WO2022105400A1 - 货物取出方法、装置、机器人、仓储系统及存储介质 - Google Patents

货物取出方法、装置、机器人、仓储系统及存储介质 Download PDF

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Publication number
WO2022105400A1
WO2022105400A1 PCT/CN2021/118610 CN2021118610W WO2022105400A1 WO 2022105400 A1 WO2022105400 A1 WO 2022105400A1 CN 2021118610 W CN2021118610 W CN 2021118610W WO 2022105400 A1 WO2022105400 A1 WO 2022105400A1
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Prior art keywords
goods
target
robot
blocking
instruction
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PCT/CN2021/118610
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English (en)
French (fr)
Inventor
彭逸凡
喻润方
艾鑫
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深圳市海柔创新科技有限公司
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Publication of WO2022105400A1 publication Critical patent/WO2022105400A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/14—Stack holders or separators

Definitions

  • the present disclosure relates to the technical field of intelligent storage, and in particular, to a method, device, robot, storage system and storage medium for taking out goods.
  • the robot-based intelligent warehousing system adopts an intelligent operating system, realizes the automatic extraction and storage of goods through system instructions, and can run uninterrupted 24 hours a day, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favored .
  • the existing intelligent warehousing system takes out the goods, because the storage location of the goods in each layer of the existing shelf is fixed and only distributed in a single row, the utilization rate of the shelf is low, and when the robot executes the goods taking out for this kind of shelf. , it is only necessary to take out the goods according to the location of the warehouse location of the goods, resulting in a low universality of the method of taking out the goods.
  • the present disclosure provides a method, a device, a robot, a storage system and a storage medium for taking out goods, and an efficient and intelligent method for taking out goods is proposed for a shelf that stores goods in a two-dimensional configuration.
  • an embodiment of the present disclosure provides a method for taking out goods.
  • the method includes: generating a take-out instruction for the target goods according to the quantity of blocked goods corresponding to the target goods, wherein the storage space of the target goods is based on The size information of the target goods and the dynamic goods storage space on the shelf are determined; the taking out instruction is sent to at least one target robot, so that the at least one target robot takes out the target goods according to the taking out instruction.
  • the method before sending the fetching instruction to at least one target robot, the method further includes: determining the at least one target robot according to the quantity of the blocked goods.
  • determining the at least one target robot according to the quantity of the blocked goods includes: determining the at least one target robot according to the quantity of the blocked goods and attribute information of the target goods.
  • the method before sending the fetching instruction to at least one target robot, the method further includes: judging whether there is an unoccupied area that can accommodate the blocking cargo within a preset range of the area corresponding to the target cargo. space; if there is no unoccupied space that can accommodate the blocking goods, the at least one target robot is determined according to the quantity of the blocking goods, or, according to the quantity of the blocking goods and the attribute information of the target goods The at least one target robot is determined.
  • the method further includes: if there is an unoccupied space that can accommodate the first part of the blocking goods within a preset range of the area corresponding to the target goods, determining the block according to the quantity of the blocking goods.
  • the at least one target robot, or, the at least one target robot is determined according to the quantity of the blocked goods and the attribute information of the target goods, or, the at least one target robot is determined according to the number of the remaining blocked goods, or, according to the remaining The quantity of the blocking goods and the attribute information of the target goods determine the at least one target robot, wherein the remaining blocking goods are blocking goods other than the first part of the blocking goods.
  • determining the at least one target robot according to the quantity of the blocked goods includes: judging whether there is a first robot whose quantity of storable goods is greater than or equal to the sum of the quantity of the blocked goods and the quantity of the target goods; When it exists, the first robot is determined as the target robot; when it does not exist, at least two second robots are determined as the at least one target robot, wherein the at least two second robots can be The sum of the stored cargo quantity is greater than or equal to the sum of the blocked cargo quantity and the target cargo quantity.
  • determining the at least one target robot according to the quantity of the blocked goods and the attribute information of the target goods includes: determining a third robot according to the attribute information of the target goods; When the quantity of stored goods is greater than or equal to the sum of the quantity of the blocking goods and the target goods, the third robot is determined to be the target robot; when the remaining quantity of goods that can be stored by the third robot is less than the blocking goods When the number of the remaining storable goods, at least one fourth robot is determined according to the difference between the remaining quantity of storable goods and the quantity of the blocked goods, wherein the remaining quantity of storable goods is the quantity of goods that can be stored by the third robot The quantity is the quantity after the quantity of the target goods is deducted, and the third robot and the at least one fourth robot are the at least one target robot.
  • the method before sending the fetching instruction to at least one target robot, the method further includes: determining the at least one target according to the available storage space of the robot and the required space of the blocking goods and the target goods robot.
  • determining the at least one target robot according to the available storage space of the robot and the required space of the blocking cargo and the target cargo includes: judging whether there is available storage space enough to accommodate the blocking cargo and the target the fifth robot of the cargo; when it exists, the fifth robot is determined as the target robot; when it does not exist, at least two sixth robots are determined as the at least one target robot, wherein the at least two The space corresponding to the set of available storage spaces of the sixth robot is sufficient to accommodate the blocking cargo and the target cargo.
  • determining the at least one target robot according to the available storage space of the robot and the required space of the blocking cargo and the target cargo includes: determining a seventh robot according to attribute information of the target cargo; When the available storage space of the seventh robot is sufficient to accommodate the blocking cargo and the target cargo, the seventh robot is determined to be the target robot; when the remaining available storage space of the seventh robot is insufficient to accommodate the blocking cargo at least one eighth robot is determined according to the difference between the remaining available storage space and the space required for blocking the goods, wherein the remaining available storage space is the available storage space of the seventh robot to remove the target In the space after the cargo space, the seventh robot and the at least one eighth robot are the at least one target robot.
  • the number of the target robot is one
  • the fetching instruction includes a blocking fetching instruction and a target fetching instruction; wherein, the blocking fetching instruction is used to cause the target robot to fetch the blocked goods and remove the The blocking goods are placed in the first storage space of the target robot; the target taking out instruction is used to make the target robot take out the target goods and place the target goods in the second storage space of the target robot middle.
  • the fetching instruction includes a first fetching instruction and a second fetching instruction; wherein, the first fetching instruction is used to cause a first target robot to fetch the blocking goods, and the first target robot is the A robot in at least one target robot; the second take-out instruction is used to make a second target robot take out the target goods, and the second target robot is the at least one target other than the first target robot A robot within a robot.
  • the fetching instruction includes a third fetching instruction and a fourth fetching instruction; wherein, the third fetching instruction is used to cause the third target robot to fetch a third part of the blocking goods, the third target The robot is a robot in the at least one target robot; the fourth take-out instruction is used to make the fourth target robot take out the target goods and the fourth part of the blocking goods, and the fourth target robot is to remove all the objects A robot in the at least one target robot other than the third target robot, the blocking goods of the fourth part are the remaining blocking goods except the blocking goods of the third part.
  • the method further includes: generating a backflow blocking instruction for the blocking goods, so as to place the blocking goods in the original warehouse of the blocking goods according to the backflow blocking instruction or a preset free space, wherein the original storage position of the blocked goods is the storage position where the blocked goods are stored before being taken out, and the preset free space is the shelf corresponding to the original storage position of the blocked goods Except for the space corresponding to the original storage location, the space not occupied by the goods.
  • the method further includes: further comprising: generating a target return instruction of the target goods, so as to place the target goods in the position of the target goods according to the target return instructions.
  • the original storage location wherein the original storage location of the target goods is the storage location where the target goods are stored before being taken out.
  • the method further includes: according to the size information of the original storage location of the target goods, the size information of each original storage location of the blocking goods, and each of the original storage locations of the blocked goods.
  • the size information of the blocked goods is determined, and the new storage location of each of the blocked goods and the first preset orientation of each of the blocked goods are determined, wherein the original storage position of the blocked goods is the one stored before the blocked goods are taken out.
  • a storage location for each blocked goods of the target goods, according to the new storage location corresponding to the blocked goods and the first preset orientation, a first return instruction of the blocked goods is generated, so as to be based on the first return instruction
  • the blocked goods are stored in a new storage location corresponding to the blocked goods according to the first preset orientation.
  • the method further includes: according to the size information of the original storage location of the target goods, the size information of the original storage locations of each of the blocked goods, and the size of each of the blocked goods information to determine the new storage location of each of the blocked goods and the first preset orientation of each of the blocked goods, wherein the original storage location of the blocked goods is the storage location where the blocked goods were stored before being taken out; For each blocked goods of the target goods, a first return instruction of the blocked goods is generated according to the new storage location corresponding to the blocked goods and the first preset orientation, so as to follow the first return instruction according to the first return instruction.
  • the blocking goods are stored in a new storage location corresponding to the blocking goods in a preset orientation.
  • the method further includes: according to the size information of the original storage location of the target goods, the size information of the original storage locations of each of the blocking goods, and the target The size information of the goods, to determine the new warehouse location of the target goods and the second preset orientation of the target goods, wherein the original warehouse location of the target goods is the warehouse location where the target goods were stored before being taken out; According to the new storage location and the second preset orientation corresponding to the target goods, a second return instruction of the target goods is generated, so as to store the target goods in the target goods according to the second return instruction and according to the second preset orientation The new storage location corresponding to the target goods, so that the quantity of blocked goods of the target goods stored in the new storage location corresponding to the target goods is less than the quantity of the blocked goods stored in the original storage location corresponding to the target goods The number of blocked goods for the target goods.
  • the method before generating the take-out instruction for the target goods according to the quantity of the blocked goods corresponding to the target goods, the method includes: determining at least one goods to be taken out according to task requirements; A target cargo is determined from at least one cargo to be taken out.
  • determining the target goods from the at least one goods to be taken out includes: counting one or more of the quantity and size information of the blocking goods of each of the goods to be taken out. Item; determining a target cargo from the at least one cargo to be taken out according to one or more of the quantity and size information of the blocking cargo of the cargo to be taken out.
  • determining a target cargo from the at least one cargo to be taken out according to one or more of the quantity and size information of the cargoes to be taken out comprising: according to the blocking cargo of the cargo to be taken out The quantity of the goods to be taken out, the size information of the blocking goods of the goods to be taken out, and at least one of the following parameters, and the target goods are determined from the at least one goods to be taken out: the distance between each of the goods to be taken out and the workstation, each of the goods to be taken out The distance between the goods to be taken out and the entrance of the roadway and the number of layers on which each of the goods to be taken out is located on the shelf.
  • an embodiment of the present disclosure further provides a method for taking out goods, the method comprising: receiving a take-out instruction of a target goods, wherein the take-out instructions are generated according to the quantity of blocked goods corresponding to the target goods; The fetch instruction fetches the target cargo.
  • an embodiment of the present disclosure further provides a device for taking out goods, the device comprising: a taking-out instruction generating module, configured to generate a taking-out instruction for the target goods according to the quantity of blocked goods corresponding to the target goods; sending the taking-out instruction
  • the module is configured to send the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • an embodiment of the present disclosure further provides a device for taking out goods, the device comprising: a taking-out instruction receiving module, configured to receive a taking-out instruction of a target cargo, wherein the taking-out instruction is based on a block corresponding to the target cargo The quantity of goods is generated; the goods taking out module is used for taking out the target goods according to the taking out instruction.
  • an embodiment of the present disclosure further provides a device for taking out goods, including a memory and at least one processor; the memory stores computer-executed instructions; the at least one processor executes the computer-executed instructions stored in the memory, so that The at least one processor executes the cargo taking out method provided by any embodiment corresponding to the first aspect of the present disclosure.
  • an embodiment of the present disclosure further provides a robot, including a memory and at least one processor; the memory stores computer-executed instructions; the at least one processor executes the computer-executed instructions stored in the memory, so that the At least one processor executes the cargo taking out method provided by any embodiment corresponding to the second aspect of the present disclosure.
  • an embodiment of the present disclosure further provides a storage system, including the device for taking out goods provided by the embodiment corresponding to the fifth aspect of the present disclosure, and/or the robot provided by the embodiment corresponding to the sixth aspect of the present disclosure.
  • 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 a processor executes the computer-executable instructions, any embodiment of the present disclosure is implemented Provided method of taking out the goods.
  • an embodiment of the present disclosure further provides a computer program product, including a computer program, which, when executed by a processor, implements the method for taking out goods provided by any embodiment of the present disclosure.
  • the method, device, robot, storage system, and storage medium for taking out goods provided by the embodiments of the present disclosure, for a storage system including shelves based on a multi-row configuration, generate a take-out instruction for the target goods according to the number of blocked goods of the target goods, so as to Based on this instruction to take out the target goods, the goods are placed in multiple rows, which improves the space utilization rate of the storage system and reduces the storage cost.
  • the way of taking out the goods improves the intelligence of taking out the goods.
  • FIG. 1A is a schematic diagram of a storage situation in a one-dimensional configuration according to an embodiment of the present disclosure
  • FIG. 1B is a schematic diagram of a storage situation after placing goods according to the embodiment shown in FIG. 1A of the present disclosure
  • FIG. 1C is a schematic diagram of a storage situation in a two-dimensional configuration provided by an embodiment of the present disclosure
  • FIG. 1D is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the present disclosure after placing goods;
  • FIG. 1E is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the present disclosure after placing goods;
  • FIG. 1F is a schematic structural diagram of a robot provided by an embodiment of the present disclosure.
  • FIG. 1G is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the disclosure.
  • FIG. 1H is the structure of a robot and its handling device in the embodiment shown in FIG. 1F of the disclosure.
  • FIG. 1I is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the disclosure.
  • FIG. 1J is a schematic structural diagram of another conveying device in the embodiment shown in FIG. 1I of the disclosure.
  • FIG. 1K is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the disclosure.
  • FIG. 1L is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the disclosure.
  • FIG. 2 is an application scenario diagram of the method for taking out goods provided by an embodiment of the present disclosure
  • FIG. 3 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of a shelf storage situation in the embodiment shown in FIG. 3 of the disclosure.
  • FIG. 5 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • 6A is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • FIG. 6B is a schematic diagram of a storage situation in the embodiment shown in FIG. 6A of the disclosure.
  • FIG. 7 is a flowchart of a method for taking out goods according to another embodiment of the present disclosure.
  • FIG. 8 is a flowchart of a method for taking out goods according to another embodiment of the present disclosure.
  • FIG. 9 is a flowchart of a method for taking out goods according to another embodiment of the present disclosure.
  • FIG. 10 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • 11A is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • FIG. 11B is a schematic diagram of a shelf storage situation in the embodiment corresponding to FIG. 11A of the present disclosure
  • FIG. 11C is a schematic diagram of the shelf storage situation after the target goods are extracted in the embodiment shown in FIG. 11B ;
  • FIG. 11D is a schematic diagram of the storage situation of the shelf after the backflow of the blocking goods and the target goods in the embodiment shown in FIG. 11C ;
  • FIG. 12 provides a method for taking out goods according to another embodiment of the present disclosure.
  • FIG. 13 is a schematic structural diagram of a device for taking out goods according to an embodiment of the present disclosure.
  • FIG. 14 is a schematic structural diagram of a device for taking out goods according to another embodiment of the present disclosure.
  • 15 is a schematic structural diagram of a device for taking out goods according to another embodiment of the present disclosure.
  • FIG. 16 is a schematic structural diagram of a robot according to an embodiment of the present disclosure.
  • FIG. 17 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure.
  • the present disclosure is applied to the scenario of dynamically configuring the cargo storage space, and the present disclosure provides a cargo placing method for dynamically configuring the cargo storage space, which is different from the fixed storage location.
  • Dynamically configuring the cargo storage space refers to: after the system determines the cargo to be stored, according to the size of the cargo, a first storage space that is adapted to the size of the cargo is allocated from the existing unoccupied space, wherein the unoccupied The occupied space can be any size of space, and the unoccupied space does not include the fixed storage space that has been divided; wherein, the first storage space can accommodate the goods to be stored, and the fixed storage space It refers to the pre-set storage location in the warehouse, and the fixed location is fixed and the size is determined.
  • the dynamic cargo storage space may be a space for dynamically configuring the cargo storage space.
  • dynamically configuring the cargo storage space includes at least one-dimensional and/or two-dimensional configuration.
  • FIG. 1A is a schematic diagram of the storage situation in a one-dimensional configuration mode provided by an embodiment of the present disclosure.
  • the one-dimensional configuration mode refers to the depth Y direction of the cargo on each layer in the cargo storage space.
  • the storage space of the goods includes the first unoccupied space and/or the first occupied space.
  • the first occupied space is in the direction of the goods entering and leaving The space on which the goods have been placed.
  • FIG. 1C is a schematic diagram of the storage situation in a two-dimensional configuration mode provided by an embodiment of the present disclosure.
  • the two-dimensional configuration mode refers to the depth Y direction of the cargo on each layer in the cargo storage space. It can be placed in one row, multiple rows, or a combination of multiple rows. That is, in the two-dimensional configuration mode, the goods in the cargo storage space are allowed to be placed in multiple rows in the depth Y direction, wherein, in the two-dimensional mode, the storage space of the goods includes the second unoccupied space and/or the second occupied space. , Specifically, the second unoccupied space includes the space not occupied by the goods in the direction of the goods entering and leaving.
  • FIG. 1A is a schematic diagram of a storage situation in a one-dimensional configuration according to an embodiment of the present disclosure.
  • a one-dimensional configuration as shown in FIG. 1A , for the unoccupied space in the above dynamically configured cargo storage space, That is, the spaces 101a, 101b and 101c in FIG. 1A are the same.
  • the system After the system confirms the goods to be stored, the goods 100a, it will find the first storage space most suitable for the goods 100a, such as space 101c, from the unoccupied spaces, ie, the spaces 101a, 101b and 101c.
  • FIG. 1B is a schematic diagram of the storage situation after placing the goods according to the embodiment shown in FIG. 1A of the present disclosure.
  • the current unoccupied spaces are spaces 101a, 101b and 101d, wherein , the space 101d is the newly defined unoccupied space after the space 101c is partially occupied by the cargo 100a.
  • FIG. 1C is a schematic diagram of a storage situation in a two-dimensional configuration provided by an embodiment of the present disclosure.
  • the unoccupied space on the shelf is the same as that in FIG. 1C space 101e and space 101f in .
  • the system After the system confirms the goods to be stored, the goods 100b, it will find the first storage space that is most suitable for the goods 100b, such as space 101e, in the unoccupied space, that is, the space 101e and the space 101f.
  • FIG. 1D is a schematic diagram of the storage situation after placing the goods in the embodiment corresponding to FIG. 1C of the disclosure.
  • the current unoccupied spaces are space 101f and space 101g.
  • the space 101g is a newly defined unoccupied space after the space 101e is partially occupied by the goods 100b.
  • FIG. 1E is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the present disclosure after the goods are placed.
  • the orientations of the goods 100b in FIGS. 1D and 1E are different when they are placed, that is, the goods 100b are placed It can be turned when placed, that is, the orientation of the goods to be stored can be changed when placing the goods.
  • the current unoccupied spaces are spaces 101f and 101h.
  • the space 101h is the newly defined unoccupied space after the space 101e is partially occupied by the goods 100b.
  • FIG. 1F is a schematic structural diagram of a robot according to an embodiment of the present disclosure; as shown in FIG. Among them, the storage rack 82 , the conveying device 84 and the lifting assembly 81 are all installed on the mobile chassis 83 , and several storage units are arranged on the storage rack 82 .
  • the lift assembly 81 is used to drive the transport device 84 to move up and down, so that the transport device 84 is aligned with any storage unit on the storage rack 82, or aligned with the rack and/or the goods.
  • the handling device 84 can be rotated about a vertical axis to adjust its orientation for alignment to a storage unit, or to a shelf and/or cargo.
  • the handling device 84 is used to carry out the loading or unloading of goods to carry the goods between the racks and the storage unit.
  • the storage racks 82 may be selectively configured or not configured. When the storage racks 82 are not configured, the goods are stored in the accommodating space of the handling device 84 when the robot 80 transports the goods.
  • the robot 80 in the above-mentioned embodiment can execute the cargo storage method shown in the present disclosure, so as to realize the cargo handling between the shelves and the operation platform.
  • the robot 80 When the robot 80 performs the task of storing the goods, the robot 80 moves to the position of the designated storage space for the goods, and the lifting assembly 81 cooperates with the transport device 84 to transport the goods from the storage unit of the storage rack 82 to the rack.
  • FIG. 1G is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the present disclosure.
  • the carrying device 84 is mounted on the bracket 86 through a rotating mechanism 85, which is used to drive the carrying device 84 to rotate about a vertical axis relative to the bracket 86 to align the storage unit, or to align the racks and/or racks. or goods.
  • the handling device 84 is used to transport goods between the storage units and the racks. If the handling device 84 is not aligned with the shelf and/or the goods, the handling device 84 can be driven to rotate relative to the bracket 86 by the rotating mechanism 85 to ensure that the handling device 84 is aligned with the shelf and/or the goods.
