WO2022068603A1 - 仓储系统控制方法、装置、安全门及仓储系统 - Google Patents

仓储系统控制方法、装置、安全门及仓储系统 Download PDF

Info

Publication number
WO2022068603A1
WO2022068603A1 PCT/CN2021/118867 CN2021118867W WO2022068603A1 WO 2022068603 A1 WO2022068603 A1 WO 2022068603A1 CN 2021118867 W CN2021118867 W CN 2021118867W WO 2022068603 A1 WO2022068603 A1 WO 2022068603A1
Authority
WO
WIPO (PCT)
Prior art keywords
target area
state
cargo
cargo transportation
storage system
Prior art date
Application number
PCT/CN2021/118867
Other languages
English (en)
French (fr)
Inventor
彭逸凡
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to EP21874264.1A priority Critical patent/EP4206095A4/en
Priority to KR1020237013196A priority patent/KR20230070025A/ko
Priority to JP2023519559A priority patent/JP2023544989A/ja
Publication of WO2022068603A1 publication Critical patent/WO2022068603A1/zh
Priority to US18/189,327 priority patent/US20230227257A1/en

Links

Images

Classifications

    • 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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • 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
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/40—Safety features of loads, equipment or persons
    • 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
    • B65G2209/00—Indexing codes relating to order picking devices in General
    • B65G2209/04—Indication location means

