WO2022135135A1 - 货物处理方法、装置、设备、系统、存储介质及程序产品 - Google Patents

货物处理方法、装置、设备、系统、存储介质及程序产品 Download PDF

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Publication number
WO2022135135A1
WO2022135135A1 PCT/CN2021/136026 CN2021136026W WO2022135135A1 WO 2022135135 A1 WO2022135135 A1 WO 2022135135A1 CN 2021136026 W CN2021136026 W CN 2021136026W WO 2022135135 A1 WO2022135135 A1 WO 2022135135A1
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WO
WIPO (PCT)
Prior art keywords
goods
shelf
handling robot
target
rack
Prior art date
Application number
PCT/CN2021/136026
Other languages
English (en)
French (fr)
Inventor
周浪
杨穗梅
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2022135135A1 publication Critical patent/WO2022135135A1/zh
Priority to US18/339,660 priority Critical patent/US20230331483A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the present disclosure relates to the field of intelligent warehousing, and in particular, to a cargo processing method, device, device, system, storage medium and program product.
  • Embodiments of the present disclosure provide a cargo processing method, apparatus, device, system, storage medium, and program product, which are used to solve the technical problem of low cargo processing efficiency.
  • an embodiment of the present disclosure provides a cargo processing method, which is applied to a server, and the method includes:
  • a picking instruction is sent, so that the rack handling robot transports the rack where the goods to be shipped out are located to the outbound point.
  • each item stored on the same shelf corresponds to the same distribution information
  • the delivery information includes at least one of the following items: outbound point, delivery vehicle number, and delivery route.
  • determining a target shelf for storing the goods according to the distribution information corresponding to the goods including:
  • a target shelf for storing the goods is determined.
  • each shelf used to store goods includes multiple shelf layers
  • the method further includes: determining a shelf layer in the target shelf for storing the goods to be stored in the target shelf according to the customer information corresponding to the order.
  • the goods stored in the same shelf layer of each shelf correspond to the same customer information.
  • the method further includes:
  • the delivery instruction is used to indicate the port to which the goods are delivered and the target rack, so that the cargo handling robot will go to the port according to the delivery instruction and will be located at the port.
  • the cargo at the port is transported to the target rack.
  • the method further includes:
  • Plan a path for the cargo handling robot according to the placement position of the target shelf and the available path of the cargo handling robot;
  • a path is planned for the shelf handling robot according to the placement position of the shelf where the goods to be shipped out are located and the available path of the shelf handling robot.
  • the available paths of the cargo handling robot and the available paths of the rack handling robot do not overlap each other.
  • the cargo handling robot is a double-deep robot
  • the shelves used for storing goods are double-deep shelves
  • the roadway on one side of the shelf is the available path of the cargo handling robot
  • the other The roadway on the side is the available path of the rack handling robot.
  • determining a target shelf for storing the goods according to the distribution information corresponding to the goods including:
  • an embodiment of the present disclosure provides a cargo handling method, which is applied to a cargo handling robot, and the method includes:
  • the goods are stored on the target racks, so that the rack handling robot can transport the target racks to the delivery point when the goods need to be shipped out.
  • each item stored on the same shelf corresponds to the same distribution information
  • the delivery information includes at least one of the following items: outbound point, delivery vehicle number, and delivery route.
  • determining a target shelf for storing the goods according to the distribution information corresponding to the goods including:
  • a target shelf for storing the goods is determined.
  • each shelf used to store goods includes multiple shelf layers
  • the method further includes: determining a shelf layer in the target shelf for storing the goods to be stored in the target shelf according to the customer information corresponding to the order.
  • the goods stored in the same shelf layer of each shelf correspond to the same customer information.
  • storing the goods on the target rack includes:
  • the method further includes:
  • the available paths of the cargo handling robot and the available paths of the rack handling robot do not overlap each other.
  • the cargo handling robot is a double-deep robot
  • the shelves used for storing goods are double-deep shelves
  • the roadway on one side of the shelf is the available path of the cargo handling robot
  • the other The roadway on the side is the available path of the rack handling robot.
  • determining a target shelf for storing the goods according to the distribution information corresponding to the goods including:
  • an embodiment of the present disclosure further provides a cargo processing device, which is applied to a server, and the device includes:
  • a first determining module configured to determine a target rack for storing the goods according to the distribution information corresponding to the goods when there is a goods to be put into storage;
  • a first sending module configured to send a delivery instruction, so that the cargo handling robot stores the goods on the target shelf according to the delivery instruction
  • the second sending module is configured to send a picking instruction when there are goods to be shipped out, so that the rack handling robot can transport the rack where the goods to be shipped out are located to the outbound point.
  • an embodiment of the present disclosure provides a cargo handling device, which is applied to a cargo handling robot, and the device includes:
  • a second determination module configured to determine a target shelf for storing the goods according to the distribution information corresponding to the goods when there is a goods to be put into storage;
  • the control module is configured to control the cargo handling robot to store the cargo on the target rack, so that the rack handling robot transports the target rack to the delivery point when the cargo needs to be shipped out.
  • an embodiment of the present disclosure provides a server, including:
  • a memory communicatively coupled to the at least one processor
  • the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the server to perform the method according to any one of the first aspects.
  • a cargo handling robot including:
  • a memory communicatively coupled to the at least one processor
  • the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the cargo handling robot to perform the method according to any one of the second aspects .
  • an embodiment of the present disclosure provides a storage system, including: the server described in the fifth aspect, a cargo handling robot, and a shelf handling robot;
  • the cargo handling robot is used for handling goods, and the rack handling robot is used for handling shelves.
  • an embodiment of the present disclosure provides a storage system, including: the cargo handling robot, the server, and the shelf handling robot described in the sixth aspect;
  • the server is used for scheduling the cargo handling robot and the shelf handling robot, and the shelf handling robot is used for handling the shelves.
  • an embodiment of the present disclosure 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 one of the first aspect is implemented or the method of any one of the second aspect.
  • embodiments of the present disclosure provide a computer program product, including a computer program, which, when executed by a processor, implements any one of the methods of the first aspect or any one of the second aspect.
  • a destination for storing the cargo when there is a cargo to be put into storage, a destination for storing the cargo can be determined according to the distribution information corresponding to the cargo. shelf, and send a delivery instruction, so that the cargo handling robot can store the goods on the target shelf according to the delivery instruction.
  • the rack where the goods to be shipped out are transported to the outbound point, so that the storage of the goods can be realized according to the distribution information, and the entire rack can be directly transported according to the distribution information when leaving the warehouse, without the need to carry out multiple handling and selection of the goods, effectively It reduces the number of goods handling and picking, and improves the efficiency of goods out of the warehouse.
  • FIG. 1 is a schematic diagram of a cargo outbound process according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic flowchart of a cargo processing method according to an embodiment of the present disclosure
  • FIG. 4 is a schematic flowchart of another cargo processing method provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of the principle of goods warehousing according to an embodiment of the present disclosure
  • FIG. 6 is a schematic diagram of the principle of a cargo outbound provided by an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of an available path provided by an embodiment of the present disclosure.
  • FIG. 8A is a front view of a double-deep rack according to an embodiment of the present disclosure.
  • FIG. 8B is a side view of the double-deep shelf shown in FIG. 8A;
  • FIG. 8C is a top view of the double-deep rack shown in FIG. 8A;
  • FIG. 9 is a schematic flowchart of another cargo processing method provided by an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a cargo handling device according to an embodiment of the present disclosure.
  • FIG. 11 is a schematic structural diagram of another cargo processing device provided by an embodiment of the present disclosure.
  • FIG. 12 is a schematic structural diagram of a server according to an embodiment of the present disclosure.
  • FIG. 13 is a schematic structural diagram of a cargo handling robot according to an embodiment of the present disclosure.
  • the processing efficiency of goods is of great significance to the entire warehousing system.
  • the way of picking goods can be used to realize the delivery of goods from the warehouse.
  • FIG. 1 is a schematic diagram of a cargo outbound process according to an embodiment of the present disclosure.
  • the arrows in the figure show the flow direction of the goods.
  • the robot 11 can go to the shelf 12, take out the material box 13 containing the goods, and then send the material box 13 to the operation table 14 for picking. After the picking is completed, multiple orders corresponding to Then the robot 11 sends the batch of goods to the cargo collection area 15, and the staff 16 performs secondary sorting, selects the goods corresponding to each order, and packs them and sends them to the delivery vehicle 17 for delivery.
  • the goods to be put into the warehouse can be stored according to the distribution information corresponding to the goods, the goods with the same distribution information can be stored on the same shelf, and the entire shelf can be directly transported to the warehouse when leaving the warehouse. Since the goods with the same distribution information are stored on the shelves, the efficiency of goods loading can be effectively improved, and the robot can transport the goods of the entire shelf to the out-of-stock point at one time, which reduces the number of goods handling and improves the Outbound efficiency; in addition, there is no need to set up additional collection areas, effectively reducing land occupation costs.