  • FIG. 1H is the structure of a robot and its handling device in the embodiment shown in FIG. 1F of the disclosure. It can be understood with reference to FIG. 1F and FIG. 1G that the rotating mechanism 85 may be omitted according to the actual situation.
  • the handling robot 80 moves on a fixed track, and after moving to the vicinity of the shelf, the handling device 84 is always aligned with the shelf and/or the goods , and the goods can be arranged in the picking direction of the conveying device 84 .
  • FIG. 1I is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the present disclosure.
  • the handling device 84 includes a pallet 841 and a telescopic arm assembly.
  • the pallet 841 is used for placing goods and can be a horizontally arranged flat plate.
  • the telescopic arm assembly is used to push the goods placed on the pallet 841 out of the pallet 841 or pull the goods to the pallet 841 .
  • the telescopic arm assembly includes a telescopic arm 843 , a fixed push rod 842 and a movable push rod 844 .
  • the telescopic arm 843 includes a left telescopic arm and a right telescopic arm, and the telescopic arm 843 can be extended horizontally. side.
  • the telescopic arm 843 is powered by a motor, and the power is transmitted by a sprocket mechanism. According to the actual situation, the sprocket mechanism can be replaced by a pulley mechanism, a screw mechanism and other transmission mechanisms to drive.
  • Both the fixed push rod 842 and the movable push rod 844 are installed on the telescopic arm 843 , and the fixed push rod 842 and the movable push rod 844 can extend together with the telescopic arm 843 .
  • the fixed push rod 842 and the pallet 841 are located on the same side of the telescopic arm 843 .
  • the fixed push rod 842 is used to push out the goods from the pallet 841 .
  • the movable push rod 844 can be retracted into the telescopic arm 843.
  • the movable push rod 844, the fixed push rod 842 and the support plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is located in the extending direction of the fixed push rod 842 along the telescopic arm 843 .
  • the movable push rod 844 can be directly driven by a motor, and can also transmit power through a transmission mechanism such as a gear set and a link mechanism according to the actual situation.
  • a transmission mechanism such as a gear set and a link mechanism according to the actual situation.
  • the fixed push rod 842 of the carrying device 84 can be designed as a finger structure like the movable push rod 844 .
  • the carrying device 84 can be designed as a structure in which the spacing width of the telescopic arm assembly is adjustable.
  • the spacing width of the telescopic boom assembly can be adjusted according to the size of the goods.
  • the handling device 84 may further include a turning structure, such as a turntable, which may be used to change the orientation of the goods placed on the pallet 841 thereof.
  • FIG. 1J is a schematic structural diagram of another conveying device in the embodiment shown in FIG. 1I of the present disclosure. Combining FIG. 1J and FIG. 1I, it can be seen that the conveying device 84 may further include a steering structure, that is, the turntable 845 in FIG. 1I to change the placement the orientation of the goods on its pallet 841.
  • FIG. 1K is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the present disclosure.
  • the conveying device 84a includes one or more suction cups 846, which are arranged on the fixed push rod 842, and the fixed push rod 842 can be Rod-shaped or plate-shaped.
  • the fixed push rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction.
  • the goods are sucked by the suction cups 846 , and the displacement of the fixed push rod 842 is matched to carry the goods to the shelf, or to carry the goods to the pallet 841 .
  • FIG. 1L is the structure of another conveying device according to the embodiment shown in FIG. 1F of the disclosure.
  • the conveying device 84b includes one or more mechanical arms 847, which are configured on the fixed push rod 842 and/or the conveying device 84b. appropriate location.
  • the fixed push rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction.
  • the robot arm 847 grabs/hooks the goods, and cooperates with the displacement of the fixed push rod 842 to carry the goods to the rack, or to carry the goods to the pallet 841 .
  • the handling device (84a, 84b) may further include a turning structure, such as the turntable 845 in Figs. 1J and 1K, to change the orientation of the goods placed on the pallet 841 thereof.
  • a turning structure such as the turntable 845 in Figs. 1J and 1K, to change the orientation of the goods placed on the pallet 841 thereof.
  • the structure of the conveying device of the embodiment shown in the present disclosure may include a combination of one or more of the above examples.
  • the beneficial effect is that, compared with the telescopic arm, the use of suction cups, mechanical arms and other structures can reduce the safe distance between goods, thereby increasing the density of goods on the shelves of the storage system, improving space utilization, and reducing storage costs.
  • FIG. 2 is an application scenario diagram of the method for taking out goods provided by an embodiment of the present disclosure.
  • the method for taking out goods provided by an embodiment of the present disclosure may run on an electronic device, such as a computer, a server, and the like.
  • the intelligent storage system 200 uses the robot 210 to extract and/or store the target goods on the shelf 220, and uses the warehouse management device 230 to carry out path planning, status monitoring and scheduling for the robot 210, so that the robot 210 can move to the set position for the target.
  • the warehouse management device 230 also stores the basic information and occupied space information of the goods stored on the shelves 220 to facilitate warehouse management.
  • the warehouse management device 230 determines the goods to be taken out according to the conditions of the goods stored on the shelves 220 , and then the robot 210 takes out the goods.
  • the storage positions on the shelves 220 of the existing intelligent storage system 200 are all storage positions with fixed positions and sizes, and the goods on each layer of the shelves 220 can only be placed in one row, so that when the goods are shipped out or taken out, only It is necessary to generate instructions according to the location of the warehouse where the goods are located to carry out the corresponding goods out of the warehouse or take out.
  • the take-out method is single and the degree of intelligence is low.
  • the existing method of taking out the goods cannot be applied to the situation that the goods out of the warehouse block the goods, and the scope of application is limited, that is, when the blocking goods are stored, the required goods cannot be taken out.
  • the embodiments of the present disclosure provide a method for taking out goods.
  • a method for taking out goods For a shelf in a two-row configuration or a multi-row configuration, when there is a blocking goods in the target goods, according to the blocking method is realized.
  • the quantity of the goods determines the way of taking out the target goods, which enriches the way of taking out the goods, and at the same time improves the intelligence of the outbound and the outbound efficiency of the target goods that contain blocking goods.
  • FIG. 3 is a flowchart of a method for taking out goods provided by an embodiment of the present disclosure.
  • the method for taking out goods can be executed by electronic equipment of a storage system, such as a goods taking out device, warehouse management equipment, etc., and its specific form can be computer, server, etc.
  • the acquisition and extraction method provided by this embodiment includes the following steps:
  • Step S301 generating a take-out instruction for the target cargo according to the quantity of the blocked cargo corresponding to the target cargo.
  • the target goods are goods to be taken out, which are placed on the shelves.
  • the storage space of the target goods on its shelf that is, the storage space of the target goods, can be determined according to the size information of the target goods and the dynamic goods storage space on the shelf, and the dynamic goods storage space can be any size. space, rather than a fixed space that has been divided.
  • the target goods can be in the form of bins, packages, the goods provided by the user that are not packaged by the storage system, or the goods placed in the standard bins provided by the storage system.
  • the shape of the target goods can be regular shapes, such as cuboid shape, cube shape, etc., or irregular shapes, such as the surface contains protrusions or grooves, etc.
  • the target goods can be cloth, food, electronic products, building materials, etc.
  • the quantity of target goods can be one or more. The present disclosure does not limit the quantity, shape, type, packaging, etc. of the target goods.
  • the blocking goods are goods located between the robot and the target goods when the robot picks up the target goods, or goods located on the extraction path where the robot picks up the target goods.
  • the blocking goods can be other bins or other goods placed on the shelf.
  • the number of blocked goods can be 0, 1, 2 or other values.
  • the fetching instruction may include the fetching sequence of each blocking item of the target item, the position information of the storage space corresponding to each blocking item, and the position information of the storage space corresponding to the target item. Information about the robot used to execute the instructions may also be included.
  • a take-out instruction can be generated to take out the target goods according to the quantity of the blocked goods of the target goods, the size information of the blocked goods, the position information, the size information of the target goods and the position information of the target goods.
  • the taking out instruction can also instruct the target robot to take out the target goods after taking out or moving the blocking goods.
  • a target robot can take out only one blocking item at a time, or can take out multiple blocking items, which needs to be determined according to the number of available storage units of the target robot.
  • the target cargo can be determined first according to the task requirements, and then the blocking cargo and the quantity of the target cargo can be determined.
  • the method before generating the take-out instruction for the target goods according to the quantity of the blocked goods corresponding to the target goods, the method includes: determining at least one goods to be taken out according to task requirements; A target cargo is determined from at least one cargo to be taken out.
  • the task requirement may be issued by the warehousing system, such as through a workstation of the warehousing system, warehouse management equipment, etc., or the task requirement issued by the user through the user terminal, or the task requirement directly input by the user.
  • the task requirements can include information about the goods, items or bins that need to be taken out.
  • the task requirement may be a stock-out requirement
  • the stock-out requirement may be a SKU (Stock Keeping Unit) stock-out requirement or a material box stock-out requirement.
  • SKU represents the basic unit of outbound measurement, which can be in units of pieces, boxes, pallets, etc.
  • Each product, cargo or material box placed in the storage system can correspond to a SKU number, which is used to describe its color, size, material and other information.
  • the SKU outbound requirement includes the parameter information of the target goods, such as the type, size or number of the goods.
  • the task requirements may include items to be picked up and the number of items to be picked up.
  • Task requirements can also include bin types.
  • the items to be taken refer to the items that need to be taken out from the shelves of the warehouse, which can be any kind of items, such as clothing, decorations, building supplies, and the like.
  • Pickup quantity refers to the number of items to be picked up, that is, the number of items that need to be removed from the shelves of the warehouse.
  • the type of material box refers to the type of material box that needs to be taken out, and its type can be classified by user, goods, and box size.
  • the delivery requirement may be "50 pieces of goods A are delivered from the warehouse” or "one type B material box is delivered from the warehouse”.
  • the goods to be taken out are bins or goods placed on the shelves of the warehouse that meet the requirements of the task, and may be one or more.
  • the task requirement includes a material box type
  • the determining at least one item to be taken out according to the task requirement includes: according to the material box type, determining a material box of the material box type in the warehouse as the material box type. At least one item to be taken out.
  • the outbound requirement is "outbound two B-type material boxes", and all the B-type material boxes on the shelves of the warehouse are determined as the goods to be taken out.
  • the outbound demand is "50 pieces of clothing C out of the warehouse”
  • the bins containing at least 50 pieces of clothing C on the shelves of the warehouse are regarded as the goods to be taken out.
  • prompt information can be generated to remind relevant personnel to check.
  • determining the target goods from the at least one goods to be taken out includes: counting the number and/or size information of the blocking goods of each of the goods to be taken out; The quantity and/or size information of the blocking goods of the goods to be taken out, and the target goods are determined from the at least one goods to be taken out.
  • the target cargo may be determined from the at least one cargo to be taken out according to the number and/or size of the blocking cargo of the cargo to be taken out. For example, the cargo to be taken out with the smallest number of blocked cargoes is determined as the target cargo, and if there are two cargoes to be taken out with the same quantity of blocked cargoes, the cargo to be taken out with the smaller size of the blocked cargo is selected as the target cargo.
  • weights can be configured for two parameters, the quantity and size of the blocking bins of the goods to be taken out, that is, the quantity weight and the size weight, and further, for each cargo to be taken out, according to the quantity of the blocking bins, the size quantity weight and the The size weight is used to calculate the take-out cost value O cost of the goods to be taken out, and then the goods to be taken out with the smallest take-out cost value O cost are determined as the target goods.
  • the expression for taking out the cost value O cost is:
  • size i may be the volume and surface area of the i-th blocking bin of the goods to be taken out, and may also be the sum of height, length and width.
  • ws may be 0.2 and wn may be 0.8; or ws may be 0.3 and wn may be 0.7.
  • the size weight and the quantity weight can also be determined according to the number and size information of the robots in the storage system.
  • determining the target goods from the at least one goods to be taken out including:
  • a target item is determined from the at least one item to be removed based on the number of the blocking bins, size information of the blocking bin, and one or more of the following parameters: the difference between each of the items to be removed and the workstation The distance, the distance between each of the goods to be taken out and the entrance of the roadway, and the number of layers on which each of the goods to be taken out is located on the shelf.
  • the goods to be taken out can be screened according to the number and size information of the blocking bins, and then according to the distance between each of the goods to be taken out and the workstation, the distance between each of the goods to be taken out and the tunnel entrance, and the distance of each of the goods to be taken out At least one item is located in the number of layers of the shelf, and the target goods are determined from the goods to be taken out after screening.
  • restrictions on the number and size of the blocking bins can be set, such as setting the upper limit of the number and the upper limit of the size of the blocking bins, and the quantity of the blocking bins is larger than the upper limit of the number, or the size of the goods to be taken out larger than the upper limit of the size is rejected. , and then, in combination with at least one of the distance between each of the goods to be taken out and the workstation, the distance between each of the goods to be taken out and the entrance of the roadway, and the number of layers of each of the goods to be taken out on the shelf, from the screened Identify the target cargo in the cargo.
  • the preset relational formula is the expression of the out-of-warehouse cost O cost
  • the expression of the out-of-warehouse cost O cost of the goods to be taken out is:
  • w1 is the weight of the distance l1 between the goods to be taken out and the workstation ;
  • w2 is the weight of the distance l2 of the goods to be taken out and the roadway entrance, and
  • w3 is the weight of the layer l3 of the goods to be taken out on the shelf.
  • the value of the number of layers l3 where the goods to be taken out are located on the shelf may be determined according to the distance between it and the default height of the picking device of the robot. The greater the distance, the greater the value of l3.
  • the five parameter factors need to be normalized.
  • the number of target goods may be multiple, such as M, and the outbound cost O cost of each to-be-taken goods may be sorted from small to large, so as to determine that the outbound cost O cost is located in the top M pending goods. Take out the goods as the target goods.
  • two or more rows of goods can be placed on each layer of the shelf on which the target goods are placed along the depth direction, that is, the direction in which the handling device extends when picking up the goods, that is, the shelf is a shelf for placing goods based on a two-dimensional configuration.
  • the item to be taken out can be directly determined as the target item.
  • the target goods are determined from the at least two goods to be taken out according to the number of blocking goods of each of the goods to be taken out.
  • FIG. 4 is a schematic diagram of the storage situation of the racks in the embodiment shown in FIG. 3 of the present disclosure.
  • the racks 310 and 330 are two racks of the storage system, and the racks 310 store the material boxes 311 to 330 .
  • the material box 322 and the material box 331 and the material box 332 are stored in the shelf 330, and the specific positions are shown in FIG. 4 .
  • the material box 318 and the material box 322 are the goods to be taken out determined according to the demand of the warehouse. It can be seen from FIG.
  • the bin 322 is determined as the target cargo.
  • the method further includes: according to the available storage space of the robot, and the requirements of the blocking goods and the target goods The at least one target robot is spatially determined.
  • the available storage space may be the unoccupied space of the storage unit of the robot, and each storage space of the robot may store only one item or multiple items.
  • one or more target robots that meet the demand space of the blocking cargo and the target cargo can be determined.
  • Step S302 sending the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • the target robot may be any one or more robots in the storage system, and may specifically be any one or more idle robots.
  • a warehouse management device or a cargo take-out device of the warehousing system can generate a take-out instruction for the target goods according to the size information and position information of the target goods and the size information and position information of each blocking goods, and send the take-out order. to the at least one target robot to take out the target cargo by the at least one target robot.
  • the robot that executes the instruction can also be determined. Specifically, it can be determined according to the quantity, size and position of the goods to be taken out, as well as the type, status, position and other information of the robot.
  • the goods to be taken out may include the target goods and the blocking goods of the target goods.
  • a corresponding target robot may be determined for each target goods respectively.
  • the target goods can also be shipped out of the warehouse according to the outbound instruction.
  • the method of taking out the target goods can be determined according to the quantity of the blocking goods, so as to realize the automatic detection of the target goods blocked by the blocking goods. Taking out, the efficiency of taking out the goods is improved, and the methods of taking out are rich and varied, and the degree of intelligence is high. And the two-dimensional way of placing the goods improves the space utilization rate of the shelves and reduces the storage cost.
  • FIG. 5 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • the method for taking out goods provided in this embodiment is based on the embodiment shown in FIG. 3 , and a step of determining a target robot is added after step S301 , such as As shown in FIG. 5 , the method for taking out goods provided by this embodiment includes the following steps:
  • Step S501 generating a take-out instruction for the target cargo according to the quantity of the blocked cargo corresponding to the target cargo.
  • Step S502 determining the at least one target robot according to the quantity of the blocked goods.
  • the target robot can be determined from each idle robot in the storage system according to the quantity of the blocked goods.
  • each idle robot can be sorted in advance, and the target robot can be determined according to the sorting result and the number of blocked goods.
  • the robot in the first place is greater than the number of blocked goods. If so, the robot in the first place is the target robot; if not, it is judged that the robot in the second place is the target robot. Whether the number of vacant slots for robots is greater than the difference between the number of blocked goods and the number of vacant slots for robots in first place, if so, determine the robots in first and second places as target robots, and so on .
  • the sorting results of the currently idle robots are: robot R1, robot R2, and robot R3, where robot R1 includes 3 slots, robot R2 includes 2 slots, and robot R3 is a robot without a storage unit.
  • the blocking goods of the target goods include 4, then the robot R1 and the robot R2 are the target robots.
  • At least one target robot can be determined according to the quantity of the blocking goods and the quantity of the target goods.
  • the robots without storage units can only handle one material box or cargo at a time, and the number of target robots is equal to the sum of the number of blocked goods and the number of target goods.
  • At least one target robot may be determined according to the number of blocked goods, the number of target goods, and the number of available storage units for each robot.
  • the available storage unit is an unoccupied storage unit of the robot.
  • the number of available storage units of at least one target robot should be at least the sum of the number of blocking goods and the number of target goods.
  • determining the at least one target robot according to the quantity of the blocked goods includes: determining the at least one target robot according to the quantity of the blocked goods and attribute information of the target goods.
  • the attribute information of the target goods may include one or more items of size information, location information, and quantity of the target goods.
  • At least one target robot can be determined according to the attribute information of the blocking cargo and the attribute information of the target cargo.
  • the attribute information of the blocking goods may also include one or more items of size information and position information of the blocking goods.
  • the robot with the most available storage units of the robot may be preferentially selected as the target robot, so as to reduce the number of times of picking up goods.
  • the robot that is close to the blocking goods or the target goods can also be preferentially selected to improve the efficiency of picking up goods.
  • other principles or criteria can also be used to determine the target robot.
  • step S501 and step S502 may be performed simultaneously, or step S502 may be performed first and then step S501 may be performed.
  • Step S503 sending the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • one or more target robots that perform a take-out task can be determined according to the number of blocked goods, and a take-out instruction is generated, so that the The one or more target robots take out the blocking goods and the target goods, realize the automatic take-out of the target goods blocked by the blocking goods, improve the efficiency of taking out the goods, and have various take-out methods and a high degree of intelligence.
  • the two-dimensional way of placing the goods improves the space utilization rate of the shelves and reduces the storage cost.
  • FIG. 6A is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • the method for taking out goods provided in this embodiment is based on the embodiment shown in FIG. 3 , and a step of determining a target robot is added after step S301 , such as As shown in FIG. 6A , the method for taking out goods provided by this embodiment includes the following steps:
  • Step S601 according to the quantity of the blocked goods corresponding to the target goods, generate a take-out instruction for the target goods.
  • Step S602 judging whether there is an unoccupied space that can accommodate the blocking cargo within a preset range of the area corresponding to the target cargo.
  • the area corresponding to the target goods is the storage area of the target goods on the shelf, which can also be understood as the storage location of the target goods.
  • the preset range can be any set range. For example, it can be the area corresponding to the shelf corresponding to the target goods, or it can be a circular area with the target area as the center and the set distance as the radius, and the set distance can be 10 meters. , 12 meters, or other values.
  • any one or more available robots can be determined as at least one target robot, which can be a robot without a storage unit or a robot with a storage unit. Then, a take-out instruction is generated, so that the at least one target robot places each blocking cargo in an unoccupied space within the preset range, and takes out the target cargo after placing all the blocking cargo.
  • FIG. 6B is a schematic diagram of the storage situation in the embodiment shown in FIG. 6A of the present disclosure.
  • the target cargo 610 includes two blocking cargoes 611 and 612 , and the area corresponding to the target cargo 610 is preset. Within the range, there are 3 unoccupied spaces, space 613 , space 614 and space 615 , wherein space 614 can accommodate blocking cargo 611 , and space 615 can accommodate blocking cargo space 612 .
  • one, two or three target robots can be determined to perform the task of taking out the target goods 610, so as to generate a take-out instruction, and the target robot will place the blocking goods 611 in the space 614, and place the blocking goods 612 in the space 615. Goods 610 are taken out.