Definitions

  • the present disclosure relates to the technical field of storage systems, and in particular, to a storage system control method, a device, a safety door and a storage system.
  • Warehousing systems usually include shelves and cargo transportation tools. In order to meet the needs of cargo transportation tools to transport goods, it is usually necessary to reserve enough space between the shelves and the shelves, so that the cargo transportation tools can transport the goods to the shelves, or from the shelves. Operations such as taking out the goods from the shelves.
  • the present disclosure provides a storage system control method, a device, a safety gate and a storage system.
  • an embodiment of the present disclosure provides a storage system control method, including:
  • the state of the control safety door is the open state.
  • the target area corresponding to the safety door is determined, and the state of the cargo transportation vehicle in the target area is determined to be in the non-working state, and then the safety door is opened, so as to ensure the target area that the user enters.
  • the cargo transportation tool in the non-target area keeps working normally, compared with the prior art, the All cargo transportation tools are suspended, which improves storage efficiency and reduces hardware loss caused by repeated start and stop of cargo transportation tools.
  • determining that the state of the first cargo transportation vehicle in the target area is a non-working state including:
  • the state of the first cargo transportation means is detected, and the state of the first cargo transportation means is determined to be a non-working state.
  • a control instruction is sent to the cargo transport tool in the target area to make it stop working, and the state of the first cargo transport tool is detected to determine the first cargo
  • the state of the means of transport is non-working, which further ensures the safety of the target area.
  • the method further includes:
  • the first prompt information is pushed, and the first prompt information is used to prompt the user that the target area is an unsafe area.
  • the user when a working cargo transport tool exists in the target area, the user is prompted that the target area is a non-safety area, and the user can be prompted to perform a safety inspection on the cargo transport tool, thereby further ensuring the safety of the user.
  • the method before determining that the state of the first cargo transportation vehicle in the target area is in a non-working state, the method includes:
  • the state of the safety door can be controlled to be open, avoiding the control of the cargo transportation tool.
  • the method further includes:
  • the first freight transporter is dispatched to other areas in the storage system than the target area.
  • the cargo transportation tool in the target area is dispatched to the non-target area, so that the usage efficiency of the cargo transportation tool is improved, and the storage efficiency is further improved.
  • dispatching the first cargo transportation vehicle to other areas in the storage system other than the target area including:
  • the target rack of the first task is in the target area, and/or, control the first cargo carrier to execute the second task, and the target rack of the second task is in the storage system except the target area. other areas.
  • the storage system control method provided by the embodiment of the present disclosure further includes:
  • the second cargo transportation means in the control warehousing system is prohibited from entering the target area, and the second cargo transportation means is a cargo transportation means in other areas except the target area.
  • controlling the second cargo transport in the warehousing system to prohibit entry into the target area includes:
  • the safety of the target area is further ensured by controlling the cargo transport vehicles in the non-target area to be prohibited from entering the target area.
  • the safety door corresponds to multiple target areas, and after determining the target area corresponding to the safety door, the method further includes:
  • the state of the cargo transportation vehicle in the target area where the location information is located is a non-working state.
  • the security in the target area where the user is located is guaranteed.
  • acquiring the location information of the user includes:
  • Detect the user's label, and the label has the function of positioning and identification
  • the method further includes:
  • the safety sign is a ground sign.
  • the storage system control method provided by the embodiment of the present disclosure further includes:
  • the storage system control method provided by the embodiment of the present disclosure further includes:
  • the state of the safety door is the closed state, and/or that there is no user in the target area, the state of the first cargo transportation means is restored to the working state.
  • restoring the state of the first cargo transportation means to a working state includes:
  • the first task of the first cargo transport means is started, and/or the first task is allocated to the first cargo transport means, and the target rack of the first task is in the target area.
  • the first cargo transport means is a robot or a forklift.
  • an embodiment of the present disclosure provides a storage system control device, including:
  • the acquisition module is used to acquire the door opening request signal of the safety door, and determine the target area corresponding to the safety door, and the target area is a partial area in the multiple areas of the storage system; the determination module is used to determine the first target area in the target area.
  • the state of the cargo transportation means is a non-working state; the control module is used to control the state of the safety door to be an open state.
  • determining that the state of the first cargo transportation vehicle in the target area is a non-working state including:
  • the judgment module is used for judging whether there is a first cargo transportation means.
  • the determination module is further used for:
  • the storage system control device provided by the embodiment of the present disclosure further includes:
  • the push module is configured to push the first prompt information if the state of the first cargo transportation means is the working state, and the first prompt information is used to prompt the user that the target area is a non-safe area.
  • control module is further used for:
  • the first freight transporter is dispatched to other areas in the storage system than the target area.
  • control module is specifically used for:
  • the target rack of the first task is in the target area, and/or, control the first cargo carrier to execute the second task, and the target rack of the second task is in the storage system except the target area. other areas.
  • the storage system control device and control module provided by the embodiments of the present disclosure are further used for:
  • the second cargo transportation means in the control warehousing system is prohibited from entering the target area, and the second cargo transportation means is a cargo transportation means in other areas except the target area.
  • control module is specifically used for:
  • the obtaining module is further configured to obtain the location information of the user, and determine the target area where the location information is located;
  • the determining module is specifically used for: determining that the state of the cargo transportation tool in the target area where the location information is located is a non-working state.
  • the acquisition module is specifically used for:
  • Detect the user's tag which has the function of positioning and identification; parse the tag to obtain the location information of the user.
  • the storage system control device provided by the embodiment of the present disclosure further includes:
  • the display module is used to display the safety mark in the target area, and the safety mark is used to indicate that the target area is a safe area.
  • the safety sign is a ground sign.
  • the storage system control device provided by the embodiment of the present disclosure further includes:
  • the sending module is configured to send second prompt information to the user, where the second prompt information is used to prompt the user that the target area is a safe area.
  • the storage system control device and control module provided by the embodiments of the present disclosure are further used for:
  • the state of the safety door is the closed state, and/or that there is no user in the target area, the state of the first cargo transportation means is restored to the working state.
  • control module is specifically used for:
  • the first task of the first cargo transport means is started, and/or the first task is allocated to the first cargo transport means, and the target rack of the first task is in the target area.
  • the first cargo transport means is a robot or a forklift.
  • embodiments of the present disclosure provide a security door, 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.
  • an embodiment of the present disclosure provides a storage system, including the safety door and a cargo transportation tool as provided in the third aspect.
  • embodiments of the present disclosure 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 by the first aspect or an implementable embodiment of the first aspect.
  • an embodiment of the present disclosure provides a computer program product, including: executable instructions, where the executable instructions are used to implement the method provided by the first aspect or an implementable manner of the first aspect.
  • the storage system control method, device, safety door and storage system provided by the present disclosure, by acquiring the door opening request signal of the safety door, and determining the target area corresponding to the safety door; and then determining that the state of the first cargo transportation tool in the target area is the non-working state; Finally, the state of the control safety door is the open state.
  • the target area corresponding to the safety door is determined, and the state of the cargo transportation vehicle in the target area is determined to be in the non-working state, and then the safety door is opened, ensuring the target entered by the user.
  • the cargo transportation tool in the non-target area keeps working normally, compared with the prior art, Suspend all cargo transportation tools, improve storage efficiency and reduce hardware loss caused by repeated start and stop of cargo transportation tools.
  • FIG. 1 is an architecture diagram of an exemplary application scenario provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic flowchart of a storage system control method provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic flowchart of a storage system control method provided by another embodiment of the present disclosure.
  • FIG. 4 is a schematic flowchart of a storage system control method provided by another embodiment of the present disclosure.
  • FIG. 5 is a schematic flowchart of a storage system control method provided by still another embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.
  • FIG. 7 is a schematic flowchart of a storage system control method provided by still another embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a target area provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a storage system control device provided by an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.
  • the inventive concept of the storage system control method, device, safety door and storage system is that, by dividing the storage area of the storage system into multiple areas, each area has its own corresponding safety door, and the door opening request of the safety door is obtained when the storage area is divided into multiple areas.
  • the target area corresponding to the safety door is determined, and the state of the cargo transportation tool in the target area is controlled to a non-working state, which can not only ensure the safety in the target area, but also It is controlled to be in a non-working state, and the cargo transportation tools in the non-target area keep working normally.
  • all the cargo transportation tools are suspended, which improves the storage efficiency and reduces the repeated start and stop of the cargo transportation. Hardware loss caused by tools.
  • the storage system control method provided by the embodiment of the present disclosure may be executed by the storage system control device provided by the embodiment of the present disclosure.
  • the storage system control device provided by the embodiment of the present disclosure may be integrated on a terminal device, or the storage system control device may be a terminal
  • the device itself, the embodiment of the present disclosure does not limit the specific type of the terminal device.
  • the terminal device may be a security door, a cargo transportation tool, a smart phone, a personal computer, a tablet computer, a wearable device, a vehicle terminal, a monitoring device, a camera, etc.
  • . 1 is an architecture diagram of an exemplary application scenario provided by an embodiment of the present disclosure.
  • the embodiment of the present disclosure may be applied to a storage system.
  • the storage system may include one or more storage areas, and each storage area may include multiple areas.
  • the storage system includes a storage area, which includes 8 areas, and each area has a corresponding safety door.
  • area 1 corresponds to safety door 1, and area 1 can be directly entered through safety door 1.
  • the cargo transportation means moves in the area to realize the access to the goods.
  • the number of the cargo transportation means in each area is not fixed, for example, there may be none or one or more.
  • the embodiments of the present disclosure are only taken as an example, and are not limited thereto.
  • FIG. 2 is a schematic flowchart of a storage system control method provided by an embodiment of the present disclosure.
  • the method can be executed by a storage system control device, and the device can be implemented by software and/or hardware.
  • the system control method is described.
  • the storage system control method provided by the embodiment of the present disclosure may include:
  • Step S101 Acquire a door opening request signal of the safety door, and determine a target area corresponding to the safety door.
  • the embodiments of the present disclosure do not limit the control method of the security door.
  • a user can request to open the security door through face recognition, fingerprint recognition, inputting a password, opening a control button, etc., and the security door generates an opening request signal after receiving a user operation.
  • This embodiment of the present disclosure does not limit the information carried in the door opening request signal, for example, the door opening request signal may carry the identity of the safety door, the user identity, and the like.
  • the target area corresponding to the safety door is determined. There is a corresponding relationship between the safety door and the area of the storage area.
  • an association list between the safety door and the area can be established, and the target area corresponding to the safety door can be determined by querying the association list, wherein the target area is Some of the various areas of the warehouse system.
  • the embodiments of the present disclosure are only taken as an example, and are not limited thereto.
  • Step S102 It is determined that the state of the first cargo transportation means in the target area is a non-working state.
  • the first cargo transportation tool is a cargo transportation tool in the target area, and the non-working state of the first cargo transportation tool may include a shutdown state, a standby state, and the like. In the non-working state, the first cargo transportation means cannot move and perform picking/putting actions, which avoids the situation that the user may be injured due to the movement of the first cargo transportation means.
  • determining the state of the first cargo transportation tool may be realized by first determining the first cargo transportation tool in the target area, and then detecting the state of the first cargo transportation tool. If the first cargo transportation tool is transported If the state of the tool is the working state, the state of the first cargo transportation means is controlled to be the non-working state, so as to ensure that the state of the first cargo transportation means in the target area is the non-working state.
  • determining that the state of the first cargo transportation means in the target area is a non-working state including:
  • If there is a first cargo transportation tool send a stop working instruction to the first cargo transportation tool to stop the first cargo transportation tool; detect the state of the first cargo transportation tool, and determine that the state of the first cargo transportation tool is not working status.
  • the terminal device may perform data communication with the first cargo transportation means, and the embodiment of the present disclosure does not limit the specific implementation manner of the terminal device and the first cargo transportation tool.
  • the terminal device may send a stop work instruction to the first freight conveyance to stop the first freight conveyance, wherein the stop work instruction may be used to instruct the first freight conveyance to suspend work, or to instruct the first freight conveyance to enter Standby state, or instructing the first cargo transportation means to turn off the power supply, etc., are not limited in this embodiment of the present disclosure.
  • a control instruction is sent to the cargo transport tool in the target area to make it stop working, and the state of the first cargo transport tool is detected to determine the first cargo transport tool The state of the tool is non-working, further ensuring the safety of the target area.
  • the method further includes:
  • the first prompt information is pushed, and the first prompt information is used to prompt the user that the target area is an unsafe area.
  • the state of the first cargo transportation means may be in the working state.
  • the terminal device may not be able to perform data communication with the first cargo transportation means due to the failure of the first cargo transportation means. , or, the first cargo transportation tool cannot execute the notification work instruction sent by the terminal device, etc., resulting in the state of the first cargo transportation tool being the working state.
  • the prompt information may be pushed through a terminal device, so that the interface of the terminal device displays the prompt information; in another possible implementation, the prompt information may be pushed through a terminal device.
  • the first prompt information may also be pushed to the communication address of the warehouse system administrator through the terminal device, for example, the first prompt information may be pushed to the warehouse system administrator's mobile phone, computer and other devices.
  • the embodiments of the present disclosure are only taken as an example, and are not limited thereto.
  • Step S103 Control the state of the safety door to be an open state.
  • the state of the safety door is controlled to be in the open state.
  • a control signal may be sent to the safety door, and the control signal is used to instruct the safety door to open.