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure.
  • the intelligent storage system may include a server 21 , a cargo handling robot 22 , a shelf handling robot 23 , a shelf 24 , and the like.
  • the shelves 24 can be used to store goods 25 .
  • the cargo handling robot 22 is used for transporting the cargo 25 , and may specifically be a robot with a fork or a robotic arm that can place the cargo 25 on the shelf 24 .
  • the rack transporting robot 23 is used for transporting the racks 24 , and may specifically be a robot that can directly lift the racks 24 and transport them away.
  • the cargo handling robot 22 and the rack handling robot 23 may communicate with the server 21 respectively, and the server 21 may send instructions to the Control of the transfer robot 22 and the rack transfer robot 23 .
  • the server 21 can send an instruction for storing the goods 25 to the goods handling robot 22 , and the goods handling robot 22 can transport the goods 25 to be put into the warehouse to the target rack 24 and store the goods 25 on the rack 24 .
  • the target rack 24 of the goods 25 can be determined by its corresponding delivery information, for example, the goods 25 belonging to the same delivery train can be placed on the same rack 24 .
  • the server 21 determines the corresponding rack 24 according to the goods 25 to be shipped out, and sends an instruction for transporting the rack 24 to the rack handling robot 23 , and the rack handling robot 23 sends the corresponding rack 24
  • the goods 25 on the shelves are loaded onto the corresponding delivery vehicles 26 by staff or robots, and the out-of-warehousing of the goods 25 is completed.
  • FIG. 3 is a schematic flowchart of a cargo processing method according to an embodiment of the present disclosure.
  • the execution body of the method in this embodiment may be a server.
  • the cargo processing method in this embodiment may include:
  • Step 301 If there is a commodity to be put into the warehouse, determine a target shelf for storing the commodity according to the distribution information corresponding to the commodity.
  • the goods may refer to the original unpacked goods, or may be packages or boxes containing goods obtained after packing.
  • the goods to be put into storage may be goods to be stored on a shelf.
  • the server can allocate a corresponding shelf for the goods according to the distribution information of the goods, which is recorded as a target shelf.
  • the delivery information may include at least one of the following items: outbound point, delivery vehicle number, delivery route, and the like.
  • the outbound point is the loading port, which may refer to the place where the goods are loaded when leaving the warehouse;
  • the delivery vehicle number may refer to the vehicle number corresponding to the vehicle delivering the goods;
  • the delivery route may refer to the vehicle corresponding to the vehicle. delivery route.
  • multiple outbound points can be set up, corresponding to multiple delivery trains and routes. delivery route.
  • delivery information corresponding to each shelf may be preset, and the server may store the correspondence between the identifiers of the shelves and the delivery information.
  • the corresponding shelf can be directly searched according to the delivery information corresponding to the goods.
  • the corresponding relationship between the shelves and the delivery information may also be dynamically adjusted. This embodiment of the present disclosure does not limit this.
  • Step 302 Send a delivery instruction, so that the cargo handling robot stores the goods on the target shelf according to the delivery instruction.
  • the delivery instruction may include the information of the goods and the information of the target rack, such as the identification of the goods, the current position of the goods, the identification of the target rack, the position of the target rack, and the like.
  • the cargo handling robot can go to the current position of the cargo according to the cargo release instruction, place the cargo on its own storage unit, and carry the cargo to the location of the target shelf, and place the cargo on the target shelf, thereby completing the placement. cargo operation.
  • Step 303 If there are goods to be taken out of the warehouse, send a picking instruction, so that the rack handling robot can transport the rack where the goods to be taken out of the warehouse are located to the outgoing point.
  • the picking instruction may include information on the shelf where the goods are located, such as the location of the shelf and the identifier of the shelf.
  • the rack handling robot can transport the entire rack to the delivery point according to the picking instruction. Since the goods are placed according to the delivery information, the whole rack handling can better adapt to the scene of goods distribution and improve the delivery of goods. Efficiency of the library.
  • the rack handling robot can also transport the empty racks back to the corresponding position in the warehouse to realize the circulation of empty racks.
  • each of the goods stored on the same shelf corresponds to the same distribution information.
  • the same shelf can lock the same train, that is, the goods stored on the same shelf all correspond to the same delivery train.
  • the delivery vehicle when leaving the warehouse, the delivery vehicle is parked at the delivery point corresponding to the delivery vehicle, and the shelf handling robot can directly transport the shelf to the delivery point, and the staff or robot can load all the goods on the shelf onto the delivery vehicle. , after the loading is completed, the delivery vehicle completes the delivery of the goods.
  • the cargo handling robot Since the same distribution information is locked on the same shelf, the cargo handling robot stores the goods according to the distribution information such as the number of vehicles, and the sorting is completed immediately after being put on the shelf, which reduces the number of picking of goods.
  • the rack handling robot When leaving the warehouse, cooperate with the rack handling robot to realize the rapid delivery of the entire rack, reducing the handling of goods at the level, and the staff does not need to confirm the corresponding vehicle number and other information for each goods separately, saving the time of the loading process and effectively improving the goods. overall processing efficiency.
  • a target shelf for storing the cargo when there is a cargo to be put into storage, a target shelf for storing the cargo can be determined according to the distribution information corresponding to the cargo, and a cargo release instruction can be sent, so that the cargo handling robot can The goods are stored on the target rack according to the delivery instruction, and when there are goods to be shipped out, a picking instruction can be sent, so that the rack handling robot can transport the rack where the goods to be shipped out are located to Outbound point, so that the goods can be stored according to the distribution information, and the entire shelf can be transported directly according to the distribution information when the warehouse is out of the warehouse. Efficiency of the library.
  • FIG. 4 is a schematic flowchart of another cargo processing method provided by an embodiment of the present disclosure. As shown in Figure 4, the method includes:
  • Step 401 the conveying line conveys the goods to the storage section.
  • a conveyor line can be used to cooperate to realize storage.
  • the conveying line can input the goods to the storage section, and the storage section can be provided with a connection port for the goods handling robot to take the goods.
  • Step 402 the cargo handling robot is connected to the warehouse.
  • the cargo handling robot can directly take the cargo from the connection port of the conveyor line.
  • the server may first determine the connection ports to which the goods to be put into storage are transported by the conveying line.
  • the delivery instruction can be used to indicate the port to which the goods are delivered and the target rack, so that the cargo handling robot can go to the port according to the delivery instruction and will be located at the port. The cargo at the port is transported to the target rack.
  • the server can notify the cargo handling robot to go to the first connection port to pick up the corresponding goods and put them on the target shelf.
  • the goods to be put into storage are goods that have been picked.
  • picking refers to picking the original goods according to the order to obtain the goods corresponding to the order.
  • the picked goods may be picked on the conveying line, may be picked before the conveying line, or may be picked at the manufacturer of the goods. This embodiment of the present disclosure does not limit this.
  • the goods can be put into storage more quickly, and the efficiency of goods storage can be improved; in addition, the goods conveyed by the conveyor line can be picked goods, and the picked goods can be directly placed on the shelves, which improves the handling of goods.
  • the processing efficiency of the robot is the most efficient way to put into storage more quickly, and the efficiency of goods storage can be improved; in addition, the goods conveyed by the conveyor line can be picked goods, and the picked goods can be directly placed on the shelves, which improves the handling of goods. The processing efficiency of the robot.
  • Step 403 the cargo handling robot puts the cargo on the shelf.
  • the target shelf for storing the goods may be determined according to the distribution information corresponding to the goods.
  • determining the target rack for storing the goods according to the distribution information corresponding to the goods may include: determining the order to which the goods belong; and determining the target rack for storing the goods according to the distribution information corresponding to the order.
  • the order may include order time, customer information, deadline, etc., and the corresponding delivery information can be determined according to the order.
  • the corresponding delivery route can be determined according to the customer information, and the order needs to be At what point in time the outbound or delivery is completed, so as to select the trains that meet the requirements. In this way, the delivery information can be quickly and accurately determined according to the order corresponding to the goods, thereby improving the efficiency and accuracy of the goods processing.
  • FIG. 5 is a schematic diagram of the principle of a cargo warehousing provided by an embodiment of the present disclosure.
  • the cargo handling robot 22 can place the cargo 25 on the rack 24 .
  • the left shelf 24 and the middle shelf 24 in the figure correspond to the train A
  • the right shelf 24 corresponds to the train B.
  • the goods 25 can be placed on the left shelf 24 or the middle shelf 24; when the goods 25 need to be delivered by train B, the goods 25 can be placed on the right shelf twenty four.
  • each shelf 24 for storing the goods 25 may include multiple shelf layers, thereby realizing multi-layer three-dimensional storage, improving space utilization, and increasing the number of cargo spaces.
  • a shelf layer for storing the goods 25 to be stored in the target shelf 24 may also be determined according to the customer information corresponding to the order.
