WO2022206309A1 - 机器人配置方法、装置、控制终端和仓储系统 - Google Patents

机器人配置方法、装置、控制终端和仓储系统 Download PDF

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Publication number
WO2022206309A1
WO2022206309A1 PCT/CN2022/079745 CN2022079745W WO2022206309A1 WO 2022206309 A1 WO2022206309 A1 WO 2022206309A1 CN 2022079745 W CN2022079745 W CN 2022079745W WO 2022206309 A1 WO2022206309 A1 WO 2022206309A1
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Prior art keywords
workstation
robots
storage
upper limit
storage robots
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PCT/CN2022/079745
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English (en)
French (fr)
Inventor
周红霞
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深圳市库宝软件有限公司
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Publication of WO2022206309A1 publication Critical patent/WO2022206309A1/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
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

Definitions

  • the present application relates to the technical field of intelligent storage, and in particular, to a robot configuration method, device, control terminal and storage system.
  • the warehouse robot needs to consign the material box to a station, so that the staff can pick the goods, this station is called a workstation.
  • the embodiments of the present application provide a robot configuration method, device, control terminal, and storage system, which realizes the configuration of the number of storage robots in a warehouse workstation, reduces the situation that there are too many or too few robots in the workstation, and reduces the waste of robot resources , improve the picking efficiency of the workstation.
  • an embodiment of the present application provides a method for configuring a robot, and the method includes:
  • the number of the storage robots determine the upper limit of the number of storage robots corresponding to each workstation of the target warehouse;
  • an instruction is sent to the storage robots of the target quantity corresponding to each workstation, and the instruction is used to instruct the storage robots of the target quantity corresponding to each workstation to transport the bin to the bin A corresponding workstation, wherein the target number is less than or equal to the upper limit value of the number.
  • the determining the number of storage robots in the target warehouse includes:
  • the number of storage robots in the target warehouse is determined according to the number of bins corresponding to the order to be processed.
  • the method before determining the number of storage robots in the target warehouse according to the number of bins corresponding to the orders to be processed, the method further includes:
  • the determining the number of storage robots in the target warehouse according to the number of bins corresponding to the order to be processed includes:
  • the number of storage robots in the target warehouse is determined according to one or more of the type, delivery time and layout position of the material box corresponding to the order to be processed, and the number of material boxes corresponding to the order to be processed.
  • the method before determining the upper limit value of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots, the method further includes:
  • Determining the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots including:
  • an upper limit value of the number of storage robots corresponding to each workstation of the target warehouse is determined.
  • determining the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots and the number of the workstations includes:
  • the upper limit of the number of storage robots corresponding to each workstation of the workstations to be online is determined.
  • the method before determining the upper limit value of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots, the method further includes:
  • Determining the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots including:
  • an upper limit value of the number of storage robots corresponding to each workstation is determined.
  • determining the upper limit of the number of storage robots corresponding to each workstation according to the picking efficiency of each workstation and the number of storage robots including:
  • each workstation determine the proportion of each workstation to the number of storage robots
  • the upper limit value of the number of storage robots corresponding to each workstation is obtained.
  • the method before determining the upper limit value of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots, the method further includes:
  • Determining the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots including:
  • an upper limit value of the number of storage robots corresponding to each workstation is determined.
  • determining the upper limit of the number of storage robots corresponding to each workstation according to the number of storage robots that can be accommodated in each workstation and the number of storage robots including :
  • the number of the storage robots determine a third number of storage robots corresponding to each workstation
  • the third number of warehousing robots corresponding to the workstation i is greater than the number of warehousing robots that can be accommodated in the workstation i, adjust the number of warehousing robots corresponding to the workstation i according to the number of warehousing robots that can be accommodated in the workstation i Three quantities of warehousing robots, obtain a fourth quantity of warehousing robots corresponding to the workstation i, where the fourth quantity is less than or equal to the number of warehousing robots that can be accommodated in the workstation i;
  • the fourth quantity of storage robots corresponding to the workstation i is used as the upper limit of the quantity of storage robots corresponding to the workstation i.
  • the method before determining the upper limit value of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots, the method further includes:
  • Determining the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots including:
  • an upper limit value of the number of storage robots corresponding to each workstation of the target warehouse is determined.
  • the present application also provides a robot configuration device, the device comprising:
  • the robot quantity determination module is used to determine the number of storage robots in the target warehouse
  • a quantity upper limit determination module configured to determine the upper limit of the quantity of storage robots corresponding to each workstation of the target warehouse according to the quantity of the storage robots;
  • a robot control module configured to send an instruction to the target number of storage robots corresponding to each workstation according to the upper limit of the quantity, and the instruction is used to instruct the target number of storage robots corresponding to each workstation to handle materials box to the work station corresponding to the material box, wherein the target quantity is less than or equal to the upper limit value of the quantity.
  • the robot quantity determination module is specifically used for:
  • the number of storage robots in the target warehouse is determined according to the number of bins corresponding to the order to be processed.
  • the robot quantity determination module is specifically used for:
  • the number of storage robots in the target warehouse is determined according to one or more of the type, delivery time and layout position of the material box corresponding to the order to be processed, and the number of material boxes corresponding to the order to be processed.
  • the quantity upper limit value determination module is specifically used for:
  • an upper limit value of the number of storage robots corresponding to each workstation of the target warehouse is determined.
  • the quantity upper limit value determination module is specifically used for:
  • the upper limit of the number of storage robots corresponding to each workstation of the workstations to be online is determined.
  • the quantity upper limit value determination module is specifically used for:
  • an upper limit value of the number of storage robots corresponding to each workstation is determined.
  • the quantity upper limit value determination module is specifically used for:
  • each workstation determine the proportion of each workstation to the number of storage robots
  • the upper limit value of the number of storage robots corresponding to each workstation is obtained.
  • the quantity upper limit value determination module is specifically used for:
  • an upper limit value of the number of storage robots corresponding to each workstation is determined.
  • the quantity upper limit value determination module is specifically used for:
  • the number of the storage robots determine a third number of storage robots corresponding to each workstation
  • the third number of warehousing robots corresponding to the workstation i is greater than the number of warehousing robots that can be accommodated in the workstation i, adjust the number of warehousing robots corresponding to the workstation i according to the number of warehousing robots that can be accommodated in the workstation i Three quantities of warehousing robots, obtain a fourth quantity of warehousing robots corresponding to the workstation i, where the fourth quantity is less than or equal to the number of warehousing robots that can be accommodated in the workstation i;
  • the fourth quantity of storage robots corresponding to the workstation i is used as the upper limit of the quantity of storage robots to be worked in the workstation i.
  • the quantity upper limit value determination module is specifically used for:
  • an upper limit value of the number of storage robots corresponding to each workstation of the target warehouse is determined.
  • the present application further provides a control terminal, including a memory, a processor and a computer program; wherein, the computer program is stored in the memory and configured to be executed by the processor to implement the present application
  • a control terminal including a memory, a processor and a computer program; wherein, the computer program is stored in the memory and configured to be executed by the processor to implement the present application
  • the application further provides a storage system, comprising: a control terminal, a storage robot and a shelf provided by an embodiment corresponding to the third aspect of the application, wherein the storage robot is connected to the control terminal for use in The material box is transported to the workstation corresponding to the material box according to the instruction sent by the control terminal, wherein the material box is placed on the shelf.
  • the present application further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, are used to implement the first aspect of the present application
  • the robot configuration method provided by any corresponding embodiment.
  • the present application further provides a computer program product, which is characterized in that it includes computer instructions, and when the computer instructions are executed by the processor, is used to implement the robot configuration provided by any embodiment corresponding to the first aspect of the present application. method.
  • the method determines the number of storage robots in the target warehouse, and then, according to the number of storage robots, determines the storage robot corresponding to each workstation in the target warehouse.
  • the upper limit of the quantity thus, based on the upper limit of the quantity, a certain number of storage robots corresponding to each workstation are controlled to transport the bins to the workstation, and the quantity is less than or equal to the upper limit of the quantity, and the storage robot in the warehouse workstation is realized.
  • the configuration of the number of robots can reduce the situation that there are too many or too few robots in the workstation, and solve the problem of too many robots in the workstation, resulting in congestion in the workstation, long waiting time for robots, waste of robot resources, and too many robots in the workstation. This leads to the problem that the staff has no goods to pick, and the picking efficiency of the workstation is reduced.
  • FIG. 1 is a schematic diagram of a robot transporting a material box provided by an embodiment of the present application
  • FIG. 2 is an application scenario diagram of the robot configuration method provided by the embodiment of the present application.
  • FIG. 3 is a flowchart of a method for configuring a robot according to an embodiment of the present application
  • FIG. 4 is a flowchart of another method for configuring a robot according to an embodiment of the present application.
  • FIG. 5 is a flowchart of still another method for configuring a robot according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a robot configuration device according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a hardware architecture of a control terminal according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a storage robot according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a storage system according to an embodiment of the present application.
  • the storage robot 101 in the warehouse extracts the material box located on the shelf 102 in the shelf area, and moves it to the work station, and the staff of the work station carries out the material in the material box. Pick out the library.
  • the embodiment of the present application proposes a robot configuration method, by determining the upper limit value of the number of storage robots corresponding to each workstation of the warehouse, so as to control a certain number of storage robots corresponding to each workstation based on the upper limit value of the number Move the material box to the workstation, and the number is less than or equal to the above-mentioned upper limit value, which realizes the configuration of the number of storage robots in the warehouse workstation, reduces the situation of too many or too few robots in the workstation, and solves the problem of excessive robots in the workstation. There are too many robots in the workstation, resulting in congestion in the workstation, long waiting time for robots, waste of robot resources, and too few robots in the workstation.
  • the robot configuration method provided in the embodiment of the present application may be applied to the application scenario shown in FIG. 2 .
  • FIG. 2 only describes a possible application scenario of the robot configuration method provided by the embodiment of the present application, and the application scenario of the robot configuration method provided by the embodiment of the present application is not limited to the application scenario shown in FIG. 2 .
  • a storage system 200 is provided in the target warehouse, and the storage system 200 includes a control terminal 201 , a storage robot 202 and a shelf 203 .
  • the control terminal 201 can control the storage robot 202 to extract the material boxes on the shelves 203 in the shelf area, and move them to the workstation, and the staff of the workstation will pick the materials in the material boxes out of the warehouse.
  • FIG. 2 can be implemented in hardware, software, or a combination of software and hardware.
  • the above-mentioned storage system 200 processes the bins stored in the above-mentioned target warehouse.
  • the control terminal 201 in the above-mentioned storage system 200 can determine the upper limit of the quantity of the storage robots 202 corresponding to each workstation of the above-mentioned target warehouse, and then based on the upper limit of the quantity, control a certain number of storage robots corresponding to each workstation according to the order requirements.
  • the robot 202 extracts the bins located on the shelf 203 in the shelf area, and transports the bins to the workstation, where the above-mentioned quantity is less than or equal to the above-mentioned upper limit of the quantity.
  • the above-mentioned control terminal 201 receives the order, determines the commodities required in the order, determines the material bins corresponding to the order according to the required commodities, and then executes the above-mentioned determination of the upper limit of the number of storage robots 202 corresponding to each workstation of the above-mentioned target warehouse value steps.
  • the above-mentioned control terminal 201 may also receive a control instruction sent by the user, such as a start work instruction sent by the user, and then start work according to the instruction, and execute the above-mentioned determination of the number of warehouse robots 202 corresponding to each workstation of the above-mentioned target warehouse steps for the upper limit value.
