E(对应移动路线E)为例，进行介绍。其中，移动策略B的待移动货架为货架34，待移动货架的移动距离为第一距离(包括货架34的移动距离)，待移动货架的移动时间为第一时间；移动策略E的待移动货架包括货架52、货架53和货架34，待移动货架的移动距离为第二距离(包括货架52的移动距离，货架53的移动距离，货架34的移动距离)，且待移动货架的移动时间为第二时间，(包括货架52、货架53和货架34的移动时间)。
在一种可能的实施方式中，通过比较待移动货架的数量，移动策略B的待移动货架的数量最少，则移动策略B为目标移动策略。本申请实施例中，通过将待移动货架的数量最少的移动策略作为目标移动策略，可以有效提高仓储系统的工作效率。
在另一种可能的实施方式中，将待移动货架的移动距离最短的移动策略作为目标移动策略，假设第一距离大于第二距离，移动策略B的移动距离为第一距离，移动策略E的移动距离为第二距离，则移动策略B的移动距离大于移动策略E的移动距离，因此，选择移动策略E作为目标移动策略。本申请实施例中，通过选择移动距离最短的移动策略作为目标移动策略，不仅可以节约货架移动的能耗，而且，还可以降低对货架驱动装置的损耗。
在又一种可能的实施方式中，将待移动货架的移动时间最短的移动策略作为目标移动 策略，假设第一时间大于第二时间，移动策略B的移动时间为第一时间，移动策略E的移动时间为第二时间，则移动策略B的移动时间大于移动策略E的移动时间，因此，选择移动策略E作为目标移动策略。本申请实施例通过将待移动货架的移动时间最短的移动策略作为目标移动策略，可以有效节约货架的移动时间，进而提高货物存取的效率。
本申请实施例中，通过结合多个目标货架中每个目标货架在仓储系统中的位置，确定货物运输工具移动至多个目标货架中每个目标货架的移动策略，进而确定移动策略下货架的移动策略，可以提高仓储系统的工作效率。
在上述任一实施例的基础上，在一种可能的实施方式中，图6是本申请另一实施例提供的仓储系统控制方法的流程示意图，下面以终端设备为执行主体对仓储系统控制方法进行说明，如图6所示，本申请实施例提供的仓储系统控制方法中的步骤S101之前，还可以包括：
步骤S301：接收任务，任务中包括待存物品和/或待取物品。
在步骤S101之后，本申请实施例提供的仓储系统控制方法还可以包括：
步骤S302：将任务发送至货物运输工具，以使货物运输工具移动至目标货架，并存储待存物品和/或取出待取物品。
待存物品可以为料箱或托盘，待取物品也可以为料箱或托盘。图7是本申请另一实施例提供的仓储系统的结构示意图，如图7所示，仓储系统中包括货架单元、终端设备以及货物运输工具，其中，终端设备分别与货架和货物运输工具进行数据通信，本申请实施例对终端设备与货架单元和货物运输工具的通信方式不做限制。
终端设备接收任务之后，将任务发送至货物运输工具中，以使货物运输工具移动至目标货架，并存储待存物品和/或取出待取物品。本申请实施例中，通过在接收任务并确定任务中的目标货架之后，将任务发送至货物运输工具，实现了对货物运输工具的控制。
本申请实施例对将任务发送至货物运输工具的具体实现方式不做限制，在一种可能的实施方式中，将任务发送至货物运输工具，包括：
确定货物运输工具的当前状态；若货物运输工具的当前状态为空闲状态，则将任务发送至货物运输工具。
货物运输工具的当前状态可以为空闲状态或工作状态，货物运输工具的当前状态为空闲状态时，表示货物运输工具当前没有接收到任务或者当前任务已完成，通过将任务发送至当前状态为空闲状态的货物运输工具，实现了对货物运输工具的合理调度，有效节约了对货物运输工具的等待时间，可以提高货物运输的效率。
在一种可能的实施方式中，若货物运输工具的当前状态为工作状态，则确定工作状态的预计结束时间。将任务发送至目标货物运输工具，目标货物运输工具的预计结束时间与待移动货架的移动时间的间隔小于预设时间间隔。
在货物运输工具的当前状态为工作状态时，可以确定工作状态的预计结束时间，例如，货物运输工具分别包括货物运输工具A、货物运输工具B以及货物运输工具C，且货物运输工具A为5分钟后结束、货物运输工具B为10分钟后结束、货物运输工具C为15分钟后结束。例如，待移动货架的移动时间例如为3分钟，且预设时间间隔为5分钟，则可以选择货物运输工具A作为目标货物运输工具，并将任务发送至货物运输工具A。再例如，待移动货架的移动时间例如为10分钟，且预设时间间隔为5分钟，则可以选择货物运输 工具B作为目标货物运输工具，并将任务发送至货物运输工具B。
在一种可能的实施方式中，目标货物运输工具的预计结束时间与待移动货架的移动时间的间隔最小。