  • each unoccupied space in the preset range can be determined according to the storage situation of each storage area within the preset range of the area corresponding to the target goods recorded or stored in advance, and then according to the required space of each blocking cargo, It is determined whether there is an unoccupied space that can accommodate all the blocking goods within the preset range.
  • the required space for the blocking goods can be determined according to the size information of the blocking goods. It can also be determined according to the size information of the blocking goods and the preset safety distance of the blocking goods.
  • Step S603 if it does not exist, determine the at least one target robot according to the quantity of the blocked goods, or determine the at least one target robot according to the quantity of the blocked goods and attribute information of the target goods.
  • the attribute information of the target goods may include size information of the target goods, and may also include position information and quantity of the target goods.
  • At least one target robot can be determined according to the data of the blocking goods.
  • the specific steps are similar to step S502, and are not repeated here.
  • the at least one target robot is determined according to the quantity of the blocked goods, the size information of each of the blocked goods, and the attribute information of the target goods, so that the at least one target robot can successfully take out all the goods with high efficiency Block cargo and target cargo.
  • the at least one target robot is determined according to the quantity of the blocking goods, Or, the at least one target robot is determined according to the quantity of the blocking goods and the attribute information of the target goods, or, the at least one target robot is determined according to the quantity of the remaining blocking goods, or, the quantity of the remaining blocking goods and The attribute information of the target goods determines the at least one target robot, wherein the remaining blocking goods are blocking goods other than the first part of the blocking goods.
  • the take-out instruction can instruct at least one target robot to place the first part of the blocking cargo on the object within the preset range.
  • the remaining blocking goods that is, the blocking goods other than the first part of blocking goods, are placed in other unoccupied storage spaces of the storage system.
  • at least one The target robot takes out the target cargo.
  • the take-out instruction can instruct the fourth target robot to place the first part of the blocking cargo on the object within the preset range.
  • the fifth target robot is instructed to place the remaining blocking goods, that is, the blocking goods other than the first part of blocking goods, in other unoccupied storage spaces of the storage system.
  • the fourth target robot or the fifth target robot is instructed to take out the target goods.
  • determining the at least one target robot according to the quantity of the blocked goods includes: judging whether there is a first robot whose quantity of storable goods is greater than or equal to the sum of the quantity of the blocked goods and the quantity of the target goods; When it exists, the first robot is determined as the target robot; when it does not exist, at least two second robots are determined as the at least one target robot, wherein the at least two second robots can be The sum of the stored cargo quantity is greater than or equal to the sum of the blocked cargo quantity and the target cargo quantity.
  • the number of goods that can be stored refers to the number of goods that the robot can store. If each storage unit of the robot can only store one goods, the number of goods that can be stored is the number of free storage units.
  • determining the at least one target robot according to the quantity of the blocked goods and the attribute information of the target goods includes: determining a third robot according to the attribute information of the target goods; When the quantity of stored goods is greater than or equal to the sum of the quantity of the blocking goods and the target goods, the third robot is determined to be the target robot; when the remaining quantity of goods that can be stored by the third robot is less than the blocking goods When the number of the remaining storable goods, at least one fourth robot is determined according to the difference between the remaining quantity of storable goods and the quantity of the blocked goods, wherein the remaining quantity of storable goods is the quantity of goods that can be stored by the third robot The quantity is the quantity after the quantity of the target goods is deducted, and the third robot and the at least one fourth robot are the at least one target robot.
  • the specific steps of determining the third robot according to the attribute information of the target goods are similar to the subsequent step S803, and are not repeated here.
  • Step S604 sending the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • one or more target robots that perform the task of taking out the target goods can be determined according to the quantity of the blocking goods, and according to the target goods, one or more target robots can be determined.
  • the blocking goods are placed on the unoccupied space within the preset range, which improves the efficiency of taking out and transporting the blocking goods, thereby improving the efficiency of taking out the target goods. Rich and diverse, with a high degree of intelligence. And the two-dimensional way of placing the goods improves the space utilization rate of the shelves and reduces the storage cost.
  • Fig. 7 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • the method for taking out goods provided in this embodiment is based on the embodiment shown in Fig. 3, and a step of determining a target robot is added after step S301.
  • the embodiment is aimed at determining the target robot based on the available storage space of the robot.
  • the method for taking out goods provided by this embodiment includes the following steps:
  • Step S701 according to the quantity of the blocked goods corresponding to the target goods, generate a take-out instruction for the target goods.
  • Step S702 it is judged whether there is a fifth robot with available storage space sufficient to accommodate the blocking cargo and the target cargo.
  • the available storage space may be a space corresponding to an unoccupied storage unit of the robot, or a space corresponding to an available storage unit.
  • each storage unit of the robot can only store one cargo, target cargo or blocking cargo
  • the number of storage units of the robot is greater than or equal to the sum of the number of blocking cargoes and the number of target cargoes, the robot is determined to be the first Five robots.
  • each storage unit of the robot can store multiple goods, it can be determined whether the available storage space of the robot is sufficient to accommodate the blocking goods and the target goods according to the required space of the target goods and the required space of each blocking goods , if yes, then determine that the robot is the fifth robot.
  • Step S703 when there is, determine the fifth robot as the target robot.
  • the fifth robot is determined as the target robot, so that one robot can perform the removal of the blocking goods and the target goods tasks, without the need to allocate multiple robots, and avoid occupying too many resources in the storage system.
  • a take-out instruction can be generated according to the fifth robot, the target goods, and the blocking goods, so that the first robot can take out the blocking goods and the target goods according to the take-out instructions.
  • Step S704 when there is no, at least two sixth robots are determined as the at least one target robot.
  • the space corresponding to the set of available storage spaces of the at least two sixth robots is sufficient to accommodate the blocking cargo and the target cargo.
  • At least two sixth robots can be determined to coordinately perform the task of taking out the blocking goods and the target goods.
  • the sixth robot may preferably be the robot with larger available storage space.
  • At least two sixth robots may be determined according to the required space of the blocking goods and the required space of the target goods.
  • the available storage space of each robot in the warehousing system can be counted and sorted from large to small in advance, and according to the sorting result, the top-ranked robot is preferentially determined as the target robot, the fifth robot or the sixth robot.
  • Table 1 is a table of available storage space for each robot. It is assumed that there are 7 blocking goods in the target goods, and the required space for each blocking goods is the same, which is 80cm*80cm*80cm. As shown in Table 1, it can be seen that it is necessary to Identify robots 01 to 03 as target robots.
  • Step S705 sending the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • Fig. 8 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • the method for taking out goods provided in this embodiment is based on the embodiment shown in Fig. 3, and a step of determining a target robot is added after step S301.
  • the embodiment is directed to the case where different target robots are determined for the target goods and the blocking goods respectively.
  • the method for taking out the goods provided by this embodiment includes the following steps:
  • Step S801 according to the quantity of the blocked goods corresponding to the target goods, generate a take-out instruction for the target goods.
  • Step S802 determining a seventh robot according to the attribute information of the target goods.
  • the attribute information may include the location information of the target goods, and according to the location information of the target goods, it may be determined that the idle robot closest to the target goods is the seventh robot, or it is determined that the available storage space closest to the target goods is sufficient to accommodate The robot of the target cargo is the seventh robot.
  • the attribute information can include the cargo type of the target cargo, and a mapping relationship between the robot and the cargo type can be established in advance, and the mapping relationship is used to describe the cargo types that the robot can handle, and then determine the cargo type according to the cargo type of the target cargo and the mapping relationship. Seventh Robot.
  • the robot determines the robot that matches the cargo type of the target cargo; and then according to the location information of the target cargo, determine the robot that matches the cargo type of the target cargo and is the closest to the target cargo as the first robot. Seven robots.
  • Step S803 when the available storage space of the seventh robot is sufficient to accommodate the blocking cargo and the target cargo, determine that the seventh robot is the target robot.
  • each storage unit of the seventh robot can only store one cargo, target cargo or blocking cargo
  • the number of storage units of the seventh robot is greater than or equal to the sum of the number of blocking cargo and the number of target cargo, determine The seventh robot is the target robot.
  • each storage unit of the seventh robot can store multiple goods, it can be determined whether the available storage space of the seventh robot is sufficient to accommodate the blocking goods and For the target goods, if yes, then determine the seventh robot as the target robot.
  • Step S804 when the remaining available storage space of the seventh robot is insufficient to accommodate the blocking cargo, at least one eighth robot is determined according to the difference between the remaining available storage space and the space required for the blocking cargo.
  • the remaining available storage space is the space after the available storage space of the seventh robot removes the space for the target cargo, and the seventh robot and the at least one eighth robot are the at least one target robot.
  • Step S805 sending the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • FIG. 9 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • the method for taking out goods provided in this embodiment is based on the embodiment shown in FIG. 3 , and after step S302 , blocking the return of goods and the return of target goods are added.
  • this embodiment is aimed at the situation that the target goods need to be returned to the original storage location.
  • the method for taking out the goods provided by this embodiment includes the following steps:
  • Step S901 generating a take-out instruction for the target cargo according to the quantity of the blocked cargo corresponding to the target cargo.
  • Step S902 sending the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • Step S903 generating a backflow blocking instruction for the blocking goods, so as to place the blocking goods in the original storage position of the blocking goods or a preset free space according to the backflow blocking instruction.
  • the original storage position of the blocked goods is the storage position where the blocked goods are stored before being taken out
  • the preset free space is the original storage position on the shelf corresponding to the original storage position of the blocked goods except the original storage position The space other than the corresponding space that is not occupied by the goods.
  • the backflow blocking instruction is an instruction used to instruct the relevant robot to return the blocked goods to the shelf, which can be backflowed to its original storage location or a re-planned storage location, such as the preset free space described above.
  • the target robot after the target robot takes out the target goods, it can generate a backflow blocking instruction for each blocking goods according to the storage space currently corresponding to each blocking goods.
  • the robot that executes the backflow blocking instruction can be one or more of the aforementioned target robots, or a robot other than the target robot, which can be determined according to the operation of each robot in the storage system and the position of the blocked goods.
  • Information OK can be one or more of the aforementioned target robots, or a robot other than the target robot, which can be determined according to the operation of each robot in the storage system and the position of the blocked goods.
  • Step S904 generating a target return instruction of the target goods, so as to place the target goods in the original storage location of the target goods according to the target return instruction.
  • the original storage location of the target goods is the storage location where the target goods are stored before being taken out.
  • the target return instruction is an instruction used to instruct the relevant robot to return the target goods to the shelf, which can be returned to its original storage location or a re-planned storage location.
  • the target robot after the target robot takes out the target goods and performs corresponding operations, such as sorting operations, it can generate backflow blocking instructions for each blocking goods according to the location information of the original warehouse location of the target goods, so as to put the target goods on the back to its original location.
  • a new storage space or a new storage location for the target goods may be determined according to the current storage situation of the storage system, and then a target return instruction may be generated to store the target goods. Store in a new storage space or a new location.
  • the robot that executes the target return instruction can be one or more of the aforementioned target robots, or a robot other than the target robot.
  • the location information of the stock location or the new stock location is determined.
  • the method of taking out the target goods can be determined according to the quantity of the blocking goods, so as to realize the automatic detection of the target goods blocked by the blocking goods. Taking out, the efficiency of taking out the goods is improved, and the methods of taking out are rich and varied, and the degree of intelligence is high. And after the target goods are taken out, the goods will be blocked from returning automatically based on the instructions. After the related tasks of the target goods are executed, the target goods will be automatically returned based on the instructions, which improves the automation of the task execution of the warehousing system and the efficiency of goods management.
  • FIG. 10 is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • the method for taking out goods provided in this embodiment is based on the embodiment shown in FIG. 3 , and after step S302 , the related items related to blocking the backflow of goods and the backflow of target goods are added. , this embodiment is aimed at preventing the goods from flowing back to the new storage location.
  • the method for taking out goods provided in this embodiment includes the following steps:
  • Step S1001 generating a take-out instruction for the target cargo according to the quantity of the blocked cargo corresponding to the target cargo.
  • Step S1002 sending the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • Step S1003 according to the size information of the original storage location of the target goods, the size information of the original storage location of each of the blocked goods, and the size information of each of the blocked goods, determine the new storage location of each of the blocked goods and the size of each of the blocked goods. the first preset orientation of the blocking cargo.
  • the first preset orientation is the orientation when the blocked goods are placed in the new storage location. Since the robot involved in the present disclosure includes a steering structure, the orientation of the goods located on its handling device can be changed, and therefore, when the goods are stored, different orientations can be considered for storage.
  • the unoccupied space located in the inner layer of the shelf can be preferentially selected as a new storage location for blocking goods, so as to reserve the unoccupied space located at the outer position to facilitate the return of the target goods.
  • the racks can be placed in two or more rows, and the inner layer of the rack refers to a row located in the inner layer of the rack.
  • the required space can be determined according to the size information of each blocking goods, and then according to the required space of each blocking goods, the size information of the original storage location of the target goods, and the size information of the original storage location of each of the blocking goods, each block can be determined.
  • New location and first preset orientation for blocking goods can be determined according to the size information of each blocking goods, and then according to the required space of each blocking goods, the size information of the original storage location of the target goods, and the size information of the original storage location of each of the blocking goods, each block can be determined. New location and first preset orientation for blocking goods.
  • the principle to be followed should be to reduce the quantity of each blocked goods as much as possible, so as to improve the removal efficiency of each goods.
  • Step S1004 for each blocked goods of the target goods, according to the new storage location corresponding to the blocked goods and the first preset orientation, generate a first return instruction of the blocked goods, so as to according to the first return instruction
  • the blocked goods are stored in a new storage location corresponding to the blocked goods according to the first preset orientation.
  • the size information of the original storage location of the target goods, the size information of each of the original storage locations of the blocked goods, and the size of each of the new storage locations of the blocked goods can also be used.
  • information and the size information of the target goods determine the new storage location of the target goods and the third preset orientation of the target goods; generate the target according to the new storage location and the third preset orientation corresponding to the target goods
  • the third return instruction of the goods is to store the target goods in the new storage location corresponding to the target goods according to the third preset direction according to the third return instruction, so that the goods are stored in the corresponding warehouse of the target goods.
  • the quantity of blocked goods of the target goods on the new storage location is less than the quantity of blocked goods of the target goods stored on the original storage location corresponding to the target goods.
  • the method further includes sending storage information of each blocked goods, wherein the storage information includes location information of each new storage location of each blocked goods, a first preset orientation of each blocked goods, and the like.
  • the storage location and orientation are re-planned to reduce the quantity of the blocked goods of each goods on the shelf as much as possible, thereby improving the removal efficiency of each goods on the shelf.
  • FIG. 11A is a flowchart of a method for taking out goods provided by another embodiment of the present disclosure.
  • the method for taking out goods provided in this embodiment is based on the embodiment shown in FIG. 3 , and after step S302 , blocking the return of goods and the return of target goods are added. For the relevant steps, this embodiment is aimed at preventing the goods from flowing back to the new storage location.
  • the method for taking out goods provided in this embodiment includes the following steps:
  • Step S1101 generating a take-out instruction for the target cargo according to the quantity of the blocked cargo corresponding to the target cargo.
  • Step S1102 Send the fetching instruction to at least one target robot, so that the at least one target robot fetches the target goods according to the fetching instruction.
  • Step S1103 according to the size information of the original storage location of the target goods, the size information of the original storage locations of each of the blocked goods, and the size information of the target goods, determine the new storage location of the target goods and the target The second preset orientation of the cargo.
  • the unoccupied space on the outer layer can be preferentially selected as the new storage location of the target goods, so as to improve the efficiency of the return of the target goods.
  • Step S1104 generating a second return instruction of the target goods according to the new storage location and the second preset orientation corresponding to the target goods, so as to send the target goods according to the second return instruction and according to the second preset orientation.
  • the new storage location corresponding to the target goods Stored in the new storage location corresponding to the target goods, so that the quantity of blocking goods of the target goods stored in the new storage location corresponding to the target goods is less than that stored in the original storage location corresponding to the target goods The number of blocked goods of the target goods.
  • the size information of the original warehouse location of the target goods, the size information of the original warehouse locations of each of the blocked goods, and the new warehouse of the target goods can also be used.
  • the size information of the position and the size information of each of the blocked goods are used to determine the new storage position of each of the blocked goods and the fourth preset orientation of each of the blocked goods, wherein the original storage position of the blocked goods is the The storage location where the blocked goods are stored before being taken out; for each blocked goods of the target goods, according to the new storage location and the fourth preset orientation corresponding to the blocked goods, a fourth return instruction of the blocked goods is generated to According to the fourth return instruction, the blocked goods are stored in the new storage location corresponding to the blocked goods according to the fourth preset orientation.
  • FIG. 11B is a schematic diagram of the shelf storage situation in the embodiment corresponding to FIG. 11A of the disclosure
  • FIG. 11C is a schematic diagram of the shelf storage situation after the target goods are extracted in the embodiment shown in FIG. 11B
  • FIG. 11B, 11C and 11D it can be seen that goods 1110-1180 are stored on the shelves, wherein, the target goods 1110 corresponds to a blocking goods 1120, and the goods 1110-1180 are stored on the shelves.
  • the blocking goods 1120 need to be extracted first, and when returning, the positions and orientations of the blocking goods 1120 and the target goods 1110 can be changed according to the storage conditions of the shelves, so that the target goods 1110 after the return flow are not Blocked by other goods, and the blocking goods 1120 are not blocked by other goods, the storage situation after the reflow is shown in Figure 11D. Comparing Figures 11C and 11D, it can be seen that after the reflow, the number of blocked goods of each goods on the shelf The sum is lower than the sum of the number of blocked goods of each goods before the return flow, thereby improving the efficiency of each goods out of the shelf.
  • the storage locations and orientations are re-planned to minimize the number of blocked goods of each goods on the shelf, thereby improving the removal efficiency of each goods on the shelf.
  • the number of the target robot is one
  • the fetching instruction includes a blocking fetching instruction and a target fetching instruction; wherein, the blocking fetching instruction is used to cause the target robot to fetch the blocked goods and remove the blocked goods.
  • the blocking goods are placed in the first storage space of the target robot; the target taking-out instruction is used to make the target robot take out the target goods and place the target goods in the second storage space of the target robot. in the storage space.
  • first storage space and the second storage space are different available storage spaces of the target robot.
  • the first storage space may be a first storage unit
  • the second storage space may be a second storage unit.
  • the fetching instruction includes a first fetching instruction and a second fetching instruction; wherein, the first fetching instruction is used to cause a first target robot to fetch the blocking goods, and the first target robot is A robot in the at least one target robot; the second take-out instruction is used to cause a second target robot to take out the target goods, and the second target robot is the at least one other than the first target robot A robot within a target robot.
  • the fetching instruction includes a third fetching instruction and a fourth fetching instruction; wherein the third fetching instruction is used to cause the third target robot to fetch the third part of the blocking goods, and the third
  • the three-target robot is a robot in the at least one target robot; the fourth take-out instruction is used to make the fourth target robot take out the target goods and the fourth part of the blocking goods, and the fourth target robot is In the robot of the at least one target robot other than the third target robot, the blocking goods of the fourth part are the blocking goods remaining except the blocking goods of the third part.
  • Fig. 12 is a method for taking out goods provided by another embodiment of the present disclosure. The method is performed by a robot of a storage system. As shown in Fig. 12, the method for taking out goods provided by the embodiment includes the following steps:
  • Step S1201 receiving an instruction for taking out the target goods.
  • the fetching instruction is generated according to the quantity of the blocked goods corresponding to the target goods.
  • Step S1202 fetching the target goods according to the fetching instruction.
  • the fetching instruction includes a blocking fetching instruction and a target fetching instruction
  • fetching the target goods according to the fetching instruction includes: according to the blocking and fetching instruction, fetching the blocking goods, and placing the blocking goods in the first storage space; according to the target take-out instruction, take out the target goods, and place the target goods in the second storage space.
  • the fetching instruction includes a first fetching instruction and a second fetching instruction
  • fetching the target goods according to the fetching instruction includes: fetching the barrier according to the first fetching instruction via the first target robot Goods; via the second target robot, take out the target goods according to the second picking instruction.
  • the fetching instruction includes a first fetching instruction and a second fetching instruction
  • the first instruction is used to instruct fetching of the blocking goods
  • fetching the target goods according to the fetching instruction includes: taking out the blocking goods. After that, according to the second picking instruction, the target goods are taken out.
  • the fetching instruction includes a third fetching instruction and a fourth fetching instruction
  • fetching the target goods according to the fetching instruction includes: fetching the first part of the goods according to the third fetching instruction via a third target robot.