  • the above-mentioned control terminal 201 determines the upper limit of the number of storage robots corresponding to each workstation of the target warehouse, and thus, based on the upper limit of the number, controls a certain number of storage robots 202 corresponding to each workstation to transport the bins to the workstation , realizes the configuration of the number of warehouse robots in the warehouse workstation, reduces the situation of too many or too few robots in the workstation, and solves the problem of too many robots in the workstation, resulting in congestion in the workstation, too long waiting time for robots, and too many robots.
  • the waste of resources and too few robots in the workstation lead to the problem that the staff has no goods to pick, and the picking efficiency of the workstation is reduced.
  • FIG. 3 is a schematic flowchart of a method for configuring a robot according to an embodiment of the present application.
  • the execution body of this embodiment may be the control terminal 201 in FIG. 2 , and the specific execution body may be determined according to an actual application scenario. No special restrictions are made.
  • the robot configuration method provided by the embodiment of the present application may include the following steps:
  • S301 Determine the number of storage robots in the target warehouse.
  • the target warehouse is the warehouse that needs to be configured with the robot, which can be determined according to the actual situation.
  • the number of warehousing robots in the target warehouse determined by the above-mentioned control terminal may be the total number of warehousing robots in the target warehouse, or may be the number of some warehousing robots in the target warehouse, such as the number of warehousing robots in the target warehouse that are working .
  • the above-mentioned control terminal may acquire the total number of storage robots in the pre-stored target warehouse, so as to use the total number of storage robots as the number of storage robots in the above-mentioned target warehouse, or, according to the recorded state of the storage robots, determine The number of warehousing robots in a working state in the target warehouse, and the number of warehousing robots in a working state is taken as the number of warehousing robots in the above-mentioned target warehouse.
  • the above-mentioned control terminal can record the status of the storage robot. For example, if the storage robot is picking up the material box, the above-mentioned control terminal records the state of the storage robot as the working state.
  • the above control terminal records the state of the warehouse robot as an idle state. In this way, the control terminal can determine the number of the warehouse robots in the working state according to the recorded state of the warehouse robots, so that the number of the warehouse robots in the working state can be used as the number of the warehouse robots in the target warehouse.
  • S302 Determine the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots.
  • the control terminal may determine the upper limit of the number of storage robots corresponding to each workstation in the target warehouse according to the number of storage robots. For example, the above-mentioned control terminal divides the quantity of the above-mentioned storage robots, so as to determine the upper limit of the quantity of the above-mentioned storage robots corresponding to each of the workstations according to the division result.
  • the above-mentioned division result may be determined according to the actual situation, for example, the division result is that the number of warehouse robots corresponding to each of the above-mentioned workstations is the same.
  • the control terminal may also determine the number of workstations in the target warehouse, so that, according to the number of storage robots and the number of workstations, determine The upper limit of the number of warehouse robots corresponding to each workstation of the above target warehouse. For example, the control terminal averagely divides the number of the storage robots according to the number of workstations, and determines the upper limit of the number of storage robots corresponding to each workstation in the target warehouse according to the average division result.
  • the above-mentioned control terminal equally divides the number of 20 warehousing robots according to the number of workstations 5, and obtains that the number of warehousing robots corresponding to each of the above-mentioned workstations is 4, Therefore, it is determined that the upper limit of the number of storage robots corresponding to each of the above-mentioned workstations is 4.
  • the control terminal determines the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of storage robots and the number of workstations, only the workstations to be online may be considered. For example, there are 5 workstations in the above target warehouse, of which there are 4 workstations to be launched. That is, the above-mentioned control terminal can first determine the number of workstations to be online from the number of the above-mentioned workstations, and the workstations to be online include at least one workstation, and then determine the number of the above-mentioned workstations to be online according to the number of the above-mentioned storage robots and the number of the above-mentioned workstations to be online.
  • the upper limit of the number of warehouse robots corresponding to each workstation For example, there are 20 warehouse robots in the above target warehouse and 4 workstations to be launched.
  • the above-mentioned control terminal equally divides the number 20 of the above-mentioned storage robots according to the number 4 of the workstations to be online, and obtains that the number of storage robots corresponding to each workstation in the above-mentioned workstations to be online is 5, thus, it is determined that each of the above-mentioned workstations to be online is determined.
  • the upper limit of the number of warehouse robots corresponding to each workstation is 5.
  • the above-mentioned control terminal determines the upper limit of the number of storage robots corresponding to each workstation of the above-mentioned target warehouse according to the number of the above-mentioned storage robots and the number of workstations, if the number of the above-mentioned storage robots cannot be divided equally (cannot be divided by the above-mentioned Divisible by the number of workstations), for example, there are 21 storage robots and 5 workstations in the above target warehouse, and the number of storage robots cannot be divided equally.
  • the above-mentioned control terminal can perform a rounding operation, that is, the above-mentioned control terminal can round up the division result of the above-mentioned number 21 of storage robots according to the number of workstations 5, and obtain that the number of storage robots corresponding to each of the above-mentioned workstations is 4, therefore, the upper limit of the number of storage robots corresponding to each of the above-mentioned workstations is determined to be 4.
  • S303 According to the above-mentioned upper limit value of the quantity, send an instruction to the above-mentioned storage robots corresponding to the target quantity of each workstation, where the instruction is used to instruct the above-mentioned storage robots of the target quantity corresponding to each workstation to transport the material box to the workstation corresponding to the material box , where the target quantity is less than or equal to the upper limit of the quantity.
  • the control terminal controls the storage robot to transport the material box to the workstation based on the upper limit of the number, so as to realize the control of the number of storage robots in the warehouse workstation. configuration to reduce the presence of too many or too few robots in the workstation.
  • the control terminal may first determine the first number of storage robots corresponding to each workstation based on the upper limit of the number, and the first number of storage robots corresponding to each workstation may be determined first.
  • a quantity is less than or equal to the above-mentioned upper limit of the quantity, so according to the above-mentioned container handling tasks to be allocated by each of the above-mentioned workstations, an instruction is sent to the above-mentioned second quantity of storage robots corresponding to each of the above-mentioned workstations, so that the second number of corresponding to each of the above-mentioned workstations
  • a quantity of storage robots transports the bin to the workstation corresponding to the bin, wherein the second quantity is less than or equal to the above-mentioned first quantity.
  • the above-mentioned target quantity can be understood as the above-mentioned second quantity.
  • the above control terminal can determine the number n of warehouse robots that can be increased by workstation i.
  • the number of storage robots is determined, and the first number of storage robots corresponding to workstation i is determined.
  • the control terminal may set the first number to the number of n storage robots that can be added.
  • the above-mentioned control terminal allocates the container handling task to a second number of storage robots, such as m storage robots, according to the container handling task to be allocated by the workstation i, where m is less than or equal to n, and realizes the realization of a system based on each workstation.
  • Robot task allocation under the maximum number of robots, reducing the situation of too many or too few robots in the workstation.
  • the above-mentioned control terminal can obtain the picking efficiency of workstation i, and then according to the picking efficiency of workstation i, the number of warehousing robots allocated by workstation i and the corresponding number of warehousing robots of workstation i
  • the upper limit of the number of warehousing robots determines the number of warehousing robots that can be increased by workstation i.
  • control terminal may determine the number of storage robots required by workstation i according to the picking efficiency of workstation i and the preset correspondence between the picking efficiency of workstation and the number of storage robots required by the workstation. If the number of warehousing robots required by workstation i is less than or equal to the upper limit of the number of warehousing robots corresponding to workstation i, the above control terminal may determine workstation i according to the number of warehousing robots required by workstation i and the number of warehousing robots allocated to workstation i The number of warehouse robots that can be increased.
  • the above control terminal may determine the upper limit of the number of warehousing robots corresponding to workstation i and the number of warehousing robots allocated to workstation i Workstation i can increase the number of warehouse robots. For example, calculate the difference between the upper limit of the number of warehouse robots corresponding to workstation i and the number of warehouse robots allocated to workstation i, and use the difference as the number of warehouse robots that can be increased by workstation i.
  • the corresponding relationship between the picking efficiency of the preset workstations and the number of warehouse robots required by the workstation can be determined according to the actual situation. For example, the control terminal obtains the relationship between the picking efficiency of a large number of workstations and the number of warehouse robots required by the workstation, and then , according to the relationship to determine the corresponding relationship between the picking efficiency of the workstation and the number of warehousing robots required by the workstation.
  • the above control terminal is based on the picking efficiency of workstation i, the number of warehousing robots allocated to workstation i, and the upper limit of the number of warehousing robots corresponding to workstation i.
  • the number of warehousing robots that can be increased by workstation i one or more of the number, type, delivery time and layout position of the bins corresponding to workstation i can also be considered.
  • the above-mentioned control terminal can only take the storage robot that has been assigned the material box of workstation i as the storage robot that has been allocated by workstation i, and not take the storage robot that is handling the material box of workstation i and the storage robot in workstation i as the storage robot that has been allocated to workstation i. Warehousing robot. Because the storage robot that is handling the bins of workstation i and the storage robot in workstation i will soon complete the task and leave workstation i, causing congestion in workstation i, the robot waits too long, and the probability of robot resource waste is low. Therefore, the above-mentioned control terminal uses the storage robot that has been assigned to the bin of the workstation i as the storage robot that has been assigned to the workstation i to execute the subsequent process, which is specifically referred to above, and will not be repeated here.
  • the above-mentioned control terminal can determine the number of storage robots that can be reduced by workstation i, and further, according to the workstation i i can reduce the number of warehousing robots, and determine the first quantity of warehousing robots corresponding to workstation i. For example, the above control terminal calculates the difference between the number of warehouse robots allocated by workstation i minus the number of warehouse robots that can be reduced by workstation i, and uses the difference as the first number of warehouse robots corresponding to workstation i.
  • the above-mentioned control terminal allocates the container handling task to a second number of storage robots according to the material box handling task to be allocated by the workstation i, wherein the second number is less than or equal to the above-mentioned first number, and realizes the basis of each workstation.
  • the control terminal can calculate the difference between the number of warehouse robots allocated by workstation i and the upper limit of the number of warehouse robots corresponding to workstation i, and use the difference as The number of warehousing robots that can be reduced by workstation i, so that the above-mentioned number of warehousing robots is reduced from the warehousing robots allocated by workstation i, and the first quantity of warehousing robots corresponding to workstation i is determined.
  • the above-mentioned control terminal determines the number of storage robots in the target warehouse, and further, according to the number of storage robots, determines the upper limit of the number of storage robots corresponding to each workstation in the target warehouse, so that based on the upper limit of the number It controls a certain number of warehousing robots corresponding to each work photo to transport the bins to the workstation, and the number is less than or equal to the upper limit of the above quantity, which realizes the configuration of the number of warehousing robots in the warehouse workstation and reduces the number of robots in the workstation.
  • the above-mentioned embodiment of the present application determines the number of storage robots in the target warehouse, in order to make the determination result more accurate, it is also considered to obtain the pending orders in the above-mentioned target warehouse, and then determine the number of bins corresponding to the pending orders.
  • the number of storage robots in the target warehouse is determined according to the number of bins corresponding to the order to be processed.
  • FIG. 4 is a schematic flowchart of another method for configuring a robot according to an embodiment of the present application. As shown in Figure 4, the method includes:
  • control terminal may acquire the pending orders in the target warehouse from the recorded information.
  • the corresponding relationship between the warehouse and the order to be processed is recorded in the control terminal, and the control terminal can obtain the order to be processed in the target warehouse according to the corresponding relationship.
  • control terminal may also record time information of the order, such as the time when the order is released from the warehouse.
  • the pending orders in the target warehouse acquired by the above control terminal may be pending orders within a certain period of time, such as pending orders whose delivery time is one day today or pending orders whose delivery time is from 9:00 am to 12:00 am today, etc. .
  • S402 Determine the number of bins corresponding to the above-mentioned order to be processed.