本申请实施例中，通过同时考虑货物运输工具的工作状态的预计结束时间，以及待移动货物的移动时间，并将任务发送至预计结束时间与待移动货架的移动时间的间隔小于预设时间间隔的货物运输工具上，可以减少货物运输工具和货架相互等待的时间。
若多个任务中存在目标货架相同的任务，或者，目标货架距离较近的任务，为了减少货物运输工具的移动距离以及货架的移动次数，在另一种可能的实施方式中，将任务发送至货物运输工具，包括：将多个任务中目标货架相同的任务，发送至相同的货物运输工具，或者，将多个任务中目标货架之间的货架数量小于预设值的任务，发送至相同的货物运输工具。本申请实施例中，通过将目标货架相同的任务发送至相同的货物运输工具，可以减少货物运输工具的移动距离以及货架的移动次数。
在一种可能的实施方式中，若任务的数量为多个，在确定仓储系统中货架的目标移动策略之后，确定目标移动策略下，货物运输工具的移动路线。利用移动路线，对任务进行排序，得到排序后的任务。将任务发送至货物运输工具，包括：将排序后的任务和移动路线，发送至货物运输工具。
示例性的，如图3所示，若多个任务的目标货架分别为货架2、货架3和货架5，且巷道位于货架6和货架7之间，仓储系统中货架的目标移动策略为，将货架6向右移动一个巷道，并在一定时间之后，将货架3、货架4和货架5向右移动一个巷道，则，货物运输工具的移动路线可以为先移动至货架5的右侧执行货架5对应的任务，然后，移动至货架2和货架3之间的巷道，执行货架2和货架3对应的任务。对多个任务进行排序，排序后的任务可以为货架5对应的任务、货架3对应的任务和货架2对应的任务，也可以为货架5对应的任务、货架2对应的任务和货架3对应的任务。其中，针对目标货架为同一货架上的多个任务，或者，目标货架为相邻货架且相邻货架之间存在可移动空间的多个任务，可以按照任务下发的时间进行排序。本申请实施例仅以此为例。
本申请实施例提供一种货架单元，货架单元包括M个货架，M为大于2的正整数，可以用于执行上述实施例提供的仓储系统控制方法，其内容和效果可参考本申请实施例提供的仓储系统控制方法，不再赘述。
在一种可能的实施方式中，货架包括驱动装置，驱动装置用于驱动货架进行移动。
在一种可能的实施方式中，本申请实施例提供的货架单元，货架为第一货架，M个第一货架成行或成列分布，M个第一货架之间存在N个巷道，第一货架包括至少一层，且每层第一货架包括多个存储空间，其中，N为小于M-1的正整数。
图8是本申请实施例提供的货架单元的结构示意图，如图8所示，多个第一货架成行分布，每个货架单元中包括8列货架以及3个巷道，本申请实施例仅以此为例，对巷道和第一货架的数量不做限制，例如，巷道可以为1个或2个。位于货架单元边缘的第一货架的位置可以固定，以避免货架单元中第一货架的任意移动，导致第一货架的位置偏离较大，不利于仓储系统中对货架单元的管理。
其中，每列第一货架包括驱动装置(图8中未示出)，驱动装置用于驱动第一货架进行移动。通过设置驱动装置，为第一货架的移动提供了可能，提高了仓储系统的灵活性， 并且，通过设置巷道的数量小于货架列数与1的差，可以减小仓储空间。
在另一种可能的实施方式中，本申请实施例提供的货架单元，在一种可能的实施方式中，货架为第二货架，M个第二货架组成矩形阵列，矩形阵列中每一行或每一列包括至少一个可移动空间，第二货架包括至少一层，且每层第二货架包括一个存储空间。
示例性的，图9是本申请另一实施例提供的货架单元的结构示意图，如图9所示，M个第二货架呈矩形阵列分布，图9中货架单元呈5行和5列的矩形阵列分布，矩形阵列中每行货架包括至少一个可移动空间，用于为货架移动提供空间。每个货架还包括驱动装置，用于驱动每个货架进行移动，实现了对每个货架的单独控制，提高了仓储系统的灵活性，并可以减小仓储空间。在一种可能的实施方式中，本申请实施例提供的货架，货架包括保护装置，保护装置用于防止货架中的物品在移动过程中掉落，并且，保护装置不会对货物运输工具在货架上存储待存物品或取出待取物品造成干涉。
保护装置可以位于货架每一层的边缘处，例如，可以为护栏、隔网等，本申请实施例对此不做限制，通过在货架上设置保护装置，有效防止了货架中的物品在移动过程中发生掉落。
在一种可能的实施方式中，本申请实施例提供的货架，货架包括检测模块，检测模块用于检测货架预设距离内是否存在障碍，和/或，用于检测巷道宽度或可移动空间的大小。