  • the fetching instruction includes a third fetching instruction and a fourth fetching instruction
  • the third fetching instruction is used to instruct to fetch the third part of the blocking goods
  • fetching the target goods according to the fetching instruction including: After the third part of the blocking goods is taken out, according to the fourth picking instruction, the target goods and the fourth part of the blocking goods are taken out, and the fourth part of the blocking goods is excluding the third part The remaining blocking goods in addition to the blocking goods.
  • the method further includes: receiving a backflow blocking instruction; placing the blocking goods in the original storage position of the blocking goods or a preset free space according to the backflow blocking instruction, wherein,
  • the original storage location of the blocked goods is the storage location where the blocked goods are stored before being taken out, and the preset free space is the shelf corresponding to the original storage location of the blocked goods except for the storage location corresponding to the original storage location.
  • the method further includes: receiving a target return instruction; placing the target goods in the original storage location of the target goods according to the target return instructions, wherein the target goods are The original storage location is the storage location where the target goods are stored before being taken out.
  • the method further includes: receiving a first return instruction, wherein the first return instruction includes each new storage location of the blocked goods and a first preset of each of the blocked goods Orientation, each of the new storage locations of the blocked goods and the first preset orientation of each of the blocked goods are based on the size information of the original storage location of the target goods, the size information of the original storage locations of each of the blocked goods, and Determined by the size information of each of the blocking goods, the original storage location of the blocking goods is the storage location where the blocking goods are stored before being taken out; for each blocking goods of the target goods, according to the first return instruction, The blocked goods are stored in a new storage location corresponding to the blocked goods according to the first preset orientation.
  • the method further includes: receiving a second return instruction, wherein the second return instruction includes a new warehouse location of the target goods and a second preset orientation of the target goods, The new storage location of the target goods and the second preset orientation of the target goods are based on the size information of the original storage location of the target goods, the size information of the original storage locations of each of the blocked goods, and the target goods
  • the original storage location of the target goods is the storage location stored before the target goods are taken out; according to the second return instruction, the target goods are stored according to the second preset orientation in the new storage location corresponding to the target goods, so that the quantity of blocking goods of the target goods stored in the new storage location corresponding to the target goods is less than that stored in the original storage location corresponding to the target goods The number of blocked goods of the target goods.
  • FIG. 13 is a schematic structural diagram of an apparatus for taking out goods provided by an embodiment of the present disclosure. As shown in FIG. 13 , the apparatus for taking out goods includes: a taking-out instruction generating module 1310 and a taking-out instruction sending module 1320 .
  • the fetching instruction generation module 1310 is configured to generate a fetching instruction for the target goods according to the quantity of the blocked goods corresponding to the target goods, wherein the storage space of the target goods is based on the size information of the target goods and the size of the goods on the shelf.
  • the fetching instruction sending module 1320 is configured to send the fetching instruction to at least one target robot, so that the at least one target robot can fetch the target goods according to the fetching instruction.
  • the device for taking out goods further includes: a target robot determination module, configured to determine the at least one target robot according to the quantity of the blocked goods before sending the taking out instruction to the at least one target robot.
  • a target robot determination module configured to determine the at least one target robot according to the quantity of the blocked goods before sending the taking out instruction to the at least one target robot.
  • the target robot determination module is specifically configured to: determine the at least one target robot according to the quantity of the blocked goods and attribute information of the target goods.
  • the cargo take-out device further includes: a preset range space judgment module for judging whether there is an unoccupied space that can accommodate the blocking cargo within a preset range of the area corresponding to the target cargo; Two target robot determination modules, configured to determine the at least one target robot according to the quantity of the blocked goods if it does not exist, or to determine the at least one target robot according to the quantity of the blocked goods and the attribute information of the target goods target robot.
  • the second target robot determination module is further configured to: if there is an unoccupied space that can accommodate the first part of the blocking goods within the preset range of the area corresponding to the target goods, according to the blocking
  • the quantity of goods determines the at least one target robot, or, the at least one target robot is determined according to the quantity of the blocking goods and the attribute information of the target goods, or the at least one target robot is determined according to the quantity of the remaining blocking goods , or, determining the at least one target robot according to the quantity of remaining blocking goods and attribute information of the target goods, wherein the remaining blocking goods are blocking goods other than the first part of the blocking goods.
  • the target robot determination module includes: a first robot determination module for judging whether there is a first robot whose quantity of storable goods is greater than or equal to the sum of the quantity of the blocked goods and the quantity of the target goods, and when there is a first robot , the first robot is determined as the target robot; the second robot determination module is used when there is no first robot with the quantity of storable goods greater than or equal to the sum of the quantity of the blocked goods and the quantity of the target goods , determine at least two second robots as the at least one target robot, wherein the sum of the quantity of the at least two second robots that can be stored is greater than or equal to the sum of the quantity of the blocked goods and the quantity of the target goods .
  • the target robot determination module includes: a third robot determination module, configured to determine a third robot according to the attribute information of the target goods, when the number of storable goods of the third robot is greater than or equal to the blocking goods When the sum of the quantity of the target goods and the third robot is determined as the target robot; the fourth robot determination module is used for when the remaining quantity of storable goods of the third robot is less than the quantity of the blocked goods at least one fourth robot is determined according to the difference between the remaining quantity of storable goods and the quantity of the blocked goods, wherein the remaining quantity of storable goods is the quantity of the third robot storable goods minus the quantity of storable goods After the quantity of the target goods, the third robot and the at least one fourth robot are the at least one target robot.
  • a third robot determination module configured to determine a third robot according to the attribute information of the target goods, when the number of storable goods of the third robot is greater than or equal to the blocking goods When the sum of the quantity of the target goods and the third robot is determined as the target robot;
  • the device for taking out goods further includes: a second target robot determining module, configured to, before sending the taking out instruction to at least one target robot, determine the amount of the blocked goods and the The required space of the target cargo determines the at least one target robot.
  • a second target robot determining module configured to, before sending the taking out instruction to at least one target robot, determine the amount of the blocked goods and the The required space of the target cargo determines the at least one target robot.
  • the second target robot determination module includes: a fifth robot determination module, configured to determine whether there is available storage space enough to accommodate the blocking goods and the The fifth robot of the target cargo, when it exists, determines the first robot as the target robot; the sixth robot determination module is used for when there is no available storage space enough to accommodate the blocking cargo and the target cargo
  • the fifth robot is used, at least two sixth robots are determined as the at least one target robot, wherein the space corresponding to the set of available storage spaces of the at least two sixth robots is sufficient to accommodate the blocking cargo and the target cargo.
  • the second target robot determination module includes: a seventh robot determination module, configured to determine the seventh robot according to the attribute information of the target goods before sending the fetching instruction to the at least one target robot; When the available storage space of the seventh robot is sufficient to accommodate the blocking goods and the target goods, the seventh robot is determined as the target robot; the eighth robot determination module is used for when the remainder of the seventh robot is available When the storage space is insufficient to accommodate the blocking goods, at least one eighth robot is determined according to the difference between the remaining available storage space and the space required for the blocking goods, wherein the remaining available storage space is the first robot.
  • the seventh robot and the at least one eighth robot are the space after the space of the target cargo is removed from the available storage space, and the seventh robot and the at least one eighth robot are the at least one target robot.
  • the device for taking out goods further includes: a backflow blocking instruction generation module, configured to generate a backflow blocking instruction for the blocking goods after generating the taking out instruction for the target goods, so as to, according to the backflow blocking instruction,
  • the blocking goods are placed in the original storage position of the blocking goods or a preset free space, wherein the original storage position of the blocking goods is the storage position where the blocking goods are stored before being taken out, and the preset free space
  • the space is the space that is not occupied by the goods on the shelf corresponding to the original storage position of the blocking goods except the space corresponding to the original storage position.
  • the device for taking out goods further includes: a target return instruction generation module, configured to generate a target return instruction for the target goods after generating the take out instruction for the target goods, so as to convert the target goods according to the target return instruction.
  • the target goods are placed in the original storage location of the target goods, wherein the original storage location of the target goods is the storage location where the target goods are stored before being taken out.
  • the device for taking out goods further includes: a first return instruction generation module, configured to, after generating an instruction for taking out the target goods, according to the size information of the original storage location of the target goods, each of the blocked goods The size information of the original storage location and the size information of each of the blocked goods, determine the new storage location of each of the blocked goods and the first preset orientation of each of the blocked goods, wherein the original storage location of the blocked goods is the storage location where the blocked goods are stored before being taken out; for each blocked goods of the target goods, according to the new storage location corresponding to the blocked goods and the first preset orientation, generate a first position of the blocked goods A return instruction is used to store the blocked goods in a new storage location corresponding to the blocked goods in the first preset orientation according to the first return instruction.
  • a first return instruction generation module configured to, after generating an instruction for taking out the target goods, according to the size information of the original storage location of the target goods, each of the blocked goods The size information of the original storage location and the size information of each of the blocked goods
  • the device for taking out goods further includes: a second return instruction generation module, configured to, after generating an instruction for taking out the target goods, according to the size information of the original storage location of the target goods, each of the blocked goods The size information of the original storage location and the size information of the target goods, determine the new storage location of the target goods and the second preset orientation of the target goods, wherein, the original storage location of the target goods is the The storage location where the target goods are stored before being taken out; according to the new storage location and the second preset orientation corresponding to the target goods, a second return instruction of the target goods is generated, so as to follow the second return instruction according to the second return instruction.
  • a second return instruction generation module configured to, after generating an instruction for taking out the target goods, according to the size information of the original storage location of the target goods, each of the blocked goods The size information of the original storage location and the size information of the target goods, determine the new storage location of the target goods and the second preset orientation of the target goods, wherein, the original storage location of the target goods
  • the preset orientation is to store the target goods in the new storage location corresponding to the target goods, so that the quantity of blocked goods of the target goods stored in the new storage location corresponding to the target goods is less than that of the target goods stored in the new storage location.
  • FIG. 14 is a schematic structural diagram of a device for taking out goods provided by another embodiment of the present disclosure.
  • the device for taking out goods includes: a taking-out instruction receiving module 1410 and a goods taking-out module 1420 .
  • the fetching instruction receiving module 1410 is used to receive the fetching instruction of the target goods, wherein the fetching instruction is generated according to the quantity of the blocked goods corresponding to the target goods; the goods fetching module 1420 is used for according to the fetching instruction Take out the target cargo.
  • the fetching instruction includes a blocking fetching instruction and a target fetching instruction.
  • the cargo fetching module 1420 is specifically configured to: according to the blocking fetching instruction, fetching the blocking goods, and placing the blocking goods in the first storage space; according to the target take-out instruction, take out the target goods, and place the target goods in the second storage space.
  • the fetching instruction includes a first fetching instruction and a second fetching instruction.
  • the cargo fetching module 1420 is specifically configured to: via the first target robot, fetch the blocking goods according to the first fetching instruction; The two-target robot, according to the second picking instruction, picks up the target goods.
  • the fetching instruction includes a first fetching instruction and a second fetching instruction
  • the first instruction is used to instruct the fetching of the blocked goods
  • the goods fetching module 1420 is specifically configured to: after fetching the blocked goods, according to the The second picking instruction is executed, and the target goods are picked up.
  • the fetching instruction includes a third fetching instruction and a fourth fetching instruction
  • the third fetching instruction is used to instruct the fetching of the third part of the blocked cargo
  • the cargo fetching module 1420 is specifically configured to: After three parts of the blocking goods, the target goods and the fourth part of the blocking goods are taken out according to the fourth picking instruction, and the fourth part of the blocking goods is the third part of the blocking goods except the third part of the blocking goods. The remaining blocking cargo outside.
  • the fetching instruction includes a third fetching instruction and a fourth fetching instruction.
  • the cargo fetching module 1420 is specifically configured to: via the third target robot, according to the third fetching instruction, fetch the first part of the blocking cargo ; via the fourth target robot, according to the fourth picking instruction, take out the target goods and the second part of the blocking goods, and the second part of the blocking goods is in addition to the first part of the blocking goods Remaining blocking cargo.
  • the device for taking out the goods further includes: a first blocking backflow module, configured to receive a backflow blocking instruction after the target goods are taken out; and placing the blocking goods on the side of the blocking goods according to the backflow blocking instruction.
  • the original storage location or the preset free space wherein the original storage location of the blocked goods is the storage location where the blocked goods are stored before being taken out, and the preset free space corresponds to the original storage location of the blocked goods The space on the shelf that is not occupied by the goods except the space corresponding to the original storage location.
  • the device for taking out goods further includes: a first target return module, configured to receive a target return instruction after taking out the target goods; and place the target goods in a position of the target goods according to the target return instruction.
  • the original storage location wherein the original storage location of the target goods is the storage location where the target goods are stored before being taken out.
  • the device for taking out goods further includes: a second blocking backflow module, configured to receive a first backflow instruction after taking out the target goods, wherein the first backflow instruction includes each new storage location of the blocked goods and the first preset orientation of each of the blocked goods, the new storage location of each of the blocked goods and the first preset orientation of each of the blocked goods are based on the size information of the original storage location of the target goods, each location The size information of the original storage location of the blocked goods and the size information of each of the blocked goods are determined, and the original storage location of the blocked goods is the storage location before the blocked goods are taken out; for each target goods The blocked goods are stored in a new storage location corresponding to the blocked goods according to the first preset orientation according to the first return instruction.
  • the first backflow instruction includes each new storage location of the blocked goods and the first preset orientation of each of the blocked goods, the new storage location of each of the blocked goods and the first preset orientation of each of the blocked goods are based on the size information of the original storage location of the target goods, each location
  • the device for taking out goods further includes: a second target return module, configured to receive a second return instruction after taking out the target goods, wherein the second return instruction includes the new location and the location of the target goods.
  • the second preset orientation of the target goods, the new storage location of the target goods and the second preset orientation of the target goods are based on the size information of the original storage location of the target goods, the size of each of the blocked goods.
  • the original storage location of the target goods is the storage location stored before the target goods are taken out; according to the second return instruction, according to the In the second preset direction, the target goods are stored in the new storage location corresponding to the target goods, so that the quantity of blocked goods of the target goods stored in the new storage location corresponding to the target goods is less than that of the target goods stored in the new storage location corresponding to the target goods.
  • FIG. 15 is a schematic structural diagram of a device for taking out goods according to another embodiment of the present disclosure.
  • the device for taking out goods includes: a memory 1510 , a processor 1520 and a computer program.
  • the computer program is stored in the memory 1510 and configured to be executed by the processor 1520 to implement the method for taking out the goods provided by any one of the embodiments corresponding to FIG. 3 to FIG. 11A of the present disclosure.
  • the memory 1510 and the processor 1520 are connected through the bus 1530 .
  • FIG. 16 is a schematic structural diagram of a robot provided by an embodiment of the present disclosure. As shown in FIG. 16 , the robot includes: a memory 1610 , a processor 1620 and a computer program.
  • the computer program is stored in the memory 1610 and configured to be executed by the processor 1620 to implement the method for taking out the goods provided by the embodiment corresponding to FIG. 12 of the present disclosure.
  • the memory 1610 and the processor 1620 are connected through the bus 1630 .
  • the robot includes a mobile chassis, a handling device, a storage shelf and a lifting assembly; the storage shelf, the handling device and the lifting assembly are mounted on the mobile chassis.
  • the handling device includes one or more of the following: a telescopic arm assembly, a suction cup and a mechanical arm.
  • the handling device includes a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.
  • FIG. 17 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure. As shown in FIG. 17 , the storage system includes: a device for taking out goods 1710 , a machine 1720 , and a rack 1730 .
  • the cargo taking out device 1710 may be the cargo taking out device provided in the embodiment shown in FIG. 15 of the present disclosure; the robot 1720 may be a robot provided in any embodiment of the present disclosure.
  • An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the goods retrieval provided by any of the embodiments corresponding to FIG. 3 to FIG. 12 of the present disclosure method.
  • the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • the present disclosure also provides a program product comprising an executable computer program stored in a readable storage medium.
  • the computer program can be read from the readable storage medium by at least one processor of the goods taking out device, robot or storage system, and the at least one processor executes the computer program so that the robot team control device implements the goods taking out methods provided in the above-mentioned various embodiments .
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the modules is only a logical function division. In actual implementation, there may be other division methods.
  • multiple modules may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.
  • modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional module in each embodiment of the present disclosure may be integrated in one processing unit, or each module may exist physically alone, or two or more modules may be integrated in one unit.
  • the units formed by the above modules can be implemented in the form of hardware, or can be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated modules implemented in the form of software functional modules may be stored in a computer-readable storage medium.
  • the above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the various embodiments of the present disclosure. part of the method.
  • processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuit (Application Specific Integrated Circuit, Referred to as ASIC) and so on.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the steps of the method disclosed in conjunction with the invention can be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
  • the memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one magnetic disk memory, and may also be a U disk, a removable hard disk, a read-only memory, a magnetic disk or an optical disk, and the like.
  • NVM non-volatile storage
  • the bus can be an Industry Standard Architecture (ISA for short) bus, a Peripheral Component (PCI for short) bus, or an Extended Industry Standard Architecture (EISA for short) bus or the like.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.
  • the above-mentioned storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Except programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable except programmable read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic disk or optical disk.
  • 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 the storage medium may be located in Application Specific Integrated Circuits (ASIC for short).
  • ASIC Application Specific Integrated Circuits
  • the processor and the storage medium may also exist in the electronic device or the host device as discrete components.