  • the above-mentioned control terminal may determine the quantity of the material box corresponding to the above-mentioned order to be processed according to the corresponding relationship between the order and the material box.
  • the corresponding relationship between the above-mentioned order and the material box may be stored in the above-mentioned control terminal in advance.
  • S403 Determine the number of storage robots in the target warehouse according to the number of bins corresponding to the order to be processed.
  • the aforementioned control terminal may preset a corresponding relationship between the number of bins and the number of storage robots, for example, 100 bins correspond to 10 storage robots.
  • the above-mentioned control terminal can determine the number of storage robots in the above-mentioned target warehouse according to the corresponding relationship and the number of bins corresponding to the above-mentioned orders to be processed.
  • the number of warehousing robots determine the upper limit of the number of warehousing robots corresponding to each workstation of the above target warehouse, and based on the upper limit of the number, control a certain number of warehousing robots corresponding to each workstation to transport material boxes to the workstation, and the number is less than or equal to the above-mentioned upper limit of the number, the configuration of the number of storage robots in the warehouse workstation is realized, and the situation of too many or too few robots in the workstation is reduced.
  • the control terminal determines the number of storage robots in the target warehouse, in addition to considering the bins corresponding to the orders to be processed In addition to the quantity, the type, delivery time and layout position of the bins corresponding to the above pending orders can also be considered.
  • the control terminal may determine the above target according to one or more of the type, delivery time and layout position of the material box corresponding to the above-mentioned order to be processed, and the number of material boxes corresponding to the above-mentioned order to be processed.
  • the control terminal may also determine the number of storage robots that should be in working state in the target warehouse according to one or more of the type of the material box corresponding to the order to be processed, the delivery time, the layout position, and the number of material boxes.
  • the type of the bin corresponding to the above-mentioned order to be processed is also considered.
  • the control terminal may first determine whether the types of the bins corresponding to the orders to be processed are the same. If different, the control terminal may determine the number of storage robots that should be in working state in the target warehouse according to the type of the bin corresponding to the order to be processed and the number of bins corresponding to the order to be processed.
  • the types of bins corresponding to the above-mentioned orders to be processed include large, medium and small. Different types of bins need to be transported with different numbers of storage robots.
  • the number of warehousing robots that need to be transported is 2, and the number of warehousing robots that need to be transported for small bins is 1.
  • the control terminal can be based on the type of bins corresponding to the above-mentioned orders to be processed and the materials corresponding to the above-mentioned orders to be processed.
  • the above-mentioned warehousing robot is an AGV (Automated Guided Vehicle, AGV) trolley, for example, it can be a lift-type material box robot, a jack-up material box robot, or a multi-material box robot, etc., which is not limited here, the above-mentioned warehouse Robots can be of different types, including large, medium and small, for example. Different types of warehousing robots handle different types of bins, such as large warehousing robots handling large bins, medium-sized warehousing robots handling medium-sized bins, and small warehousing robots handling small bins.
  • the control terminal may determine the number of storage robots that should be in working state in the target warehouse according to the type of bins corresponding to the orders to be processed, the number of bins corresponding to the orders to be processed, and the types of storage robots.
  • control terminal determines the out-of-stock time of the material box corresponding to the above-mentioned order to be processed according to the out-of-stock time of the above-mentioned order to be processed, and further, according to the out-of-stock time of the material box corresponding to the above-mentioned order to be processed and the corresponding to the above-mentioned order to be processed.
  • the number of bins determines the number of storage robots that should be in working condition in the above target warehouse.
  • the out-of-warehousing time of the material boxes corresponding to the above pending orders is between 9:00 am and 12:00 am today, among which there are 100 material boxes between 9:00 am and 10:00 am, and 100 material boxes between 10:00 am and 11:00 am. There are 10, and there is one material box between 11:00 and 12:00.
  • the above control terminal can determine the above-mentioned 9:00 to 10:00, 10:00 to the corresponding relationship between the number of the above-mentioned material boxes and the number of storage robots The number of warehouse robots that should be in working condition in the above target warehouse between 11:00 and 11:00 to 12:00.
  • the layout position of the bins corresponding to the above-mentioned order to be processed is also considered.
  • the above-mentioned control terminal may determine the layout position of the material box corresponding to the above-mentioned order to be processed according to the layout position of each material box in the above-mentioned target warehouse, and further, according to the layout position of the material box corresponding to the above-mentioned order to be processed and the above-mentioned order corresponding to the order to be processed.
  • the number of bins determines the number of storage robots that should be in working condition in the above target warehouse.
  • S404 Determine the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots.
  • S405 According to the above-mentioned upper limit value of the quantity, send an instruction to the above-mentioned storage robots corresponding to the target number of each workstation, where the instruction is used to instruct the above-mentioned target number of storage robots corresponding to each workstation to transport the material box to the workstation corresponding to the material box , wherein the target number is less than or equal to the upper limit of the number.
  • steps S404-S405 are implemented in the same manner as the above-mentioned steps S302-S303, and are not repeated here.
  • the control terminal when determining the number of storage robots in the target warehouse, the control terminal also considers acquiring the number, type, delivery time and layout position of the bins corresponding to the orders to be processed in the target warehouse, so as to Make the determined number of warehouse robots in the above target warehouse more accurate. Subsequently, the above-mentioned control terminal can accurately determine the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots, and then control the handling of a certain number of storage robots corresponding to each workstation based on the upper limit of the number.
  • the number of bins to the workstation is less than or equal to the above-mentioned upper limit value, which realizes the accurate configuration of the number of storage robots in the warehouse workstation, reduces the situation of too many or too few robots in the workstation, and solves the problem of excessive robots in the workstation. There are too many robots in the workstation, resulting in congestion in the workstation, long waiting time for robots, waste of robot resources, and too few robots in the workstation.
  • control terminal determines the upper limit of the number of storage robots corresponding to each workstation in the target warehouse according to the number of the storage robots, in addition to determining the number of workstations in the target warehouse, it is also possible to consider each of the above The picking efficiency of the workstation, the number of warehouse robots that can be accommodated in each workstation, and the attributes of each workstation, etc., where the attributes include the parameters of the conveyor line in the workstation.
  • the above-mentioned control terminal may, according to one or more of the above-mentioned number of storage robots, the number of workstations, the picking efficiency of each workstation, the number of storage robots that can be accommodated in each workstation, and the attributes of each of the above-mentioned workstations, can The upper limit value of the number of storage robots corresponding to each workstation of the above target warehouse is more accurately determined.
  • FIG. 5 is a schematic flowchart of yet another robot configuration method proposed by an embodiment of the application.
  • the control terminal is used to determine the upper limit of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots.
  • the picking efficiency of each workstation mentioned above is also considered as an example.
  • the method includes:
  • S501 Determine the number of storage robots in the target warehouse.
  • step S501 is the same as that of the foregoing step S301, and details are not repeated here.
  • control terminal may determine the picking efficiency of each workstation by acquiring the historical picking efficiency of each workstation.
  • the historical picking efficiency may be the picking efficiency of each workstation within a period of time, such as the picking efficiency within three days from the current time or the picking efficiency within one week from the current time, etc., which may be determined according to actual conditions.
  • the above-mentioned control terminal may determine the ratio of each of the above-mentioned workstations to the number of the above-mentioned storage robots according to the picking efficiency of each of the above-mentioned workstations, and then, according to the ratio, obtain the above-mentioned ratio of the storage robots corresponding to each of the above-mentioned workstations.
  • Quantity upper limit For example, there are 3 workstations in the above-mentioned target warehouse, and the picking efficiency of each workstation is 100 pieces/hour, 200 pieces/hour, and 300 pieces/hour. Therefore, the above control terminal can determine that each of the above-mentioned workstations has an impact on the above-mentioned warehouse.
  • the proportion of the number of robots is 1/6, 1/3 and 1/2, and then, according to this proportion, the upper limit of the number of warehouse robots corresponding to each workstation is obtained, so that the obtained upper limit of the number is more in line with The actual situation. Therefore, the above-mentioned control terminal controls a certain number of storage robots corresponding to each workstation to transport the bins to the workstation based on the upper limit of the quantity, and the number is less than or equal to the upper limit of the quantity, which realizes the control of the number of storage robots in the warehouse workstation. Accurate configuration to reduce the presence of too many or too few robots in the workstation.
  • control terminal determines the upper limit of the number of storage robots corresponding to each workstation in the target warehouse according to the number of storage robots, the number of storage robots that can be accommodated in each workstation is also considered. In this way, the control terminal may determine the upper limit of the number of storage robots corresponding to each workstation according to the number of storage robots that can be accommodated in each workstation and the number of storage robots.
  • the above-mentioned control terminal can first determine the third number of storage robots corresponding to each of the above-mentioned workstations according to the number of the above-mentioned storage robots, and then judge whether the third number of storage robots corresponding to the workstation i is larger than the number of storage robots that can be accommodated in the workstation i.
  • the third quantity of warehousing robots corresponding to workstation i is greater than the number of warehousing robots that can be accommodated in workstation i, adjust the third quantity of warehousing robots corresponding to workstation i according to the number of warehousing robots that can be accommodated in workstation i to obtain the workstation
  • the fourth quantity of warehousing robots corresponding to i is less than or equal to the number of warehousing robots that can be accommodated in workstation i, and finally the fourth quantity of warehousing robots corresponding to workstation i is used as the number of warehousing robots corresponding to workstation i. limit.
  • the third number of storage robots corresponding to each workstation may be the number of storage robots determined according to the average division result after the control terminal performs an average division on the number of storage robots.
  • the above-mentioned control terminal adjusts the third number of storage robots corresponding to each workstation according to the number of storage robots that can be accommodated in each workstation, and obtains a fourth number of storage robots corresponding to each workstation, and the fourth number is less than or It is equal to the number of warehousing robots that can be accommodated in the corresponding workstation, and further, the fourth quantity is used as the upper limit of the number of warehousing robots corresponding to the corresponding workstation, and then based on the upper limit of the number, the warehousing robot is controlled to transport the material box to the workstation, reducing There is congestion in the workstation, and the robot waits for too long, resulting in waste of robot resources and other problems.
  • control terminal determines the upper limit of the number of storage robots corresponding to each workstation in the target warehouse according to the number of storage robots, the attributes of each workstation are also considered.
  • the control terminal may determine the upper limit of the number of storage robots corresponding to each workstation according to the attributes of each workstation and the number of storage robots.
  • the above-mentioned attributes include parameters of the conveying lines in the workstation, and the parameters may include the number of conveying lines and conveying speed, etc.
  • the control terminal may first determine the proportion of each workstation to the number of storage robots according to the attribute of each workstation. For example, there are 3 workstations in the above target warehouse as an example, the attributes of each workstation are 1 conveying line, 2 conveying lines, and 3 conveying lines, wherein the conveying speed of each conveying line is the same, so the above control terminal can It is determined that the proportion of each of the above-mentioned workstations to the above-mentioned storage robots is 1/6, 1/3 and 1/2.
  • control terminal can obtain the upper limit of the number of storage robots corresponding to each workstation according to the ratio of each workstation to the number of storage robots, so that the upper limit of the number is more consistent with the actual number.
  • the result of subsequent processing performed by the above-mentioned control terminal based on the upper limit of the quantity is more accurate and suitable for application.
  • S504 According to the above-mentioned upper limit value of the quantity, send an instruction to the above-mentioned storage robots corresponding to the target number of each workstation, where the instruction is used to instruct the above-mentioned target number of storage robots corresponding to each workstation to transport the material box to the workstation corresponding to the material box , where the target quantity is less than or equal to the upper limit of the quantity.
  • step S504 is the same as that of the foregoing step S303, and details are not repeated here.