货架中还可以包括检测模块，检测模块可以用于检测货架在预设距离内是否存在障碍，若存在障碍，可以通过发送报警消息的方式提示用户清除障碍，以保证货架移动过程的顺利进行。检测模块还可以用于检测巷道宽度或可移动空间的大小，用于检验是否达到了货架的移动目的，进一步保证了货架的顺利移动。
本申请实施例提供一种货物运输工具，用于执行如上述实施例提供的仓储系统控制方法。
在一种可能的实施方式中，货物运输工具为机器人或叉车。
在一种可能的实施方式中，货物运输工具包括检测模块，检测模块用于检测货物运输工具在预设范围内是否存在障碍，和/或，用于检测货物运输工具在巷道或可移动空间是否可顺利通行。
货物运输工具在移动过程中，需要判断移动方向的预设范围内是否存在障碍，或者，还可以用于检测巷道的宽度是否允许货物运输工具正常移动，或可移动空间是否足够货物运输工具的通行等，若检测到存在障碍或者前方道路不可顺利通行，则可以发出报警提醒。
在一种可能的实施方式中，本申请实施例提供的货物运输工具，还包括：物品存取装置，物品存取装置用于存储物品或取出物品。
物品存取装置可以为机械手等，本申请实施例对此不做限制。
本申请实施例提供一种仓储系统，货物运输工具和和上述实施例提供的货架单元，本申请实施例对此不做限制，例如可参考图3或图5中所示的仓储系统，本申请实施例仅以此为例，并不限于此。
图10是本申请实施例提供的电子设备的结构示意图，如图10所示，该电子设备包括：
处理器61、存储器62、收发器63以及计算机程序；其中，收发器63实现与其他设备之间的数据传输，计算机程序被存储在存储器62中，并且被配置为由处理器61执行，计算机程序包括用于执行上述图像融合方法的指令，其内容及效果请参考方法实施例。
此外，本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机执行指令，当用户设备的至少一个处理器执行该计算机执行指令时，用户设备执行上述各种可能的方法。
其中，计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。另外，该ASIC可以位于用户设备中。当然，处理器和存储介质也可以作为分立组件存在于通信设备中。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (26)

  1. 一种仓储系统控制方法，其特征在于，包括：
    确定任务中的目标货架，所述目标货架为待存物品和/或待取物品所在的货架；
    根据所述目标货架在所述仓储系统中的位置，确定所述仓储系统中货架的目标移动策略，所述目标移动策略包括待移动货架以及所述待移动货架的移动信息；
    根据所述移动信息控制所述待移动货架进行移动，以使货物运输工具可在所述目标货架上存储所述待存物品和/或取出所述待取物品。
  2. 根据权利要求1所述的方法，其特征在于，所述移动信息包括移动距离和/或移动时间，所述根据所述目标货架在所述仓储系统中的位置，确定所述仓储系统中货架的目标移动策略，包括：
    根据所述目标货架在所述仓储系统中的位置，确定所述仓储系统中货架的多个移动策略；
    确定所述多个移动策略中每个移动策略下的所述待移动货架、以及所述待移动货架的移动距离和/或所述待移动货架的移动时间；
    将所述待移动货架的数量最少的移动策略作为所述目标移动策略，或，将所述待移动货架的移动距离最短的移动策略作为所述目标移动策略，或，将所述待移动货架的移动时间最短的移动策略作为所述目标移动策略。
  3. 根据权利要求2所述的方法，其特征在于，所述目标货架包括多个，所述根据所述目标货架在所述仓储系统中的位置，确定所述仓储系统中货架的多个移动策略，包括：
    根据多个所述目标货架中每个目标货架在所述仓储系统中的位置，确定所述仓储系统中货架的多个移动策略。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述根据所述移动信息控制所述待移动货架进行移动，包括：
    将所述移动信息发送至所述待移动货架，以使所述待移动货架按照所述移动信息进行移动。
  5. 根据权利要求4所述的方法，其特征在于，所述待移动货架包括多个货架，则所述根据所述移动信息控制所述待移动货架进行移动，包括：
    分别根据每个所述待移动货架的移动信息，控制多个所述待移动货架中的至少两个所述待移动货架同时或几乎同时进行移动。
  6. 根据权利要求1-3或5任一所述的方法，其特征在于，在所述确定任务中的目标货架之前，还包括：
    接收所述任务，所述任务中包括所述待存物品和/或所述待取物品；