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Abstract

一种货物（610）取出方法、装置（1710）、机器人（80，1720）、仓储系统及存储介质，该货物（610）取出方法包括：根据目标货物（610）对应的阻挡货物（611，612）的数量，生成目标货物（610）的取出指令，其中，目标货物（610）的存放空间为根据目标货物（610）的尺寸信息以及货架（1730）上的动态货物存放空间确定的；将取出指令发送给至少一个目标机器人（80，1720），以使至少一个目标机器人（80，1720）根据取出指令取出目标货物（610）。

Description

货物取出方法、装置、机器人、仓储系统及存储介质
本公开要求于2020年11月20日提交中国专利局、申请号为202011312568.9、申请名称为“货物取出方法、装置、机器人、仓储系统及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及智能仓储技术领域，尤其涉及一种货物取出方法、装置、机器人、仓储系统及存储介质。
背景技术
基于机器人的智能仓储系统采用智能操作系统，通过系统指令实现货物的自动提取和存放，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛地应用和青睐。
现有的智能仓储系统在取出货物时，由于现有货架的每层中货物的库位是固定的，且仅呈单排分布，货架利用率低，而且机器人在针对该种货架执行货物取出时，仅需要根据货物所在库位的位置，取出货物，导致货物取出方式的普适性较低。
发明内容
本公开提供一种货物取出方法、装置、机器人、仓储系统及存储介质，针对包含采用二维配置方式存放货物的货架，提出一种高效、智能的货物取出方法。
第一方面，本公开实施例提供了一种货物取出方法，该方法包括：根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令，其中，所述目标货物的存放空间为根据所述目标货物的尺寸信息以及货架上的动态货物存放空间确定的；将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
可选地，在将所述取出指令发送给至少一个目标机器人之前，所述方法还包括：根据所述阻挡货物的数量，确定所述至少一个目标机器人。
可选地，根据所述阻挡货物的数量，确定所述至少一个目标机器人，包括：根据所述阻挡货物的数量和所述目标货物的属性信息，确定所述至少一个目标机器人。
可选地，在将所述取出指令发送给至少一个目标机器人之前，所述方法还包括：判断所述目标货物对应的区域的预设范围内，是否存在可容纳所述阻挡货物的未被占用空间；若不存在可容纳所述阻挡货物的未被占用空间，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人。
可选地，所述方法还包括：若所述目标货物对应的区域的预设范围内，存在可容纳第一部分所述阻挡货物的未被占用空间时，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，或，根据剩余的阻挡货物的数量确定至少一个目标机器人，或，根据剩余的阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，其中，所述剩余的阻挡货物为除所述第一部分所述阻挡货物之外的阻挡货物。
可选地，根据所述阻挡货物的数量，确定所述至少一个目标机器人，包括：判断是否 存在可存放货物数量大于或等于所述阻挡货物数量和所述目标货物数量之和的第一机器人；当存在时，将所述第一机器人确定为所述目标机器人；当不存在时，将至少两个第二机器人确定为所述至少一个目标机器人，其中，所述至少两个第二机器人的可存放货物数量之和大于或等于所述阻挡货物数量和所述目标货物数量之和。
可选地，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，包括：根据所述目标货物的属性信息确定第三机器人；当所述第三机器人的可存放货物数量大于或等于所述阻挡货物和所述目标货物的数量之和时，确定所述第三机器人为所述目标机器人；当所述第三机器人的剩余可存放货物数量小于所述阻挡货物的数量时，根据所述剩余可存放货物数量和所述阻挡货物的数量之间的差值，确定至少一个第四机器人，其中，所述剩余可存放货物数量为所述第三机器人可存放货物数量去除所述目标货物的数量之后的数量，所述第三机器人和所述至少一个第四机器人为所述至少一个目标机器人。
可选地，在将所述取出指令发送给至少一个目标机器人之前，所述方法还包括：根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人。
可选地，根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人，包括：判断是否存在可用存储空间足以容纳所述阻挡货物和所述目标货物的第五机器人；当存在时，将所述第五机器人确定为所述目标机器人；当不存在时，将至少两个第六机器人确定为所述至少一个目标机器人，其中，所述至少两个第六机器人的可用存储空间的集合对应的空间足以容纳所述阻挡货物和所述目标货物。
可选地，根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人，包括：根据所述目标货物的属性信息确定第七机器人；当所述第七机器人的可用存储空间足以容纳所述阻挡货物和所述目标货物时，确定所述第七机器人为所述目标机器人；当所述第七机器人的剩余可用存储空间不足以容纳所述阻挡货物时，根据所述剩余可用存储空间和所述阻挡货物所需的空间的差值，确定至少一个第八机器人，其中，所述剩余可用存储空间为所述第七机器人可用存储空间去除所述目标货物的空间之后的空间，第七机器人和至少一个第八机器人为所述至少一个目标机器人。
可选地，所述目标机器人的数量为一个，所述取出指令包括阻挡取出指令和目标取出指令；其中，所述阻挡取出指令用于使得所述目标机器人取出所述阻挡货物，并将所述阻挡货物放置于所述目标机器人的第一存储空间中；所述目标取出指令，用于使得所述目标机器人取出所述目标货物，将所述目标货物放置于所述目标机器人的第二存储空间中。
可选地，所述取出指令包括第一取出指令和第二取出指令；其中，所述第一取出指令用于使得第一目标机器人，取出所述阻挡货物，所述第一目标机器人为所述至少一个目标机器人中的机器人；所述第二取出指令用于使得第二目标机器人，取出所述目标货物，所述第二目标机器人为除所述第一目标机器人之外的所述至少一个目标机器人中的机器人。
可选地，所述取出指令包括第三取出指令和第四取出指令；其中，所述第三取出指令用于使得第三目标机器人，取出第三部分的所述阻挡货物，所述第三目标机器人为所述至少一个目标机器人中的机器人；所述第四取出指令用于使得第四目标机器人，取出所述目标货物以及第四部分的所述阻挡货物，所述第四目标机器人为除所述第三目标机器人之外的所述至少一个目标机器人中的机器人，所述第四部分的阻挡货物为除所述第三部分的阻挡货物之外剩余的阻挡货物。
可选地，在生成所述目标货物的取出指令之后，还包括：生成所述阻挡货物的阻挡回流指令，以根据所述阻挡回流指令，将所述阻挡货物放置于所述阻挡货物的原库位或者预设空闲空间，其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位，所述预设空闲空间为所述阻挡货物的原库位对应的货架上除所述原库位对应的空间之外 的、未被货物占据的空间。
可选地，在生成所述目标货物的取出指令之后，还包括：还包括：生成所述目标货物的目标回流指令，以根据所述目标回流指令将所述目标货物放置于所述目标货物的原库位，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位。
可选地，在生成所述目标货物的取出指令之后，所述方法还包括：根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息，确定各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向，其中，所述阻挡货物的原库位为所述阻挡货物被取出之前所存放的库位；针对目标货物的每个阻挡货物，根据所述阻挡货物对应的新库位和所述第一预设朝向，生成所述阻挡货物的第一回流指令，以根据所述第一回流指令按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
在生成所述目标货物的取出指令之后，所述方法还包括：根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息，确定各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向，其中，所述阻挡货物的原库位为所述阻挡货物被取出之前所存放的库位；针对目标货物的每个阻挡货物，根据所述阻挡货物对应的新库位和所述第一预设朝向，生成所述阻挡货物的第一回流指令，以根据所述第一回流指令按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
可选地，在生成所述目标货物的取出指令之后，所述方法还包括：根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及所述目标货物的尺寸信息，确定所述目标货物的新库位和所述目标货物的第二预设朝向，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位；根据所述目标货物对应的新库位和第二预设朝向，生成目标货物的第二回流指令，以根据所述第二回流指令按照所述第二预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
可选地，在根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令之前，包括：根据任务需求确定至少一个待取出货物；根据所述待取出货物的阻挡货物，从所述至少一个待取出货物中确定目标货物。
可选地，根据所述待取出货物的阻挡货物，从所述至少一个待取出货物中确定目标货物，包括：统计各个所述待取出货物的阻挡货物的数量和尺寸信息中的一项或多项；根据所述待取出货物的阻挡货物的数量和尺寸信息中的一项或多项，从所述至少一个待取出货物中确定目标货物。
可选地，根据所述待取出货物的阻挡货物的数量和尺寸信息中的一项或多项，从所述至少一个待取出货物中确定目标货物，包括：根据所述待取出货物的阻挡货物的数量、所述待取出货物的阻挡货物的尺寸信息以及下述参数中的至少一项，从所述至少一个待取出货物中确定目标货物：各个所述待取出货物与工作站的距离、各个所述待取出货物与巷道口的距离以及各个所述待取出货物位于货架的层数。
第二方面，本公开实施例还提供了一种货物取出方法，该方法包括：接收目标货物的取出指令，其中，所述取出指令为根据所述目标货物对应的阻挡货物的数量生成的；根据所述取出指令取出所述目标货物。
第三方面，本公开实施例还提供了一种货物取出装置，该装置包括：取出指令生成模块，用于根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令；取出指令发送模块，用于将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
第四方面，本公开实施例还提供了一种货物取出装置，该装置包括：取出指令接收模块，用于接收目标货物的取出指令，其中，所述取出指令为根据所述目标货物对应的阻挡货物的数量生成的；货物取出模块，用于根据所述取出指令取出所述目标货物。
第五方面，本公开实施例还提供了一种货物取出装置，包括存储器和至少一个处理器；所述存储器存储计算机执行指令；所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如本公开第一方面对应的任意实施例提供的货物取出方法。
第六方面，本公开实施例还提供了一种机器人，包括存储器和至少一个处理器；所述存储器存储计算机执行指令；所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如本公开第二方面对应的任意实施例提供的货物取出方法。
第七方面，本公开实施例还提供了一种仓储系统，包括本公开第五方面对应的实施例提供的货物取出装置，和/或，本公开第六方面对应的实施例提供的机器人。
第八方面，本公开实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现本公开任意实施例提供的货物取出方法。
第九方面，本公开实施例还提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现本公开任意实施例提供的货物取出方法。
本公开实施例提供的货物取出方法、装置、机器人、仓储系统及存储介质，针对包含基于多排配置方式的货架的仓储系统，根据目标货物的阻挡货物的数量，生成目标货物的取出指令，以基于该指令取出目标货物，货物采用多排放置，提高了仓储系统的空间利用率，降低了仓储成本，根据阻挡货物的数量确定目标货物取出的方式，提高了目标货物取出的效率，同时丰富了货物取出的方式，提高了货物取出的智能化程度。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1A为本公开一个实施例提供的一维配置方式下存放情况的示意图；
图1B为本公开图1A所示实施例提供的放置货物之后的存放情况的示意图；
图1C为本公开图一个实施例提供的二维配置方式下存放情况的示意图；
图1D为本公开图1C对应的实施例在放置货物之后的存放情况的示意图；
图1E为本公开图1C对应的实施例在放置货物之后的存放情况的示意图；
图1F为本公开一个实施例提供的机器人的结构示意图；
图1G为本公开图1F所示实施例中一种搬运装置的结构示意图；
图1H为本公开图1F所示实施例中的一种机器人及其搬运装置的结构；
图1I为本公开图1F所示实施例中的一种搬运装置的结构示意图；
图1J为本公开图1I所示实施例中另一种搬运装置的结构示意图；
图1K为本公开图1F所示实施例的另一种搬运装置的结构示意图；
图1L为本公开图1F所示实施例的另一种搬运装置的结构示意图；
图2为本公开实施例提供的货物取出方法的一种应用场景图；
图3为本公开另一个实施例提供的货物取出方法的流程图；
图4为本公开图3所示实施例中的货架存放情况的示意图；
图5为本公开另一个实施例提供的货物取出方法的流程图；
图6A为本公开另一个实施例提供的货物取出方法的流程图；
图6B为本公开图6A所示实施例中存放情况的示意图；
图7为本公开另一个实施例提供的货物取出方法的流程图；
图8为本公开另一个实施例提供的货物取出方法的流程图；
图9为本公开另一个实施例提供的货物取出方法的流程图；
图10为本公开另一个实施例提供的货物取出方法的流程图；
图11A为本公开另一个实施例提供的货物取出方法的流程图；
图11B为本公开图11A对应的实施例中的货架存放情况的示意图；
图11C为图11B所示实施例中提取目标货物之后的货架存放情况的示意图；
图11D为图11C所示实施例中将阻挡货物和目标货物回流之后的货架存放情况的示意图；
图12为本公开另一个实施例提供的货物取出方法；
图13为本公开一个实施例提供的货物取出装置的结构示意图；
图14为本公开另一个实施例提供的货物取出装置的结构示意图；
图15为本公开另一个实施例提供的货物取出装置的结构示意图；
图16为本公开一个实施例提供的机器人的结构示意图；
图17为本公开一个实施例提供的仓储系统的结构示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
下面对本公开实施例的应用场景进行解释：
本公开应用于动态配置货物存放空间的场景，本公开提供不同于固定库位的一种动态配置货物存放空间的货物置放方法。
动态配置货物存放空间是指：在系统确定待存放的货物之后，根据货物的尺寸，从现有的未被占用的空间中分配一个与所述货物尺寸适配的第一存储空间，其中，未被占用空间可以是任意大小的空间，所述未被占用的空间中不包括已划分好的固定库位；其中，所述第一存储空间可容纳所述待存放的货物，所述固定库位是指在仓库中预置好的库位，固定库位的位置固定且大小确定。
动态货物存放空间可以为通过动态配置货物存放空间的空间。
示例性的，动态配置货物存放空间至少包括一维和/或二维配置方式。
示例性的，图1A为本公开一个实施例提供的一维配置方式下存放情况的示意图，配合X-Y坐标系理解，一维配置方式是指货物存放空间中的每一层的货物在深度Y方向，仅可以呈一排放置，其中，在一维方式下，货物的存放空间包括第一未被占用空间和/或第一被占用的空间，具体的，第一被占用空间为在货物进出方向上已放置有货物的空间。
示例性的，图1C为本公开一个实施例提供的二维配置方式下存放情况的示意图，配合X-Y坐标系理解，二维配置方式是指货物存放空间中的每一层的货物在深度Y方向可以呈一排放置、多排放置或者一排多排混合放置。即二维配置方式下允许货物存放空间中的货物在深度Y方向上呈多排放置，其中，在二维方式下，货物的存放空间包括第二未被占用空间和/或第二被占用空间，具体的，第二未被占用空间包括在货物进出方向上未被 货物占用的空间。
举例而言，图1A为本公开一个实施例提供的一维配置方式下存放情况的示意图，在一维配置方式下，如图1A所示，针对上述动态配置货物存放空间中未被占用空间，即如同图1A中的空间101a、101b与101c。在系统确认待存放货物，货物100a之后，便会从未被占用空间中，即空间101a、101b与101c中，找出最适配货物100a的第一存储空间，例如空间101c。
图1B为本公开图1A所示实施例提供的放置货物之后的存放情况的示意图，如图1B所示，在置放货物100a之后，当前的未被占用空间为空间101a、101b与101d，其中，空间101d为空间101c在被货物100a部分占用后，新界定的被未占用空间。
图1C为本公开图一个实施例提供的二维配置方式下存放情况的示意图，如图1C所示，二维配置方式的考量上，货架上所指的未被占用的空间，即如同图1C中的空间101e与空间101f。在系统确认待存放货物，货物100b之后，即会从未被占用空间中，即空间101e与空间101f中，找出最适配货物100b的第一存储空间，例如空间101e。
图1D为本公开图1C对应的实施例在放置货物之后的存放情况的示意图，如图1D，在置放货物100b之后，当前的未被占用空间为空间101f、空间101g。其中，空间101g为空间101e在被货物100b部分占用后，新界定的被未占用空间。
图1E为本公开图1C对应的实施例在放置货物之后的存放情况的示意图，参考图1C、1D和图1E可知，图1D和图1E中货物100b放置时的朝向不同，即货物100b在放置时可被转向，即在放置时可以改变待存放货物的朝向，在放置货物100b之后，当前的未被占用空间为空间101f、101h。其中,空间101h为空间101e在被货物100b部分占用后，新界定的被未占用空间。
示例性的，图1F为本公开一个实施例提供的机器人的结构示意图；如图1F所示，所述搬运机器人80包括移动底盘83，存储货架82，搬运装置84，升降组件81。其中，存储货架82、搬运装置84以及升降组件81均安装于所述移动底盘83，以及在存储货架82上设置若干存储单元。升降组件81用于驱动搬运装置84进行升降移动，使搬运装置84对准存储货架82上的任意一个存储单元，或者对准货架和/或货物。搬运装置84能以竖直方向为轴进行旋转而调整朝向，以对准至存储单元，或者对准货架和/或货物。搬运装置84用于执行货物的装载或卸除，以在货架与存储单元之间进行货物的搬运。
示例性的，存储货架82可以选择性的配置或不配置，在不配置存储货架82时，机器人80在搬运货物期间，货物是存放在搬运装置84的容置空间内。
上述实施例中的机器人80可以执行本公开所示的货物存放方法，以实现货架、操作平台之间的货物搬运。
在机器人80执行存放货物任务的过程中，机器人80移动至货物被指定的存放空间的位置，通过升降组件81配合搬运装置84，将货物从存储货架82的存储单元搬运至货架上。
示例性的，图1G为本公开图1F所示实施例中的一种搬运装置的结构示意图。
示例性的，搬运装置84通过旋转机构85安装于托架86，旋转机构85用于带动搬运装置84相对于托架86绕一竖直轴线旋转，以对准存储单元，或者对准货架和/或货物。搬运装置84用于在存储单元与货架之间搬运货物。若搬运装置84未对准货架和/或货物，可通过旋转机构85带动搬运装置84相对于托架86旋转，以保证搬运装置84对准货架和/或货物。
图1H为本公开图1F所示实施例中的一种机器人及其搬运装置的结构。配合图1F与图1G可以理解的是，根据实际情况，旋转机构85可以省略，例如，搬运机器人80以固定的轨道移动，在移动至货架附近后，搬运装置84始终对准货架和/或货物，而货物配置在搬运装置84的取货方向上即可。
示例性的，图1I为本公开图1F所示实施例中的一种搬运装置的结构示意图，请配合图1G利于理解。如图1I所示，搬运装置84包括托板841和伸缩臂组件。托板841用于放置货物，可以为一水平设置的平板。伸缩臂组件用于将托板841所放置的货物推出托板841或者将货物拉至托板841。伸缩臂组件包括伸缩臂843、固定推杆842以及活动推杆844。伸缩臂843包括左伸缩臂与右伸缩臂，伸缩臂843可水平地伸出，在垂直于伸缩臂843的伸出方向且平行于托板841的方向上，伸缩臂843位于托板841的一侧。伸缩臂843由电机提供动力，由链轮机构传递动力，根据实际情况，链轮机构可以替换成带轮机构，丝杠机构等传动机构驱动。固定推杆842及活动推杆844皆安装于伸缩臂843，固定推杆842及活动推杆844可随伸缩臂843一并伸出。固定推杆842与托板841位于伸缩臂843的同一侧，在伸缩臂843伸出时，所述固定推杆842用于将货物从托板841上推出。活动推杆844可收入伸缩臂843，当活动推杆844未收入伸缩臂843时，活动推杆844、固定推杆842以及托板841三者皆位于伸缩臂843的同一侧，并且活动推杆844位于固定推杆842沿伸缩臂843的伸出方向上。活动推杆844可直接由电机驱动，根据实际情况，也可通过如齿轮组，连杆机构等传动机构传递动力。当活动推杆844未收入伸缩臂，并且伸缩臂843缩回时，活动推杆844用于将货物拉至托板841。
示例性的，搬运装置84的固定推杆842，可以设计如同活动推杆844的指杆结构。
示例性的，搬运装置84可以设计为伸缩臂组件的间距宽度为可调的结构。在存/取货物的时候，可因应着货物尺寸调整伸缩臂组件的间距宽度。
示例性的，该搬运装置84还可以包括转向结构，如转盘，该转向结构可以用于改变放置于其托板841上的货物的朝向。图1J为本公开图1I所示实施例中另一种搬运装置的结构示意图，结合图1J和图1I可知，搬运装置84还可以包括一个转向结构，即图1I中的转盘845，以改变放置于其托板841上的货物的朝向。
示例性的，图1K为本公开图1F所示实施例的另一种搬运装置的结构示意图，搬运装置84a包括一个或多个吸盘846，其配置在固定推杆842上，固定推杆842可为杆状或板状。在存/取货物的时候，固定推杆842可被驱动而就朝向货物和/或货架方向，作往/返方向的位移。通过吸盘846吸附货物，配合固定推杆842的位移以搬运货物至货架上，或搬运货物至托板841上。
示例性的，图1L为本公开图1F所示实施例的另一种搬运装置的结构，搬运装置84b包括一个或多个机械臂847，其配置在固定推杆842和/或搬运装置84b上的适当位置。在存/取货物的时候，固定推杆842可被驱动而就朝向货物和/或货架方向，作往/返方向的位移。通过机械臂847抓取/钩取货物，配合固定推杆842的位移以搬运货物至货架上，或搬运货物至托板841上。
示例性的，搬运装置(84a、84b)还可以包括一个转向结构，如图1J、图1K中的转盘845，以改变放置于其托板841上的货物的朝向。
本公开所示实施例的搬运装置结构，可包括上述示例中，一个或多个的组合。
有益效果在于，相对于伸缩臂而言，采用吸盘、机械臂等结构，可缩小货物之间的安全间距，进而提升仓储系统的货架上的货物密度，提高空间利用率，降低仓储成本。