  • the control terminal when determining the upper limit of the number of storage robots corresponding to each workstation in the target warehouse according to the number of storage robots, in addition to determining the number of workstations in the target warehouse, the control terminal may also consider the above The picking efficiency of each workstation, the number of warehouse robots that can be accommodated in each workstation, and the properties of each workstation, etc., make the obtained upper limit value more realistic.
  • the above-mentioned control terminal controls a certain number of storage robots corresponding to each workstation to transport the material boxes to the workstation based on the above-mentioned upper limit of the quantity, and the quantity is less than or equal to the above-mentioned upper limit of the quantity, which realizes the control of the number of storage robots in the warehouse workstation.
  • Accurate configuration reduce the situation of too many or too few robots in the workstation, solve the problem of too many robots in the workstation, resulting in congestion in the workstation, too long waiting time for robots, waste of robot resources, and too few robots in the workstation , resulting in the problem that the staff has no goods to pick, and the picking efficiency of the workstation is reduced.
  • FIG. 6 is a schematic structural diagram of a robot configuration device provided by an embodiment of the present application.
  • the robot configuration device 60 includes: a robot quantity determination module 601 , a quantity upper limit value determination module 602 , and a robot control module 603 .
  • the robot configuration device here may be the above-mentioned control terminal itself, or a chip or an integrated circuit that realizes the functions of the control terminal. It should be noted here that the division of the robot quantity determination module, the quantity upper limit determination module, and the robot control module is only a division of logical functions, and the two may be physically integrated or independent.
  • the robot quantity determination module 601 is used to determine the quantity of storage robots in the target warehouse.
  • the upper limit value determination module 602 is configured to determine the upper limit value of the number of storage robots corresponding to each workstation of the target warehouse according to the number of the storage robots.
  • the robot control module 603 is configured to send an instruction to the storage robots corresponding to the target number of each workstation according to the upper limit of the quantity, and the instruction is used to instruct the storage robots of the target number corresponding to each workstation to carry From the bin to the workstation corresponding to the bin, wherein the target quantity is less than or equal to the upper limit value of the quantity.
  • the robot quantity determination module 601 is specifically used for:
  • the number of storage robots in the target warehouse is determined according to the number of bins corresponding to the order to be processed.
  • the robot quantity determination module 601 is specifically used for:
  • the number of storage robots in the target warehouse is determined according to one or more of the type, delivery time and layout position of the material box corresponding to the order to be processed, and the number of material boxes corresponding to the order to be processed.
  • the upper limit value determination module 602 is specifically configured to:
  • an upper limit value of the number of storage robots corresponding to each workstation of the target warehouse is determined.
  • the upper limit value determination module 602 is specifically configured to:
  • the upper limit of the number of storage robots corresponding to each workstation of the workstations to be online is determined.
  • the upper limit value determination module 602 is specifically configured to:
  • an upper limit value of the number of storage robots corresponding to each workstation is determined.
  • the upper limit value determination module 602 is specifically configured to:
  • each workstation determine the proportion of each workstation to the number of storage robots
  • the upper limit value of the number of storage robots corresponding to each workstation is obtained.
  • the upper limit value determination module 602 is specifically configured to:
  • an upper limit value of the number of storage robots corresponding to each workstation is determined.
  • the upper limit value determination module 602 is specifically configured to:
  • the number of the storage robots determine a third number of storage robots corresponding to each workstation
  • the third number of warehousing robots corresponding to the workstation i is greater than the number of warehousing robots that can be accommodated in the workstation i, adjust the number of warehousing robots corresponding to the workstation i according to the number of warehousing robots that can be accommodated in the workstation i Three quantities of warehousing robots, obtain a fourth quantity of warehousing robots corresponding to the workstation i, where the fourth quantity is less than or equal to the number of warehousing robots that can be accommodated in the workstation i;
  • the fourth quantity of storage robots corresponding to the workstation i is used as the upper limit of the quantity of storage robots to be worked in the workstation i.
  • the upper limit value determination module 602 is specifically configured to:
  • an upper limit value of the number of storage robots corresponding to each workstation of the target warehouse is determined.
  • the upper limit value determination module 602 is specifically configured to:
  • the picking efficiency of each workstation, the number of warehouse robots that can be accommodated in each workstation, and the attributes of each workstation, and the For the number of storage robots determine the upper limit of the number of storage robots corresponding to each workstation of the target warehouse.
  • FIG. 7 schematically provides a schematic diagram of a possible basic hardware architecture of the control terminal described in this application.
  • control terminal 700 includes at least one processor 701 and a communication interface 703 . Further optionally, a memory 702 and a bus 704 may also be included.
  • the number of processors 701 may be one or more, and FIG. 7 only illustrates one of the processors 701.
  • the processor 701 may be a central processing unit (central processing unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) or a digital signal processor (digital signal processor, DSP). If the control terminal 700 has a plurality of processors 701, the types of the plurality of processors 701 may be different, or may be the same.
  • the multiple processors 701 of the control terminal 700 may also be integrated into a multi-core processor.
  • the memory 702 stores computer instructions and data; the memory 702 may store computer instructions and data required to implement the above-mentioned robot configuration method provided by the present application, for example, the memory 702 stores instructions for implementing the steps of the above-mentioned robot configuration method.
  • the memory 702 may be any one or any combination of the following storage media: non-volatile memory (eg read only memory (ROM), solid state drive (SSD), hard disk (HDD), optical disk), volatile memory.
  • Communication interface 703 may provide information input/output for the at least one processor. It may also include any one or any combination of the following devices: a network interface (eg, an Ethernet interface), a wireless network card, and other devices with network access functions.
  • a network interface eg, an Ethernet interface
  • a wireless network card e.g., a Wi-Fi interface
  • the communication interface 703 may also be used to control the terminal 700 to perform data communication with other computing devices or terminals.
  • FIG. 7 represents the bus 704 with a thick line.
  • a bus 704 may connect the processor 701 with the memory 702 and the communication interface 703 . In this way, through the bus 704, the processor 701 can access the memory 702, and can also use the communication interface 703 to perform data interaction with other computing devices or terminals.
  • control terminal 700 executes the computer instructions in the memory 702, so that the control terminal 700 implements the above-mentioned robot configuration method provided in this application, or makes the control terminal 700 deploy the above-mentioned robot configuration device.
  • the memory 702 may include a robot quantity determination module 601 , a quantity upper limit value determination module 602 , and a robot control module 603 .
  • the inclusion here only refers to that the functions of the robot quantity determination module, the quantity upper limit value determination module and the robot control module can be respectively implemented when the instructions stored in the memory are executed, and are not limited to physical structures.
  • control terminal can be implemented as a hardware module, or as a circuit unit, in addition to being implemented by software as in the above-mentioned FIG. 7 .
  • FIG. 8 is a schematic structural diagram of a storage robot provided by an embodiment of the application. As shown in FIG. 8 , the storage robot includes: a mobile chassis 801 , a pickup device 802 , a storage rack 803 and a controller 804 .
  • the storage rack 803 is arranged on the mobile chassis 801, the pickup device 802 is mechanically connected to the storage rack 803, and the controller 804 is connected to the mobile chassis 801 and the pickup device 802, respectively, for receiving the instructions sent by the control terminal.
  • the instructions control the mobile chassis 801 and the picking device 802 to transport the material box to the storage rack 803, and then transport the material box to the workstation corresponding to the material box.
  • FIG. 9 is a schematic structural diagram of a storage system provided by an embodiment of the application. As shown in FIG. 9 , the storage system includes: a storage robot 901 , a shelf 902 and a control terminal 903 .
  • the material box is placed on the shelf 902
  • the control terminal 903 is the storage robot provided by any embodiment of the corresponding embodiment of FIG. 7 of this application
  • the storage robot 901 is the storage robot provided by any embodiment of the corresponding embodiment of FIG. 8 of the application
  • the storage robot 901 is connected to the control terminal 903, and is used to transport the material box to the workstation corresponding to the material box according to the instruction sent by the control terminal 903.
  • the present application also provides a computer-readable storage medium, wherein the computer program product includes computer instructions, and the computer instructions instruct a computing device to execute the above-mentioned robot configuration method provided by the present application.
  • 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 application also provides a computer program product, comprising computer instructions, and the computer instructions are executed by the processor.
  • a computer program product comprising computer instructions, and the computer instructions are executed by the processor.
  • the present application also provides a chip comprising at least one processor and a communication interface, wherein the communication interface provides information input and/or output for the at least one processor. Further, the chip may also include at least one memory for storing computer instructions. The at least one processor is used to invoke and execute the computer instructions to execute the above-mentioned robot configuration method provided by the present application.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of modules is only a logical function division.
  • there may be other division methods for example, multiple modules or components 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.