  • each delivery train/delivery route may correspond to at least one piece of customer information
  • the customer information may be the customer's name, serial number, address, and the like.
  • the vehicle can go to one or the customer's location (such as a store) successively, unload the corresponding goods 25 from the vehicle and deliver it to the customer, and then continue to the next customer's location, Until all the goods 25 in the vehicle are delivered.
  • the goods 25 can be placed in the shelf layer according to the customer information, so that when the goods 25 are loaded, it is convenient for the staff to arrange the goods 25 according to the customer information, which effectively improves the delivery efficiency.
  • the goods stored in the same shelf layer of each shelf correspond to the same customer information.
  • each shelf 24 has three layers, and the shelf layer on which the goods 25 are placed can be determined according to customer information.
  • the goods 25 of the same customer are placed in each shelf level.
  • the top layer of the shelf 24 is placed with the goods 25 of customer a
  • the middle layer is placed with the goods 25 of the customer b
  • the bottom layer is placed with the goods 25 of the customer c.
  • the same layer of one shelf 24 corresponds to the same customer information, but if two or more shelves 24 correspond to the same delivery information, the same layer of the two or more shelves 24 may also correspond to the same customer information.
  • the corresponding shelf layers correspond to the same customer information.
  • the top layer of the left shelf 24 and the top layer of the middle shelf 24 both correspond to customer a.
  • the racks 24 corresponding to different vehicle trips may not be subject to this restriction, for example, the same layer of the left rack 24 and the right rack 24 may correspond to different customer information.
  • the staff when the goods are loaded out of the warehouse, the staff can directly determine the corresponding customer information according to the shelf layer, without spending extra time to determine the corresponding customer information for each goods, which further improves the loading time. Efficiency and accuracy of distribution.
  • Step 404 the server schedules the rack handling robot to go to the target rack.
  • the server can dispatch the rack handling robot to the target rack by sending corresponding instructions according to the loading rhythm.
  • Step 405 the rack handling robot leaves the whole rack out of the warehouse.
  • the rack handling robot can transport the target rack to the loading port according to the instruction of the server.
  • FIG. 6 is a schematic diagram of the principle of a cargo outbound provided by an embodiment of the present disclosure. As shown in FIG. 5 , the rack transport robot 23 can lift up the entire rack 24 and transport it to the loading port, and place it on the picking and delivery vehicle 26 for delivery.
  • the cargo handling method provided in this embodiment can realize the warehousing and warehousing of cargo through the cooperation of conveyor lines, cargo handling robots, shelf handling robots, etc., effectively reducing the number of times the cargo is handled, and improving the handling efficiency of the cargo.
  • the same rack can store the goods of two adjacent trains, which can take into account the efficiency of goods storage on the basis of improving the efficiency of outbound storage, and improve the overall performance of the system.
  • a path may be planned for the cargo handling robot according to the placement position of the target shelf and the available path of the cargo handling robot; and/or, A path is planned for the shelf handling robot according to the placement position of the shelf where the goods to be shipped out are located and the available path of the shelf handling robot.
  • FIG. 7 is a schematic diagram of an available path provided by an embodiment of the present disclosure.
  • the shelf area can be set between the conveying line 27 and the delivery vehicle 26 , and multiple rows of shelves 24 are placed in the shelf area, and each row of shelves 24 forms an available path for the cargo handling robot and the shelf handling robot.
  • the dotted line in the figure represents the available path of the cargo handling robot
  • the dot-dash line represents the available path of the shelf handling robot.
  • the path planning of the cargo handling robot and the shelf handling robot can be realized quickly and effectively, the efficiency of path planning can be improved, and computing resources can be saved.
  • the available path of the cargo handling robot and the available path of the rack handling robot do not overlap with each other, so that traffic congestion caused by overlapping paths can be effectively reduced, and the efficiency of the robot in picking up and releasing goods can be improved.
  • the cargo handling robot may be a double-deep robot
  • the rack for storing goods may be a double-deep rack.
  • the lane on one side of the rack is the available path of the cargo handling robot, and the other The roadway is the available path of the rack handling robot.
  • the double-deep racks may mean that the goods on each rack layer may be placed in double rows in the depth direction.
  • the depth direction may refer to the telescopic direction of the fork when the robot picks up and places goods.
  • FIG. 8A is a front view of a double-deep shelf according to an embodiment of the present disclosure.
  • Fig. 8B is a side view of the double deep shelf shown in Fig. 8A.
  • FIG. 8C is a top view of the double-deep shelf shown in FIG. 8A .
  • the double-deep robot can be a robot capable of double-deep delivery, that is, the robot can take out two goods at a time.
  • the unit can hold two loads.
  • the double-deep robot is used in conjunction with the double-deep rack to directly complete the double-deep placement, avoiding the need to place the cargo on both sides of the rack, and improving the efficiency of placement.
  • the lanes on both sides of the rack can be supplied with the cargo handling robot and
  • the use of rack handling robots can effectively realize that the available paths of the two do not overlap, and ensure the smooth and orderly operation of the system.
  • determining a target shelf for storing the goods according to the distribution information corresponding to the goods may include: searching whether there is a product corresponding to the distribution information and If there is a shelf with a free space, if it exists, select the target shelf from the found shelves; if there is no shelf corresponding to the delivery information and have a free space, check whether there is a free shelf. Select the target shelf among the vacant shelves.
  • the distribution information of the goods can be determined first, and then the shelves corresponding to the distribution information that have been partially occupied are searched, and the goods are stored on the shelves.
  • the shelves corresponding to the delivery information are already occupied, or if there is no shelf corresponding to the delivery information, select an vacant shelf, that is, a shelf without any goods currently placed, as the shelf corresponding to the delivery information. Goods to be put into storage are placed on this shelf. When new goods need to be put into the warehouse later, if the delivery information meets the requirements of the shelf, the new goods can be placed on the shelf. After all the goods on the shelf are out of the warehouse, the corresponding relationship between the shelf and the delivery information can be released, and it can be used as a vacant shelf for subsequent goods.
  • a shelf can be preferentially selected from the shelves that have matched the delivery information to store the goods to be put into the warehouse, which effectively reduces the vacancy rate of the shelves and improves the concentration of the shelves. , optimize the efficiency of delivery.
  • FIG. 9 is a schematic flowchart of still another cargo processing method according to an embodiment of the present disclosure.
  • the method described in this embodiment can be applied to a cargo handling robot. As shown in Figure 9, the method includes:
  • Step 901 If there is a commodity to be put into storage, determine a target shelf for storing the commodity according to the distribution information corresponding to the commodity.
  • Step 902 Store the goods on the target rack, so that the rack handling robot can transport the target rack to the delivery point when the goods need to be shipped out.
  • the server may schedule the cargo handling robot and the shelf handling robot. Specifically, when there are goods to be put into storage, the server can send an instruction to the goods handling robot to instruct the goods to be put into storage, and the goods moving robot determines the target shelf according to the delivery information of the goods and stores them.
  • the goods handling robot After the goods handling robot stores the goods, it can send the correspondence between the goods, the delivery information and the target shelves to the server, and the server stores the correspondence.
  • the server determines the corresponding target racks according to the goods to be shipped out, and sends instructions to the rack handling robot, so that the rack handling robot can transport the entire target rack to the outbound point.
  • a target shelf for storing the cargo when there is a cargo to be put into storage, a target shelf for storing the cargo can be determined according to the distribution information corresponding to the cargo, and the cargo can be stored on the target shelf , so that when the goods need to be out of the warehouse, the rack handling robot will transport the target rack to the out-of-warehouse point, so that the goods can be stored according to the delivery information.
  • the goods are carried and picked for many times, which effectively reduces the number of goods handling and picking, and improves the efficiency of goods delivery.
  • each item stored on the same shelf corresponds to the same distribution information
  • the delivery information includes at least one of the following items: outbound point, delivery vehicle number, and delivery route.
  • determining a target shelf for storing the goods according to the distribution information corresponding to the goods including:
  • a target shelf for storing the goods is determined.
  • each shelf for storing goods includes a plurality of shelf layers
  • the method further includes: determining a shelf layer in the target shelf for storing the goods to be stored in the target shelf according to the customer information corresponding to the order.
  • the goods stored in the same shelf layer of each shelf correspond to the same customer information.
  • storing the goods on the target rack includes:
  • the method further includes:
  • the available paths of the cargo handling robot and the available paths of the rack handling robots do not overlap with each other.
  • the cargo handling robot is a double-deep robot
  • the shelves for storing goods are double-deep shelves
  • the roadway on one side of the shelf is the available path of the cargo handling robot
  • the roadway on the other side is the available path of the rack handling robot.
  • determining a target shelf for storing the goods according to the distribution information corresponding to the goods including:
  • FIG. 10 is a schematic structural diagram of a cargo handling device according to an embodiment of the present disclosure.