  • the storage system control method provided by the embodiment of the present disclosure further includes:
  • the state of the safety door is the closed state, and/or that there is no user in the target area, the state of the first cargo transportation means is restored to the working state.
  • the embodiments of the present disclosure do not limit the way of determining the state of the safety door and the way of determining whether there is a user in the target area.
  • the state of the safety door can be determined by detecting the state information of the safety door.
  • An infrared detection device is provided at the location, and when the number of users entering the security door is the same as the number of users exiting the security door, it is determined that there are no users in the target area, and the embodiment of the present disclosure only takes this as an example.
  • the state of the first cargo transportation means is restored to the working state.
  • restoring the state of the first cargo transport means to the working state may include controlling the first cargo transport means to continue to work, or controlling the first cargo transport means to start up, etc.
  • resuming the operation of the first cargo transport means includes: starting a first task of the first cargo transport means, and/or assigning a first task to the first cargo transport means.
  • the target shelf is in the target area.
  • the first cargo transport means By starting the first task of the first cargo transport means, the first cargo transport means performs the first task in the target area. Alternatively, by assigning the first task to the first cargo transport vehicle, so that the first cargo transport vehicle performs the first task in the target area, the cargo transport vehicle can access goods in the target area.
  • the target area corresponding to the safety door is determined, and the state of the cargo transportation tool in the target area is determined to be in the non-working state, and then the safety door is opened, so as to ensure the target area that the user enters.
  • the cargo transportation tool in the non-target area keeps working normally, compared with the prior art, the All cargo transportation tools are suspended, which improves storage efficiency and reduces hardware loss caused by repeated start and stop of cargo transportation tools.
  • FIG. 3 is a schematic flowchart of a storage system control method provided by another embodiment of the present disclosure.
  • Step S102 that is, before determining that the state of the first cargo transportation tool in the target area is the non-working state, further comprising:
  • Step S201 determine whether there is a first cargo transportation vehicle.
  • step S103 is executed, that is, the state of the safety door is controlled to be an open state, and if there is a first cargo transportation vehicle, steps S102 and S103 are executed.
  • the state of the safety door is controlled to be open, thereby avoiding further control of the cargo transportation tool.
  • FIG. 4 is a schematic flowchart of a storage system control method provided by another embodiment of the present disclosure. As shown in FIG. 4 , in the storage system control method provided by the embodiment of the present disclosure, after determining the target area corresponding to the safety door in step S101, further include:
  • Step S301 dispatch the first cargo transportation tool to other areas in the storage system except the target area.
  • the cargo access efficiency of the storage system may be affected.
  • the first cargo transport tool may be dispatched to other areas in the storage system than the target area, that is, a non-target area.
  • the embodiment of the present disclosure does not limit the specific implementation manner of dispatching the first cargo transportation vehicle to the non-target area. For example, this can be achieved by controlling the movement of the first cargo conveyance to a non-target area.
  • dispatching the first cargo transportation vehicle to other areas in the storage system other than the target area including:
  • the target rack of the first task is in the target area, and/or, control the first cargo carrier to execute the second task, and the target rack of the second task is in the storage system except the target area. other areas.
  • the multiple tasks may include one or more first tasks and one or more second tasks.
  • the first cargo transportation tool can execute the second task in the order of the tasks. Since the target shelf of the second task is in the non-target area, the first cargo transportation tool In order to perform the second task, the cargo transporter moves to the non-target area.
  • the first cargo transport means moves to the non-target area, so that the first cargo transport means is dispatched to the non-target area.
  • the cargo transportation tool in the target area is dispatched to the non-target area, so that the usage efficiency of the cargo transportation tool is improved, and the storage efficiency is further improved.
  • the storage system control method provided by the embodiment of the present disclosure may further include:
  • Step S302 Control the second cargo transportation vehicle in the storage system to prohibit entering the target area.
  • the second cargo transport means is a cargo transport means in other areas than the target area.
  • the execution sequence of step S302 is not limited to being between step S301 and step S102 in FIG. 4 , for example, it can also be executed after step S101 , after step S102 , after step S103 , etc.
  • the execution sequence in FIG. 4 is described as an example.
  • controlling the second cargo conveyance within the vehicle is operating in a non-target area.
  • the embodiment of the present disclosure does not limit the specific implementation of controlling the second cargo transportation vehicle in the storage system to prohibit entering the target area.
  • the cargo transporter moves to the target area.
  • controlling the second cargo transport in the warehousing system to prohibit entry into the target area includes:
  • the multiple tasks may include one or more first tasks and one or more second tasks.
  • the first cargo transportation tool can execute the second task in the order of the tasks. Since the target shelf of the second task is in the non-target area, the second In order to perform the second task, the cargo transporter moves to the non-target area.
  • the embodiment of the present disclosure only takes this as an example, It is not limited to this.
  • the security of the target area is further ensured by controlling the cargo transport vehicles in the non-target area to be prohibited from entering the target area.
  • FIG. 5 is a schematic flowchart of a storage system control method provided by still another embodiment of the present disclosure. As shown in FIG. 5 , in the storage system control method provided by the embodiment of the present disclosure, after the target area corresponding to the safety door is determined in step S101, the method may further include:
  • Step S401 Acquire location information where the user is located, and determine a target area where the location information is located.
  • FIG. 6 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.
  • the storage area in the storage system includes multiple areas, wherein the safety door 1 corresponds to area 1, and the safety door 2 corresponds to area 2 , each area can be blocked by a virtual wall, for example, the virtual wall (dotted line part) is used to block the area between area 1 and area 2, but the user can move between area 1 and area 2, for example, the user passes through the security door 1 Or Security Gate 2, which allows access to Zone 1 and Zone 2.
  • the target area where the user is located can be determined by detecting the location information of the user.
  • the embodiments of the present disclosure do not limit the specific implementation manner of acquiring the location information of the user.
  • acquiring the location information of the user location includes: detecting the tag of the user , the label has the function of positioning and identification; parse the label to obtain the location information of the user.
  • the user When entering the security door, the user can carry the tag by wearing a badge with a tag, a ribbon, a sticker, etc., or wearing a vest and hat with a tag.
  • This embodiment of the present disclosure does not limit this.
  • the embodiment of the present disclosure does not limit the specific type of the tag.
  • the tag can be identified by means of radio frequency identification (Radio Frequency Identification, RFID), Ultra Wideband (Ultra Wideband, UWB) identification, two-dimensional code identification, image identification, etc. identification to determine the location information of the user.
  • the method of detecting the user's location information through infrared can also reduce the cost of acquiring the user's location information.
  • each user can be distinguished by using different tags, by detecting the tags of the users, it is also beneficial to the subsequent management of the users.
  • the area where the user is located is determined as area 2 through detection.
  • the corresponding step S102 that is, determining that the state of the cargo transportation vehicle in the target area is in the non-working state, can be realized by executing the step S402.
  • Step S402 It is determined that the state of the cargo transportation vehicle in the target area where the location information is located is a non-working state.
  • the area 2 is determined to be the target area, and the state of the cargo transportation means in the area 2 is determined to be a non-working state.
  • This embodiment of the present disclosure does not limit the control method of the cargo transportation vehicle in the target area where the location information is located.
  • the target area where the user is located among the multiple target areas such as area 1 in FIG. 6
  • it can be treated as a non-target area.
  • safety door 1 corresponds to area 1 and area 2
  • safety door 2 also corresponds to areas 1 and 2.
  • area 2 if the user enters area 1 or area 2 from security door 1, the security door far away from the user can be determined to be closed by detecting the user's position information, and at the same time, the security door closest to the user can also be opened so that the user can go out. For example, if the user's current location is in area 2, security door 1 is closed and security door 2 is opened.
  • this embodiment of the present disclosure does not limit this.
  • the security door corresponds to multiple target areas, not only the safety in the target area where the user is located is ensured, but also the flexibility of the cargo transportation tool and the working efficiency of the cargo transportation tool can be improved.
  • FIG. 7 is a schematic flowchart of a storage system control method provided by another embodiment of the present disclosure.
  • step S102 that is, after it is determined that the state of the cargo transportation tool in the target area is a non-working state, it may further include:
  • Step S501 displaying the safety signs in the target area, where the safety signs are used to indicate that the target area is a safe area.
  • the embodiment of the present disclosure does not limit the position of the safety sign.
  • the safety sign can be set at the position of the safety door, or the safety sign can be set next to the lighting equipment, or the safety sign can be set on the shelf , which is not limited in the embodiments of the present disclosure.
  • the safety mark is a ground mark.
  • FIG. 8 is a schematic structural diagram of a target area provided by an embodiment of the present disclosure.
  • the target area may include multiple shelves, and the shelves may be There is a roadway, users can perform activities in the roadway location, and safety signs can be set at the roadway location.
  • the method further includes: sending second prompt information to the user, second The prompt information is used to prompt the user that the target area is a safe area.
  • the embodiments of the present disclosure do not limit the specific implementation manner of sending the second prompt information to the user. For example, the user can be reminded that the target area is safe by sending short messages, WeChat, emails, push messages, and voice prompts to the user's terminal device. region, the embodiments of the present disclosure are only taken as an example, and are not limited thereto.
  • FIG. 9 is a schematic structural diagram of a storage system control device provided by an embodiment of the present disclosure.
  • the device may be implemented by software and/or hardware, for example, by a terminal device.
  • an embodiment of the present disclosure provides The storage system control device may include: an acquisition module 61 , a determination module 62 and a control module 63 .
  • the acquisition module 61 is used to acquire the door opening request signal of the safety door, and determine the target area corresponding to the safety door, and the target area is a partial area in the multiple areas of the storage system; the determination module 62 is used to determine the target area in the target area.
  • the state of the first cargo transportation means is a non-working state; the control module 63 is configured to control the state of the safety door to be an open state.
  • the determining module 62 is further configured to:
  • the storage system control device provided by the embodiment of the present disclosure further includes:
  • the push module 65 is configured to push the first prompt information if the state of the first cargo transportation means is the working state, and the first prompt information is used to prompt the user that the target area is an unsafe area.
  • the first cargo transport means is a robot or a forklift.
  • control module 63 is specifically configured to:
  • the first task of the first cargo transport means is started, and/or the first task is allocated to the first cargo transport means, and the target rack of the first task is in the target area.
  • the apparatus of this embodiment can execute the method embodiment shown in FIG. 2 above, and the technical principle and technical effect thereof are similar to those of the above-mentioned embodiment, which will not be repeated here.
  • determining that the state of the first cargo transportation tool in the target area is a non-working state including:
  • the judging module 64 is used for judging whether there is a first cargo transportation means.
  • the apparatus of this embodiment can execute the method embodiment shown in FIG. 3 above, and the technical principle and technical effect thereof are similar to those of the above-mentioned embodiment, which will not be repeated here.
  • control module 63 is further configured to:
  • the first freight transporter is dispatched to other areas in the storage system than the target area.
  • control module 63 is specifically configured to:
  • the target rack of the first task is in the target area, and/or, control the first cargo carrier to execute the second task, and the target rack of the second task is in the storage system except the target area. other areas.
  • control module 63 is further configured to:
  • the second cargo transportation means in the control warehousing system is prohibited from entering the target area, and the second cargo transportation means is a cargo transportation means in other areas except the target area.
  • control module 63 is specifically configured to:
  • the apparatus of this embodiment can execute the method embodiment shown in FIG. 4 above, and its technical principle and technical effect are similar to those of the above-mentioned embodiment, which will not be repeated here.
  • the acquisition module 61 is further configured to acquire the location information of the user, and determine the target area where the location information is located. .
  • the determining module 62 is specifically configured to: determine that the state of the cargo transportation vehicle in the target area where the location information is located is a non-working state.
  • the acquiring module 61 is specifically used for:
  • Detect the user's tag which has the function of positioning and identification; parse the tag to obtain the location information of the user.
  • the apparatus of this embodiment can execute the method embodiment shown in FIG. 5 above, and its technical principle and technical effect are similar to those of the above-mentioned embodiment, and details are not repeated here.
  • the storage system control device provided by the embodiment of the present disclosure further includes:
  • the display module 66 is used to display the safety signs in the target area, and the safety signs are used to indicate that the target area is a safety area.
  • the safety sign is a ground sign.
  • the storage system control device provided by the embodiment of the present disclosure further includes:
  • the sending module 67 is configured to send second prompt information to the user, where the second prompt information is used to prompt the user that the target area is a safe area.
  • the storage system control device provided by the embodiment of the present disclosure, the control module 63, is further used for:
  • the state of the safety door is the closed state, and/or that there is no user in the target area, the state of the first cargo transportation means is restored to the working state.
  • the apparatus of this embodiment can execute the method embodiment shown in FIG. 7, and its technical principle and technical effect are similar to those of the above-mentioned embodiment, and details are not repeated here.
  • modules division in FIG. 9 is only a logical function division, and other division manners may be used in actual implementation.
  • multiple modules can be combined or can be integrated into another system.
  • the coupling between the various modules may be implemented through some interfaces, which are usually electrical communication interfaces, but may be mechanical interfaces or other forms of interfaces.
  • modules described as separate components may or may not be physically separate, and may be located in one place or distributed in different locations on the same or different devices.
  • An embodiment of the present disclosure provides a storage system, where the storage system includes a safety door and a cargo transportation tool, and reference may be made to the storage system shown in FIG. 1 or FIG. 6 .
  • the safety door can be used to execute the above-mentioned storage system control method.
  • FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.
  • the electronic device may be a safety door. As shown in FIG. 10 , the electronic device includes:
  • a processor 71 a memory 72, a transceiver 73, and a computer program; wherein the transceiver 73 implements data transmission with other devices, the computer program is stored in the memory 72, and is configured to be executed by the processor 71, the computer program It includes the instructions for executing the above-mentioned storage system control method.
  • the transceiver 73 implements data transmission with other devices
  • the computer program is stored in the memory 72, and is configured to be executed by the processor 71, the computer program It includes the instructions for executing the above-mentioned storage system control method.
  • the method embodiment please refer to the method embodiment.
  • an embodiment of the present disclosure 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.