Abstract

一种机器人配置方法、装置、控制终端和仓储系统，该方法包括，确定目标仓库中仓储机器人（101）的数量，根据仓储机器人的数量，确定目标仓库的每个工作站对应的仓储机器人的数量上限值，根据数量上限值，发送指令至每个工作站对应的目标数量的仓储机器人，指示每个工作站对应的目标数量的仓储机器人搬运料箱（102）至料箱对应的工作站，其中，目标数量小于或等于数量上限值。该方法实现了对仓库工作站中仓储机器人数量的配置，减少工作站中出现的机器人过多或过少的情况，解决工作站中出现的机器人过多，导致的工作站内拥堵，机器人等待时间过长，机器人资源浪费，以及工作站中出现的机器人过少，导致的工作人员无货可拣，工作站拣货效率降低的问题。

Description

机器人配置方法、装置、控制终端和仓储系统
本申请要求于2021年03月31日提交中国专利局、申请号为202110350775.1、申请名称为“机器人配置方法、装置、控制终端和仓储系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能仓储技术领域，尤其涉及一种机器人配置方法、装置、控制终端和仓储系统。
背景技术
随着货物的增加，存放货物的仓库越来越多。以电子商务中的货物存放为例，随着电子商务的快速发展，电子商务公司为了更快速地配送商品，在各地建立仓库，每一仓库每天要处理数以万计的大小订单。订单的发货效率会直接影响到用户的消费体验，而拣货效率与订单发货效率息息相关，所以仓储拣货操作在整个仓储管理中的地位越来越重要。
现有在仓储拣货过程中，仓储机器人需要将料箱托运到一个站点，以使工作人员进行拣货，这个站点称之为工作站。
现有仓储机器人搬运料箱到工作站时，有可能出现很多个机器人同时搬运料箱到同一工作站的情况，导致该工作站内出现拥堵，机器人等待时间过长，造成机器人资源浪费；也可能出现少量机器人甚至没有机器人搬运料箱到某一工作站的情况，使得该工作站中工作人员无货可拣，降低工作站的拣货效率。
发明内容
本申请实施例提供了一种机器人配置方法、装置、控制终端和仓储系统，实现了对仓库工作站中仓储机器人数量的配置，减少工作站中出现的机器人过多或过少的情况，降低机器人资源浪费，提高工作站的拣货效率。
第一方面，本申请实施例提供了一种机器人配置方法，所述方法包括：
确定目标仓库中仓储机器人的数量；
根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值；
根据所述数量上限值，发送指令至所述每个工作站对应的目标数量的仓储机器人，所述指令用于指示所述每个工作站对应的目标数量的仓储机器人搬运料箱至所述料箱对应的工作站，其中，所述目标数量小于或等于所述数量上限值。
在一种可能的实现方式中，所述确定目标仓库中仓储机器人的数量，包括：
获取所述目标仓库中的待处理订单；
确定所述待处理订单对应的料箱的数量；
根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
在一种可能的实现方式中，在所述根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量之前，还包括：
确定所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个；
所述根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量，包括：
根据所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个，以及所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
在一种可能的实现方式中，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
确定所述目标仓库中工作站的数量；
所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
根据所述仓储机器人的数量和所述工作站的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述根据所述仓储机器人的数量和所述工作站的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
从所述工作站的数量中，确定待上线工作站的数量，所述待上线工作站包括至少一个工作站；
根据所述仓储机器人的数量和所述待上线工作站的数量，确定所述待上线工作站的每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
获取所述每个工作站的拣货效率；
所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
根据所述每个工作站的拣货效率和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述根据所述每个工作站的拣货效率和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值，包括：
根据所述每个工作站的拣货效率，确定所述每个工作站对所述仓储机器人的数量的占比；
根据所述每个工作站对所述仓储机器人的数量的占比，获得所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
确定所述每个工作站中可容纳的仓储机器人的数量；
所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
根据所述每个工作站中可容纳的仓储机器人的数量和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述根据所述每个工作站中可容纳的仓储机器人的数量和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值，包括：
根据所述述仓储机器人的数量，确定所述每个工作站对应的第三数量的仓储机器人；
判断工作站i对应的第三数量的仓储机器人是否大于工作站i中可容纳的仓储机器人的数量，其中，i＝1，2，3……n，n等于所述目标仓库中工作站的数量；
若所述工作站i对应的第三数量的仓储机器人大于所述工作站i中可容纳的仓储机器人的数量，则根据所述工作站i中可容纳的仓储机器人的数量，调整所述工作站i对应的第三数量的仓储机器人，获得所述工作站i对应的第四数量的仓储机器人，所述第四数量小于或等于所述工作站i中可容纳的仓储机器人的数量；
将所述工作站i对应的第四数量的仓储机器人作为所述工作站i对应的仓储机器人的 数量上限值。
在一种可能的实现方式中，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
确定所述目标仓库的每个工作站的属性，所述属性包括工作站中输送线的参数；
所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
根据所述属性和所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
第二方面，本申请还提供了一种机器人配置装置，该装置包括：
机器人数量确定模块，用于确定目标仓库中仓储机器人的数量；
数量上限值确定模块，用于根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值；
机器人控制模块，用于根据所述数量上限值，发送指令至所述每个工作站对应的目标数量的仓储机器人，所述指令用于指示所述每个工作站对应的目标数量的仓储机器人搬运料箱至所述料箱对应的工作站，其中，所述目标数量小于或等于所述数量上限值。
在一种可能的实现方式中，所述机器人数量确定模块，具体用于：
获取所述目标仓库中的待处理订单；
确定所述待处理订单对应的料箱的数量；
根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
在一种可能的实现方式中，所述机器人数量确定模块，具体用于：
确定所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个；
根据所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个，以及所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
在一种可能的实现方式中，所述数量上限值确定模块，具体用于：
确定所述目标仓库中工作站的数量；
根据所述仓储机器人的数量和所述工作站的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块，具体用于：
从所述工作站的数量中，确定待上线工作站的数量，所述待上线工作站包括至少一个工作站；
根据所述仓储机器人的数量和所述待上线工作站的数量，确定所述待上线工作站的每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块，具体用于：
获取所述每个工作站的拣货效率；
根据所述每个工作站的拣货效率和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块，具体用于：
根据所述每个工作站的拣货效率，确定所述每个工作站对所述仓储机器人的数量的占比；
根据所述每个工作站对所述仓储机器人的数量的占比，获得所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块，具体用于：
确定所述每个工作站中可容纳的仓储机器人的数量；
根据所述每个工作站中可容纳的仓储机器人的数量和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块，具体用于：
根据所述述仓储机器人的数量，确定所述每个工作站对应的第三数量的仓储机器人；
判断工作站i对应的第三数量的仓储机器人是否大于工作站i中可容纳的仓储机器人的数量，其中，i＝1，2，3……n，n等于所述目标仓库中工作站的数量；
若所述工作站i对应的第三数量的仓储机器人大于所述工作站i中可容纳的仓储机器人的数量，则根据所述工作站i中可容纳的仓储机器人的数量，调整所述工作站i对应的第三数量的仓储机器人，获得所述工作站i对应的第四数量的仓储机器人，所述第四数量小于或等于所述工作站i中可容纳的仓储机器人的数量；
将所述工作站i对应的第四数量的仓储机器人作为所述工作站i中待工作仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块，具体用于：
确定所述目标仓库的每个工作站的属性，所述属性包括工作站中输送线的参数；
根据所述属性和所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
第三方面，本申请还提供了一种控制终端，包括存储器，处理器以及计算机程序；其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现本申请第一方面对应的任意实施例提供的机器人配置方法。
第四方面，本申请还提供了一种仓储系统，包括：本申请第三方面对应的实施例提供的控制终端、仓储机器人和货架，其中，所述仓储机器人与所述控制终端连接，用于根据所述控制终端发送的指令搬运料箱至所述料箱对应的工作站，其中，所述料箱放置于所述货架上。
第五方面，本申请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，所述计算机执行指令被处理器执行时用于实现如本申请第一方面对应的任意实施例提供的机器人配置方法。
第六方面，本申请还提供了一种计算机程序产品，其特征在于，包括计算机指令，所述计算机指令被处理器执行时用于实现如本申请第一方面对应的任意实施例提供的机器人配置方法。
本申请实施例提供的机器人配置方法、装置、控制终端和仓储系统，该方法通过确定目标仓库中仓储机器人的数量，进而，根据仓储机器人的数量，确定目标仓库的每个工作站对应的仓储机器人的数量上限值，从而，基于该数量上限值，控制每个工作站对应的一定数量的仓储机器人搬运料箱至工作站，该数量小于或等于上述数量上限值，实现了对仓库工作站中仓储机器人数量的配置，减少工作站中出现的机器人过多或过少的情况，解决工作站中出现的机器人过多，导致的工作站内拥堵，机器人等待时间过长，机器人资源浪费，以及工作站中出现的机器人过少，导致的工作人员无货可拣，工作站拣货效率降低的问题。
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，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。
图1为本申请实施例提供的机器人搬运料箱的示意图；
图2为本申请实施例提供的机器人配置方法的一种应用场景图；
图3为本申请实施例提供的一种机器人配置方法的流程图；
图4为本申请实施例提供的另一种机器人配置方法的流程图；
图5为本申请实施例提供的再一种机器人配置方法的流程图；
图6为本申请实施例提供的一种机器人配置装置的结构示意图；
图7为本申请实施例提供的一种控制终端的硬件架构示意图；
图8为本申请实施例提供的一种仓储机器人的结构示意图
图9为本申请实施例提供的一种仓储系统的结构示意图。
通过上述附图，已示出本申请明确的实施例，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申请构思的范围，而是通过参考特定实施例为本领域技术人员说明本申请的概念。
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申请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、本申请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申请的技术方案以及本申请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，对本申请的实施例进行描述。
相关技术中，以电子商务中的货物存放为例，随着电子商务的快速发展，电子商务公司为了更快速地配送商品，在各地建立仓库，每一仓库每天要处理数以万计的大小订单。订单的发货效率会直接影响到用户的消费体验，而拣货效率与订单发货效率息息相关，所以仓储拣货操作在整个仓储管理中的地位越来越重要。现有在仓储拣货过程中，仓储机器人需要将料箱托运到一个站点，以使工作人员进行拣货，这个站点称之为工作站(也可称为人工作业区)。