  • the apparatus is applied to a server.
  • the apparatus may include:
  • the first determination module 1001 is configured to determine a target shelf for storing the goods according to the distribution information corresponding to the goods when there are goods to be put into storage;
  • a first sending module 1002 configured to send a delivery instruction, so that the cargo handling robot stores the goods on the target shelf according to the delivery instruction;
  • the second sending module 1003 is configured to send a picking instruction when there are goods to be shipped out, so that the rack handling robot can transport the rack where the goods to be shipped out are located to the outbound point.
  • the cargo processing device when there is a cargo to be put into storage, can determine a target shelf for storing the cargo according to the distribution information corresponding to the cargo, and send a cargo release instruction, so that the cargo handling robot can The goods are stored on the target rack according to the delivery instruction, and when there are goods to be shipped out, a picking instruction can be sent, so that the rack handling robot can transport the rack where the goods to be shipped out are located to Outbound point, so that the goods can be stored according to the distribution information, and the entire shelf can be directly transported according to the distribution information when out of the warehouse. There is no need to carry out multiple handling and picking for the goods, which effectively reduces the number of goods handling and picking, and improves the delivery of goods. Efficiency of the library.
  • each item stored on the same shelf corresponds to the same distribution information
  • the delivery information includes at least one of the following items: outbound point, delivery vehicle number, and delivery route.
  • the first determination module 1001 determines the target shelf for storing the goods according to the distribution information corresponding to the goods, it is specifically used to:
  • a target shelf for storing the goods is determined.
  • each shelf for storing goods includes a plurality of shelf layers
  • the first determining module 1001 is further configured to: determine a shelf layer in the target shelf for storing the goods to be stored in the target shelf according to the customer information corresponding to the order.
  • the goods stored in the same shelf layer of each shelf correspond to the same customer information.
  • the first determining module 1001 is further configured to:
  • the delivery instruction is used to indicate the port to which the goods are delivered and the target rack, so that the cargo handling robot will go to the port according to the delivery instruction and will be located at the port.
  • the cargo at the port is transported to the target rack.
  • the first determining module 1001 is further configured to:
  • Plan a path for the cargo handling robot according to the placement position of the target shelf and the available path of the cargo handling robot;
  • a path is planned for the shelf handling robot according to the placement position of the shelf where the goods to be shipped out are located and the available path of the shelf handling robot.
  • the available paths of the cargo handling robot and the available paths of the rack handling robots do not overlap with each other.
  • the cargo handling robot is a double-deep robot
  • the shelves for storing goods are double-deep shelves
  • the roadway on one side of the shelf is the available path of the cargo handling robot
  • the roadway on the other side is the available path of the rack handling robot.
  • the first determination module 1001 determines a target shelf for storing the goods according to the distribution information corresponding to the goods, it is specifically used for:
  • the apparatus provided in this embodiment can be used to implement the technical solutions of the method embodiments shown in FIG. 1 to FIG. 8 , and the implementation principles and technical effects thereof are similar, and details are not described herein again in this embodiment.
  • FIG. 11 is a schematic structural diagram of another cargo processing device provided by an embodiment of the present disclosure.
  • the device is a cargo handling robot.
  • the apparatus may include:
  • the second determination module 1101 is configured to determine a target rack for storing the goods according to the distribution information corresponding to the goods when there are goods to be stored in the warehouse.
  • the control module 1102 is configured to control the cargo handling robot to store the cargo on the target shelf, so that the shelf handling robot transports the target shelf to the delivery point when the cargo needs to be shipped out.
  • the target rack for storing the goods when there are goods to be put into storage, the target rack for storing the goods can be determined according to the distribution information corresponding to the goods, and the goods are stored in the target rack , so that when the goods need to be out of the warehouse, the rack handling robot will transport the target rack to the out-of-warehouse point, so that the goods can be stored according to the delivery information.
  • the goods are carried and picked for many times, which effectively reduces the number of goods handling and picking, and improves the efficiency of goods delivery.
  • each item stored on the same shelf corresponds to the same distribution information
  • the delivery information includes at least one of the following items: outbound point, delivery vehicle number, and delivery route.
  • the second determination module 1101 determines the target shelf for storing the goods according to the distribution information corresponding to the goods, it is specifically used for:
  • a target shelf for storing the goods is determined.
  • each shelf for storing goods includes a plurality of shelf layers
  • the second determining module 1101 is further configured to: determine a shelf layer in the target shelf for storing the goods to be stored in the target shelf according to the customer information corresponding to the order.
  • the goods stored in the same shelf layer of each shelf correspond to the same customer information.
  • control module 1102 is specifically configured to:
  • the second determining module 1101 is further configured to:
  • the available paths of the cargo handling robot and the available paths of the rack handling robot do not overlap with each other.
  • the cargo handling robot is a double-deep robot
  • the shelves used for storing goods are double-deep shelves
  • the roadway on one side of the shelf is the available path of the cargo handling robot
  • the other The roadway on one side is the available path of the rack handling robot.
  • the second determination module 1101 determines a target shelf for storing the goods according to the distribution information corresponding to the goods, it is specifically used for:
  • the apparatus provided in this embodiment can be used to execute the technical solution of the method embodiment shown in FIG. 9 , and the implementation principle and technical effect thereof are similar, and are not described again in this embodiment.
  • FIG. 12 is a schematic structural diagram of a server according to an embodiment of the present disclosure. As shown in FIG. 12 , the server in this embodiment may include:
  • At least one processor 1201 At least one processor 1201;
  • a memory 1202 in communication with the at least one processor
  • the memory 1202 stores instructions that can be executed by the at least one processor 1201, and the instructions are executed by the at least one processor 1201, so that the server executes the method according to any one of the above embodiments .
  • the memory 1202 may be independent or integrated with the processor 1201 .
  • FIG. 13 is a schematic structural diagram of a cargo handling robot according to an embodiment of the present disclosure. As shown in FIG. 13 , the cargo handling robot of this embodiment may include:
  • a memory 1302 in communication with the at least one processor
  • the memory 1302 stores instructions that can be executed by the at least one processor 1301, and the instructions are executed by the at least one processor 1301, so that the cargo handling robot executes the execution as described in any of the above embodiments Methods.
  • the memory 1302 may be independent or integrated with the processor 1301 .
  • An embodiment of the present disclosure further provides a storage system, including the server shown in FIG. 12 , a cargo handling robot, and a shelf handling robot.
  • the cargo handling robot is used for handling the goods
  • the rack handling robot is used for handling the shelves.
  • An embodiment of the present disclosure further provides a storage system, including the cargo handling robot, the server, and the shelf handling robot shown in FIG. 13 .
  • the server is used for scheduling the cargo handling robot and the rack handling robot, and the rack handling robot is used for handling the shelves.
  • Embodiments of the present disclosure further provide 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, the method described in any of the foregoing embodiments is implemented.
  • Embodiments of the present disclosure further provide a computer program product, including a computer program, which implements the method described in any of the foregoing embodiments when the computer program is executed by a processor.
  • 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 the 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 implement the solution of 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 cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods described in the various embodiments of the present disclosure.