图2为本公开实施例提供的货物取出方法的一种应用场景图，如图2所示，本公开实施例提供的货物取出方法可以运行在电子设备上，如计算机、服务器等。智能仓储系统200采用机器人210对货架220上的目标货物进行提取和/或存放，采用仓库管理设备230对机器人210进行路径规划、状态监控和调度等，以使机器人210移动至设定位置进行目标货物的提取或存放，仓库管理设备230中还存储有货架220所存放的各个货物的基本信息以及占用空间信息，以便于进行仓库管理。当仓库管理设备230接收到货物的出库需求时，仓库管理设备230根据货架220的存放的各个货物的情况，确定待取出货物，接着，由机器人210进行货物取出。
然而，现有的智能仓储系统200的货架220上的库位均为位置和尺寸固定的库位，且货架220每层的货物仅可以呈一排放置，从而在货物出库或取出时，仅需要根据货物所在库位的位置生成指令进行相应货物的出库或取出即可，取出方式单一、智能化程度较低。且现有的货物取出方式，无法适用于出库的货物存在阻挡货物的情况，应用范围受限，即当存储阻挡货物时，无法取出所需的货物。为了提高货物取出的智能化程度和应用范围，本公开实施例提供了一种货物取出方法，针对采用两排配置方式或者多排配置方式的货架，当目标货物存在阻挡货物时，实现了根据阻挡货物的数量确定目标货物的取出方式，丰富了货物取出的方式，同时提高了出库的智能化程度以及包含阻挡货物的目标货物出库的效率。
图3为本公开一个实施例提供的货物取出方法的流程图，如图3所示，该货物取出方法可以由仓储系统的电子设备执行，如货物取出装置、仓库管理设备等，其具体形式可以是计算机、服务器等。本实施例提供的获取取出方法包括以下步骤：
步骤S301，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
其中，目标货物为需要取出的货物，其放置于货架上。目标货物在其货架上的存放空间，即目标货物的存放空间，在确定时，可以是根据目标货物的尺寸信息以及该货架上的动态货物存放空间确定的，该动态货物存放空间可以是任意大小的空间，而并非是已划分好的固定空间。目标货物的形式可以是料箱、包裹，可以是用户提供的未经仓储系统打包的货物，或者是放置于仓储系统提供的标准料箱的货物。目标货物的形状可以是规则形状，如长方体形状、正方体形状等，也可以是不规则形状，如表面含有凸起或凹槽等，目标货物可以是布料、食物、电子产品、建材等。目标货物的数量可以是一个或多个。本公开对目标货物的数量、形状、类型、包装等内容均不进行限定。
其中，阻挡货物为当机器人提取该目标货物时，位于机器人和目标货物之间的货物，或者是位于机器人提取目标货物的提取路径上的货物。阻挡货物可以是货架上放置的其他料箱或其他货物。阻挡货物的数量可以是0、1、2或者其他数值。
其中，取出指令可以包括目标货物的各个阻挡货物的取出顺序、各个阻挡货物对应的存放空间的位置信息、目标货物对应的存放空间的位置信息。还可以包括用于执行指令的机器人的信息。
具体的，可以根据目标货物的阻挡货物的数量、阻挡货物的尺寸信息、位置信息、目标货物的尺寸信息以及目标货物的位置信息，生成取出指令，以取出目标货物。
进一步地，该取出指令还可以指示目标机器人在取出或移动阻挡货物之后，取出目标货物。一个目标机器人一次可以仅取出一个阻挡货物，也可以取出多个阻挡货物，具体需要根据目标机器人的可用的存储单元的数量确定。
具体的，可以先根据任务需求确定目标货物，进而确定目标货物的阻挡货物及其数量。
可选地，在根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令之前，包括：根据任务需求确定至少一个待取出货物；根据所述待取出货物的阻挡货物，从所述至少一个待取出货物中确定目标货物。
其中，任务需求可以是仓储系统发出的，如通过仓储系统的工作站、仓库管理设备等发出的，还可以是用户通过用户终端发出该任务需求，或者用户直接输入的任务需求。任务需求中可以包括需要取出的货物、物品或者料箱的信息。
具体的，任务需求可以是出库需求，出库需求可以是SKU(Stock Keeping Unit，库存量单位)出库需求或者料箱出库需求。其中，SKU表示出库计量的基本单位，可以是以件、盒、托盘等为单位。每个放置于仓储系统的产品、货物或料箱，均可以对应一个SKU编号，用于描述其颜色、尺寸、材质等信息。SKU出库需求中包括目标货物的参数信息，如货物类型、尺寸或者编号等信息。
具体的，任务需求可以包括待取物品以及取货数量。任务需求还可以包括料箱类型。 其中，待取物品指的是需要从仓库的货架上取出的物品，可以是任意一种物品，如衣物、装饰品、建筑用品等。取货数量指的是待取物品的数量，即需要从仓库的货架上取出的物品的数量。料箱类型指的是需要取出的料箱的类型，其类型可以按用户划分、按货物划分、按料箱尺寸划分等划分方式进行分类。
示例性的，出库需求可以是“A货物出库50件”或者“出库一个B类料箱”。
具体的，待取出货物为满足任务需求的放置于仓库的货架上的料箱或货物，可以是一个或者多个。
可选地，所述任务需求包括料箱类型，所述根据任务需求确定至少一个待取出货物，包括：根据所述料箱类型，将仓库中所述料箱类型的料箱，确定为所述至少一个待取出货物。
示例性的，假设出库需求为“出库两个B类料箱”，而将仓库的货架上的所有B类料箱均确定为待取出货物。假设出库需求为“衣服C出库50件”，则将仓库的货架上的装有至少50件衣服C的料箱为待取出货物。
进一步地，若根据任务需求无法确定待取出货物，则可以生成提示信息，以提醒相关人员进行核查。
可选地，根据所述待取出货物的阻挡货物，从所述至少一个待取出货物中确定目标货物，包括：统计各个所述待取出货物的阻挡货物的数量和/或尺寸信息；根据所述待取出货物的阻挡货物的数量和/或尺寸信息，从所述至少一个待取出货物中确定目标货物。
具体的，可以根据所述待取出货物的阻挡货物的数量和/或尺寸，从所述至少一个待取出货物确定目标货物。如将阻挡货物的数量最少的待取出货物确定为目标货物，若存在两个阻挡货物的数量相同的待取出货物，则选择阻挡货物尺寸较小的待取出货物为目标货物。
具体的，可以为待取出货物的阻挡料箱的数量和尺寸两个参数配置权重，即数量权重和尺寸权重，进而，针对每个待取出货物，根据其阻挡料箱的数量、尺寸数量权重和尺寸权重，计算该待取出货物的取出耗费值O cost，进而将取出耗费值O cost最小的待取出货物确定为目标货物。其中，取出耗费值O cost的表达式为：
Figure PCTCN2021118610-appb-000001
其中，size i为该待取出货物的第i个阻挡料箱的尺寸，i＝1,2,3,…,num；num为阻挡料箱的数量；w s为尺寸权重；w n为数量权重。
具体的，size i可以是待取出货物的第i个阻挡料箱的体积、表面积，还可以是高度、长度和宽度的和。
进一步地，w s可以为0.2，w n为0.8；或者w s为0.3，w n为0.7。当然也可以根据仓储系统的机器人的数量和尺寸信息确定尺寸权重和数量权重。
可选地，根据所述待取出货物的阻挡料箱的数量和/或尺寸信息，从所述至少一个待取出货物确定目标货物，包括：
根据所述阻挡料箱的数量、所述阻挡料箱的尺寸信息以及下述参数中的一项或多项，从所述至少一个待取出货物确定目标货物：各个所述待取出货物与工作站的距离、各个所述待取出货物与巷道口的距离以及各个所述待取出货物位于货架的层数。
具体的，可以根据阻挡料箱的数量和尺寸信息对待取出货物进行筛选，进而根据各个所述待取出货物与工作站的距离、各个所述待取出货物与巷道口的距离以及各个所述待取出货物位于货架的层数中的至少一项，从筛选后的待取出货物中确定目标货物。
进一步地，可以设置阻挡料箱的数量和尺寸的限制条件，如设置阻挡料箱的数量上限和尺寸上限，将阻挡料箱的数量大于该数量上限，或者尺寸大于该尺寸上限的待取出货物剔除，进而，结合各个所述待取出货物与工作站的距离、各个所述待取出货物与巷道口的 距离以及各个所述待取出货物位于货架的层数中的至少一项，从筛选后的待取出货物中确定目标货物。
进一步地，可以根据阻挡料箱的数量num、阻挡料箱的尺寸size i、待取出货物与工作站的距离l 1、待取出货物与巷道口的距离l 2、待取出货物位于货架的层数l 3以及预设关系式，计算各个待取出货物的出库耗费值O cost，进而将出库耗费值O cost最小的待取出货物确定为目标货物。其中，预设关系式即出库耗费值O cost的表达式，待取出货物的出库耗费值O cost的表达式为：
Figure PCTCN2021118610-appb-000002
其中，w 1为待取出货物与工作站的距离l 1的权重；w 2为待取出货物与巷道口的距离l 2的权重，w 3为待取出货物位于货架的层数l 3的权重。
其中，待取出货物位于货架的层数l 3的取值可以是根据其与机器人的取货装置的默认高度的距离确定，距离越大，则l 3的取值越大。
进一步地，在得到待取出货物的阻挡料箱的数量num、阻挡料箱的尺寸size i、待取出货物与工作站的距离l 1、待取出货物与巷道口的距离l 2以及待取出货物位于货架的层数l 3五个参数因子之后，还需要对五个参数因子进行归一化处理。
进一步地，目标货物的数量可以是多个，如M个，可以将各个待取出货物的出库耗费值O cost，从小到大进行排序，从而确定出库耗费值O cost位于前M个的待取出货物为目标货物。
具体的，目标货物放置的货架的每层可以沿深度方向，即搬运装置取货时伸出的方向，放置两排或多排货物，即货架为基于二维配置方式放置货物的货架。
具体的，当仅存在一个待取出货物时，可以直接将该待取出货物确定为目标货物。当存在至少两个待取出货物时，则根据各个待取出货物的阻挡货物的数量，从至少两个待取出货物确定目标货物。
示例性的，图4为本公开图3所示实施例中的货架存放情况的示意图，如图4所示，货架310和货架330为仓储系统的两个货架，货架310中存放有料箱311至料箱322，货架330中存放有料箱331和料箱332，具体位置如图4所示。其中，料箱318和料箱322均为根据出库需求确定的待取出货物，从图4中可以看出，料箱318的阻挡货物为3个，即料箱314、料箱316和料箱317，而料箱322的阻挡货物为1个，即料箱321，因此，将料箱322确定为目标货物。
可选地，在确定目标货物之后，或者在将所述取出指令发送给至少一个目标机器人之前，所述方法还包括：根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人。
具体的，可用存储空间可以是机器人的存储单元的未被占用的空间，机器人的每个存储空间可以仅放置一个货物，也可以放置多个货物。
具体的，可以根据机器人的可用存储空间，确定满足阻挡货物和目标货物的需求空间的一个或多个目标机器人。
步骤S302，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
其中，目标机器人可以是仓储系统中的任意一个或多个机器人，具体可以是任意一个或多个空闲的机器人。
具体的，可以由仓储系统的仓库管理设备或货物取出装置，根据目标货物的尺寸信息和位置信息，以及各个阻挡货物的尺寸信息和位置信息，生成目标货物的取出指令，并将该取出指令发送至该至少一个目标机器人，以由至少一个目标机器人取出目标货物。
进一步地，在发送取出指令之前，还可以确定执行指令的机器人。具体可以根据所要 取出的货物的数量、尺寸和位置，以及机器人的类型、状态、位置等信息确定。所要取出的货物可以包括目标货物，还可以包括目标货物的阻挡货物。
具体的，当目标货物为多个时，可以分别为每个目标货物确定对应的目标机器人。
进一步地，在取出目标货物之后，还可以根据出库指令将目标货物出库。
在本实施例中，针对采用二维配置方式放置货物的货架，当目标货物存在阻挡货物时，可以根据阻挡货物的数量，确定目标货物的取出方式，实现了被阻挡货物阻挡的目标货物的自动取出，提高了货物取出效率，且取出方式丰富多样，智能程度较高。且采用二维方式放置货物，提高了货架的空间利用率，降低了仓储成本。
图5为本公开另一个实施例提供的货物取出方法的流程图，本实施例提供的货物取出方法是在图3所示实施例的基础上，在步骤S301之后增加确定目标机器人的步骤，如图5所示，本实施例提供的货物取出方法包括以下步骤：
步骤S501，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
步骤S502，根据所述阻挡货物的数量，确定所述至少一个目标机器人。
具体的，可以根据阻挡货物的数量，从仓储系统的各个空闲的机器人中确定目标机器人。
进一步地，可以预先为各个空闲的机器人进行排序，根据排序结果以及阻挡货物的数量，确定目标机器人。
具体的，可以先判断排在第一位的机器人空置槽位的数量是否大于阻挡货物的数量，若是，则排在第一位的机器人为目标机器人；若否，则判断排在第二位的机器人空置槽位的数量是否大于阻挡货物的数量与排在第一位的机器人空置槽位的数量之差，若是，在确定排在第一位和第二位的机器人为目标机器人，以此类推。
示例性的，假设当前空闲的机器人的排序结果为：机器人R1、机器人R2和机器人R3，其中，机器人R1包括3个槽位，机器人R2包括2个槽位，而机器人R3为无存储单元的机器人，目标货物的阻挡货物包括4个，则机器人R1和机器人R2为目标机器人。
进一步地，可以根据阻挡货物的数量以及目标货物的数量，确定至少一个目标机器人。
具体的，当目标机器人均为无存储单元的机器人时，无存储单元的机器人一次仅可以处理一个料箱或货物，目标机器人的数量等同于阻挡货物的数量与目标货物的数量之和。
进一步地，可以根据阻挡货物的数量、目标货物的数量以及各个机器人可用存储单元的数量，确定至少一个目标机器人。
其中，可用存储单元为机器人的未被占用的存储单元。
具体的，至少一个目标机器人的可用存储单元的数量应至少为阻挡货物的数量与目标货物的数量之和。
可选地，根据所述阻挡货物的数量，确定所述至少一个目标机器人，包括：根据所述阻挡货物的数量和所述目标货物的属性信息，确定所述至少一个目标机器人。
其中，目标货物的属性信息可以包括目标货物的尺寸信息、位置信息、数量等中的一项或多项。
进一步地，可以根据阻挡货物的属性信息和目标货物的属性信息，确定至少一个目标机器人。阻挡货物的属性信息除了包括数量之外，还可以包括阻挡货物的尺寸信息和位置信息中的一项或多项。
具体的，可以优先选择机器人的可用存储单元最多的机器人为目标机器人，以可以减少取货的次数。当然，也可以优先选择距离阻挡货物或目标货物近的机器人，以提高取货效率。当然，也可以采用其他原则或标准确定目标机器人。
需要说明的是，步骤S501与步骤S502可以同时执行，也可以先执行步骤S502再执行步骤S501。
步骤S503，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机 器人根据所述取出指令取出所述目标货物。
在本实施例中，针对采用二维配置方式放置货物的货架，当目标货物存在阻挡货物时，可以根据阻挡货物的数量，确定执行取出任务的一个或多个目标机器人，生成取出指令，从而由该一个或多个目标机器人取出阻挡货物和目标货物，实现了被阻挡货物阻挡的目标货物的自动取出，提高了货物取出效率，且取出方式丰富多样，智能程度较高。且采用二维方式放置货物，提高了货架的空间利用率，降低了仓储成本。
图6A为本公开另一个实施例提供的货物取出方法的流程图，本实施例提供的货物取出方法是在图3所示实施例的基础上，在步骤S301之后增加确定目标机器人的步骤，如图6A所示，本实施例提供的货物取出方法包括以下步骤：
步骤S601，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
步骤S602，判断所述目标货物对应的区域的预设范围内，是否存在可容纳所述阻挡货物的未被占用空间。
其中，目标货物对应的区域为目标货物在货架上的存放区域，也可以理解为目标货物的库位。预设范围可以是设定的任意一个范围，如可以是目标货物对应的货架对应的区域，还可以是以目标区域为中心、设定距离为半径的圆形区域，设定距离可以是10米、12米或者其他值。
具体的，可以判断目标货物对应的区域的预设范围内，是否存在可以容纳全部阻挡货物的未被占用空间。
若存在可以容纳全部阻挡货物的未被占用空间，则可以确定任意一个或多个可用的机器人为至少一个目标机器人，可以是无存储单元的机器人或者有存储单元的机器人。进而生成取出指令，以由该至少一个目标机器人将各个阻挡货物放置于该预设范围内的未被占用空间中，将全部阻挡货物放置完毕之后取出目标货物。
示例性的，图6B为本公开图6A所示实施例中存放情况的示意图，如图6B所示，目标货物610包括2个阻挡货物611和阻挡货物612，目标货物610对应的区域的预设范围内，存在3个未被占用空间，空间613、空间614和空间615，其中，空间614可以容纳阻挡货物611，而空间615可以容纳阻挡货物空间612。则可以确定一个、两个或三个目标机器人来执行目标货物610的取出任务，从而生成取出指令，由目标机器人将阻挡货物611放置于空间614，将阻挡货物612放置于空间615之后，将目标货物610取出。
进一步地，可以根据预先记录或存储的目标货物对应的区域的预设范围内的各个存放区域的存放情况，确定该预设范围内的各个未被占用空间，进而根据各个阻挡货物的需求空间，判断该预设范围内是否存在可容纳全部阻挡货物的未被占用空间。
其中，阻挡货物的需求空间可以根据阻挡货物的尺寸信息确定。还可以根据阻挡货物的尺寸信息和阻挡货物的预设安全间距确定。
步骤S603，若不存在，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人。
其中，目标货物的属性信息可以包括目标货物的尺寸信息，还可以包括目标货物的位置信息和数量。
具体的，若预设范围内，不存在可以容纳全部阻挡货物的未被占用空间，则可以根据阻挡货物的数据确定至少一个目标机器人，具体步骤与步骤S502类似，在此不再赘述。
具体的，根据所述阻挡货物的数量、各个所述阻挡货物的尺寸信息和所述目标货物的属性信息确定所述至少一个目标机器人，以使至少一个目标机器人以较高的效率成功取出全部的阻挡货物和目标货物。
需要了解的是，若仓储系统的任意一个机器人都可以成功取出仓储系统存放的货物，则在确定目标机器人的时候，无需考虑阻挡货物的尺寸信息和目标货物的尺寸信息。
可选地，若所述目标货物对应的区域的预设范围内，存在可容纳第一部分所述阻挡货 物的未被占用空间时，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，或，根据剩余的阻挡货物的数量确定至少一个目标机器人，或，根据剩余的阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，其中，所述剩余的阻挡货物为除所述第一部分所述阻挡货物之外的阻挡货物。
具体的，当预设范围内，存在可以容纳一部分的阻挡货物，即上述第一部分阻挡货物时，则取出指令可以指示至少一个目标机器人，将该第一部分的阻挡货物放置于该预设范围内的未被占用空间上，而将剩余的阻挡货物，即除第一部分阻挡货物之外的阻挡货物，放置于仓储系统的其他未被占用的存放空间，同时，当阻挡货物取出完毕之后，指示至少一个目标机器人取出目标货物。
具体的，当预设范围内，存在可以容纳一部分的阻挡货物，即上述第一部分阻挡货物时，则取出指令可以指示第四目标机器人，将该第一部分的阻挡货物放置于该预设范围内的未被占用空间上，而指示第五目标机器人将剩余的阻挡货物，即除第一部分阻挡货物之外的阻挡货物，放置于仓储系统的其他未被占用的存放空间，同时，当阻挡货物取出完毕之后，指示第四目标机器人或第五目标机器人取出目标货物。
可选地，根据所述阻挡货物的数量，确定所述至少一个目标机器人，包括：判断是否存在可存放货物数量大于或等于所述阻挡货物数量和所述目标货物数量之和的第一机器人；当存在时，将所述第一机器人确定为所述目标机器人；当不存在时，将至少两个第二机器人确定为所述至少一个目标机器人，其中，所述至少两个第二机器人的可存放货物数量之和大于或等于所述阻挡货物数量和所述目标货物数量之和。
其中，可存放货物数量指的是机器人可以存放货物的数量，如机器人的每个存储单元仅可以存放一个货物，则其可存放货物数量即为空闲的存储单元的数量。
可选地，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，包括：根据所述目标货物的属性信息确定第三机器人；当所述第三机器人的可存放货物数量大于或等于所述阻挡货物和所述目标货物的数量之和时，确定所述第三机器人为所述目标机器人；当所述第三机器人的剩余可存放货物数量小于所述阻挡货物的数量时，根据所述剩余可存放货物数量和所述阻挡货物的数量之间的差值，确定至少一个第四机器人，其中，所述剩余可存放货物数量为所述第三机器人可存放货物数量去除所述目标货物的数量之后的数量，所述第三机器人和所述至少一个第四机器人为所述至少一个目标机器人。
具体的，根据所述目标货物的属性信息确定第三机器人的具体步骤，与后续步骤S803类似，在此不再赘述。
步骤S604，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
在本实施例中，针对采用二维配置方式放置货物的货架，当目标货物存在阻挡货物时，可以根据阻挡货物的数量，确定执行目标货物取出任务的一个或多个目标机器人，并根据目标货物对应的区域预设范围内的存放情况，将阻挡货物放置于该预设范围内的未被占用空间上，提高了阻挡货物取出、搬运的效率，进而提高了目标货物取出的效率，且取出方式丰富多样，智能程度较高。且采用二维方式放置货物，提高了货架的空间利用率，降低了仓储成本。
图7为本公开另一个实施例提供的货物取出方法的流程图，本实施例提供的货物取出方法是在图3所示实施例的基础上，在步骤S301之后增加确定目标机器人的步骤，本实施例针对的是基于机器人的可用存储空间确定目标机器人的情况，如图7所示，本实施例提供的货物取出方法包括以下步骤：
步骤S701，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
步骤S702，判断是否存在可用存储空间足以容纳所述阻挡货物和所述目标货物的第五机器人。
其中，可用存储空间可以是机器人的未被占用的存储单元对应的空间，或者可用存储单元对应的空间。
具体的，当机器人的各个存储单元仅可以存放一个货物，目标货物或阻挡货物时，当机器人的存储单元的数量大于或等于阻挡货物的数量和目标货物的数量之和时，确定该机器人为第五机器人。
具体的，当机器人的各个存储单元可以存储多个货物时，则可以根据目标货物的需求空间以及各个阻挡货物的需求空间，判断机器人的可用存储空间是否足以容纳所述阻挡货物和所述目标货物，若是，则确定该机器人为第五机器人。
步骤S703，当存在时，将所述第五机器人确定为所述目标机器人。
具体的，当存在时，表明该第五机器人的存储能力足以存放全部的阻挡货物和目标货物，则将该第五机器人确定为目标机器人，从而使得一个机器人便可以执行阻挡货物和目标货物的取出任务，无需分配多个机器人，避免了占用仓储系统过多的资源。
进而，可以根据第五机器人、目标货物以及阻挡货物，生成取出指令，以使该第一机器人根据该取出指令将阻挡货物和目标货物取出。
步骤S704，当不存在时，将至少两个第六机器人确定为所述至少一个目标机器人。
其中，所述至少两个第六机器人的可用存储空间的集合对应的空间足以容纳所述阻挡货物和所述目标货物。
具体的，当仓储系统不存在某个机器人足以胜任一次取出阻挡货物和目标货物时，则可以确定至少两个第六机器人，协同进行阻挡货物和目标货物的取出任务。
具体的，可以优选可用存储空间较大的机器人为第六机器人。
进一步地，可以根据阻挡货物的需求空间和目标货物的需求空间，确定至少两个第六机器人。
进一步地，可以预先对仓储系统的各个机器人的可用存储空间进行统计和从大到小排序，按照排序结果，优先将排名靠前的机器人确定为目标机器人、第五机器人或第六机器人。
示例性的，表1为各个机器人的可用存储空间表，假设目标货物存在7个阻挡货物，每个阻挡货物的需求空间相同，均为80cm*80cm*80cm，如表1所示，可知，需要确定机器人01～03为目标机器人。
表1 各个机器人的可用存储空间表
Figure PCTCN2021118610-appb-000003
步骤S705，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
在本实施例中，针对采用二维配置方式放置货物的货架，当目标货物存在阻挡货物时，优先考虑可用存储空间较大的机器人进行目标货物及其阻挡货物的取出，减少了执行取出任务的机器人的数量，避免了资源浪费，降低了取出成本。且采用二维方式放置货物，提高了货架的空间利用率，降低了仓储成本。
图8为本公开另一个实施例提供的货物取出方法的流程图，本实施例提供的货物取出方法是在图3所示实施例的基础上，在步骤S301之后增加确定目标机器人的步骤，本实施例针对的是分别为目标货物和阻挡货物确定不同的目标机器人的情况，如图8所示，本实施例提供的货物取出方法包括以下步骤：