示例性的，如图1所示，仓库中的仓储机器人101对位于货架区的货架102上的料箱进行提取，并将其移动至工作站中，由工作站的工作人员对料箱中的物料进行拣选出库。
但是，现有仓储机器人搬运料箱到工作站时，有可能出现很多个机器人同时搬运料箱到同一工作站的情况，导致该工作站内出现拥堵，机器人等待时间过长，造成机器人资源浪费；也可能出现少量机器人甚至没有机器人搬运料箱到某一工作站，使得该工作站中工作人员无货可拣，降低工作站的拣货效率。
因此，本申请实施例提出一种机器人配置方法，通过确定仓库的每个工作站对应的仓储机器人的数量上限值，从而，基于该数量上限值，控制每个工作站对应的一定数量的仓储机器人搬运料箱至工作站，该数量小于或等于上述数量上限值，实现了对仓库工作站中仓储机器人数量的配置，减少工作站中出现的机器人过多或过少的情况，解决工作站中出现的机器人过多，导致的工作站内拥堵，机器人等待时间过长，机器人资源浪费，以及工作站中出现的机器人过少，导致的工作人员无货可拣，工作站拣货效率降低的问题。
可选地，本申请实施例提供的机器人配置方法可以应用于如图2所示的应用场景中。图2只是以示例的方式描述了本申请实施例提供的机器人配置方法的一种可能的应用场景，本申请实施例提供的机器人配置方法的应用场景不限于图2所示的应用场景。
在图2中，目标仓库中设置有仓储系统200，该仓储系统200包括控制终端201、仓储机器人202和货架203。其中，控制终端201可以控制仓储机器人202对位于货架区的货架203上的料箱进行提取，并将其移动至工作站中，由工作站的工作人员对料箱中的物料进行拣选出库。
可以理解的是，图2所示的部件可以以硬件，软件，或软件与硬件的组合实现。
在具体实现过程中，上述仓储系统200对上述目标仓库中存储的料箱进行处理。上述仓储系统200中的控制终端201可以确定上述目标仓库的每个工作站对应的仓储机器人202的数量上限值，然后基于该数量上限值，根据订单需求控制每个工作站对应的一定数量的仓储机器人202对位于货架区的货架203上的料箱进行提取，并将料箱搬运至工作站， 上述数量小于或等于上述数量上限值。其中，上述控制终端201接收到订单，并确定订单中需求的商品，根据需求的商品确定订单对应的料箱，然后，执行上述确定上述目标仓库的每个工作站对应的仓储机器人202的数量上限值的步骤。或者，上述控制终端201也可以接收用户发送的控制指令，例如接收到用户发送的开始工作指令，进而，根据该指令开始工作，执行上述确定上述目标仓库的每个工作站对应的仓储机器人202的数量上限值的步骤。
这里，上述控制终端201由于确定目标仓库的每个工作站对应的仓储机器人的数量上限值，从而，基于该数量上限值，控制每个工作站对应的一定数量的仓储机器人202搬运料箱至工作站，实现了对仓库工作站中仓储机器人数量的配置，减少了工作站中出现的机器人过多或过少的情况，解决工作站中出现的机器人过多，导致的工作站内拥堵，机器人等待时间过长，机器人资源浪费，以及工作站中出现的机器人过少，导致的工作人员无货可拣，工作站拣货效率降低的问题。
应理解，本申请实施例描述的应用场景是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域普通技术人员可知，随着新业务场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
下面以几个实施例为例对本申请的技术方案进行描述，对于相同或相似的概念或过程可能在某些实施例不再赘述。
图3为本申请实施例提供的一种机器人配置方法的流程示意图，本实施例的执行主体可以为图2中的控制终端201，具体执行主体可以根据实际应用场景确定，本申请实施例对此不做特别限制。如图3所示，本申请实施例提供的机器人配置方法可以包括如下步骤：
S301：确定目标仓库中仓储机器人的数量。
其中，目标仓库为需要进行机器人配置的仓库，可以根据实际情况确定。
这里，上述控制终端确定的目标仓库中仓储机器人的数量，可以是目标仓库中仓储机器人的总数量，也可以是目标仓库中部分仓储机器人的数量，例如目标仓库中处于工作状态的仓储机器人的数量。
示例性的，上述控制终端可以获取预存的目标仓库中仓储机器人的总数量，从而将该仓储机器人的总数量作为上述目标仓库中仓储机器人的数量，或者，可以根据记录的仓储机器人的状态，确定目标仓库中处于工作状态的仓储机器人的数量，并将该处于工作状态的仓储机器人的数量作为上述目标仓库中仓储机器人的数量。其中，上述控制终端可以记录仓储机器人的状态。例如如果仓储机器人在提取料箱，则上述控制终端记录仓储机器人的状态为工作状态。如果仓储机器人未启动，则上述控制终端记录仓储机器人的状态为空闲状态。这样，上述控制终端可以根据记录的仓储机器人的状态，确定上述处于工作状态的仓储机器人的数量，从而将该处于工作状态的仓储机器人的数量作为上述目标仓库中仓储机器人的数量。
S302：根据上述仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值。
在本申请实施例中，上述控制终端在确定上述目标仓库中仓储机器人的数量后，可以根据该仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值。例如上述控制终端对上述仓储机器人的数量进行划分，从而，根据划分结果，确定上述每个工作站对应的仓储机器人的数量上限值。
示例性的，上述划分结果可以根据实际情况确定，例如划分结果为上述每个工作站对应的仓储机器人的数量相同。
这里，上述控制终端在确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，还可以确定上述目标仓库中工作站的数量，从而，根据上述仓储机器人的数量和工作站的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值。例如，上 述控制终端根据工作站的数量对上述仓储机器人的数量进行平均划分，根据平均划分结果，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值。假如上述目标仓库中有20个仓储机器人，5个工作站，上述控制终端根据工作站的数量5对上述仓储机器人的数量20进行平均划分，得到上述每个工作站对应的仓储机器人的数量均为4个，从而，确定上述每个工作站对应的仓储机器人的数量上限值为4。
其中，上述控制终端在根据上述仓储机器人的数量和工作站的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，可以只考虑待上线工作站。例如上述目标仓库中有5个工作站，其中待上线工作站有4个。即上述控制终端可以首先从上述工作站的数量中，确定待上线工作站的数量，该待上线工作站包括至少一个工作站，然后根据上述仓储机器人的数量和上述待上线工作站的数量，确定上述待上线工作站的每个工作站对应的仓储机器人的数量上限值。例如上述目标仓库中有20个仓储机器人，4个待上线工作站。上述控制终端根据待上线工作站的数量4对上述仓储机器人的数量20进行平均划分，得到上述待上线工作站中每个工作站对应的仓储机器人的数量均为5个，从而，确定上述待上线工作站中每个工作站对应的仓储机器人的数量上限值为5。
另外，上述控制终端在根据上述仓储机器人的数量和工作站的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，如果上述仓储机器人的数量不能被平均划分(不能被上述工作站的数量整除)，例如上述目标仓库中有21个仓储机器人，5个工作站，仓储机器人的数量不能被平均划分。此时上述控制终端可以进行取整操作，即上述控制终端可以根据工作站的数量5对上述仓储机器人的数量21进行划分后的划分结果取整，得到上述每个工作站对应的仓储机器人的数量均为4个，从而，确定上述每个工作站对应的仓储机器人的数量上限值为4。
S303：根据上述数量上限值，发送指令至上述每个工作站对应的目标数量的仓储机器人，该指令用于指示上述每个工作站对应的目标数量的仓储机器人搬运料箱至该料箱对应的工作站，其中，上述目标数量小于或等于上述数量上限值。
这里，上述控制终端在确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值后，基于该数量上限值，控制仓储机器人搬运料箱至工作站，实现了对仓库工作站中仓储机器人数量的配置，减少工作站中出现的机器人过多或过少的情况。
其中，上述控制终端在确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值后，可以先基于该数量上限值，确定上述每个工作站对应的第一数量的仓储机器人，该第一数量小于或等于上述数量上限值，从而根据上述每个工作站待分配的料箱搬运任务，发送指令至上述每个工作站对应的第二数量的仓储机器人，以使每个工作站对应的第二数量的仓储机器人搬运料箱至该料箱对应的工作站，其中，第二数量小于或等于上述第一数量。这里，上述目标数量可以理解为上述第二数量。
示例性的，上述控制终端在基于上述数量上限值，确定上述每个工作站对应的第一数量的仓储机器人时，可以首先确定工作站i已分配的仓储机器人的数量，该已分配的仓储机器人包括已分配工作站i的料箱的仓储机器人、正在搬运工作站i的料箱的仓储机器人，以及在工作站i的仓储机器人，其中，i＝1，2，3……n，n等于上述目标仓库中工作站的数量，然后根据工作站i已分配的仓储机器人的数量，以及工作站i对应的仓储机器人的数量上限值，确定工作站i对应的第一数量的仓储机器人。
例如，工作站i已分配的仓储机器人的数量小于工作站i对应的仓储机器人的数量上限值，则上述控制终端可以确定工作站i可以增加的仓储机器人的数量n，从而，根据工作站i可以增加的n个仓储机器人的数量，确定工作站i对应的第一数量的仓储机器人，例如上述控制终端可以将上述第一数量设置为上述可以增加的n个仓储机器人的数量。这样，上述控制终端根据工作站i待分配的料箱搬运任务，分配该料箱搬运任务给第二数量的仓储机器人，例如m个仓储机器人，其中，m小于或者等于n，实现了基于每个工作站 的机器人数量上限下的机器人任务分配，减少工作站中出现的机器人过多或过少的情况。
其中，上述控制终端在确定工作站i可以增加的仓储机器人的数量时，可以获取工作站i的拣货效率，进而根据工作站i的拣货效率、工作站i已分配的仓储机器人的数量和工作站i对应的仓储机器人的数量上限值，确定工作站i可以增加的仓储机器人的数量。
示例性的，上述控制终端可以根据工作站i的拣货效率，以及预设的工作站的拣货效率与工作站需要的仓储机器人数量的对应关系，确定工作站i需要的仓储机器人数量。如果工作站i需要的仓储机器人数量小于或等于工作站i对应的仓储机器人的数量上限值，则上述控制终端可以根据工作站i需要的仓储机器人数量和工作站i已分配的仓储机器人的数量，确定工作站i可以增加的仓储机器人的数量。例如计算工作站i需要的仓储机器人数量与工作站i已分配的仓储机器人的数量的差值，将该差值作为工作站i可以增加的仓储机器人的数量。如果工作站i需要的仓储机器人数量大于工作站i对应的仓储机器人的数量上限值，则上述控制终端可以根据工作站i对应的仓储机器人的数量上限值和工作站i已分配的仓储机器人的数量，确定工作站i可以增加的仓储机器人的数量。例如计算工作站i对应的仓储机器人的数量上限值与工作站i已分配的仓储机器人的数量的差值，将该差值作为工作站i可以增加的仓储机器人的数量。
其中，上述预设的工作站的拣货效率与工作站需要的仓储机器人数量的对应关系可以通过实际情况确定，例如上述控制终端通过获取大量工作站的拣货效率与工作站需要的仓储机器人数量的关系，进而，根据该关系确定工作站的拣货效率与工作站需要的仓储机器人数量的对应关系。
另外，为了使确定的工作站i可以增加的仓储机器人的数量更准确，上述控制终端在根据工作站i的拣货效率、工作站i已分配的仓储机器人的数量和工作站i对应的仓储机器人的数量上限值，确定工作站i可以增加的仓储机器人的数量时，还可以考虑工作站i对应的料箱的数量、类型、出库时间和布局位置中一个或多个，从而，根据工作站i对应的料箱的数量、类型、出库时间和布局位置中一个或多个，以及工作站i的拣货效率、工作站i已分配的仓储机器人的数量和工作站i对应的仓储机器人的数量上限值，确定工作站i可以增加的仓储机器人的数量。
这里，为了减少工作站对应的机器人过少，使得该工作站中工作人员无货可拣的情况发生。上述控制终端可以只将已分配工作站i的料箱的仓储机器人作为工作站i已分配的仓储机器人，不将正在搬运工作站i的料箱的仓储机器人和在工作站i的仓储机器人作为工作站i已分配的仓储机器人。因为，正在搬运工作站i的料箱的仓储机器人和在工作站i的仓储机器人很快就会完成任务离开工作站i，造成工作站i内拥堵，机器人等待时间过长，机器人资源浪费的概率较低。因此，上述控制终端将已分配工作站i的料箱的仓储机器人作为工作站i已分配的仓储机器人执行后续流程，具体参照上述，在此不再赘述。
在本申请实施例中，如果工作站i已分配的仓储机器人的数量大于工作站i对应的仓储机器人的数量上限值，则上述控制终端可以确定工作站i可以减少的仓储机器人的数量，进而，根据工作站i可以减少的仓储机器人的数量，确定工作站i对应的第一数量的仓储机器人。例如上述控制终端计算工作站i已分配的仓储机器人的数量减去工作站i可以减少的仓储机器人的数量的差值，将该差值作为工作站i对应的第一数量的仓储机器人。从而，上述控制终端根据工作站i待分配的料箱搬运任务，分配该料箱搬运任务给第二数量的仓储机器人，其中，第二数量小于或者等于上述第一数量，实现了基于每个工作站的机器人数量上限下的机器人任务分配，减少工作站中出现的机器人过多或过少的情况。
另外，上述控制终端在确定工作站i可以减少的仓储机器人的数量时，可以计算工作站i已分配的仓储机器人的数量与工作站i对应的仓储机器人的数量上限值的差值，将该差值作为工作站i可以减少的仓储机器人的数量，从而在工作站i已分配的仓储机器人中减少上述数量的仓储机器人，确定工作站i对应的第一数量的仓储机器人。
本申请实施例中，上述控制终端确定目标仓库中仓储机器人的数量，进而，根据仓储机器人的数量，确定目标仓库的每个工作站对应的仓储机器人的数量上限值，从而，基于该数量上限值，控制每个工作照对应的一定数量的仓储机器人搬运料箱至工作站，该数量小于或等于上述数量上限值，实现了对仓库工作站中仓储机器人数量的配置，减少工作站中出现的机器人过多或过少的情况，解决工作站中出现的机器人过多，导致的工作站内拥堵，机器人等待时间过长，机器人资源浪费，以及工作站中出现的机器人过少，导致的工作人员无货可拣，工作站拣货效率降低的问题。
另外，本申请实施例在上述确定目标仓库中仓储机器人的数量时，为了使确定结果更准确，还考虑获取上述目标仓库中的待处理订单，进而确定该待处理订单对应的料箱的数量，根据上述待处理订单对应的料箱的数量，确定上述目标仓库中仓储机器人的数量。