  • 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 Interconnect (PCI for short) bus, or an Extended Industry Standard Architecture (EISA for short) bus, or the like.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component Interconnect
  • 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（25）处理方法、装置、设备、系统、存储介质及程序产品，其中方法包括：若存在待入库的货物（25），则根据货物（25）对应的配送信息，确定用于存放货物（25）的目标货架（24）；发送放货指令，以使货物搬运机器人（22）根据放货指令将货物（25）存放于目标货架（24）；若存在待出库的货物（25），则发送取货指令，以使货架搬运机器人（23）将待出库的货物（25）所在的目标货架（24）搬运至出库点。

Description

货物处理方法、装置、设备、系统、存储介质及程序产品
本公开要求于2020年12月24日提交中国专利局、申请号为202011548986.8、申请名称为“货物处理方法、装置、设备、系统、存储介质及程序产品”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领域，尤其涉及一种货物处理方法、装置、设备、系统、存储介质及程序产品。
背景技术
随着智能仓储技术的不断发展，社会对仓储的需求也在不断增加。如何保证货物快速出库成为热点问题。
在目前的智能仓储系统中，货物上架时没有特定的摆放顺序，在货物出库时，需要将货物搬运到操作台进行拣选，拣选完的货物再送去集货区进行二次分拣。因此，货物的出库过程需要进行多次拣选和搬运，成本高且效率低，耗费大量的人力、物力以及时间，货物处理效率较低。
发明内容
本公开实施例提供一种货物处理方法、装置、设备、系统、存储介质及程序产品，用于解决货物处理效率较低的技术问题。
第一方面，本公开实施例提供一种货物处理方法，应用于服务器，所述方法包括：
若存在待入库的货物，则根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架；
若存在待出库的货物，则发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点。
在一种可能的设计中，同一货架存放的各个货物对应相同的配送信息；
所述配送信息包括下述至少一项：出库点、配送车次、配送路线。
在一种可能的设计中，根据所述货物对应的配送信息，确定存放所述货物的目标货架，包括：
确定所述货物所属的订单；
根据所述订单对应的配送信息，确定存放所述货物的目标货架。
在一种可能的设计中，用于存放货物的每个货架包括多个货架层；
相应的，所述方法还包括：根据所述订单对应的客户信息，在所述目标货架中确定用于存放所述待入库的货物的货架层。
在一种可能的设计中，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
在一种可能的设计中，所述方法还包括：
确定所述待入库的货物被输送线输送至的接驳口；其中，所述待入库的货物为拣选完成的货物；
相应的，所述放货指令用于指示所述货物被输送至的接驳口以及目标货架，以使所述货物搬运机器人根据所述放货指令前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架。
在一种可能的设计中，所述方法还包括：
根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，为所述货物搬运机器人规划路径；和/或，
根据所述待出库的货物所在货架的放置位置以及所述货架搬运机器人的可用路径，为所述货架搬运机器人规划路径。
在一种可能的设计中，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠。
在一种可能的设计中，所述货物搬运机器人为双深位机器人，用于存放货物的货架为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
在一种可能的设计中，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，包括：
查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的货架中选择目标货架；
若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
第二方面，本公开实施例提供一种货物处理方法，应用于货物搬运机器人，所述方法包括：
若存在待入库的货物，则根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点。
在一种可能的设计中，同一货架存放的各个货物对应相同的配送信息；
所述配送信息包括下述至少一项：出库点、配送车次、配送路线。
在一种可能的设计中，根据所述货物对应的配送信息，确定存放所述货物的目标货架，包括：
确定所述货物所属的订单；
根据所述订单对应的配送信息，确定存放所述货物的目标货架。
在一种可能的设计中，用于存放货物的每个货架包括多个货架层；
相应的，所述方法还包括：根据所述订单对应的客户信息，在所述目标货架中确定用于存放所述待入库的货物的货架层。
在一种可能的设计中，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
在一种可能的设计中，将所述货物存放于所述目标货架，包括：
确定所述待入库的货物被输送线输送至的接驳口；其中，所述待入库的货物为拣选完成的货物；
前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架。
在一种可能的设计中，所述方法还包括：
根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，规划放货路径。
在一种可能的设计中，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠。
在一种可能的设计中，所述货物搬运机器人为双深位机器人，用于存放货物的货架为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
在一种可能的设计中，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，包括：
查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的货架中选择目标货架；
若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
第三方面，本公开实施例还提供一种货物处理装置，应用于服务器，所述装置包括：
第一确定模块，用于在存在待入库的货物时，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
第一发送模块，用于发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架；
第二发送模块，用于在存在待出库的货物时，发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点。
第四方面，本公开实施例提供一种货物处理装置，应用于货物搬运机器人，所述装置包括：
第二确定模块，用于在存在待入库的货物时，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
控制模块，用于控制所述货物搬运机器人将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点。
第五方面，本公开实施例提供一种服务器，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；
其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述服务器执行如第一方面任一项所述的方法。
第六方面，本公开实施例提供一种货物搬运机器人，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；
其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述货物搬运机器人执行如第二方面任一项所述的方法。
第七方面，本公开实施例提供一种仓储系统，包括：第五方面所述的服务器、货物搬运机器人以及货架搬运机器人；
所述货物搬运机器人用于对货物进行搬运，所述货架搬运机器人用于对货架进行搬运。
第八方面，本公开实施例提供一种仓储系统，包括：第六方面所述的货物搬运机器人、服务器以及货架搬运机器人；
所述服务器用于对所述货物搬运机器人以及货架搬运机器人进行调度，所述货架搬运机器人用于对货架进行搬运。
第九方面，本公开实施例提供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，实现如第一方面任一项或第二方面任一项所述的方法。
第十方面，本公开实施例提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现第一方面任一项或第二方面任一项所述的方法。
本公开实施例提供的货物处理方法、装置、设备、系统、存储介质及程序产品，在存在待入库的货物时，可以根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，并发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架，在存在待出库的货物时，可以发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点，从而能够根据配送信息实现货物的存放，在出库时直接根据配送信息搬运整个货架，无需针对货物进行多次搬运和拣选，有效减少了货物搬运和拣选的次数，提高了货物出库的效率。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。
图1为本公开实施例提供的一种货物出库过程的示意图；
图2为本公开实施例提供的一种应用场景示意图；
图3为本公开实施例提供的一种货物处理方法的流程示意图；
图4为本公开实施例提供的另一种货物处理方法的流程示意图；
图5为本公开实施例提供的一种货物入库的原理示意图；
图6为本公开实施例提供的一种货物出库的原理示意图；
图7为本公开实施例提供的一种可用路径的示意图；
图8A为本公开实施例提供的一种双深位货架的正视图；
图8B为图8A所示双深位货架的侧视图；
图8C为图8A所示双深位货架的俯视图；
图9为本公开实施例提供的又一种货物处理方法的流程示意图；
图10为本公开实施例提供的一种货物处理装置的结构示意图；
图11为本公开实施例提供的另一种货物处理装置的结构示意图；
图12为本公开实施例提供的一种服务器的结构示意图；
图13为本公开实施例提供的一种货物搬运机器人的结构示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。
在智能仓储领域，货物的处理效率对整个仓储系统有重要意义。在一些技术中，为了提高出库效率，可以采用集货拣选的方式来实现货物出库。
图1为本公开实施例提供的一种货物出库过程的示意图。图中箭头示出了货物的流转方向。如图1所示，在有出库需求时，机器人11可以前往货架12，取出装有货物的料箱13，然后将料箱13送往操作台14进行拣选，拣选完成后得到多个订单对应的一批货物，再由机器人11将这批货物送去集货区15，由工作人员16进行二次分拣，选出每个订单对应的货物并打包送往配送车辆17进行配送。
在上述的货物出库过程中，需要经过多次的搬运和拣选的过程，导致出库效率较低。并且，集货多采用平面地堆的方式，集货区存储密度底、集货位数量受限，占地成本较高。