Abstract

一种仓储系统控制方法、装置、安全门及仓储系统，该方法包括：获取安全门的开门请求信号，并确定安全门对应的目标区域（101）；确定目标区域内的第一货物运输工具的状态为非工作状态（102）；控制安全门的状态为打开状态（103）。保证了用户所进入的目标区域内的安全性，并且，通过将安全门对应的目标区域内的第一货物运输工具的状态控制为非工作状态，而针对非目标区域内的第二货物运输工具保持正常工作，提高了仓储效率。

Description

仓储系统控制方法、装置、安全门及仓储系统
本公开要求于2020年9月30日提交中国专利局、申请号为CN202011059499.5、申请名称为“仓储系统控制方法、装置、安全门及仓储系统”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及仓储系统技术领域，尤其涉及一种仓储系统控制方法、装置、安全门及仓储系统。
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线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。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。
现有技术中，当用户需要进入到仓储系统中视察或者进行其他事项时，通常对仓储系统中的全部货物运输工具进行暂停处理，其中，货物运输工具可以是机器人、叉车等，以避免移动中的货物运输工具对用户造成伤害，保证了用户安全。
然而，现有技术中，当用户进入仓储系统时，对全部货物运输工具进行暂停处理，仓储效率较低，且频繁对货物运输工具反复启停，会对货物运输工具造成硬件损耗。
发明内容
本公开提供一种仓储系统控制方法、装置、安全门及仓储系统，在用户 进入仓储系统中时，在保证了用户安全的基础上，提高了仓储效率且降低了反复启停对货物运输工具造成的硬件损耗。
第一方面，本公开实施例提供一种仓储系统控制方法，包括：
获取安全门的开门请求信号，并确定安全门对应的目标区域，目标区域为仓储系统的多个区域中的部分区域；
确定目标区域内的第一货物运输工具的状态为非工作状态；
控制安全门的状态为打开状态。
本公开实施例中，通过在获取安全门的开门请求信号时，确定安全门对应的目标区域并且确定目标区域内的货物运输工具的状态为非工作状态，然后打开安全门，保证了用户所进入的目标区域内的安全性，并且，通过将安全门对应的目标区域内的货物运输工具的状态控制为非工作状态，而针对非目标区域内的货物运输工具保持正常工作，相比与现有技术中，对全部货物运输工具进行暂停处理，提高了仓储效率且降低了反复启停对货物运输工具造成的硬件损耗。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制方法，确定目标区域内的第一货物运输工具的状态为非工作状态，包括：
若存在第一货物运输工具，则向第一货物运输工具发送停止工作指令，以使第一货物运输工具停止工作；
检测第一货物运输工具的状态，并确定第一货物运输工具的状态为非工作状态。
本公开实施例中，在目标区域内存在货物运输工具时，向目标区域内的货物运输工具发送控制指令，以使其停止工作，并且通过检测第一货物运输工具的状态，以确定第一货物运输工具的状态为非工作状态，进一步保证了目标区域的安全性。
在一种可能的实施方式中，在检测第一货物运输工具的状态之后，还包括：
若存在第一货物运输工具的状态为工作状态，则推送第一提示信息，第一提示信息用于提示用户目标区域为非安全区域。
本公开实施例中，通过在目标区域内存在工作状态的货物运输工具时，提示用户目标区域为非安全区域，可以提示用户对货物运输工具进行安全检 查，进一步保证了用户的安全性。
在一种可能的实施方式中，在确定目标区域内的第一货物运输工具的状态为非工作状态之前，包括：
判断是否存在第一货物运输工具。
本公开实施例中，通过判断目标区域内是否存在货物运输工具，在目标区域内不存在货物运输工具时，可以控制安全门的状态为打开状态，避免了对货物运输工具的控制。
在一种可能的实施方式中，在确定安全门对应的目标区域之后，还包括：
将第一货物运输工具调度至仓储系统中除目标区域之外的其他区域。
本公开实施例中，通过在确定目标区域后将目标区域内的货物运输工具调度到非目标区域，提高了货物运输工具的使用效率，进一步提高了仓储效率。
在一种可能的实施方式中，将第一货物运输工具调度至仓储系统中除目标区域之外的其他区域，包括：
暂停第一货物运输工具的第一任务，第一任务的目标货架在目标区域，和/或，控制第一货物运输工具执行第二任务，第二任务的目标货架在仓储系统中除目标区域之外的其他区域。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制方法，还包括：
控制仓储系统中的第二货物运输工具禁止进入目标区域，第二货物运输工具为除了目标区域之外的其他区域内的货物运输工具。
在一种可能的实施方式中，控制仓储系统中的第二货物运输工具禁止进入目标区域，包括：
暂停第二货物运输工具的第一任务；和/或，停止分配第一任务至第二货物运输工具，第一任务的目标货架在目标区域内。
通过控制非目标区域内的货物运输工具禁止进入目标区域，进一步保证了目标区域的安全性。
在一种可能的实施方式中，安全门对应多个目标区域，在确定安全门对应的目标区域之后，还包括：
获取用户所在的位置信息，确定位置信息所在的目标区域；
确定目标区域内的货物运输工具的状态为非工作状态，包括：
确定位置信息所在的目标区域内的货物运输工具的状态为非工作状态。
本公开实施例中，当安全门对应多个目标区域时，保证了用户所在的目标区域内的安全性。
在一种可能的实施方式中，获取用户所在的位置信息，包括：
检测用户的标签，标签具备定位识别功能；
解析标签以获取用户所在的位置信息。
在一种可能的实施方式中，在确定目标区域内的货物运输工具的状态为非工作状态之后，还包括：
显示目标区域内的安全标识，安全标识用于指示目标区域为安全区域。
在一种可能的实施方式中，安全标识为地面标识。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制方法，还包括：
向用户发送第二提示信息，第二提示信息用于提示用户目标区域为安全区域。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制方法，还包括：
若确定安全门的状态为关闭状态，和/或，目标区域内不存在用户，则恢复第一货物运输工具的状态为工作状态。
在一种可能的实施方式中，恢复第一货物运输工具的状态为工作状态，包括：
开启第一货物运输工具的第一任务，和/或，向第一货物运输工具分配第一任务，第一任务的目标货架在目标区域。
在一种可能的实施方式中，第一货物运输工具为机器人或叉车。
下面介绍本公开实施例提供的装置、安全门、仓储系统、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公开实施例提供的仓储系统控制方法，不再赘述。
第二方面，本公开实施例提供一种仓储系统控制装置，包括：
获取模块，用于获取安全门的开门请求信号，并确定所述安全门对应的目标区域，目标区域为仓储系统的多个区域中的部分区域；确定模块，用于 确定所述目标区域内的第一货物运输工具的状态为非工作状态；控制模块，用于控制所述安全门的状态为打开状态。
在一种可能的实施方式中，确定目标区域内的第一货物运输工具的状态为非工作状态，包括：
判断模块，用于判断是否存在第一货物运输工具。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，确定模块还用于：
向第一货物运输工具发送停止工作指令，以使第一货物运输工具停止工作；检测第一货物运输工具的状态，并确定第一货物运输工具的状态为非工作状态。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，还包括：
推送模块，用于若存在第一货物运输工具的状态为工作状态，则推送第一提示信息，第一提示信息用于提示用户目标区域为非安全区域。
在一种可能的实施方式中，控制模块，还用于：
将第一货物运输工具调度至仓储系统中除目标区域之外的其他区域。
在一种可能的实施方式中，控制模块，具体用于：
暂停第一货物运输工具的第一任务，第一任务的目标货架在目标区域，和/或，控制第一货物运输工具执行第二任务，第二任务的目标货架在仓储系统中除目标区域之外的其他区域。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，控制模块，还用于：
控制仓储系统中的第二货物运输工具禁止进入目标区域，第二货物运输工具为除了目标区域之外的其他区域内的货物运输工具。
在一种可能的实施方式中，控制模块，具体用于：
暂停第二货物运输工具的第一任务；和/或，停止分配第一任务至第二货物运输工具，第一任务的目标货架在目标区域内。
在一种可能的实施方式中，获取模块，还用于获取用户所在的位置信息，确定位置信息所在的目标区域；
确定模块，具体用于：确定位置信息所在的目标区域内的货物运输工具 的状态为非工作状态。
在一种可能的实施方式中，获取模块，具体用于：
检测用户的标签，标签具备定位识别功能；解析标签以获取用户所在的位置信息。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，还包括：
显示模块，用于显示目标区域内的安全标识，安全标识用于指示目标区域为安全区域。
在一种可能的实施方式中，安全标识为地面标识。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，还包括：
发送模块，用于向用户发送第二提示信息，第二提示信息用于提示用户目标区域为安全区域。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，控制模块，还用于：
若确定安全门的状态为关闭状态，和/或，目标区域内不存在用户，则恢复第一货物运输工具的状态为工作状态。
在一种可能的实施方式中，控制模块，具体用于：
开启第一货物运输工具的第一任务，和/或，向第一货物运输工具分配第一任务，第一任务的目标货架在目标区域。
在一种可能的实施方式中，第一货物运输工具为机器人或叉车。
第三方面，本公开实施例提供一种安全门，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。
第四方面，本公开实施例提供一种仓储系统，包括如第三方面提供的安全门以及货物运输工具。
第五方面，本公开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施方式提供的方法。
第六方面，本公开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实施方式提供的方法。
本公开提供的仓储系统控制方法、装置、安全门及仓储系统，通过获取安全门的开门请求信号，并确定安全门对应的目标区域；然后确定目标区域内的第一货物运输工具的状态为非工作状态；最后控制安全门的状态为打开状态。本公开实施例中，由于通过在获取安全门的开门请求信号时，确定安全门对应的目标区域并且确定目标区域内的货物运输工具的状态为非工作状态，然后打开安全门，保证了用户所进入的目标区域内的安全性，并且，通过将安全门对应的目标区域内的货物运输工具的状态控制为非工作状态，而针对非目标区域内的货物运输工具保持正常工作，相比与现有技术中，对全部货物运输工具进行暂停处理，提高了仓储效率且降低了反复启停对货物运输工具造成的硬件损耗。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本公开实施例提供的一示例性应用场景架构图；
图2是本公开一实施例提供的仓储系统控制方法的流程示意图；
图3是本公开另一实施例提供的仓储系统控制方法的流程示意图；
图4是本公开又一实施例提供的仓储系统控制方法的流程示意图；
图5是本公开再一实施例提供的仓储系统控制方法的流程示意图；
图6是本公开一实施例提供的仓储系统的结构示意图；
图7是本公开再一实施例提供的仓储系统控制方法的流程示意图；
图8是本公开一实施例提供的目标区域的结构示意图；
图9是本公开一实施例提供的仓储系统控制装置的结构示意图；