图4为本申请实施例提出的另一种机器人配置方法的流程示意图。如图4所示，该方法包括：
S401：获取目标仓库中的待处理订单。
这里，上述控制终端可以从记录的信息中获取目标仓库中的待处理订单。例如上述控制终端中记录仓库与待处理订单的对应关系，上述控制终端可以根据该对应关系，获取目标仓库中的待处理订单。
其中，上述控制终端还可以记录订单的时间信息，例如订单出库时间。上述控制终端获取的目标仓库中的待处理订单可以是一段时间内的待处理订单，例如出库时间在今天一天的待处理订单或者出库时间在今天上午9点至12点的待处理订单等。
S402：确定上述待处理订单对应的料箱的数量。
在获取上述待处理订单后，上述控制终端可以根据订单与料箱的对应关系，确定上述待处理订单对应的料箱的数量。其中，上述订单与料箱的对应关系可以预先存储在上述控制终端中。
S403：根据上述待处理订单对应的料箱的数量，确定上述目标仓库中仓储机器人的数量。
示例性的，上述控制终端可以预设料箱的数量与仓储机器人的数量的对应关系，例如100个料箱对应10个仓储机器人。上述控制终端可以根据该对应关系，以及上述待处理订单对应的料箱的数量，确定上述目标仓库中仓储机器人的数量，该仓储机器人的数量为应处于工作状态的机器人的数量，进而再根据该仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值，基于该数量上限值，控制每个工作站对应的一定数量的仓储机器人搬运料箱至工作站，该数量小于或等于上述数量上限值，实现了对仓库工作站中仓储机器人数量的配置，减少工作站中出现的机器人过多或过少的情况。
其中，为了使后续确定的目标仓库的每个工作站对应的仓储机器人的数量上限值更准确，上述控制终端在确定上述目标仓库中仓储机器人的数量时，除考虑上述待处理订单对应的料箱的数量外，还可以考虑上述待处理订单对应的料箱的类型、出库时间和布局位置等。
在本申请实施例中，上述控制终端可以根据上述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个，以及上述待处理订单对应的料箱的数量，确定上述目标仓库中应处于工作状态的仓储机器人的数量。或者，上述控制终端也可以根据待处理订单对应的料箱的类型、出库时间、布局位置和料箱的数量中一个或多个，确定上述目标仓库中应处于工作状态的仓储机器人的数量。
如果上述控制终端在考虑上述待处理订单对应的料箱的数量基础上，还考虑上述待处理订单对应的料箱的类型。上述控制终端可以先判断上述待处理订单对应的料箱的类型是否相同。如果不同，上述控制终端可以根据上述待处理订单对应的料箱的类型和上述待处理订单对应的料箱的数量，确定上述目标仓库中应处于工作状态的仓储机器人的数量。例 如上述待处理订单对应的料箱的类型包括大型、中型和小型，不同类型的料箱需要搬运的仓储机器人的数量不同，例如大型料箱需要搬运的仓储机器人的数量为3个，中型料箱需要搬运的仓储机器人的数量为2个，小型料箱需要搬运的仓储机器人的数量为1个，这样，上述控制终端可以根据上述待处理订单对应的料箱的类型和上述待处理订单对应的料箱的数量，确定上述目标仓库中应处于工作状态的仓储机器人的数量。
其中，上述仓储机器人为AGV(Automated Guided Vehicle,AGV)小车，例如可以是托举式料箱机器人，顶升式料箱机器人，或者可以是多料箱机器人等，在此不做限定，上述仓储机器人可以有不同类型，例如包括大型、中型和小型。不同类型的仓储机器人搬运不同类型的料箱，例如大型仓储机器人搬运大型料箱，中型仓储机器人搬运中型料箱，小型仓储机器人搬运小型料箱。上述控制终端可以根据上述待处理订单对应的料箱的类型、上述待处理订单对应的料箱的数量，以及仓储机器人的类型，确定上述目标仓库中应处于工作状态的仓储机器人的数量。
除上述外，如果上述控制终端在考虑上述待处理订单对应的料箱的数量基础上，还考虑上述待处理订单对应的料箱的出库时间。上述控制终端可以根据上述待处理订单的出库时间，确定上述待处理订单对应的料箱的出库时间，进而，根据上述待处理订单对应的料箱的出库时间和上述待处理订单对应的料箱的数量，确定上述目标仓库中应处于工作状态的仓储机器人的数量。例如上述待处理订单对应的料箱的出库时间在今天上午9点至12点之间，其中，9点至10点之间的有100个料箱，10点至11点之间的料箱有10个，11点至12点之间的料箱有1个，上述控制终端可以根据上述料箱的数量与仓储机器人的数量的对应关系，确定上述9点至10点之间、10点至11点之间，以及11点至12点之间的上述目标仓库中应处于工作状态的仓储机器人的数量。
另外，如果上述控制终端在考虑上述待处理订单对应的料箱的数量基础上，还考虑上述待处理订单对应的料箱的布局位置。上述控制终端可以根据上述目标仓库中各个料箱的布局位置，确定上述待处理订单对应的料箱的布局位置，进而，根据上述待处理订单对应的料箱的布局位置和上述待处理订单对应的料箱的数量，确定上述目标仓库中应处于工作状态的仓储机器人的数量。
S404：根据上述仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值。
S405：根据上述数量上限值，发送指令至上述每个工作站对应的目标数量的仓储机器人，该指令用于指示上述每个工作站对应的目标数量的仓储机器人搬运料箱至该料箱对应的工作站，其中，所述目标数量小于或等于所述数量上限值。
其中，步骤S404-S405与上述步骤S302-S303的实现方式相同，此处不再赘述。
本申请实施例中，上述控制终端在上述确定目标仓库中仓储机器人的数量时，还考虑获取上述目标仓库中的待处理订单对应的料箱的数量、类型、出库时间和布局位置等，从而使确定的上述目标仓库中仓储机器人的数量更准确。后续上述控制终端根据该仓储机器人的数量，能够准确确定目标仓库的每个工作站对应的仓储机器人的数量上限值，进而基于该数量上限值，控制每个工作站对应的一定数量的仓储机器人搬运料箱至工作站，该数量小于或等于上述数量上限值，实现了对仓库工作站中仓储机器人数量的准确配置，减少工作站中出现的机器人过多或过少的情况，解决工作站中出现的机器人过多，导致的工作站内拥堵，机器人等待时间过长，机器人资源浪费，以及工作站中出现的机器人过少，导致的工作人员无货可拣，工作站拣货效率降低的问题。
另外，上述控制终端在根据上述仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，除考虑确定上述目标仓库中工作站的数量外，还可以考虑上述每个工作站的拣货效率、每个工作站中可容纳的仓储机器人的数量和每个工作站的属性等，其中，该属性包括工作站中输送线的参数。从而，上述控制终端可以根据上述 仓储机器人的数量、工作站的数量、每个工作站的拣货效率、每个工作站中可容纳的仓储机器人的数量和上述每个工作站的属性中一个或多个，能够更准确地确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值。
图5为本申请实施例提出的再一种机器人配置方法的流程示意图，图中以上述控制终端在根据上述仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，还考虑上述每个工作站的拣货效率为例。如图5所示，该方法包括：
S501：确定目标仓库中仓储机器人的数量。
其中，步骤S501与上述步骤S301的实现方式相同，此处不再赘述。
S502：获取上述目标仓库中每个工作站的拣货效率。
这里，上述控制终端可以通过获取上述每个工作站历史拣货效率，确定上述每个工作站的拣货效率。其中，上述历史拣货效率可以是上述每个工作站一段时间内的拣货效率，例如距离当前时间三天内的拣货效率或距离当前时间一周内的拣货效率等，具体可以根据实际情况确定。
S503：根据上述每个工作站的拣货效率和上述仓储机器人的数量，确定上述每个工作站对应的仓储机器人的数量上限值。
示例性的，上述控制终端可以根据上述每个工作站的拣货效率，确定上述每个工作站对上述仓储机器人的数量的占比，进而，根据该占比，获得上述每个工作站对应的仓储机器人的数量上限值。例如以上述目标仓库中有3个工作站为例，每个工作站的拣货效率为100件/时，200件/时，300件/时，从而，上述控制终端可以确定上述每个工作站对上述仓储机器人的数量的占比为1/6，1/3和1/2，进而，根据该占比，获得上述每个工作站对应的仓储机器人的数量上限值，使获得的数量上限值更符合实际情况。从而，上述控制终端基于该数量上限值，控制每个工作站对应的一定数量的仓储机器人搬运料箱至工作站，该数量小于或等于上述数量上限值，实现了对仓库工作站中仓储机器人数量的准确配置，减少工作站中出现的机器人过多或过少的情况。
如果上述控制终端在根据上述仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，还考虑每个工作站中可容纳的仓储机器人的数量。这样，上述控制终端可以根据上述每个工作站中可容纳的仓储机器人的数量和上述仓储机器人的数量，确定上述每个工作站对应的仓储机器人的数量上限值。
示例性的，上述控制终端可以首先根据上述仓储机器人的数量，确定上述每个工作站对应的第三数量的仓储机器人，然后判断工作站i对应的第三数量的仓储机器人是否大于工作站i中可容纳的仓储机器人的数量，其中，i＝1，2，3……n，n等于上述目标仓库中工作站的数量。如果工作站i对应的第三数量的仓储机器人大于工作站i中可容纳的仓储机器人的数量，则根据工作站i中可容纳的仓储机器人的数量，调整工作站i对应的第三数量的仓储机器人，获得工作站i对应的第四数量的仓储机器人，该第四数量小于或等于工作站i中可容纳的仓储机器人的数量，最后将工作站i对应的第四数量的仓储机器人作为工作站i对应的仓储机器人的数量上限值。
其中，上述每个工作站对应的第三数量的仓储机器人可以是上述控制终端对上述仓储机器人的数量进行平均划分后，根据平均划分结果确定的仓储机器人的数量。上述控制终端根据每个工作站中可容纳的仓储机器人的数量，对每个工作站对应的第三数量的仓储机器人进行调整，获得每个工作站对应的第四数量的仓储机器人，该第四数量小于或等于相应工作站中可容纳的仓储机器人的数量，进而，将该第四数量作为相应工作站对应的仓储机器人的数量上限值，然后基于该数量上限值，控制仓储机器人搬运料箱至工作站，减少工作站内出现拥堵，机器人等待时间过长，造成机器人资源浪费等问题。
如果上述控制终端在根据上述仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，还考虑每个工作站的属性。上述控制终端可以根据上述 每个工作站的属性和上述仓储机器人的数量，确定上述每个工作站对应的仓储机器人的数量上限值。
其中，上述属性包括工作站中输送线的参数，该参数可以包括输送线的条数和输送速度等。上述控制终端可以首先根据上述每个工作站的属性，确定上述每个工作站对所述仓储机器人的数量的占比。例如以上述目标仓库中有3个工作站为例，每个工作站的属性为1条输送线，2条输送线，3条输送线，其中，各个输送线的输送速度相同，从而，上述控制终端可以确定上述每个工作站对上述仓储机器人的数量的占比为1/6，1/3和1/2。然后上述控制终端可以根据上述每个工作站对所述仓储机器人的数量的占比，获得上述每个工作站对应的仓储机器人的数量上限值，使得该数量上限值与实际更相符。后续上述控制终端基于该数量上限值进行后续处理的结果更准确，适合应用。
S504：根据上述数量上限值，发送指令至上述每个工作站对应的目标数量的仓储机器人，该指令用于指示上述每个工作站对应的目标数量的仓储机器人搬运料箱至该料箱对应的工作站，其中，上述目标数量小于或等于上述数量上限值。
其中，步骤S504与上述步骤S303的实现方式相同，此处不再赘述。
本申请实施例上述控制终端在根据上述仓储机器人的数量，确定上述目标仓库的每个工作站对应的仓储机器人的数量上限值时，除考虑确定上述目标仓库中工作站的数量外，还可以考虑上述每个工作站的拣货效率、每个工作站中可容纳的仓储机器人的数量和每个工作站的属性等，使获得的数量上限值更符合实际情况。从而，上述控制终端基于上述数量上限值，控制每个工作站对应的一定数量的仓储机器人搬运料箱至工作站，该数量小于或等于上述数量上限值，实现了对仓库工作站中仓储机器人数量的准确配置，减少工作站中出现的机器人过多或过少的情况，解决工作站中出现的机器人过多，导致的工作站内拥堵，机器人等待时间过长，机器人资源浪费，以及工作站中出现的机器人过少，导致的工作人员无货可拣，工作站拣货效率降低的问题。
对应于上文实施例的机器人配置方法，图6为本申请实施例提供的机器人配置装置的结构示意图。为了便于说明，仅示出了与本申请实施例相关的部分。图6为本申请实施例提供的一种机器人配置装置的结构示意图，该机器人配置装置60包括：机器人数量确定模块601、数量上限值确定模块602以及机器人控制模块603。这里的机器人配置装置可以是上述控制终端本身，或者是实现控制终端的功能的芯片或者集成电路。这里需要说明的是，机器人数量确定模块、数量上限值确定模块以及机器人控制模块的划分只是一种逻辑功能的划分，物理上两者可以是集成的，也可以是独立的。
其中，机器人数量确定模块601，用于确定目标仓库中仓储机器人的数量。
数量上限值确定模块602，用于根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
机器人控制模块603，用于根据所述数量上限值，发送指令至所述每个工作站对应的目标数量的仓储机器人，所述指令用于指示所述每个工作站对应的目标数量的仓储机器人搬运料箱至所述料箱对应的工作站，其中，所述目标数量小于或等于所述数量上限值。
在一种可能的实现方式中，所述机器人数量确定模块601，具体用于：
获取所述目标仓库中的待处理订单；
确定所述待处理订单对应的料箱的数量；
根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
在一种可能的实现方式中，所述机器人数量确定模块601，具体用于：
确定所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个；
根据所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个，以及所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
确定所述目标仓库中工作站的数量；
根据所述仓储机器人的数量和所述工作站的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
从所述工作站的数量中，确定待上线工作站的数量，所述待上线工作站包括至少一个工作站；