    在所述确定任务中的目标货架之后，还包括：将所述任务发送至所述货物运输工具，以使所述货物运输工具移动至所述目标货架，并存储所述待存物品和/或取出所述待取物品。
  7. 根据权利要求6所述的方法，其特征在于，所述将所述任务发送至所述货物运输工具，包括：
    确定所述货物运输工具的当前状态；
    若所述货物运输工具的当前状态为空闲状态，则将所述任务发送至所述货物运输工具。
  8. 根据权利要求7所述的方法，其特征在于，所述将所述任务发送至所述货物运输工具，还包括：
    若所述货物运输工具的当前状态为工作状态，则确定所述工作状态的预计结束时间；
    将所述任务发送至目标货物运输工具，所述目标货物运输工具的预计结束时间与所述待移动货架的移动时间的间隔小于预设时间间隔。
  9. 根据权利要求6所述的方法，其特征在于，所述将所述任务发送至所述货物运输工具，包括：
    将多个所述任务中目标货架相同的任务，或者，多个所述任务中目标货架之间的货架数量小于预设值的任务，发送至相同的所述货物运输工具。
  10. 根据权利要求7-9任一项所述的方法，其特征在于，所述任务为多个，在所述确定所述仓储系统中货架的目标移动策略之后，还包括：
    确定所述目标移动策略下，所述货物运输工具的移动路线；
    利用所述移动路线，对所述任务进行排序，得到排序后的任务；
    所述将所述任务发送至所述货物运输工具，包括：
    将排序后的任务和所述移动路线，发送至所述货物运输工具。
  11. 根据权利要求1-3任一项所述的方法，其特征在于，所述货物运输工具为机器人或叉车。
  12. 根据权利要求1-3任一项所述的方法，其特征在于，所述待存物品为料箱或托盘，所述待取物品为料箱或托盘。
  13. 一种货架单元，其特征在于，所述货架单元包括M个货架，用于执行如权利要求1-12任一项所述的方法，所述M为大于2的正整数。
  14. 根据权利要求13所述的货架单元，其特征在于，所述货架包括驱动装置，所述驱动装置用于驱动所述货架进行移动。
  15. 根据权利要求14所述的货架单元，其特征在于，
    所述货架为第一货架，M个所述第一货架成行或成列分布，M个所述第一货架之间存在N个巷道，所述第一货架包括至少一层，且每层第一货架包括多个存储空间，其中，所述N为小于M-1的正整数。
  16. 根据权利要求15所述的货架单元，其特征在于，所述N为1或2。
  17. 根据权利要求14所述的货架单元，其特征在于，
    所述货架为第二货架，M个所述第二货架组成矩形阵列，所述矩形阵列中每一行或每一列包括至少一个可移动空间，所述第二货架包括至少一层，且每层第二货架包括一个存储空间。
  18. 根据权利要求13-17任一项所述的货架单元，其特征在于，
    所述货架包括保护装置，所述保护装置用于防止所述货架中的物品在移动过程中掉落。
  19. 根据权利要求13-17任一项所述的货架单元，其特征在于，
    所述货架包括检测模块，所述检测模块用于检测所述货架预设距离内是否存在障碍，和/或，用于检测巷道宽度或可移动空间的大小。
  20. 一种货物运输工具，其特征在于，用于执行如权利要求1-12任一项所述的方法。
  21. 根据权利要求20所述的货物运输工具，其特征在于，
    所述货物运输工具包括检测模块，所述检测模块用于检测所述货物运输工具在预设范围内是否存在障碍，和/或，用于检测所述货物运输工具在巷道或可移动空间是否可顺利通行。
  22. 根据权利要求21所述的货物运输工具，其特征在于，还包括：
    物品存取装置，所述物品存取装置用于存储物品或取出物品。
  23. 根据权利要求20-22任一项所述的货物运输工具，其特征在于，
    所述货物运输工具为机器人或叉车。
  24. 一种仓储系统，其特征在于，包括：货物运输工具和如权利要求13-19任一项所述的货架单元。
  25. 一种电子设备，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-12中任一项所述的方法。
  26. 一种存储有计算机指令的非瞬时计算机可读存储介质，其特征在于，所述计算机指令用于使所述计算机执行权利要求1-12中任一项所述的方法。
PCT/CN2021/105168 2020-08-05 2021-07-08 仓储系统控制方法、装置及存储介质 WO2022028200A1 (zh)

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