图10是本公开实施例提供的电子设备的结构示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，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，都属于本公开保护的范围。
本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)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，以便这里描述的本公开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，通常包括货架及货物运输工具，当用户需要进入到仓储系统中视察或者进行其他事项时，现有技术中，通常对仓储系统中的全部货物运输工具进行暂停处理，其中，货物运输工具可以是机器人、叉车等，以避免移动中的货物运输工具对用户造成伤害，保证了用户安全。然而，现有技术中，当用户进入仓储系统时，对全部货物运输工具进行暂停处理，仓储效率较低，且频繁对货物运输工具反复启停，会对货物运输工具造成硬件损耗。
本公开实施例提供的仓储系统控制方法、装置、安全门及仓储系统的发明构思在于，通过将仓储系统的仓储区域划分为多个区域，每个区域存在各自对应的安全门，在获取安全门的开门请求信号时，确定安全门对应的目标区域，并将目标区域内的货物运输工具的状态控制为非工作状态，不仅可以保证目标区域内的安全性，并且，通过将目标区域内的货物运输工具的状态控制为非工作状态，而针对非目标区域内的货物运输工具保持正常工作，相比与现有技术中，对全部货物运输工具进行暂停处理，提高了仓储效率且降低了反复启停对货物运输工具造成的硬件损耗。
以下，对本公开实施例的示例性应用场景进行介绍。
本公开实施例提供的仓储系统控制方法可以通过本公开实施例提供的仓储系统控制装置执行，本公开实施例提供的仓储系统控制装置可以集成在终端设备上，或者该仓储系统控制装置可以为终端设备本身，本公开实施例对终端设备的具体类型不做限制，例如，终端设备可以是安全门、货物运输工具、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、摄像机等。图1是本公开实施例提供的一示例性应用场景架构图，本公开实施例可以应用于仓储系统中，该仓储系统可以包括一个或多个仓储区域，每个仓储区域可以包括多个区域，以图1所示为例，仓储系统中包括仓储区域，该仓储区域中包括8个区域，每个区域存在对应的安全门，例如，区域1对应于安全门1，通过安全门1可以直接进入区域1。货物运输工具在区域中移动，以实现对货物的存取，在不同的时间段，每个区域内的货物运输工具的数量不定，例如可以没有，也可以为一个或多个。每个区域之间可以存在护栏或者虚拟墙，用于区分不同的区域。本公开实施例仅以此为例，并不限于此。
图2是本公开一实施例提供的仓储系统控制方法的流程示意图，该方法可以由仓储系统控制装置执行，该装置可以通过软件和/或硬件的方式实现，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，本公开实施例提供的仓储系统控制方法可以包括：
步骤S101：获取安全门的开门请求信号，并确定安全门对应的目标区域。
本公开实施例对安全门的控制方式不做限制，例如，用户可以通过人脸识别、指纹识别、输入密码、打开控制按钮等方式，请求打开安全门，安全门在接收到用户操作后，生成开门请求信号。本公开实施例对开门请求信号中携带的信息不做限制，例如，开门请求信号中可以携带有安全门的标识、用户标识等。在获取到安全门的开门请求信号之后，确定安全门对应的目标区域。安全门与仓储区域的区域之间存在对应关系，在一种可能的实施方式中，可以通过建立安全门与区域的关联列表，并通过查询关联列表的方式确定安全门对应的目标区域，其中，目标区域为仓储系统的多个区域中的部分区域。本公开实施例仅以此为例，并不限于此。
步骤S102：确定目标区域内的第一货物运输工具的状态为非工作状态。
第一货物运输工具为目标区域内的货物运输工具，第一货物运输工具的非工作状态可以包括关机状态、待机状态等。在非工作状态下，第一货物运输工具无法进行移动和执行取/放货动作，避免了由于第一货物运输工具的移动，导致撞伤用户的情况发生。
在一种可能的实施方式中，确定第一货物运输工具的状态，可以通过首先确定目标区域内的第一货物运输工具，然后检测第一货物运输工具的状态的方式实现，若第一货物运输工具的状态为工作状态，则控制该第一货物运输工具的状态为非工作状态，以保证目标区域内的第一货物运输工具的状态为非工作状态。
在一种可能的实施方式中，确定目标区域内的第一货物运输工具的状态为非工作状态，包括：
若存在第一货物运输工具，则向第一货物运输工具发送停止工作指令，以使第一货物运输工具停止工作；检测第一货物运输工具的状态，并确定第一货物运输工具的状态为非工作状态。
终端设备可以与第一货物运输工具进行数据通信，本公开实施例对终端设备与第一货物运输工具进行数据通信的具体实现方式不做限制。终端设备可以通过向第一货物运输工具发送停止工作指令，以使第一货物运输工具停止工作，其中，停止工作指令可以用于指示第一货物运输工具暂停工作、或者指示第一货物运输工具进入待机状态、或者指示第一货物运输工具关闭电源等，本公开实施例对此不做限制。
本公开实施例中，在目标区域内存在货物运输工具时，向目标区域内的货物运输工具发送控制指令，以使其停止工作，并且通过检测第一货物运输工具的状态，确定第一货物运输工具的状态为非工作状态，进一步保证了目标区域的安全性。
在一种可能的实施方式中，在检测第一货物运输工具的状态之后，还包括：
若存在第一货物运输工具的状态为工作状态，则推送第一提示信息，第一提示信息用于提示用户目标区域为非安全区域。
在对第一货物运输工具的状态进行检测之后，可能存在第一货物运输工具的状态为工作状态，此时，可能由于第一货物运输工具故障，终端设备无 法与第一货物运输工具进行数据通信，或者，第一货物运输工具无法执行终端设备发送的通知工作指令等原因，导致第一货物运输工具的状态为工作状态。
本公开实施例中，通过在目标区域内存在工作状态的货物运输工具时，推送第一提示信息的方式，提示用户目标区域为非安全区域，不仅可以提示用户对货物运输工具进行安全检查，进一步保证了用户的安全性。本公开实施例对推送第一提示信息的具体实现方式不做限制，在一种可能的实施方式中，可以通过终端设备推送提示信息，以使终端设备的界面显示该提示信息；在另一种可能的实施方式中，还可以通过终端设备将第一提示信息推送至仓储系统管理员的通信地址上，例如，将第一提示信息推送至仓储系统管理员的手机、电脑等设备上。本公开实施例仅以此为例，并不限于此。
步骤S103：控制安全门的状态为打开状态。
在确定目标区域内的第一货物运输工具的状态为非工作状态之后，控制安全门的状态为打开状态，例如，可以通过向安全门发送控制信号，该控制信号用于指示安全门打开，本公开实施例对此不做限制。
在控制安全门的状态为打开状态时，用户通过安全门进入目标区域，以在目标区域进行视察或其他操作。用户在完成任务之后，通过安全门离开目标区域，并关闭安全门。基于上述场景，在一种可能的实施方式中，本公开实施例提供的仓储系统控制方法，还包括：
若确定安全门的状态为关闭状态，和/或，目标区域内不存在用户，则恢复第一货物运输工具的状态为工作状态。
其中，本公开实施例对安全门的状态的确定方式以及目标区域内是否存在用户的确定方式不做限制，例如，可以通过检测安全门的状态信息，确定安全门的状态等，再例如，可以通过在安全门位置设置红外检测装置，当进入安全门的用户数量与走出安全门的用户数量一致时，确定目标区域内不存在用户等，本公开实施例仅以此为例。
在确定安全门的状态为关闭状态，或者，确定目标区域内不存在用户，或者，确定安全门的状态为关闭状态且目标区域内不存在用户时，恢复第一货物运输工具的状态为工作状态。其中，恢复第一货物运输工具的状态为工作状态，可以包括控制第一货物运输工具继续工作、或者控制第一货物运输 工具开机等。在一种可能的实施方式中，恢复第一货物运输工具的工作，包括：开启第一货物运输工具的第一任务，和/或，向第一货物运输工具分配第一任务，第一任务的目标货架在目标区域。
通过开启第一货物运输工具的第一任务，以使第一货物运输工具在目标区域内执行第一任务。或者，还可以通过向第一货物运输工具分配第一任务，以使第一货物运输工具在目标区域内执行第一任务，货物运输工具可以在目标区域内进行存取货物。
本公开实施例中，通过在获取安全门的开门请求信号时，确定安全门对应的目标区域并且确定目标区域内的货物运输工具的状态为非工作状态，然后打开安全门，保证了用户所进入的目标区域内的安全性，并且，通过将安全门对应的目标区域内的货物运输工具的状态控制为非工作状态，而针对非目标区域内的货物运输工具保持正常工作，相比与现有技术中，对全部货物运输工具进行暂停处理，提高了仓储效率且降低了反复启停对货物运输工具造成的硬件损耗。
在上述实施例的基础上，由于货物运输工具在工作过程中，可能会在仓储系统中的不同区域内进行移动，则在用户需要进入某区域时，可能该区域内并不存在货物运输工具。基于此，在一种可能的实施方式中，图3是本公开另一实施例提供的仓储系统控制方法的流程示意图，如图3所示，本公开实施例提供的仓储系统控制方法中，在步骤S102，即，确定目标区域内的第一货物运输工具的状态为非工作状态之前，还包括：
步骤S201：判断是否存在第一货物运输工具。
若不存在第一货物运输工具，则执行步骤S103，即控制安全门的状态为打开状态，若存在第一货物运输工具，则执行步骤S102和步骤S103。
判断目标区域中是否存在货物运输工具，可以通过获取仓储空间内货物运输工具的位置信息，然后利用货物运输工具的位置信息，确定货物运输工具中是否存在处于目标区域的货物运输工具，若存在处于目标区域的货物运输工具，则判断存在第一货物运输工具，若不存在处于目标区域的货物运输工具，则判断不存在第一货物运输工具。本公开实施例仅以此为例，并不限于此。
本公开实施例中，通过判断目标区域内是否存在货物运输工具，并在目 标区域内不存在货物运输工具时，控制安全门的状态为打开状态，避免了对货物运输工具的进一步控制。
在图2和图3所示实施例的基础上，在一种可能的实施方式中。图4是本公开另一实施例提供的仓储系统控制方法的流程示意图，如图4所示，本公开实施例提供的仓储系统控制方法中，在步骤S101的确定安全门对应的目标区域之后，还包括：
步骤S301：将第一货物运输工具调度至仓储系统中除目标区域之外的其他区域。
若将目标区域内第一货物运输工具的状态，全部设置为非工作状态，则可能会影响仓储系统的货物存取效率。为了进一步提高第一货物运输工具的利用率，进而提高仓储系统的货物存取效率，可以通过将第一货物运输工具调度至仓储系统中除目标区域之外的其他区域，即，非目标区域。本公开实施例对将第一货物运输工具调度至非目标区域的具体实现方式不做限制。例如，可以通过控制第一货物运输工具移动至非目标区域的方式实现。
在一种可能的实施方式中，将第一货物运输工具调度至仓储系统中除目标区域之外的其他区域，包括：
暂停第一货物运输工具的第一任务，第一任务的目标货架在目标区域，和/或，控制第一货物运输工具执行第二任务，第二任务的目标货架在仓储系统中除目标区域之外的其他区域。
由于第一货物运输工具可能需要执行多个任务，其中，多个任务可能包括一个或多个第一任务，以及一个或多个第二任务。在一种可能的实施方式中，通过暂停第一货物运输工具的第一任务，第一货物运输工具可以按照任务顺序执行第二任务，由于第二任务的目标货架在非目标区域，则第一货物运输工具为了执行第二任务，则移动向非目标区域。在另一种可能的实施方式中，通过直接控制第一货物运输工具执行第二任务，则第一货物运输工具移动向非目标区域，实现了将第一货物运输工具调度至非目标区域。
本公开实施例中，通过在确定目标区域后将目标区域内的货物运输工具调度到非目标区域，提高了货物运输工具的使用效率，进一步提高了仓储效率。
在图4所示的实施例的基础上，进一步地，在一种可能的实施方式中， 如图4所示，本公开实施例提供的仓储系统控制方法，还可以包括：
步骤S302：控制仓储系统中的第二货物运输工具禁止进入目标区域。
第二货物运输工具为除了目标区域之外的其他区域内的货物运输工具。其中，步骤S302的执行顺序不限于图4中位于步骤S301和步骤S102之间，例如，还可以在步骤S101之后执行、在步骤S102之后执行、在步骤S103之后执行等，本公开实施例仅以图4中的执行顺序为例进行说明。