步骤S801，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
步骤S802，根据所述目标货物的属性信息确定第七机器人。
具体的，属性信息可以包括目标货物的位置信息，可以根据目标货物的位置信息，确定与目标货物距离最近的空闲的机器人为第七机器人，或者，确定与目标货物距离最近的可用存储空间足以容纳所述目标货物的机器人为第七机器人。
具体的，属性信息可以包括目标货物的货物类型，可以预先建立机器人与货物类型的映射关系，该映射关系用于描述机器人可以处理的货物类型，进而根据目标货物的货物类型和该映射关系，确定第七机器人。
进一步地，可以先根据目标货物的货物类型，确定与目标货物的货物类型匹配的机器人；进而根据目标货物的位置信息，确定与目标货物的货物类型匹配的且与目标货物距离最近的机器人为第七机器人。
步骤S803，当所述第七机器人的可用存储空间足以容纳所述阻挡货物和所述目标货物时，确定所述第七机器人为所述目标机器人。
具体的，当第七机器人的各个存储单元仅可以存放一个货物，目标货物或阻挡货物时，当第七机器人的存储单元的数量大于或等于阻挡货物的数量和目标货物的数量之和时，确定第七机器人为目标机器人。
具体的，当第七机器人的各个存储单元可以存储多个货物时，则可以根据目标货物的需求空间以及各个阻挡货物的需求空间，判断第七机器人的可用存储空间是否足以容纳所述阻挡货物和所述目标货物，若是，则确定第七机器人为目标机器人。
步骤S804，当所述第七机器人的剩余可用存储空间不足以容纳所述阻挡货物时，根据所述剩余可用存储空间和所述阻挡货物所需的空间的差值，确定至少一个第八机器人。
其中，所述剩余可用存储空间为所述第七机器人可用存储空间去除所述目标货物的空间之后的空间，所述第七机器人和所述至少一个第八机器人为所述至少一个目标机器人。
步骤S805，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
在本实施例中，针对采用二维配置方式放置货物的货架，当目标货物存在阻挡货物时，优先根据目标货物的属性信息确定执行其取出任务的第七机器人，进而根据第七机器人的剩余存储空间是否足够容纳全部阻挡货物，若是，则由第七机器人取出阻挡货物和目标货物，若否，则由第八机器人取出第七机器人无法取出的部分的阻挡货物，实现了优先确定目标货物的机器人，保证了目标货物的顺利取出。且采用二维方式放置货物，提高了货架的空间利用率，降低了仓储成本。
图9为本公开另一个实施例提供的货物取出方法的流程图，本实施例提供的货物取出方法是在图3所示实施例的基础上，在步骤S302之后增加阻挡货物回流以及目标货物回流相关的步骤，本实施例针对目标货物需要回流至原库位的情况，如图9所示，本实施例提供的货物取出方法包括以下步骤：
步骤S901，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
步骤S902，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
步骤S903，生成所述阻挡货物的阻挡回流指令，以根据所述阻挡回流指令，将所述阻挡货物放置于所述阻挡货物的原库位或者预设空闲空间。
其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位，所述预设 空闲空间为所述阻挡货物的原库位对应的货架上除所述原库位对应的空间之外的、未被货物占据的空间。
其中，阻挡回流指令是用于指示相关机器人将阻挡货物回流至货架的指令，可以回流至其原库位，也可以是重新规划的库位，如上述预设空闲空间。
具体的，当目标机器人取出目标货物之后，便可以根据各个阻挡货物当前对应的存放空间，生成各个阻挡货物的阻挡回流指令。
需要了解的是，执行阻挡回流指令的机器人可以是前述目标机器人中的一个或多个，也可以是除目标机器人之外的机器人，具体可以根据仓储系统的各个机器人的作业情况以及阻挡货物的位置信息确定。
步骤S904，生成所述目标货物的目标回流指令，以根据所述目标回流指令将所述目标货物放置于所述目标货物的原库位。
其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位。目标回流指令是用于指示相关机器人将目标货物回流至货架的指令，可以回流至其原库位，也可以是重新规划的库位。
具体的，当目标机器人取出目标货物，并进行相应的作业操作之后，如分拣作业，便可以根据目标货物的原库位的位置信息，生成各个阻挡货物的阻挡回流指令，以将目标货物放回至其原库位上。
进一步地，也可以不将目标货物放回至其原库位，而是根据仓储系统当前的存放情况，确定目标货物的新的存放空间或新库位，进而生成目标回流指令，以将目标货物存放于新的存放空间或新库位上。
需要了解的是，执行目标回流指令的机器人可以是前述目标机器人中的一个或多个，也可以是除目标机器人之外的机器人，具体可以根据仓储系统的各个机器人的作业情况以及目标货物的原库位或者新库位的位置信息确定。
在本实施例中，针对采用二维配置方式放置货物的货架，当目标货物存在阻挡货物时，可以根据阻挡货物的数量，确定目标货物的取出方式，实现了被阻挡货物阻挡的目标货物的自动取出，提高了货物取出效率，且取出方式丰富多样，智能程度较高。且在目标货物取出之后，基于指令将阻挡货物自动回流，当目标货物的相关任务执行完毕之后，基于指令将目标货物自动回流，提高了仓储系统的任务执行的自动化程度以及货物管理效率。
图10本公开另一个实施例提供的货物取出方法的流程图，本实施例提供的货物取出方法是在图3所示实施例的基础上，在步骤S302之后增加阻挡货物回流以及目标货物回流相关的步骤，本实施例针对阻挡货物回流至新库位的情况，如图10所示，本实施例提供的货物取出方法包括以下步骤：
步骤S1001，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
步骤S1002，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
步骤S1003，根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息，确定各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向。
其中，第一预设朝向为该阻挡货物放置于其新库位时的朝向。由于本公开所涉及的机器人包括转向结构，可以改变位于其搬运装置上的货物的朝向，因此，在货物存放时，可以考虑不同的朝向进行存放。
具体的，可以优先选择位于货架内层的未被占用空间为阻挡货物的新库位，从而将位于靠外位置的未被占用的空间预留出来，以便于目标货物的回流。其中，针对采用多维配置方式或二维配置方式的货架，货架可以呈两排或多排放置，位于货架内层指的是，位于货架内层的一排。
具体的，可以根据各个阻挡货物的尺寸信息确定其需求空间，进而根据各个阻挡货物的需求空间、目标货物的原库位的尺寸信息和各个所述阻挡货物的原库位的尺寸信息，确定各个阻挡货物的新库位和第一预设朝向。
进一步地，在确定各个阻挡货物的新库位和第一预设朝向时，所遵循的原则应是尽可能减少各个货物的阻挡货物的数量，从而提高各个货物的取出效率。
步骤S1004，针对目标货物的每个阻挡货物，根据所述阻挡货物对应的新库位和所述第一预设朝向，生成所述阻挡货物的第一回流指令，以根据所述第一回流指令按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
进一步地，在确定阻挡货物的新库位之后，还可以根据目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息、各个所述阻挡货物的新库位的尺寸信息以及所述目标货物的尺寸信息，确定所述目标货物的新库位和所述目标货物的第三预设朝向；根据所述目标货物对应的新库位和第三预设朝向，生成目标货物的第三回流指令，以根据所述第三回流指令按照所述第三预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
进一步地，在将各个阻挡货物回流之后，还包括发送各个阻挡货物的存放信息，其中，存放信息包括各个阻挡货物的新库位的位置信息、各个阻挡货物的第一预设朝向等。
在本实施例中，在阻挡货物回流时，重新为其规划了库位和朝向，以尽可能减少货架的各个货物的阻挡货物的数量，从而提高货架的各个货物的取出效率。
图11A为本公开另一个实施例提供的货物取出方法的流程图，本实施例提供的货物取出方法是在图3所示实施例的基础上，在步骤S302之后增加阻挡货物回流以及目标货物回流相关的步骤，本实施例针对阻挡货物回流至新库位的情况，如图11A所示，本实施例提供的货物取出方法包括以下步骤：
步骤S1101，根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令。
步骤S1102，将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
步骤S1103，根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及所述目标货物的尺寸信息，确定所述目标货物的新库位和所述目标货物的第二预设朝向。
具体的，可以优先选择外层的未被占用空间作为目标货物的新库位，以提高目标货物回流的效率。
步骤S1104，根据所述目标货物对应的新库位和第二预设朝向，生成目标货物的第二回流指令，以根据所述第二回流指令按照所述第二预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
进一步地，在确定所述目标货物的新库位之后，还可以据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息、所述目标货物的新库位的尺寸信息以及各个所述阻挡货物的尺寸信息，确定各个所述阻挡货物的新库位以及各个所述阻挡货物的第四预设朝向，其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位；针对目标货物的每个阻挡货物，根据所述阻挡货物对应的新库位和第四预设朝向，生成所述阻挡货物的第四回流指令，以根据所述第四回流指令按照所述第四预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
示例性的，图11B为本公开图11A对应的实施例中的货架存放情况的示意图，图11C为图11B所示实施例中提取目标货物之后的货架存放情况的示意图，图11D为图11C所示实施例中将阻挡货物和目标货物回流之后的货架存放情况的示意图，结合图11B、11C 和11D可知，货架上存放有货物1110～1180，其中，目标货物1110对应一个阻挡货物1120，在将目标货物1110出库之前，需要将阻挡货物1120先提取出来，而当回流时，可以根据货架的存放情况，改变阻挡货物1120和目标货物1110的位置和朝向，从而使得回流之后的目标货物1110未被其他货物阻挡，同时阻挡货物1120也未被其他货物阻挡，回流之后的存放情况如图11D所示，比较图11C和图11D可以看出，回流之后，货架上的各个货物的阻挡货物的数量之和低于回流之前的各个货物的阻挡货物的数量之和，从而提高了货架各个货物出库的效率。
在本实施例中，在阻挡货物回流和目标货物时，重新为其规划了库位和朝向，以尽可能减少货架的各个货物的阻挡货物的数量，从而提高货架的各个货物的取出效率。
在一些实施例中，所述目标机器人的数量为一个，所述取出指令包括阻挡取出指令和目标取出指令；其中，所述阻挡取出指令用于使得所述目标机器人取出所述阻挡货物，并将所述阻挡货物放置于所述目标机器人的第一存储空间中；所述目标取出指令，用于使得所述目标机器人取出所述目标货物，将所述目标货物放置于所述目标机器人的第二存储空间中。
其中，第一存储空间和第二存储空间为目标机器人的不同的可用存储空间。第一存储空间可以是第一存储单元，第二存储空间则为第二存储单元。
在一些实施例中，所述取出指令包括第一取出指令和第二取出指令；其中，所述第一取出指令用于使得第一目标机器人，取出所述阻挡货物，所述第一目标机器人为所述至少一个目标机器人中的机器人；所述第二取出指令用于使得第二目标机器人，取出所述目标货物，所述第二目标机器人为除所述第一目标机器人之外的所述至少一个目标机器人中的机器人。
在一些实施例中，所述取出指令包括第三取出指令和第四取出指令；其中，所述第三取出指令用于使得第三目标机器人，取出第三部分的所述阻挡货物，所述第三目标机器人为所述至少一个目标机器人中的机器人；所述第四取出指令用于使得第四目标机器人，取出所述目标货物以及第四部分的所述阻挡货物，所述第四目标机器人为除所述第三目标机器人之外的所述至少一个目标机器人中的机器人，所述第四部分的阻挡货物为除所述第三部分的阻挡货物之外剩余的阻挡货物。
图12为本公开另一个实施例提供的货物取出方法，该方法由仓储系统的机器人执行，如图12所示，实施例提供的货物取出方法包括以下步骤：
步骤S1201，接收目标货物的取出指令。
其中，所述取出指令为根据所述目标货物对应的阻挡货物的数量生成的。
步骤S1202，根据所述取出指令取出所述目标货物。
可选地，所述取出指令包括阻挡取出指令和目标取出指令，根据所述取出指令取出所述目标货物，包括：根据所述阻挡取出指令，取出所述阻挡货物，并将所述阻挡货物放置于第一存储空间中；根据所述目标取出指令，取出所述目标货物，将所述目标货物放置于第二存储空间中。
可选地，所述取出指令包括第一取出指令和第二取出指令，根据所述取出指令取出所述目标货物，包括：经由第一目标机器人，根据所述第一取出指令，取出所述阻挡货物；经由第二目标机器人，根据所述第二取货指令，取出所述目标货物。
可选地，所述取出指令包括第一取出指令和第二取出指令，所述第一指令用于指示取出阻挡货物，根据所述取出指令取出所述目标货物，包括：在取出所述阻挡货物之后，根据所述第二取货指令，取出所述目标货物。
可选地，所述取出指令包括第三取出指令和第四取出指令，根据所述取出指令取出所述目标货物，包括：经由第三目标机器人，根据所述第三取出指令，取出第一部分的所述阻挡货物；经由第四目标机器人，根据所述第四取货指令，取出所述目标货物以及第二部 分的所述阻挡货物，所述第二部分的阻挡货物为除所述第一部分的阻挡货物之外剩余的阻挡货物。
可选地，所述取出指令包括第三取出指令和第四取出指令，所述第三取出指令用于指示取出第三部分的阻挡货物，根据所述取出指令取出所述目标货物，包括：在取出所述第三部分的阻挡货物之后，根据所述第四取货指令，取出所述目标货物以及第四部分的所述阻挡货物，所述第四部分的阻挡货物为除所述第三部分的阻挡货物之外剩余的阻挡货物。
可选地，在取出所述目标货物之后，还包括：接收阻挡回流指令；根据所述阻挡回流指令，将所述阻挡货物放置于所述阻挡货物的原库位或者预设空闲空间，其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位，所述预设空闲空间为所述阻挡货物的原库位对应的货架上除所述原库位对应的空间之外的、未被货物占据的空间。
可选地，在取出所述目标货物之后，还包括：接收目标回流指令；根据所述目标回流指令，将所述目标货物放置于所述目标货物的原库位，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位。
可选地，在取出所述目标货物之后，还包括：接收第一回流指令，其中，所述第一回流指令包括各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向，各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向是根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息确定的，所述阻挡货物的原库位为所述阻挡货物被取出之前所存放的库位；针对目标货物的每个阻挡货物，根据所述第一回流指令，按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
可选地，在取出所述目标货物之后，还包括：接收第二回流指令，其中，所述第二回流指令包括所述目标货物的新库位和所述目标货物的第二预设朝向，所述目标货物的新库位和所述目标货物的第二预设朝向是根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及所述目标货物的尺寸信息确定的，所述目标货物的原库位为所述目标货物被取出之前所存放的库位；根据所述第二回流指令，按照所述第二预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
图13为本公开一个实施例提供的货物取出装置的结构示意图，如图13所示，该货物取出装置包括：取出指令生成模块1310和取出指令发送模块1320。
其中，取出指令生成模块1310，用于根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令，其中，所述目标货物的存放空间为根据所述目标货物的尺寸信息以及货架上的动态货物存放空间确定的；取出指令发送模块1320，用于将取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据取出指令取出所述目标货物。
可选地，该货物取出装置，还包括：目标机器人确定模块，用于在将所述取出指令发送给至少一个目标机器人之前，根据所述阻挡货物的数量，确定所述至少一个目标机器人。
可选地，目标机器人确定模块，具体用于：根据所述阻挡货物的数量和所述目标货物的属性信息，确定所述至少一个目标机器人。
可选地，该货物取出装置，还包括：预设范围空间判断模块，用于判断所述目标货物对应的区域的预设范围内，是否存在可容纳所述阻挡货物的未被占用空间；第二目标机器人确定模块，用于若不存在，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人。
可选地，第二目标机器人确定模块，还用于：若所述目标货物对应的区域的预设范围内，存在可容纳第一部分所述阻挡货物的未被占用空间时，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确 定所述至少一个目标机器人，或，根据剩余的阻挡货物的数量确定至少一个目标机器人，或，根据剩余的阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，其中，所述剩余的阻挡货物为除所述第一部分所述阻挡货物之外的阻挡货物。
可选地，目标机器人确定模块，包括：第一机器人确定模块，用于判断是否存在可存放货物数量大于或等于所述阻挡货物数量和所述目标货物数量之和的第一机器人，当存在时，将所述第一机器人确定为所述目标机器人；第二机器人确定模块，用于当不存在可存放货物数量大于或等于所述阻挡货物数量和所述目标货物数量之和的第一机器人时，将至少两个第二机器人确定为所述至少一个目标机器人，其中，所述至少两个第二机器人的可存放货物数量之和大于或等于所述阻挡货物数量和所述目标货物数量之和。
可选地，目标机器人确定模块，包括：第三机器人确定模块，用于根据所述目标货物的属性信息确定第三机器人，当所述第三机器人的可存放货物数量大于或等于所述阻挡货物和所述目标货物的数量之和时，确定所述第三机器人为所述目标机器人；第四机器人确定模块，用于当所述第三机器人的剩余可存放货物数量小于所述阻挡货物的数量时，根据所述剩余可存放货物数量和所述阻挡货物的数量之间的差值，确定至少一个第四机器人，其中，所述剩余可存放货物数量为所述第三机器人可存放货物数量去除所述目标货物的数量之后的数量，所述第三机器人和所述至少一个第四机器人为所述至少一个目标机器人。
可选地，该货物取出装置，还包括：第二目标机器人确定模块，用于在将所述取出指令发送给至少一个目标机器人之前，根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人。
可选地，第二目标机器人确定模块，包括：第五机器人确定模块，用于在将所述取出指令发送给至少一个目标机器人之前，判断是否存在可用存储空间足以容纳所述阻挡货物和所述目标货物的第五机器人，当存在时，将所述第一机器人确定为所述目标机器人；第六机器人确定模块，用于当不存在可用存储空间足以容纳所述阻挡货物和所述目标货物的第五机器人时，将至少两个第六机器人确定为所述至少一个目标机器人，其中，所述至少两个第六机器人的可用存储空间的集合对应的空间足以容纳阻挡货物和所述目标货物。
可选地，第二目标机器人确定模块，包括：第七机器人确定模块，用于在将所述取出指令发送给至少一个目标机器人之前，根据所述目标货物的属性信息确定第七机器人；当所述第七机器人的可用存储空间足以容纳所述阻挡货物和所述目标货物时，确定所述第七机器人为所述目标机器人；第八机器人确定模块，用于当所述第七机器人的剩余可用存储空间不足以容纳所述阻挡货物时，根据所述剩余可用存储空间和所述阻挡货物所需的空间的差值，确定至少一个第八机器人，其中，所述剩余可用存储空间为所述第七机器人可用存储空间去除所述目标货物的空间之后的空间，所述第七机器人和所述至少一个第八机器人为所述至少一个目标机器人。
可选地，该货物取出装置，还包括：阻挡回流指令生成模块，用于在生成所述目标货物的取出指令之后，生成所述阻挡货物的阻挡回流指令，以根据所述阻挡回流指令，将所述阻挡货物放置于所述阻挡货物的原库位或者预设空闲空间，其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位，所述预设空闲空间为所述阻挡货物的原库位对应的货架上除所述原库位对应的空间之外的、未被货物占据的空间。
可选地，该货物取出装置，还包括：目标回流指令生成模块，用于在生成所述目标货物的取出指令之后，生成所述目标货物的目标回流指令，以根据所述目标回流指令将所述目标货物放置于所述目标货物的原库位，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位。
可选地，该货物取出装置，还包括：第一回流指令生成模块，用于在生成所述目标货物的取出指令之后，根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息，确定各个所述阻挡货物的新库位以及各个 所述阻挡货物的第一预设朝向，其中，所述阻挡货物的原库位为所述阻挡货物被取出之前所存放的库位；针对目标货物的每个阻挡货物，根据所述阻挡货物对应的新库位和所述第一预设朝向，生成所述阻挡货物的第一回流指令，以根据所述第一回流指令按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
可选地，该货物取出装置，还包括：第二回流指令生成模块，用于在生成所述目标货物的取出指令之后，根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及所述目标货物的尺寸信息，确定所述目标货物的新库位和所述目标货物的第二预设朝向，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位；根据所述目标货物对应的新库位和第二预设朝向，生成目标货物的第二回流指令，以根据所述第二回流指令按照所述第二预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
图14为本公开另一个实施例提供的货物取出装置的结构示意图，如图14所示，该货物取出装置包括：取出指令接收模块1410和货物取出模块1420。
其中，取出指令接收模块1410，用于接收目标货物的取出指令，其中，所述取出指令为根据所述目标货物对应的阻挡货物的数量生成的；货物取出模块1420，用于根据所述取出指令取出所述目标货物。
可选地，所述取出指令包括阻挡取出指令和目标取出指令，货物取出模块1420，具体用于：根据所述阻挡取出指令，取出所述阻挡货物，并将所述阻挡货物放置于第一存储空间中；根据所述目标取出指令，取出所述目标货物，将目标货物放置于第二存储空间中。
可选地，所述取出指令包括第一取出指令和第二取出指令，货物取出模块1420，具体用于：经由第一目标机器人，根据所述第一取出指令，取出所述阻挡货物；经由第二目标机器人，根据所述第二取货指令，取出所述目标货物。
可选地，所述取出指令包括第一取出指令和第二取出指令，所述第一指令用于指示取出阻挡货物，货物取出模块1420，具体用于：在取出所述阻挡货物之后，根据所述第二取货指令，取出所述目标货物。