有鉴于此，本公开实施例可以将待入库的货物按照货物对应的配送信息进行存放，相同配送信息的货物可以存放在同一货架上，在出库时，可以直接将整个货架搬运至出库点，由于货架上存放的是相同配送信息的货物，因此可以有效提高货物装车的效率，并且，机器人可以一次性地搬运整个货架的货物到出库点，减少了货物的搬运次数，提高了出库效率；此外，也无需额外设置集货区，有效减少占地成本。
图2为本公开实施例提供的一种应用场景示意图。如图2所示，本公开实施例中，智能仓储系统可以包括服务器21、货物搬运机器人22、货架搬运机器人23、货架24等。
其中，货架24可以用于存放货物25。货物搬运机器人22用于搬运货物25，具体可以为具有货叉或机械臂的、可将货物25放置于货架24上的机器人。货架搬运机器人23用于搬运货架24，具体可以为能够直接将货架24顶起并运走的机器人。
所述货物搬运机器人22以及所述货架搬运机器人23可以分别与所述服务器21通信，所述服务器21可以向所述货物搬运机器人22以及所述货架搬运机器人23发送指令，以实现对所述货物搬运机器人22以及所述货架搬运机器人23的控制。
当货物25需要入库时，服务器21可以向货物搬运机器人22发送用于存放货物25的指令，货物搬运机器人22可以待入库的货物25搬运至目标货架24并将货物25存放在货架24上。货物25的目标货架24可以由其对应的配送信息来确定，例如，可以将属于同一配送车次的货物25放在同一个货架24上。
当有货物25需要出库时，服务器21根据待出库的货物25确定其对应的货架24， 并向货架搬运机器人23发送用于搬运该货架24的指令，货架搬运机器人23将对应的货架24搬运至出库点，由工作人员或者由机器人将货架上的货物25装至对应的配送车辆26上，完成货物25的出库。
下面结合附图，对本公开的一些实施方式作详细说明。在各实施例之间不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图3为本公开实施例提供的一种货物处理方法的流程示意图。本实施例中方法的执行主体可以为服务器。如图2所示，本实施例中的货物处理方法，可以包括：
步骤301、若存在待入库的货物，则根据所述货物对应的配送信息，确定用于存放所述货物的目标货架。
其中，所述货物可以是指未经过打包的原始商品，也可以是经过打包后得到的装有商品的包裹或料箱等。所述待入库的货物可以是待存放至货架的货物。
当有需要入库的货物时，服务器可以根据所述货物的配送信息，为所述货物分配对应的货架，记为目标货架。
其中，所述配送信息可以包括下述至少一项：出库点、配送车次、配送路线等。所述出库点即装车口，可以是指货物在出库时进行装车的地点；所述配送车次可以是指配送货物的车辆对应的车次；所述配送路线可以是指所述车辆对应的配送路线。
为了提高货物的出库及配送效率，可以设置多个出库点，对应多个配送车次和配送路线，货物在出库时被送至对应的出库点，装至对应的配送车次并按照对应的配送路线进行配送。
可选的，可以预先设置好各个货架对应的配送信息，服务器中可以存储有货架的标识与配送信息的对应关系。在根据配送信息为货物确定目标货架时，直接根据货物对应的配送信息查找相应的货架即可。或者，货架与配送信息的对应关系也可以是动态调整的。本公开实施例对此不作限制。
步骤302、发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架。
其中，所述放货指令可以包括货物的信息和目标货架的信息，例如货物的标识、货物的当前位置、目标货架的标识、目标货架的位置等。所述货物搬运机器人可以根据所述放货指令前往货物的当前位置，将货物放置在自身的存储单元上，并携带货物移动至目标货架所在的位置，将货物放置在目标货架上，从而完成放货操作。
步骤303、若存在待出库的货物，则发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点。
其中，所述取货指令可以包括货物所在的货架的信息，例如货架的位置和货架的标识等。所述货架搬运机器人可以根据所述取货指令将所述货架整个搬运至出库点，由于货物是按照配送信息放置的，因此，整架搬运能够更好地适应货物配送的场景，提高货物出库的效率。
在货物装车完成后，货架搬运机器人还可以将空的货架搬运回仓库内的相应位置，实现空架流转。
可选的，同一货架存放的各个货物对应相同的配送信息。以所述配送信息为配送车次为例，同一货架可以锁定同一个车次，即，在同一个货架上存放的货物均对应相 同的配送车次。
具体的，在出库时，配送车辆停放在配送车次对应的出库点，货架搬运机器人可以直接将货架搬运至该出库点，工作人员或者机器人可以将货架上的全部货物装到配送车辆上，装车完毕后由所述配送车辆完成货物的配送。
由于同一货架锁定了同一配送信息，货物搬运机器人按照车次等配送信息存放货物，上架即完成分拣，减少了货物的拣选次数。在出库时，配合货架搬运机器人实现货架整架快速出库，减少货物级别的搬运，工作人员无需分别针对每个货物确认其对应的车次等信息，节省了装车环节的时间，有效提高货物的整体处理效率。
本实施例提供的货物处理方法，在存在待入库的货物时，可以根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，并发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架，在存在待出库的货物时，可以发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点，从而能够根据配送信息实现货物的存放，在出库时直接根据配送信息搬运整个货架，无需针对货物进行多次搬运和拣选，有效减少了货物搬运和拣选的次数，提高了货物出库的效率。
图4为本公开实施例提供的另一种货物处理方法的流程示意图。如图4所示，所述方法包括：
步骤401、输送线将货物输送至入库段。
为了进一步提升效率，本实施例中可以使用输送线来配合实现入库。输送线可以将货物输入至入库段，所述入库段可以设置有接驳口，用于供货物搬运机器人取走货物。
步骤402、货物搬运机器人接驳入库。
具体的，货物搬运机器人可以直接从输送线接驳口取走货物。
可选的，所述接驳口可以有多个，服务器在发送放货指令之前，可以先确定所述待入库的货物被输送线输送至的接驳口。相应的，所述放货指令可以用于指示所述货物被输送至的接驳口以及目标货架，以使所述货物搬运机器人根据所述放货指令前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架。
例如，输送线将货物输送至第1个接驳口，则服务器可以通知货物搬运机器人前往第1个接驳口取走对应的货物并放至目标货架。
可选的，所述待入库的货物为拣选完成的货物。其中，拣选是指按照订单对原始商品进行拣选，得到订单对应的货物。所述拣选完成的货物，可以是在输送线上拣选完成的，也可以是在输送线之前拣选完成的，也可以是在货物的生产商处拣选完成的。本公开实施例对此不作限制。
通过输送线可以更加快速地实现货物的入库，提高货物入库效率；并且，输送线输送来的货物可以是经过拣选后的货物，拣选后的货物可以直接放置于货架上，提高了货物搬运机器人的处理效率。
步骤403、货物搬运机器人将货物上架。
具体的，可以根据所述货物对应的配送信息，确定存放所述货物的目标货架。
可选的，根据所述货物对应的配送信息，确定存放所述货物的目标货架，可以包 括：确定所述货物所属的订单；根据所述订单对应的配送信息，确定存放所述货物的目标货架。
其中，订单中可以包含有下单时间、客户信息、截止时间等，根据订单可以确定对应的配送信息，例如，根据客户信息可以确定对应的配送路线，根据下单时间或截止时间可以确定需要在哪个时间点完成出库或配送，从而选择满足要求的车次。这样，根据货物对应的订单可以快速、准确地确定配送信息，提高货物处理的效率和准确率。
图5为本公开实施例提供的一种货物入库的原理示意图。如图5所示，货物搬运机器人22可以将货物25放置于货架24上。仓库中可以设置有多个货架24，同一货架24内存放的货物25可以对应同一配送信息。不同的货架24可能对应于不同的配送信息，也可能对应于同一配送信息。例如，图中左侧货架24和中间货架24对应于车次A，右侧货架24对应于车次B。
当货物25需要利用车次A进行配送时，可以将所述货物25放置于左侧货架24或中间货架24，当货物25需要利用车次B进行配送时，可以将所述货物25放置于右侧货架24。
可选的，用于存放货物25的每个货架24可以包括多个货架层，从而实现多层立体存储，提高空间利用率，增加货位数量。
在每个货架24包括多个货架层的情况下，还可以根据所述订单对应的客户信息，在所述目标货架24中确定用于存放所述待入库的货物25的货架层。
其中，每一配送车次/配送路线可以对应至少一个客户信息，所述客户信息可以为客户的名称、编号、地址等。具体的，车辆沿配送路线行驶的过程中，可以先后去到一个或客户的所在地(例如门店)，将对应的货物25从车上卸下交付给该客户，然后继续前往下一个客户的所在地，直至车内全部货物25被配送完成。
为了配合上述每一配送信息对应至少一个客户信息的配送模式，货物25在货架层中可以按照客户信息进行放置，从而货物25装车时，方便工作人员将货物25按照客户信息进行排列，有效提高配送的效率。
可选的，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
如图5所示，每个货架24都有三层，可以根据客户信息确定货物25放置在哪一货架层。每一货架层中放置同一个客户的货物25。例如，货架24的顶层放置客户a的货物25，中间层放置客户b的货物25，底层放置客户c的货物25。
此外，不仅一个货架24的同一层对应同一客户信息，如果两个或更多个货架24对应同一配送信息，那么所述两个或更多个货架24的同一层也可以对应同一客户信息。
例如，对应于车次A的左侧货架24和中间货架24，相应的货架层均对应同一客户信息，例如，左侧货架24的顶层和中间货架24的顶层均对应客户a。对应于不同车次的货架24可以不受此约束，例如左侧货架24和右侧货架24的同一层可以对应于不同的客户信息。
按照以上所述的货物存放方式，在货物出库装车时，工作人员直接根据货架层即可确定对应的客户信息，无需花费额外时间为各个货物确定对应的客户信息，进一步提高了装车和配送的效率和准确性。
步骤404、服务器调度货架搬运机器人前往目标货架。
其中，服务器可以根据装车节奏，通过发送相应的指令来调度货架搬运机器人前往目标货架。
步骤405、货架搬运机器人整架出库。
其中，货架搬运机器人可以根据服务器的指令，将目标货架搬运至装车口。
图6为本公开实施例提供的一种货物出库的原理示意图。如图5所示，货架搬运机器人23可以将整个货架24顶起来并搬运至装车口，放置于拣选配送车辆26上进行配送。
本实施例提供的货物处理方法，能够通过输送线、货物搬运机器人、货架搬运机器人等的配合，实现货物的入库和出库，有效减少货物被搬运的次数，提高货物的处理效率。
以上给出了同一货架对应同一配送信息、同一货架层对应同一客户信息的具体实现方案，在此基础上，也可以根据实际需要来调整货架、货架层与配送信息、客户信息的对应关系，例如，同一货架可以存放相邻的两个车次的货物，能够在提高出库的效率的基础上兼顾货物存储效率，提高系统整体性能。
在上述实施例提供的技术方案的基础上，可选的是，还可以根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，为所述货物搬运机器人规划路径；和/或，根据所述待出库的货物所在货架的放置位置以及所述货架搬运机器人的可用路径，为所述货架搬运机器人规划路径。
图7为本公开实施例提供的一种可用路径的示意图。如图7所示，货架区域可以设置在输送线27与配送车辆26之间，货架区域内放置有多排货架24，各排货架24之间形成货物搬运机器人和货架搬运机器人的可用路径。
图中虚线表示货物搬运机器人的可用路径，点划线表示货架搬运机器人的可用路径。在货物搬运时，可以从货物搬运机器人的可用路径中选择本次货物搬运对应的路径；在货架搬运时，可以从货架搬运机器人的可用路径中选择本次货架搬运对应的路径。
通过为不同功能的机器人配置不同的可用路径，能够快速、有效地实现货物搬运机器人和货架搬运机器人的路径规划，提高路径规划的效率，节约计算资源。