根据所述仓储机器人的数量和所述待上线工作站的数量，确定所述待上线工作站的每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
获取所述每个工作站的拣货效率；
根据所述每个工作站的拣货效率和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
根据所述每个工作站的拣货效率，确定所述每个工作站对所述仓储机器人的数量的占比；
根据所述每个工作站对所述仓储机器人的数量的占比，获得所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
确定所述每个工作站中可容纳的仓储机器人的数量；
根据所述每个工作站中可容纳的仓储机器人的数量和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
根据所述述仓储机器人的数量，确定所述每个工作站对应的第三数量的仓储机器人；
判断工作站i对应的第三数量的仓储机器人是否大于工作站i中可容纳的仓储机器人的数量，其中，i＝1，2，3……n，n等于所述目标仓库中工作站的数量；
若所述工作站i对应的第三数量的仓储机器人大于所述工作站i中可容纳的仓储机器人的数量，则根据所述工作站i中可容纳的仓储机器人的数量，调整所述工作站i对应的第三数量的仓储机器人，获得所述工作站i对应的第四数量的仓储机器人，所述第四数量小于或等于所述工作站i中可容纳的仓储机器人的数量；
将所述工作站i对应的第四数量的仓储机器人作为所述工作站i中待工作仓储机器人的数量上限值。
在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
确定所述目标仓库的每个工作站的属性，所述属性包括工作站中输送线的参数；
根据所述属性和所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
在一种可能的实现方式中，在一种可能的实现方式中，所述数量上限值确定模块602，具体用于：
确定所述目标仓库中工作站的数量、所述每个工作站的拣货效率、所述每个工作站中可容纳的仓储机器人的数量和所述每个工作站的属性中一个或多个，所述属性包括工作站中输送线的参数；
根据所述目标仓库中工作站的数量、所述每个工作站的拣货效率、所述每个工作站中可容纳的仓储机器人的数量和所述每个工作站的属性中一个或多个，以及所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
本申请实施例提供的装置，可用于执行上述方法实施例的技术方案，其实现原理和技术效果类似，本申请实施例此处不再赘述。
可选地，图7示意性地提供本申请所述控制终端的一种可能的基本硬件架构示意图。
参见图7，控制终端700包括至少一个处理器701以及通信接口703。进一步可选的，还可以包括存储器702和总线704。
其中，控制终端700中，处理器701的数量可以是一个或多个，图7仅示意了其中一个处理器701。可选地，处理器701，可以是中央处理器(central processing unit，CPU)、图形处理器(Graphics Processing Unit，GPU)或者数字信号处理器(digital signal processor，DSP)。如果控制终端700具有多个处理器701，多个处理器701的类型可以不同，或者可以相同。可选地，控制终端700的多个处理器701还可以集成为多核处理器。
存储器702存储计算机指令和数据；存储器702可以存储实现本申请提供的上述机器人配置方法所需的计算机指令和数据，例如，存储器702存储用于实现上述机器人配置方法的步骤的指令。存储器702可以是以下存储介质的任一种或任一种组合：非易失性存储器(例如只读存储器(ROM)、固态硬盘(SSD)、硬盘(HDD)、光盘)，易失性存储器。
通信接口703可以为所述至少一个处理器提供信息输入/输出。也可以包括以下器件的任一种或任一种组合：网络接口(例如以太网接口)、无线网卡等具有网络接入功能的器件。
可选的，通信接口703还可以用于控制终端700与其它计算设备或者终端进行数据通信。
进一步可选的，图7用一条粗线表示总线704。总线704可以将处理器701与存储器702和通信接口703连接。这样，通过总线704，处理器701可以访问存储器702，还可以利用通信接口703与其它计算设备或者终端进行数据交互。
在本申请中，控制终端700执行存储器702中的计算机指令，使得控制终端700实现本申请提供的上述机器人配置方法，或者使得控制终端700部署上述的机器人配置装置。
从逻辑功能划分来看，示例性的，如图7所示，存储器702中可以包括机器人数量确定模块601、数量上限值确定模块602以及机器人控制模块603。这里的包括仅仅涉及存储器中所存储的指令被执行时可以分别实现机器人数量确定模块、数量上限值确定模块以及机器人控制模块的功能，而不限定是物理上的结构。
另外，上述的控制终端除了可以像上述图7通过软件实现外，也可以作为硬件模块，或者作为电路单元，通过硬件实现。
图8为本申请一个实施例提供的仓储机器人的结构示意图，如图8所示，该仓储机器人包括：移动底盘801、取货装置802、存储货架803和控制器804。
其中，存储货架803设置于移动底盘801之上，取货装置802与存储货架803机械连接，控制器804分别与移动底盘801和取货装置802连接，用于接收控制终端发送的指令，根据该指令控制移动底盘801和取货装置802搬运料箱至存储货架803，进而将该料箱搬运至该料箱对应的工作站。
图9为本申请一个实施例提供的仓储系统的结构示意图，如图9所示，该仓储系统包括：仓储机器人901、货架902和控制终端903。
其中，料箱放置于货架902上，控制终端903为本申请图7对应实施例任意实施例提供的仓储机器人，仓储机器人901为本申请图8对应实施例任意实施例提供的仓储机器人，仓储机器人901与控制终端903连接，用于根据控制终端903发送的指令搬运料箱至该料箱对应的工作站。
本申请还提供一种计算机可读存储介质，所述计算机程序产品包括计算机指令，所述计算机指令指示计算设备执行本申请提供的上述机器人配置方法。
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。
本申请还提供一种计算机程序产品，包括计算机指令，所述计算机指令被处理器执行 本申请提供的上述机器人配置方法。
本申请还提供一种芯片，包括至少一个处理器和通信接口，所述通信接口为所述至少一个处理器提供信息输入和/或输出。进一步，所述芯片还可以包含至少一个存储器，所述存储器用于存储计算机指令。所述至少一个处理器用于调用并运行该计算机指令，以执行本申请提供的上述机器人配置方法。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，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，例如多个模块或组件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。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求书指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求书来限制。

Claims (15)

  1. 一种机器人配置方法，其特征在于，所述方法包括：
    确定目标仓库中仓储机器人的数量；
    根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值；
    根据所述数量上限值，发送指令至所述每个工作站对应的目标数量的仓储机器人，所述指令用于指示所述每个工作站对应的目标数量的仓储机器人搬运料箱至所述料箱对应的工作站，其中，所述目标数量小于或等于所述数量上限值。
  2. 根据权利要求1所述的方法，其特征在于，所述确定目标仓库中仓储机器人的数量，包括：
    获取所述目标仓库中的待处理订单；
    确定所述待处理订单对应的料箱的数量；
    根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
  3. 根据权利要求2所述的方法，其特征在于，在所述根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量之前，还包括：
    确定所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个；
    所述根据所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量，包括：
    根据所述待处理订单对应的料箱的类型、出库时间和布局位置中一个或多个，以及所述待处理订单对应的料箱的数量，确定所述目标仓库中仓储机器人的数量。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
    确定所述目标仓库中工作站的数量；
    所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
    根据所述仓储机器人的数量和所述工作站的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述仓储机器人的数量和所述工作站的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
    从所述工作站的数量中，确定待上线工作站的数量，所述待上线工作站包括至少一个工作站；
    根据所述仓储机器人的数量和所述待上线工作站的数量，确定所述待上线工作站的每个工作站对应的仓储机器人的数量上限值。
  6. 根据权利要求1至3中任一项所述的方法，其特征在于，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
    获取所述每个工作站的拣货效率；
    所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
    根据所述每个工作站的拣货效率和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述每个工作站的拣货效率和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值，包括：
    根据所述每个工作站的拣货效率，确定所述每个工作站对所述仓储机器人的数量的占比；
    根据所述每个工作站对所述仓储机器人的数量的占比，获得所述每个工作站对应的仓储机器人的数量上限值。
  8. 根据权利要求1至3中任一项所述的方法，其特征在于，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
    确定所述每个工作站中可容纳的仓储机器人的数量；
    所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
    根据所述每个工作站中可容纳的仓储机器人的数量和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述每个工作站中可容纳的仓储机器人的数量和所述仓储机器人的数量，确定所述每个工作站对应的仓储机器人的数量上限值，包括：
    根据所述述仓储机器人的数量，确定所述每个工作站对应的第三数量仓储机器人；
    判断工作站i对应的第三数量仓储机器人是否大于工作站i中可容纳的仓储机器人的数量，其中，i＝1，2，3……n，n等于所述目标仓库中工作站的数量；
    若所述工作站i对应的第三数量的仓储机器人大于所述工作站i中可容纳的仓储机器人的数量，则根据所述工作站i中可容纳的仓储机器人的数量，调整所述工作站i对应的第三数量的仓储机器人，获得所述工作站i对应的第四数量的仓储机器人，所述第四数量小于或等于所述工作站i中可容纳的仓储机器人的数量；
    将所述工作站i对应的第四数量的仓储机器人作为所述工作站i对应的仓储机器人的数量上限值。
  10. 根据权利要求1至3中任一项所述的方法，其特征在于，在所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值之前，还包括：
    确定所述目标仓库的每个工作站的属性，所述属性包括工作站中输送线的参数；
    所述根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值，包括：
    根据所述属性和所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值。
  11. 一种机器人配置装置，其特征在于，所述装置包括：
    机器人数量确定模块，用于确定目标仓库中仓储机器人的数量；
    数量上限值确定模块，用于根据所述仓储机器人的数量，确定所述目标仓库的每个工作站对应的仓储机器人的数量上限值；
    机器人控制模块，用于根据所述数量上限值，发送指令至所述每个工作站对应的目标数量的仓储机器人，所述指令用于指示所述每个工作站对应的目标数量的仓储机器人搬运料箱至所述料箱对应的工作站，其中，所述目标数量小于或等于所述数量上限值。
  12. 一种控制终端，其特征在于，包括存储器，处理器以及计算机程序；
    其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现如权利要求1-10任一项所述的机器人配置方法。
  13. 一种仓储系统，其特征在于，包括：权利要求12所述的控制终端、仓储机器人和货架；
    其中，所述仓储机器人与所述控制终端连接，用于根据所述控制终端发送的指令搬运 料箱至所述料箱对应的工作站，其中，所述料箱放置于所述货架上。
  14. 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，所述计算机执行指令被处理器执行时用于实现如权利要求1-10任一项所述的机器人配置方法。
  15. 一种计算机程序产品，其特征在于，包括计算机指令，所述计算机指令被处理器执行权利要求1-10任一项所述的机器人配置方法。
PCT/CN2022/079745 2021-03-31 2022-03-08 机器人配置方法、装置、控制终端和仓储系统 WO2022206309A1 (zh)

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