为了进一步保证目标区域的安全性，除了可以通过将目标区域内的第一货物运输工具调度至非目标区域，或者，将第一货物运输工具的状态设置为非工作状态，还可以控制非目标区域内的第二货物运输工具在非目标区域活动。本公开实施例对控制仓储系统中的第二货物运输工具禁止进入目标区域的具体实现方式不做限制，例如，可以通过设置目标区域与非目标区域的边界线为不可跨越的方式，防止第二货物运输工具移动至目标区域。在一种可能的实施方式中，控制仓储系统中的第二货物运输工具禁止进入目标区域，包括：
暂停第二货物运输工具的第一任务；和/或，停止分配第一任务至第二货物运输工具，第一任务的目标货架在目标区域内。
由于第二货物运输工具可能需要执行多个任务，其中，多个任务可能包括一个或多个第一任务，以及一个或多个第二任务。在一种可能的实施方式中，通过暂停第二货物运输工具的第一任务，第一货物运输工具可以按照任务顺序执行第二任务，由于第二任务的目标货架在非目标区域，则第二货物运输工具为了执行第二任务，则移动向非目标区域。在另一种可能的实施方式中，通过停止分配第一任务至第二货物运输工具，以控制第二货物运输工具在非目标区域内进行存取货物，本公开实施例仅以此为例，并不限于此。
本公开实施例中，通过控制非目标区域内的货物运输工具禁止进入目标区域，进一步保证了目标区域的安全性。
在图2-4任一所示实施例的基础上，在一种可能的实施方式中，安全门对应多个目标区域，图5是本公开再一实施例提供的仓储系统控制方法的流程示意图，如图5所示，本公开实施例提供的仓储系统控制方法中，在步骤S101的确定安全门对应的目标区域之后，还可以包括：
步骤S401：获取用户所在的位置信息，确定位置信息所在的目标区域。
为了便于介绍，图6是本公开一实施例提供的仓储系统的结构示意图，如图6所示，仓储系统中的仓储区域包括多个区域，其中，安全门1对应区域1，安全门2对应区域2，各个区域之间可以通过虚拟墙的方式阻隔，例如，区域1和区域2之间通过虚拟墙(虚线部分)阻隔，但用户可以在区域1和区域2之间移动，例如，用户通过安全门1或安全门2，可以进入区域1和区域2。
在图6所示的应用场景下，可以通过检测用户所在的位置信息，以确定用户所在的目标区域。本公开实施例对获取用户所在的位置信息的具体实现方式不做限制，在一种可能的实施方式中，在一种可能的实施方式中，获取用户所在的位置信息，包括：检测用户的标签，标签具备定位识别功能；解析标签以获取用户所在的位置信息。
用户在进入安全门内时，可以通过佩戴带有标签的胸牌、绶带、随身贴等，或者，通过穿着带有标签的马甲、帽子等方式携带标签。本公开实施例对此不做限制。其中，本公开实施例对标签的具体类型不做限制，例如，标签可以通过射频识别(Radio Frequency Identification，RFID)、超带宽(Ultra Wideband，UWB)识别、二维码识别、图像识别等方式进行识别，以确定用户所在的位置信息。
本公开实施例中，通过检测并解析用户的标签，以确定用户所在的位置信息，不仅可以提高用户所在位置信息的准确性，而且由于通过对用户的标签进行检测和识别，还可以提高获取用户所在位置信息的效率，并且相比于现有技术中，通过红外检测用户的位置信息的方式，还可以降低获取用户位置信息的成本。另外，由于每个用户可以采用不同的标签进行区分，通过检测用户的标签，还有利于后续对用户的管理等。
如图6所示，通过检测确定用户所在的区域为区域2。
相应的步骤S102，即确定目标区域内的货物运输工具的状态为非工作状态，可以通过执行步骤S402实现。
步骤S402：确定位置信息所在的目标区域内的货物运输工具的状态为非工作状态。
在确定用户所在的区域为区域2之后，确定区域2为目标区域，并确定区域2中的货物运输工具的状态为非工作状态。本公开实施例对位置信息所 在的目标区域内的货物运输工具的控制方式不做限制，具体可参考上述实施例中，对目标区域的第一货物运输工具的控制方式，本公开实施例不再赘述。
对于多个目标区域中除用户所在的目标区域，如图6中的区域1，可以将其作为非目标区域进行处理，具体可参考上述实施例中，对非目标区域内的控制方式，本公开实施例不再赘述。
在一种可能的实施方式中，安全门对应多个目标区域时，可能该多个目标区域存在多个安全门，如图6所示，安全门1对应区域1和区域2，安全门2也对应区域1和区域2，若用户从安全门1进入区域1或区域2，则可以通过检测用户的位置信息，确定关闭远离用户的安全门，同时，还可以打开距离用户最近的安全门以便用户走出。例如，用户当前位置处于区域2，则将安全门1关闭，并打开安全门2。或者，通过接收用户请求，以打开用户请求打开的安全门，本公开实施例对此不做限制。
本公开实施例中，当安全门对应多个目标区域时，不仅保证了用户所在的目标区域内的安全性，而且，还可以提高货物运输工具的灵活性以及货物运输工具的工作效率。
在上述任一所示实施例的基础上，在一种可能的实施方式中，图7是本公开再一实施例提供的仓储系统控制方法的流程示意图，如图7所示，本公开实施例提供的仓储系统控制方法中，在步骤S102之后，即在确定目标区域内的货物运输工具的状态为非工作状态之后，还可以包括：
步骤S501：显示目标区域内的安全标识，安全标识用于指示目标区域为安全区域。
本公开实施例对安全标识的位置不做限制，在一种可能的实施方式中，安全标识可以设置在安全门位置，或者，安全标识可以设置在照明设备旁边，或者，安全标识可以设置在货架上，本公开实施例对此不做限制。为了便于用户查看，在一种可能的实施方式中，安全标识为地面标识。
为了便于介绍，图8是本公开一实施例提供的目标区域的结构示意图，如图8所示，例如，以目标区域为区域1为例，目标区域中可以包括多个货架，货架之间可以存在巷道，用户可以在巷道位置进行活动，安全标识可以设置在巷道位置。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制方法，在 确定目标区域内的货物运输工具的状态为非工作状态之后，还包括：向用户发送第二提示信息，第二提示信息用于提示用户目标区域为安全区域。
本公开实施例对向用户发送第二提示信息的具体实现方式不做限制，例如，可以通过向用户的终端设备发送短信、微信、邮件、推送消息、语音提醒等方式，提醒用户目标区域为安全区域，本公开实施例仅以此为例，并不限于此。
下述为本公开装置实施例，可以用于执行本公开方法实施例。对于本公开装置实施例中未披露的细节，请参照本公开方法实施例。
图9是本公开一实施例提供的仓储系统控制装置的结构示意图，该装置可以通过软件和/或硬件的方式实现，例如可以通过终端设备实现，如图9所示，本公开实施例提供的仓储系统控制装置可以包括：获取模块61、确定模块62和控制模块63。
获取模块61，用于获取安全门的开门请求信号，并确定所述安全门对应的目标区域，目标区域为仓储系统的多个区域中的部分区域；确定模块62，用于确定所述目标区域内的第一货物运输工具的状态为非工作状态；控制模块63，用于控制所述安全门的状态为打开状态。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，确定模块62还用于：
向第一货物运输工具发送停止工作指令，以使第一货物运输工具停止工作；检测第一货物运输工具的状态，并确定第一货物运输工具的状态为非工作状态。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，还包括：
推送模块65，用于若存在第一货物运输工具的状态为工作状态，则推送第一提示信息，第一提示信息用于提示用户目标区域为非安全区域。
在一种可能的实施方式中，第一货物运输工具为机器人或叉车。
在一种可能的实施方式中，控制模块63，具体用于：
开启第一货物运输工具的第一任务，和/或，向第一货物运输工具分配第一任务，第一任务的目标货架在目标区域。
本实施例的装置可以执行上述图2所示的方法实施例，其技术原理和技 术效果与上述实施例相似，此处不再赘述。
在图9所示实施例的基础上，进一步地，在本公开另一个提供仓储系统控制装置的实施例中，确定目标区域内的第一货物运输工具的状态为非工作状态，包括：
判断模块64，用于判断是否存在第一货物运输工具。
本实施例的装置可以执行上述图3所示的方法实施例，其技术原理和技术效果与上述实施例相似，此处不再赘述。
在图9所示实施例的基础上，进一步地，在本公开另一个提供仓储系统控制装置的实施例中，控制模块63，还用于：
将第一货物运输工具调度至仓储系统中除目标区域之外的其他区域。
在一种可能的实施方式中，控制模块63，具体用于：
暂停第一货物运输工具的第一任务，第一任务的目标货架在目标区域，和/或，控制第一货物运输工具执行第二任务，第二任务的目标货架在仓储系统中除目标区域之外的其他区域。
在图9所示实施例的基础上，进一步地，在本公开另一个提供仓储系统控制装置的实施例中，控制模块63，还用于：
控制仓储系统中的第二货物运输工具禁止进入目标区域，第二货物运输工具为除了目标区域之外的其他区域内的货物运输工具。
在一种可能的实施方式中，控制模块63，具体用于：
暂停第二货物运输工具的第一任务；和/或，停止分配第一任务至第二货物运输工具，第一任务的目标货架在目标区域内。
本实施例的装置可以执行上述图4所示的方法实施例，其技术原理和技术效果与上述实施例相似，此处不再赘述。
在图9所示实施例的基础上，进一步地，在本公开另一个提供仓储系统控制装置的实施例中，获取模块61，还用于获取用户所在的位置信息，确定位置信息所在的目标区域。
确定模块62，具体用于：确定位置信息所在的目标区域内的货物运输工具的状态为非工作状态。
在一种可能的实施方式中，获取模块61，具体用于：
检测用户的标签，标签具备定位识别功能；解析标签以获取用户所在的 位置信息。
本实施例的装置可以执行上述图5所示的方法实施例，其技术原理和技术效果与上述实施例相似，此处不再赘述。
在图9所示实施例的基础上，进一步地，在本公开另一个提供仓储系统控制装置的实施例中，本公开实施例提供的仓储系统控制装置，还包括：
显示模块66，用于显示目标区域内的安全标识，安全标识用于指示目标区域为安全区域。
在一种可能的实施方式中，安全标识为地面标识。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，还包括：
发送模块67，用于向用户发送第二提示信息，第二提示信息用于提示用户目标区域为安全区域。
在一种可能的实施方式中，本公开实施例提供的仓储系统控制装置，控制模块63，还用于：
若确定安全门的状态为关闭状态，和/或，目标区域内不存在用户，则恢复第一货物运输工具的状态为工作状态。
本实施例的装置可以执行上述图7所示的方法实施例，其技术原理和技术效果与上述实施例相似，此处不再赘述。
本公开所提供的装置实施例仅仅是示意性的，图9中的模块划分仅仅是一种逻辑功能划分，实际实现时可以有另外的划分方式。例如多个模块可以结合或者可以集成到另一个系统。各个模块相互之间的耦合可以是通过一些接口实现，这些接口通常是电性通信接口，但是也不排除可能是机械接口或其它的形式接口。因此，作为分离部件说明的模块可以是或者也可以不是物理上分开的，既可以位于一个地方，也可以分布到同一个或不同设备的不同位置上。
本公开实施例提供一种仓储系统，该仓储系统包括安全门和货物运输工具，可参考图1或图6所示的仓储系统。其中，安全门可以用于执行上述仓储系统控制方法，具体可参考上述方法实施例，其内容和效果不再赘述。
图10是本公开实施例提供的电子设备的结构示意图，该电子设备可以是安全门，如图10所示，该电子设备包括：
处理器71、存储器72、收发器73以及计算机程序；其中，收发器73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72中，并且被配置为由处理器71执行，计算机程序包括用于执行上述仓储系统控制方法的指令，其内容及效果请参考方法实施例。
此外，本公开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公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，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公开各实施例技术方案的范围。