可选的，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠，从而可以有效减少路径重叠导致的交通拥堵，提高机器人的取货和放货效率。
可选的，所述货物搬运机器人可以为双深位机器人，用于存放货物的货架可以为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
其中，双深位货架可以是指每一货架层上的货物在深度方向上可以呈双排放置。所述深度方向可以是指机器人取放货时货叉的伸缩方向。
图8A为本公开实施例提供的一种双深位货架的正视图。图8B为图8A所示双深位货架的侧视图。图8C为图8A所示双深位货架的俯视图。
如图8A至图8C所示，货架24可以包括三层，每一层在深度方向和宽度方向均可以放置两件货物25，这样一个货架24可以放置2×2×3＝12件货物25，进一步提高货 位数量，提高空间利用率。
所述双深位机器人可以是能够双深位放货的机器人，即，所述机器人可以一次取出两个货物，可选的，机器人的存储单元也可以是双深位的存储单元，一层存储单元可以放置两个货物。
双深位机器人与双深位货架配合使用，可以直接完成双深位放货，避免需要在货架两侧放货，提高放货效率，并且，货架两侧的巷道可以分别供货物搬运机器人和货架搬运机器人使用，能够有效实现两者可用路径不重叠，保证系统平稳有序地运行。
在上述实施例提供的技术方案的基础上，可选的是，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，可以包括：查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的货架中选择目标货架；若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
具体的，在有货物待入库时，可以先确定所述货物的配送信息，然后，查找该配送信息对应的、且已被部分占用的货架，并将所述货物存放在所述货架上。
如果该配送信息对应的货架都已经处于被占满的状态，或者，没有该配送信息对应的货架，则选择一个空置货架，即当前没有放置任何货物的货架，作为该配送信息对应的货架，将待入库的货物放置在该货架上。后续有新的货物需要入库时，如果配送信息满足该货架的要求，可以将所述新的货物放置在该货架上。在货架上的货物全部出库后，可以释放所述货架与配送信息的对应关系，作为空置货架供后续的货物使用。
通过以上所述的根据配送信息确定目标货架的方法，可以优先从已匹配配送信息的货架中选择一个货架来存放待入库的货物，有效减少了货架空置率，提高了货架出库的集中程度，优化出库效率。
图9为本公开实施例提供的又一种货物处理方法的流程示意图。本实施例所述的方法，可以应用于货物搬运机器人。如图9所示，所述方法包括：
步骤901、若存在待入库的货物，则根据所述货物对应的配送信息，确定用于存放所述货物的目标货架。
步骤902、将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点。
本实施例与前述实施例的不同之处在于，根据配送信息确定目标货架的过程由货物搬运机器人来执行，具体的实现原理和流程可以参见前述实施例，此处不再赘述。
在本实施例中，服务器可以对货物搬运机器人和货架搬运机器人进行调度。具体的，当存在待入库的货物时，服务器可以向货物搬运机器人发送指令，指示所述待入库的货物，由货物搬运机器人根据所述货物的配送信息确定目标货架并存放。
货物搬运机器人存放货物后，可以将货物、配送信息和目标货架的对应关系发送给服务器，由服务器存储所述对应关系。当有货物需要出库时，服务器根据待出库的货物确定对应的目标货架，并向货架搬运机器人发送指令，以使所述货架搬运机器人能够将目标货架整架搬运至出库点。
本实施例提供的货物处理方法，在存在待入库的货物时，可以根据所述货物对应 的配送信息，确定用于存放所述货物的目标货架，并将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点，从而能够根据配送信息实现货物的存放，在出库时直接根据配送信息搬运整个货架，无需针对货物进行多次搬运和拣选，有效减少了货物搬运和拣选的次数，提高了货物出库的效率。
在一种可选的实施方式中，同一货架存放的各个货物对应相同的配送信息；
所述配送信息包括下述至少一项：出库点、配送车次、配送路线。
在一种可选的实施方式中，根据所述货物对应的配送信息，确定存放所述货物的目标货架，包括：
确定所述货物所属的订单；
根据所述订单对应的配送信息，确定存放所述货物的目标货架。
在一种可选的实施方式中，用于存放货物的每个货架包括多个货架层；
相应的，所述方法还包括：根据所述订单对应的客户信息，在所述目标货架中确定用于存放所述待入库的货物的货架层。
在一种可选的实施方式中，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
在一种可选的实施方式中，将所述货物存放于所述目标货架，包括：
确定所述待入库的货物被输送线输送至的接驳口；其中，所述待入库的货物为拣选完成的货物；
前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架。
在一种可选的实施方式中，所述方法还包括：
根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，规划放货路径。
在一种可选的实施方式中，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠。
在一种可选的实施方式中，所述货物搬运机器人为双深位机器人，用于存放货物的货架为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
在一种可选的实施方式中，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，包括：
查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的货架中选择目标货架；
若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
本实施例提供的货物处理方法的具体实现原理、过程和效果均可以参见前述实施例，此处不再赘述。
图10为本公开实施例提供的一种货物处理装置的结构示意图。所述装置应用于服务器。如图10所示，所述装置可以包括：
第一确定模块1001，用于在存在待入库的货物时，根据所述货物对应的配送信息， 确定用于存放所述货物的目标货架；
第一发送模块1002，用于发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架；
第二发送模块1003，用于在存在待出库的货物时，发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点。
本实施例提供的货物处理装置，在存在待入库的货物时，可以根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，并发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架，在存在待出库的货物时，可以发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点，从而能够根据配送信息实现货物的存放，在出库时直接根据配送信息搬运整个货架，无需针对货物进行多次搬运和拣选，有效减少了货物搬运和拣选的次数，提高了货物出库的效率。
在一种可选的实施方式中，同一货架存放的各个货物对应相同的配送信息；
所述配送信息包括下述至少一项：出库点、配送车次、配送路线。
在一种可选的实施方式中，所述第一确定模块1001在根据所述货物对应的配送信息，确定存放所述货物的目标货架时，具体用于：
确定所述货物所属的订单；
根据所述订单对应的配送信息，确定存放所述货物的目标货架。
在一种可选的实施方式中，用于存放货物的每个货架包括多个货架层；
相应的，所述第一确定模块1001还用于：根据所述订单对应的客户信息，在所述目标货架中确定用于存放所述待入库的货物的货架层。
在一种可选的实施方式中，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
在一种可选的实施方式中，所述第一确定模块1001还用于：
确定所述待入库的货物被输送线输送至的接驳口；其中，所述待入库的货物为拣选完成的货物；
相应的，所述放货指令用于指示所述货物被输送至的接驳口以及目标货架，以使所述货物搬运机器人根据所述放货指令前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架。
在一种可选的实施方式中，所述第一确定模块1001还用于：
根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，为所述货物搬运机器人规划路径；和/或，
根据所述待出库的货物所在货架的放置位置以及所述货架搬运机器人的可用路径，为所述货架搬运机器人规划路径。
在一种可选的实施方式中，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠。
在一种可选的实施方式中，所述货物搬运机器人为双深位机器人，用于存放货物的货架为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
在一种可选的实施方式中，所述第一确定模块1001在根据所述货物对应的配送信息，确定用于存放所述货物的目标货架时，具体用于：
查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的货架中选择目标货架；
若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
本实施例提供的装置，可用于执行图1至图8所示方法实施例的技术方案，其实现原理和技术效果类似，本实施例此处不再赘述。
图11为本公开实施例提供的另一种货物处理装置的结构示意图。所述装置货物搬运机器人。如图11所示，所述装置可以包括：
第二确定模块1101，用于在存在待入库的货物时，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架。
控制模块1102，用于控制所述货物搬运机器人将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点。
本实施例提供的货物处理装置，在存在待入库的货物时，可以根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，并将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点，从而能够根据配送信息实现货物的存放，在出库时直接根据配送信息搬运整个货架，无需针对货物进行多次搬运和拣选，有效减少了货物搬运和拣选的次数，提高了货物出库的效率。
在一个可选的实施方式中，同一货架存放的各个货物对应相同的配送信息；
所述配送信息包括下述至少一项：出库点、配送车次、配送路线。
在一个可选的实施方式中，所述第二确定模块1101在根据所述货物对应的配送信息，确定存放所述货物的目标货架时，具体用于：
确定所述货物所属的订单；
根据所述订单对应的配送信息，确定存放所述货物的目标货架。
在一个可选的实施方式中，用于存放货物的每个货架包括多个货架层；
相应的，所述第二确定模块1101还用于：根据所述订单对应的客户信息，在所述目标货架中确定用于存放所述待入库的货物的货架层。
在一个可选的实施方式中，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
在一个可选的实施方式中，所述控制模块1102具体用于：
确定所述待入库的货物被输送线输送至的接驳口；其中，所述待入库的货物为拣选完成的货物；
控制所述货物搬运机器人前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点。
在一个可选的实施方式中，所述第二确定模块1101还用于：