可选地，所述取出指令包括第三取出指令和第四取出指令，所述第三取出指令用于指示取出第三部分的阻挡货物，货物取出模块1420，具体用于：在取出所述第三部分的阻挡货物之后，根据所述第四取货指令，取出所述目标货物以及第四部分的所述阻挡货物，所述第四部分的阻挡货物为除所述第三部分的阻挡货物之外剩余的阻挡货物。
可选地，所述取出指令包括第三取出指令和第四取出指令，货物取出模块1420，具体用于：经由第三目标机器人，根据所述第三取出指令，取出第一部分的所述阻挡货物；经由第四目标机器人，根据所述第四取货指令，取出所述目标货物以及第二部分的所述阻挡货物，所述第二部分的阻挡货物为除所述第一部分的阻挡货物之外剩余的阻挡货物。
可选地，货物取出装置还包括：第一阻挡回流模块，用于在取出所述目标货物之后，接收阻挡回流指令；根据所述阻挡回流指令，将所述阻挡货物放置于所述阻挡货物的原库位或者预设空闲空间，其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位，所述预设空闲空间为所述阻挡货物的原库位对应的货架上除所述原库位对应的空间之外的、未被货物占据的空间。
可选地，货物取出装置还包括：第一目标回流模块，用于在取出所述目标货物之后，接收目标回流指令；根据所述目标回流指令，将所述目标货物放置于所述目标货物的原库位，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位。
可选地，货物取出装置还包括：第二阻挡回流模块，用于在取出所述目标货物之后，接收第一回流指令，其中，所述第一回流指令包括各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向，各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预 设朝向是根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息确定的，所述阻挡货物的原库位为所述阻挡货物被取出之前所存放的库位；针对目标货物的每个阻挡货物，根据所述第一回流指令，按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
可选地，货物取出装置还包括：第二目标回流模块，用于在取出所述目标货物之后，接收第二回流指令，其中，所述第二回流指令包括所述目标货物的新库位和所述目标货物的第二预设朝向，所述目标货物的新库位和所述目标货物的第二预设朝向是根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及所述目标货物的尺寸信息确定的，所述目标货物的原库位为所述目标货物被取出之前所存放的库位；根据所述第二回流指令，按照所述第二预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
图15为本公开另一个实施例提供的货物取出装置的结构示意图，如图15所示，该物取出装置包括：存储器1510，处理器1520以及计算机程序。
其中，计算机程序存储在存储器1510中，并被配置为由处理器1520执行以实现本公开图3-图11A所对应的实施例中任一实施例提供的货物取出方法。
其中，存储器1510和处理器1520通过总线1530连接。
相关说明可以对应参见图3-图11A的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
图16为本公开一个实施例提供的机器人的结构示意图，如图16所示，该机器人包括：存储器1610，处理器1620以及计算机程序。
其中，计算机程序存储在存储器1610中，并被配置为由处理器1620执行以实现本公开图12所对应的实施例提供的货物取出方法。
其中，存储器1610和处理器1620通过总线1630连接。
相关说明可以对应参见图12的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
可选地，所述机器人包括移动底盘，搬运装置，存储货架和升降组件；所述存储货架、所述搬运装置以及所述升降组件安装于所述移动底盘。
可选地，所述搬运装置包括以下一种或多种：伸缩臂组件、吸盘与机械臂。
可选地，所述搬运装置包括托板与转向结构，所述转向结构用于改变放置于所述托板上的货物的朝向。
图17为本公开一个实施例提供的仓储系统的结构示意图，如图17所示，该仓储系统包括：货物取出装置1710、机器1720和货架1730。
其中，货物取出装置1710可以为本公开图15所示实施例提供的货物取出装置；机器人1720可以为本公开任意实施例提供的机器人。
本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本公开图3-图12所对应的实施例中任一实施例提供的货物取出方法。
其中，计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本公开还提供一种程序产品，该程序产品包括可执行计算机程序，该可执行计算机程序存储在可读存储介质中。货物取出装置、机器人或仓储系统的至少一个处理器可以从可读存储介质读取该计算机程序，至少一个处理器执行该计算机程序使得机器人组队控制装置实施上述各种实施方式提供的货物取出方法。
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它 的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，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，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述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，作为模块显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本公开各个实施例所述方法的部分步骤。
应理解，上述处理器可以是中央处理单元(Central Processing Unit，简称CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合发明所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
存储器可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。
总线可以是工业标准体系结构(Industry Standard Architecture，简称ISA)总线、外部设备互连(Peripheral Component，简称PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，本公开附图中的总线并不限定仅有一根总线或一种类型的总线。
上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。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专用集成电路(Application Specific Integrated Circuits，简称ASIC)中。当然，处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。
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 (38)

  1. 一种货物取出方法，其特征在于，包括：
    根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令，其中，所述目标货物的存放空间为根据所述目标货物的尺寸信息以及货架上的动态货物存放空间确定的；
    将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
  2. 根据权利要求1所述的方法，其特征在于，在将所述取出指令发送给至少一个目标机器人之前，所述方法还包括：
    根据所述阻挡货物的数量，确定所述至少一个目标机器人。
  3. 根据权利要求2所述的方法，其特征在于，根据所述阻挡货物的数量，确定所述至少一个目标机器人，包括：
    根据所述阻挡货物的数量和所述目标货物的属性信息，确定所述至少一个目标机器人。
  4. 根据权利要求1所述的方法，其特征在于，在将所述取出指令发送给至少一个目标机器人之前，所述方法还包括：
    判断所述目标货物对应的区域的预设范围内，是否存在可容纳所述阻挡货物的未被占用空间；
    若不存在可容纳所述阻挡货物的未被占用空间，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    若所述目标货物对应的区域的预设范围内，存在可容纳第一部分所述阻挡货物的未被占用空间时，则根据所述阻挡货物的数量确定所述至少一个目标机器人，或，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，或，根据剩余的阻挡货物的数量确定至少一个目标机器人，或，根据剩余的阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，其中，所述剩余的阻挡货物为除所述第一部分所述阻挡货物之外的阻挡货物。
  6. 根据权利要求2或4或5的方法，其特征在于，根据所述阻挡货物的数量，确定所述至少一个目标机器人，包括：
    判断是否存在可存放货物数量大于或等于所述阻挡货物数量和所述目标货物数量之和的第一机器人；
    当存在时，将所述第一机器人确定为所述目标机器人；
    当不存在时，将至少两个第二机器人确定为所述至少一个目标机器人，其中，所述至少两个第二机器人的可存放货物数量之和大于或等于所述阻挡货物数量和所述目标货物数量之和。
  7. 根据权利要求3或4或5的方法，其特征在于，根据所述阻挡货物的数量和所述目标货物的属性信息确定所述至少一个目标机器人，包括：
    根据所述目标货物的属性信息确定第三机器人；
    当所述第三机器人的可存放货物数量大于或等于所述阻挡货物和所述目标货物的数量之和时，确定所述第三机器人为所述目标机器人；
    当所述第三机器人的剩余可存放货物数量小于所述阻挡货物的数量时，根据所述剩余可存放货物数量和所述阻挡货物的数量之间的差值，确定至少一个第四机器人，其中，所述剩余可存放货物数量为所述第三机器人可存放货物数量去除所述目标货物的数量之后的数量，所述第三机器人和所述至少一个第四机器人为所述至少一个目标机器人。
  8. 根据权利要求1所述的方法，其特征在于，在将所述取出指令发送给至少一个目标机器人之前，所述方法还包括：
    根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人。
  9. 根据权利要求8所述的方法，其特征在于，根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人，包括：
    判断是否存在可用存储空间足以容纳所述阻挡货物和所述目标货物的第五机器人；
    当存在时，将所述第五机器人确定为所述目标机器人；
    当不存在时，将至少两个第六机器人确定为所述至少一个目标机器人，其中，所述至少两个第六机器人的可用存储空间的集合对应的空间足以容纳所述阻挡货物和所述目标货物。
  10. 根据权利要求8所述的方法，其特征在于，根据机器人的可用存储空间，以及所述阻挡货物和所述目标货物的需求空间确定所述至少一个目标机器人，包括：
    根据所述目标货物的属性信息确定第七机器人；
    当所述第七机器人的可用存储空间足以容纳所述阻挡货物和所述目标货物时，确定所述第七机器人为所述目标机器人；
    当所述第七机器人的剩余可用存储空间不足以容纳所述阻挡货物时，根据所述剩余可用存储空间和所述阻挡货物所需的空间的差值，确定至少一个第八机器人，其中，所述剩余可用存储空间为所述第七机器人可用存储空间去除所述目标货物的空间之后的空间，所述第七机器人和所述至少一个第八机器人为所述至少一个目标机器人。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述目标机器人的数量为一个，所述取出指令包括阻挡取出指令和目标取出指令；
    其中，所述阻挡取出指令用于使得所述目标机器人取出所述阻挡货物，并将所述阻挡货物放置于所述目标机器人的第一存储空间中；
    所述目标取出指令，用于使得所述目标机器人取出所述目标货物，将所述目标货物放置于所述目标机器人的第二存储空间中。
  12. 根据权利要求1-10任一项所述的方法，其特征在于，所述取出指令包括第一取出指令和第二取出指令；
    其中，所述第一取出指令用于使得第一目标机器人，取出所述阻挡货物，所述第一目标机器人为所述至少一个目标机器人中的机器人；
    所述第二取出指令用于使得第二目标机器人，取出所述目标货物，所述第二目标机器人为除所述第一目标机器人之外的所述至少一个目标机器人中的机器人。
  13. 根据权利要求1-10任一项所述的方法，其特征在于，所述取出指令包括第三取出指令和第四取出指令；
    其中，所述第三取出指令用于使得第三目标机器人，取出第三部分的所述阻挡货物，所述第三目标机器人为所述至少一个目标机器人中的机器人；
    所述第四取出指令用于使得第四目标机器人，取出所述目标货物以及第四部分的所述阻挡货物，所述第四目标机器人为除所述第三目标机器人之外的所述至少一个目标机器人中的机器人，所述第四部分的阻挡货物为除所述第三部分的阻挡货物之外剩余的阻挡货物。
  14. 根据权利要求1-13任一项所述的方法，其特征在于，在生成所述目标货物的取出指令之后，还包括：
    生成所述阻挡货物的阻挡回流指令，以根据所述阻挡回流指令，将所述阻挡货物放置于所述阻挡货物的原库位或者预设空闲空间，其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位，所述预设空闲空间为所述阻挡货物的原库位对应的货架上除所述原库位对应的空间之外的、未被货物占据的空间。
  15. 根据权利要求1-14任一项所述的方法，其特征在于，还包括：
    生成所述目标货物的目标回流指令，以根据所述目标回流指令将所述目标货物放置于所述目标货物的原库位，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位。
  16. 根据权利要求1-13任一项所述的方法，其特征在于，在生成所述目标货物的取出指令之后，所述方法还包括：
    根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息，确定各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向，其中，所述阻挡货物的原库位为所述阻挡货物被取出之前所存放的库位；
    针对目标货物的每个阻挡货物，根据所述阻挡货物对应的新库位和所述第一预设朝向，生成所述阻挡货物的第一回流指令，以根据所述第一回流指令按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
  17. 根据权利要求1-13任一项所述的方法，其特征在于，在生成所述目标货物的取出指令之后，所述方法还包括：
    根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及所述目标货物的尺寸信息，确定所述目标货物的新库位和所述目标货物的第二预设朝向，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位；
    根据所述目标货物对应的新库位和第二预设朝向，生成目标货物的第二回流指令，以根据所述第二回流指令按照所述第二预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
  18. 根据权利要求1-17任一项所述的方法，其特征在于，在根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令之前，包括：
    根据任务需求确定至少一个待取出货物；
    根据所述待取出货物的阻挡货物，从所述至少一个待取出货物中确定所述目标货物。
  19. 根据权利要求18所述的方法，其特征在于，根据所述待取出货物的阻挡货物，从所述至少一个待取出货物中确定所述目标货物，包括：
    统计各个所述待取出货物的阻挡货物的数量和尺寸信息中的一项或多项；
    根据所述待取出货物的阻挡货物的数量和尺寸信息中的一项或多项，从所述至少一个待取出货物中确定所述目标货物。
  20. 根据权利要求19所述的方法，其特征在于，根据所述待取出货物的阻挡货物的数量和尺寸信息中的一项或多项，从所述至少一个待取出货物中确定所述目标货物，包括：
    根据所述待取出货物的阻挡货物的数量、所述待取出货物的阻挡货物的尺寸信息以及下述参数中的至少一项，从所述至少一个待取出货物中确定所述目标货物：各个所述待取出货物与工作站的距离、各个所述待取出货物与巷道口的距离以及各个所述待取出货物位于货架的层数。
  21. 一种货物取出方法，其特征在于，包括：
    接收目标货物的取出指令，其中，所述取出指令为根据所述目标货物对应的阻挡货物的数量生成的；
    根据所述取出指令取出所述目标货物。
  22. 根据权利要求21所述的方法，其特征在于，所述取出指令包括阻挡取出指令和目标取出指令，根据所述取出指令取出所述目标货物，包括：
    根据所述阻挡取出指令，取出所述阻挡货物，并将所述阻挡货物放置于第一存储空间中；
    根据所述目标取出指令，取出所述目标货物，将所述目标货物放置于第二存储空间中。
  23. 根据权利要求21所述的方法，其特征在于，所述取出指令包括第一取出指令和第二取出指令，所述第一取出指令用于指示取出阻挡货物，根据所述取出指令取出所述目标货物，包括：
    在取出所述阻挡货物之后，根据所述第二取货指令，取出所述目标货物。
  24. 根据权利要求21所述的方法，其特征在于，所述取出指令包括第三取出指令和第四取出指令，所述第三取出指令用于指示取出第三部分的阻挡货物，根据所述取出指令取出所述目标货物，包括：
    在取出所述第三部分的阻挡货物之后，根据所述第四取货指令，取出所述目标货物以及第四部分的所述阻挡货物，所述第四部分的阻挡货物为除所述第三部分的阻挡货物之外剩余的阻挡货物。
  25. 根据权利要求21-24任一项所述的方法，其特征在于，在取出所述目标货物之后，还包括：
    接收阻挡回流指令；
    根据所述阻挡回流指令，将所述阻挡货物放置于所述阻挡货物的原库位或者预设空闲空间，其中，所述阻挡货物的原库位为所述阻挡货物在被取出之前所存放的库位，所述预设空闲空间为所述阻挡货物的原库位对应的货架上除所述原库位对应的空间之外的、未被货物占据的空间。
  26. 根据权利要求21-25任一项所述的方法，其特征在于，在取出所述目标货物之后，还包括：
    接收目标回流指令；
    根据所述目标回流指令，将所述目标货物放置于所述目标货物的原库位，其中，所述目标货物的原库位为所述目标货物被取出之前所存放的库位。
  27. 根据权利要求21-24任一项所述的方法，其特征在于，在取出所述目标货物之后，还包括：
    接收第一回流指令，其中，所述第一回流指令包括各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向，各个所述阻挡货物的新库位以及各个所述阻挡货物的第一预设朝向是根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及各个所述阻挡货物的尺寸信息确定的，所述阻挡货物的原库位为所述阻挡货物被取出之前所存放的库位；
    针对目标货物的每个阻挡货物，根据所述第一回流指令，按照所述第一预设朝向将所述阻挡货物存放于所述阻挡货物对应的新库位上。
  28. 根据权利要求21-25任一项所述的方法，其特征在于，在取出所述目标货物之后，还包括：
    接收第二回流指令，其中，所述第二回流指令包括所述目标货物的新库位和所述目标货物的第二预设朝向，所述目标货物的新库位和所述目标货物的第二预设朝向是根据所述目标货物的原库位的尺寸信息、各个所述阻挡货物的原库位的尺寸信息以及所述目标货物的尺寸信息确定的，所述目标货物的原库位为所述目标货物被取出之前所存放的库位；
    根据所述第二回流指令，按照所述第二预设朝向将所述目标货物存放于所述目标货物对应的新库位，以使存放于所述目标货物对应的新库位上的所述目标货物的阻挡货物的数量少于存放于所述目标货物对应的原库位上的所述目标货物的阻挡货物的数量。
  29. 一种货物取出装置，其特征在于，包括：
    取出指令生成模块，用于根据目标货物对应的阻挡货物的数量，生成所述目标货物的取出指令；
    取出指令发送模块，用于将所述取出指令发送给至少一个目标机器人，以使所述至少一个目标机器人根据所述取出指令取出所述目标货物。
  30. 一种货物取出装置，其特征在于，包括：
    取出指令接收模块，用于接收目标货物的取出指令，其中，所述取出指令为根据所述目标货物对应的阻挡货物的数量生成的；
    货物取出模块，用于根据所述取出指令取出所述目标货物。
  31. 一种货物取出装置，其特征在于，包括：存储器和至少一个处理器；
    所述存储器存储计算机执行指令；
    所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如权利要求1-20任一项所述的货物取出方法。
  32. 一种机器人，其特征在于，包括：存储器和至少一个处理器；
    所述存储器存储计算机执行指令；
    所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如权利要求21-28任一项所述的货物取出方法。
  33. 根据权利要求32所述的机器人，其特征在于，所述机器人包括移动底盘，搬运装置，存储货架和升降组件；所述存储货架、所述搬运装置以及所述升降组件安装于所述移动底盘。
  34. 根据权利要求33所述的机器人，其特征在于，所述搬运装置包括以下一种或多种：伸缩臂组件、吸盘与机械臂。
  35. 根据权利要求33或34所述的机器人，其特征在于，所述搬运装置包括托板与转向结构，所述转向结构用于改变放置于所述托板上的货物的朝向。
  36. 一种仓储系统，其特征在于，包括：权利要求31所述的货物取出装置或权利要求32-35任一项所述的机器人。
  37. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如权利要求1-28任一项所述的货物取出方法。
  38. 一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-28任一项所述的货物取出方法。
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CN114955351A (zh) * 2022-06-29 2022-08-30 深圳市库宝软件有限公司 搬运任务分配方法、装置、设备及存储介质
CN114955351B (zh) * 2022-06-29 2024-04-02 深圳市库宝软件有限公司 搬运任务分配方法、装置、设备及存储介质
CN116228093A (zh) * 2022-12-26 2023-06-06 上海通天晓信息技术有限公司 一种装箱方法及装置、存储介质
CN116228093B (zh) * 2022-12-26 2024-04-12 上海通天晓信息技术有限公司 一种装箱方法及装置、存储介质
CN117022970A (zh) * 2023-10-09 2023-11-10 成都思越智能装备股份有限公司 一种物料动态存储方法及装置
CN117022970B (zh) * 2023-10-09 2023-12-22 成都思越智能装备股份有限公司 一种物料动态存储方法及装置

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