Claims (19)

  1. 一种仓储系统控制方法，其特征在于，包括：
    获取安全门的开门请求信号，并确定所述安全门对应的目标区域，所述目标区域为所述仓储系统的多个区域中的部分区域；
    确定所述目标区域内的第一货物运输工具的状态为非工作状态；
    控制所述安全门的状态为打开状态。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述目标区域内的第一货物运输工具的状态为非工作状态，包括：
    向所述第一货物运输工具发送停止工作指令，以使所述第一货物运输工具停止工作；
    检测所述第一货物运输工具的状态，以确定所述第一货物运输工具的状态为非工作状态。
  3. 根据权利要求2所述的方法，其特征在于，在所述检测所述第一货物运输工具的状态之后，还包括：
    若存在所述第一货物运输工具的状态为工作状态，则推送第一提示信息，所述第一提示信息用于提示用户所述目标区域为非安全区域。
  4. 根据权利要求2所述的方法，其特征在于，在所述确定所述目标区域内的第一货物运输工具的状态为非工作状态之前，还包括：
    判断是否存在所述第一货物运输工具；
    若不存在所述第一货物运输工具，则控制所述安全门的状态为打开状态。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，在确定所述安全门对应的目标区域之后，还包括：
    将所述第一货物运输工具调度至所述仓储系统中除所述目标区域之外的其他区域。
  6. 根据权利要求5所述的方法，其特征在于，所述将所述第一货物运输工具调度至所述仓储系统中除所述目标区域之外的其他区域，包括：
    暂停所述第一货物运输工具的第一任务，所述第一任务的目标货架在所述目标区域，和/或，控制所述第一货物运输工具执行第二任务，所述第二任务的目标货架在所述仓储系统中除所述目标区域之外的其他区域。
  7. 根据权利要求1-4任一项所述的方法，其特征在于，还包括：
    控制所述仓储系统中的第二货物运输工具禁止进入所述目标区域，所述第二货物运输工具为除了所述目标区域之外的其他区域内的货物运输工具。
  8. 根据权利要求7所述的方法，其特征在于，控制所述仓储系统中的第二货物运输工具禁止进入所述目标区域，包括：
    暂停所述第二货物运输工具的第一任务；和/或，停止分配所述第一任务至所述第二货物运输工具，所述第一任务的目标货架在所述目标区域内。
  9. 根据权利要求1-4任一项所述的方法，其特征在于，所述安全门对应多个目标区域，在确定所述安全门对应的目标区域之后，还包括：
    获取用户所在的位置信息，确定所述位置信息所在的目标区域；
    所述确定所述目标区域内的货物运输工具的状态为非工作状态，包括：
    确定所述位置信息所在的目标区域内的货物运输工具的状态为非工作状态。
  10. 根据权利要求9所述的方法，其特征在于，所述获取用户所在的位置信息，包括：
    检测所述用户的标签，所述标签具备定位识别功能；
    解析所述标签以获取所述用户所在的位置信息。
  11. 根据权利要求1-4任一项所述的方法，其特征在于，在确定所述目标区域内的货物运输工具的状态为非工作状态之后，还包括：
    显示所述目标区域内的安全标识，所述安全标识用于指示所述目标区域为安全区域。
  12. 根据权利要求11所述的方法，其特征在于，
    所述安全标识为地面标识。
  13. 根据权利要求11所述的方法，其特征在于，还包括：
    向用户发送第二提示信息，所述第二提示信息用于提示所述用户所述目标区域为安全区域。
  14. 根据权利要求1-4任一项所述的方法，其特征在于，还包括：
    若确定所述安全门的状态为关闭状态，和/或，所述目标区域内不存在用户，则恢复所述第一货物运输工具的状态为工作状态。
  15. 根据权利要求14所述的方法，其特征在于，所述恢复所述第一货物运输工具的状态为工作状态，包括：
    开启所述第一货物运输工具的第一任务，和/或，向所述第一货物运输工具分配所述第一任务，所述第一任务的目标货架在所述目标区域。
  16. 根据权利要求1-4任一项所述的方法，其特征在于，所述第一货物运输工具为机器人或叉车。
  17. 一种仓储系统控制装置，其特征在于，包括：
    获取模块，用于获取安全门的开门请求信号，并确定所述安全门对应的目标区域；
    确定模块，用于确定所述目标区域内的第一货物运输工具的状态为非工作状态；
    控制模块，用于控制所述安全门的状态为打开状态。
  18. 一种安全门，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1-16中任一项所述的方法。
  19. 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18所述的安全门。
PCT/CN2021/118867 2020-09-30 2021-09-16 仓储系统控制方法、装置、安全门及仓储系统 WO2022068603A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21874264.1A EP4206095A4 (en) 2020-09-30 2021-09-16 METHOD AND APPARATUS FOR CONTROLLING STORAGE SYSTEM, AND SECURITY DOOR AND STORAGE SYSTEM
KR1020237013196A KR20230070025A (ko) 2020-09-30 2021-09-16 창고 시스템의 제어 방법, 장치, 보안 도어 및 창고 시스템
JP2023519559A JP2023544989A (ja) 2020-09-30 2021-09-16 倉庫システム制御方法、倉庫システム制御装置、安全扉および倉庫システム
US18/189,327 US20230227257A1 (en) 2020-09-30 2023-03-24 Method and apparatus for controlling warehousing system, guard door, and warehousing system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011059499.5A CN112224728A (zh) 2020-09-30 2020-09-30 仓储系统控制方法、装置、安全门及仓储系统
CN202011059499.5 2020-09-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/189,327 Continuation US20230227257A1 (en) 2020-09-30 2023-03-24 Method and apparatus for controlling warehousing system, guard door, and warehousing system