根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，规划放货路 径。
在一个可选的实施方式中，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠。
在一个可选的实施方式中，所述货物搬运机器人为双深位机器人，用于存放货物的货架为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
在一个可选的实施方式中，所述第二确定模块1101在根据所述货物对应的配送信息，确定用于存放所述货物的目标货架时，具体用于：
查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的货架中选择目标货架；
若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
本实施例提供的装置，可用于执行图9所示方法实施例的技术方案，其实现原理和技术效果类似，本实施例此处不再赘述。
图12为本公开实施例提供的一种服务器的结构示意图。如图12所示，本实施例的服务器可以包括：
至少一个处理器1201；以及
与所述至少一个处理器通信连接的存储器1202；
其中，所述存储器1202存储有可被所述至少一个处理器1201执行的指令，所述指令被所述至少一个处理器1201执行，以使所述服务器执行如上述任一实施例所述的方法。
可选地，存储器1202既可以是独立的，也可以跟处理器1201集成在一起。
本实施例提供的服务器的实现原理和技术效果可以参见前述各实施例，此处不再赘述。
图13为本公开实施例提供的一种货物搬运机器人的结构示意图。如图13所示，本实施例的货物搬运机器人可以包括：
至少一个处理器1301；以及
与所述至少一个处理器通信连接的存储器1302；
其中，所述存储器1302存储有可被所述至少一个处理器1301执行的指令，所述指令被所述至少一个处理器1301执行，以使所述货物搬运机器人执行如上述任一实施例所述的方法。
可选地，存储器1302既可以是独立的，也可以跟处理器1301集成在一起。
本实施例提供的货物搬运机器人的实现原理和技术效果可以参见前述各实施例，此处不再赘述。
本公开实施例还提供一种仓储系统，包括图12所示的服务器、货物搬运机器人以及货架搬运机器人。
其中，所述货物搬运机器人用于对货物进行搬运，所述货架搬运机器人用于对货架进行搬运。
本实施例提供的仓储系统的实现原理和技术效果可以参见图1至图8所示实施例， 此处不再赘述。
本公开实施例还提供一种仓储系统，包括图13所示的货物搬运机器人、服务器以及货架搬运机器人。
其中，所述服务器用于对所述货物搬运机器人以及货架搬运机器人进行调度，所述货架搬运机器人用于对货架进行搬运。
本实施例提供的仓储系统的实现原理和技术效果可以参见图9所示实施例，此处不再赘述。
本公开实施例还提供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，实现前述任一实施例所述的方法。
本公开实施例还提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现前述任一实施例所述的方法。
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。
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)，还可以是其它通用处理器、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 Interconnect，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 (28)

  1. 一种货物处理方法，其特征在于，应用于服务器，所述方法包括：
    若存在待入库的货物，则根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
    发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架；
    若存在待出库的货物，则发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点。
  2. 根据权利要求1所述的方法，其特征在于，同一货架存放的各个货物对应相同的配送信息；
    所述配送信息包括下述至少一项：出库点、配送车次、配送路线。
  3. 根据权利要求1或2所述的方法，其特征在于，根据所述货物对应的配送信息，确定存放所述货物的目标货架，包括：
    确定所述货物所属的订单；
    根据所述订单对应的配送信息，确定存放所述货物的目标货架。
  4. 根据权利要求3所述的方法，其特征在于，用于存放货物的每个货架包括多个货架层；
    相应的，所述方法还包括：根据所述订单对应的客户信息，在所述目标货架中确定用于存放所述待入库的货物的货架层。
  5. 根据权利要求4所述的方法，其特征在于，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，还包括：
    确定所述待入库的货物被输送线输送至的接驳口；其中，所述待入库的货物为拣选完成的货物；
    相应的，所述放货指令用于指示所述货物被输送至的接驳口以及目标货架，以使所述货物搬运机器人根据所述放货指令前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述方法还包括：
    根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，为所述货物搬运机器人规划路径；和/或，
    根据所述待出库的货物所在货架的放置位置以及所述货架搬运机器人的可用路径，为所述货架搬运机器人规划路径。
  8. 根据权利要求7所述的方法，其特征在于，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠。
  9. 根据权利要求7或8所述的方法，其特征在于，所述货物搬运机器人为双深位机器人，用于存放货物的货架为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，根据所述货物对应的配 送信息，确定用于存放所述货物的目标货架，包括：
    查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的货架中选择目标货架；
    若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
  11. 一种货物处理方法，其特征在于，应用于货物搬运机器人，所述方法包括：
    若存在待入库的货物，则根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
    将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点。
  12. 根据权利要求11所述的方法，其特征在于，同一货架存放的各个货物对应相同的配送信息；
    所述配送信息包括下述至少一项：出库点、配送车次、配送路线。
  13. 根据权利要求11或12所述的方法，其特征在于，根据所述货物对应的配送信息，确定存放所述货物的目标货架，包括：
    确定所述货物所属的订单；
    根据所述订单对应的配送信息，确定存放所述货物的目标货架。
  14. 根据权利要求13所述的方法，其特征在于，用于存放货物的每个货架包括多个货架层；
    相应的，所述方法还包括：根据所述订单对应的客户信息，在所述目标货架中确定用于存放所述待入库的货物的货架层。
  15. 根据权利要求14所述的方法，其特征在于，对应于同一配送信息的至少一个货架中，各个货架的同一货架层存放的货物对应相同的客户信息。
  16. 根据权利要求11-15任一项所述的方法，其特征在于，将所述货物存放于所述目标货架，包括：
    确定所述待入库的货物被输送线输送至的接驳口；其中，所述待入库的货物为拣选完成的货物；
    前往所述接驳口并将位于所述接驳口的货物搬运至所述目标货架。
  17. 根据权利要求11-16任一项所述的方法，其特征在于，所述方法还包括：
    根据所述目标货架的放置位置以及所述货物搬运机器人的可用路径，规划放货路径。
  18. 根据权利要求17所述的方法，其特征在于，所述货物搬运机器人的可用路径与所述货架搬运机器人的可用路径互不重叠。
  19. 根据权利要求17或18所述的方法，其特征在于，所述货物搬运机器人为双深位机器人，用于存放货物的货架为双深位货架，所述货架一侧的巷道为所述货物搬运机器人的可用路径，另一侧的巷道为所述货架搬运机器人的可用路径。
  20. 根据权利要求11-19任一项所述的方法，其特征在于，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架，包括：
    查找是否存在对应于所述配送信息且有空闲货位的货架，若存在，则从查找到的 货架中选择目标货架；
    若不存在对应于所述配送信息且有空闲货位的货架，则查找是否存在空置货架，若存在，则从空置货架中选择目标货架。
  21. 一种货物处理装置，其特征在于，应用于服务器，所述装置包括：
    第一确定模块，用于在存在待入库的货物时，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
    第一发送模块，用于发送放货指令，以使货物搬运机器人根据所述放货指令将所述货物存放于所述目标货架；
    第二发送模块，用于在存在待出库的货物时，发送取货指令，以使货架搬运机器人将所述待出库的货物所在的货架搬运至出库点。
  22. 一种货物处理装置，其特征在于，应用于货物搬运机器人，所述装置包括：
    第二确定模块，用于在存在待入库的货物时，根据所述货物对应的配送信息，确定用于存放所述货物的目标货架；
    控制模块，用于控制所述货物搬运机器人将所述货物存放于所述目标货架，以使货架搬运机器人在所述货物需要出库时，将所述目标货架搬运至出库点。
  23. 一种服务器，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；
    其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述服务器执行如权利要求1-10任一项所述的方法。
  24. 一种货物搬运机器人，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；
    其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述货物搬运机器人执行如权利要求11-20任一项所述的方法。
  25. 一种仓储系统，其特征在于，包括：权利要求23所述的服务器、货物搬运机器人以及货架搬运机器人；
    所述货物搬运机器人用于对货物进行搬运，所述货架搬运机器人用于对货架进行搬运。
  26. 一种仓储系统，其特征在于，包括：权利要求24所述的货物搬运机器人、服务器以及货架搬运机器人；
    所述服务器用于对所述货物搬运机器人以及货架搬运机器人进行调度，所述货架搬运机器人用于对货架进行搬运。
  27. 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1-20任一项所述的方法。
  28. 一种计算机程序产品，包括计算机程序，其特征在于，该计算机程序被处理器执行时实现权利要求1-20任一项所述的方法。
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CN115796750A (zh) * 2023-02-10 2023-03-14 浙江凯乐士科技集团股份有限公司 货物入库方法、出库方法、装置和计算机设备
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