Publications (1)

Publication Number Publication Date
WO2022068603A1 true WO2022068603A1 (zh) 2022-04-07

Family

ID=74120143

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/118867 WO2022068603A1 (zh) 2020-09-30 2021-09-16 仓储系统控制方法、装置、安全门及仓储系统

Country Status (6)

Country Link
US (1) US20230227257A1 (zh)
EP (1) EP4206095A4 (zh)
JP (1) JP2023544989A (zh)
KR (1) KR20230070025A (zh)
CN (1) CN112224728A (zh)
WO (1) WO2022068603A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112224728A (zh) * 2020-09-30 2021-01-15 深圳市海柔创新科技有限公司 仓储系统控制方法、装置、安全门及仓储系统
CN114684521B (zh) * 2022-04-12 2024-01-12 北京京东乾石科技有限公司 立体货架系统及防护装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010156153A (ja) * 2008-12-26 2010-07-15 Secom Co Ltd 自動貸金庫システム及びその制御装置
CN207737918U (zh) * 2017-11-27 2018-08-17 湖南长高成套电器有限公司 一种可防止误入的立体仓库
CN110936407A (zh) * 2019-11-20 2020-03-31 东莞长盈精密技术有限公司 工业机器人区域安全防护方法
CN112224728A (zh) * 2020-09-30 2021-01-15 深圳市海柔创新科技有限公司 仓储系统控制方法、装置、安全门及仓储系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3669678B2 (ja) * 1999-10-01 2005-07-13 株式会社椿本チエイン セキュリティー集中保管庫
CN2522383Y (zh) * 2001-11-23 2002-11-27 季忠 回转立体库的自动门
CN108305032B (zh) * 2018-01-31 2021-04-27 北京戴纳实验科技有限公司 安全管理系统
CN108453790A (zh) * 2018-03-27 2018-08-28 成都锐升科技有限责任公司 一种自动化工作站及控制该自动化工作站的方法
CN110065910B (zh) * 2019-03-15 2021-11-12 北京旷视机器人技术有限公司 调度仓库中运输设备的方法、装置及仓储系统
CN110110966B (zh) * 2019-04-08 2021-10-01 日立楼宇技术（广州）有限公司 井道危险的预警方法、装置、计算机设备及存储介质
NO345822B1 (en) * 2019-12-10 2021-08-23 Autostore Tech As Method for handling malfunctioning vehicles on a track system and a storage and retrieval system using such a method
CN110900663A (zh) * 2019-12-17 2020-03-24 青岛鼎信工业安全设备有限公司 一种机器人带能调试安全联锁方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010156153A (ja) * 2008-12-26 2010-07-15 Secom Co Ltd 自動貸金庫システム及びその制御装置
CN207737918U (zh) * 2017-11-27 2018-08-17 湖南长高成套电器有限公司 一种可防止误入的立体仓库
CN110936407A (zh) * 2019-11-20 2020-03-31 东莞长盈精密技术有限公司 工业机器人区域安全防护方法
CN112224728A (zh) * 2020-09-30 2021-01-15 深圳市海柔创新科技有限公司 仓储系统控制方法、装置、安全门及仓储系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4206095A4 *

Also Published As

Publication number Publication date
CN112224728A (zh) 2021-01-15
JP2023544989A (ja) 2023-10-26
KR20230070025A (ko) 2023-05-19
EP4206095A4 (en) 2024-02-07
EP4206095A1 (en) 2023-07-05
US20230227257A1 (en) 2023-07-20

Similar Documents

Publication Publication Date Title
WO2022068603A1 (zh) 仓储系统控制方法、装置、安全门及仓储系统
CN111325499A (zh) 一种物品派送方法、装置、机器人和存储介质
EP3137950B1 (en) Dynamically configurable production and/or distribution line control system and method therefor
JP7007456B2 (ja) 物品運搬方法及び関連デバイス
US20060280007A1 (en) Memory product controller, memory product control method, and memory product
WO2023020105A1 (zh) 物资盘点方法、装置、设备以及存储介质
US10289882B2 (en) Cargo handling system
CN113044450B (zh) 搬运设备的任务处理方法及装置
KR20210004831A (ko) 양면 잠금판 제어 방법 및 장치, 양면 캐비닛 및 저장 매체
KR101939099B1 (ko) 스마트 지게차 연동형 물류관리장치
US10685325B2 (en) Item return tracking systems and methods
US20200019920A1 (en) Interface for automated storage and retrieval system
JP6594728B2 (ja) 無線タグ、パレット、パレット管理装置、およびパレット管理システム
CN111661549B (zh) 出库控制方法、装置、设备及存储介质
US11449052B1 (en) Coordinating tasks between mobile components utilizing intrusion detection
US20230401395A1 (en) Method and system for rfid interrogation
US20230098677A1 (en) Freight Management Systems And Methods
US11625678B2 (en) Mobile and stationary cameras for identifying a storage location of an inventory item
US20230101794A1 (en) Freight Management Systems And Methods
CN116654842B (zh) 搬运设备、搬运设备的控制方法、装置和存储介质
US20160182128A1 (en) Beacon comprising multiple communication interfaces with secure deactivation/reactivation
US20230286164A1 (en) Conveyance system, method for control the same, and control program
WO2023055712A1 (en) Freight management systems and methods
KR20220114079A (ko) 수동 rfid 카드를 식별하기 위한 방법
CN116205463A (zh) 无人运输车调度方法及无人运输车作业系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21874264

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2023519559

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2021874264

Country of ref document: EP

Effective date: 20230327

ENP Entry into the national phase

Ref document number: 20237013196

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE