WO2023040425A1 - 仓储系统、货架管理方法、装置、系统、终端及存储介质 - Google Patents

仓储系统、货架管理方法、装置、系统、终端及存储介质 Download PDF

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Publication number
WO2023040425A1
WO2023040425A1 PCT/CN2022/103720 CN2022103720W WO2023040425A1 WO 2023040425 A1 WO2023040425 A1 WO 2023040425A1 CN 2022103720 W CN2022103720 W CN 2022103720W WO 2023040425 A1 WO2023040425 A1 WO 2023040425A1
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Prior art keywords
shelf
target
task
group
channel
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PCT/CN2022/103720
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English (en)
French (fr)
Inventor
王银学
童孝康
Original Assignee
北京迈格威科技有限公司
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.)
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Publication date
Priority claimed from CN202111095244.9A external-priority patent/CN114021771A/zh
Priority claimed from CN202122265575.4U external-priority patent/CN216510645U/zh
Application filed by 北京迈格威科技有限公司 filed Critical 北京迈格威科技有限公司
Publication of WO2023040425A1 publication Critical patent/WO2023040425A1/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
    • 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
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"

Definitions

  • the application belongs to the field of logistics management, in particular to a storage system and to a shelf management method, device, system, control terminal and readable storage medium.
  • a group of shelves in the related art is provided with a plurality of shelves arranged in the horizontal direction, and a large enough interval is reserved between the shelves to ensure that the handling robot has enough space when performing the outbound task or the inbound task for the shelf.
  • the operating space permits the handling robot to move between storage areas and shelves and access items.
  • the present application provides a storage system, shelf management method, device, system, control terminal and readable storage medium, which can improve the horizontal space utilization rate of the warehouse and help reduce the unit storage cost of the warehouse.
  • a storage system which may include: a plurality of shelf groups, each shelf group includes a plurality of shelves arranged in a horizontal direction, wherein a mobile device is installed at the bottom of each shelf; a control terminal , configured to control the movement of the shelves in the shelf group, and open the channel at the target shelf; the handling robot is configured to move to the channel at the target shelf to perform a warehouse-out or warehouse-in task.
  • each shelf group can be reduced, thereby improving the horizontal space utilization rate of the warehouse.
  • more shelf groups can be accommodated, thereby reducing the unit storage cost of the warehouse.
  • a roller transmission structure may be installed on the bottom of at least one shelf group; or, a non-powered pulley may be installed on the bottom of at least one shelf group, and a guide rail may be installed on the top.
  • the shelf may be provided with multi-layer container storage positions in the vertical direction
  • the handling robot may be provided with multiple storage positions in the vertical direction.
  • an active channel may be reserved between every two sets of shelves for the movement of the handling robot; or, every two sets of shelves may be arranged against each other to form a pair of shelf sets, And an active channel may be reserved between every two pairs of the shelves for the movement of the handling robot.
  • the warehousing system may include a storage area and a storage conveyor line; when the handling robot performs the storage task, it may move to the end of the storage conveyor line to remove items transported by the storage area, and the items are transported from the end of the storage conveyor line to the target shelf.
  • the storage system may include an outbound area and an outbound conveying line; when the handling robot performs the outbound task, it may move to the channel of the target shelf to take down items , and transport the item from the channel of the target shelf to the end of the outbound conveying line, and the outbound conveying line transports the item to the outbound area.
  • the handling robot may include a main body, and the main body may be provided with a cargo access mechanism and a plurality of cargo positions, and the cargo access mechanism may be configured to store externally stored cargo Move to the storage position on the handling robot, or take out the goods stored on the storage position of the handling robot.
  • the plurality of storage spaces may be arranged along the height direction, and the cargo access mechanism can move in the height direction.
  • the shelf management method may include: determining the target shelf corresponding to the current task according to the received current task; Whether the passage at the target shelf is in an open state; when the passage at the target shelf is not open, control the movement of at least one shelf in the shelf group where the target shelf is located, and open the passage at the target shelf .
  • each shelf group can be reduced, thereby improving the horizontal space utilization rate of the warehouse.
  • more shelf groups can be accommodated, thereby reducing the unit storage cost of the warehouse.
  • the controlling the movement of at least one shelf in the shelf group where the target shelf is located, and opening the channel at the target shelf may include: judging whether the target shelf meets the requirements of the first operation Condition: when the target shelf satisfies the first operating condition, control the movement of at least one shelf in the shelf group where the target shelf is located, and open the channel at the target shelf;
  • the first working condition is mentioned, at least one shelf in the shelf group where the target shelf is located is controlled to move, the channel at the first shelf on the shelf group is opened, and the corresponding task is performed on the first shelf After that, the channel at the target shelf is opened.
  • the control terminal When the control terminal receives the current task, there may be other unfinished tasks in the task list of the control terminal.
  • the control terminal may first determine whether the target shelf satisfies the first operation condition. When the target shelf meets the first operating condition, the control terminal will immediately control the movement of at least one shelf in the target shelf group where the target shelf is located, so that the channel at the target shelf is in an open state, and the current task is prevented from interfering with other unfinished tasks. Task.
  • the judging whether the target shelf satisfies the first operation condition may include: if at least one other shelf on the shelf group where the target shelf is located does not have other unfinished tasks, determine The target shelf satisfies the first operation condition; if at least one other shelf in the shelf group where the target shelf is located has other unfinished tasks, it is determined that the target shelf does not meet the first operation condition.
  • the first working condition may be: all other shelves on the target shelf group where the target shelf is located have no unfinished tasks. Based on this, in the embodiment of the present application, when the target shelf meets the first operating condition, the channel at the target shelf will be opened first and the current task will be executed first; otherwise, other unfinished tasks will be executed first, so as to avoid the current task from interfering with the previous task. Other unfinished tasks.
  • the judging whether the target shelf satisfies the first operation condition may include: if at least one other shelf on the shelf group where the target shelf is located has other unfinished tasks, and the If the priority of other tasks mentioned above is lower than that of the current task, it is determined that the target shelf satisfies the first operation condition; if at least one other shelf on the shelf group where the target shelf is located has unfinished other tasks, and the priority of the other tasks is higher than the priority of the current task, then it is determined that the target rack does not satisfy the first operation condition.
  • the first working condition may be: on all other shelves in the target shelf group where the target shelf is located, there is no other unfinished task with a priority higher than that of the current task. Based on this, in the embodiment of the present application, when the target shelf meets the first operating condition, the channel at the target shelf will be opened first and the current task will be executed first; otherwise, other unfinished tasks will be executed first, so as to avoid the current task from interfering with the previous task. Unfinished high-priority tasks to make the management of shelves more reasonable.
  • the shelf management method may further include: when the aisle at the target shelf is in an open state, if it is judged that at least one other shelf on the shelf group where the target shelf is located needs to be completed first For other tasks, control the movement of at least one shelf on the shelf group, and open the passages at the other shelves; and, after the tasks at the other shelves are completed, control at least one shelf on the shelf group Move to open the channel at the target shelf.
  • the channel at the target shelf when the channel at the target shelf is in an open state, if there are other tasks that need to be executed with priority over the current task, first open the channel at the shelf for which other tasks need to be performed with priority, and After other tasks that need to be executed first are completed, open the channel at the target shelf and execute the current task. That is to say, in the embodiment of the present application, the priorities among tasks are fully considered, so as to make the management of the shelves more reasonable.
  • the shelf management method may further include: if there are other unfinished tasks on the at least one other shelf, determining that the at least one other shelf needs to complete other tasks first; or, if the At least one other shelf has unfinished other tasks, and the priority of the other task is higher than the priority of the current task, then it is determined that the at least one other shelf needs to complete other tasks with priority.
  • the controlling the horizontal movement of at least one shelf on the shelf group where the target shelf is located may include: if there is only one aisle in the shelf group, moving the Other shelves between the target shelf and the opened current channel move towards the current channel to close the current channel and open the channel at the target shelf; if there are multiple channels in the shelf group, then the Other shelves in the shelf group located between the target shelf and the aisle closest to the target shelf move toward the nearest aisle to close the nearest aisle and open the aisle at the target shelf.
  • the priority of the outbound task may be higher than that of the inbound task.
  • the priority of the outbound task is set higher than that of the inbound task, so that the management of the shelves is more reasonable.
  • Still other embodiments of the present application provide a shelf management device, which is applied to a control terminal in a shelf management system, and the device may include: a determination module, a judgment module, and a control module.
  • the determination module is configured to determine the target shelf corresponding to the current task according to the received current task
  • a judging module configured to judge whether the channel at the target shelf is in an open state
  • the control module is configured to control the movement of at least one shelf in the shelf group where the target shelf is located when the aisle at the target shelf is not open, and open the aisle at the target shelf.
  • control module may be configured to determine whether the target rack meets the first operating condition; when the target rack satisfies the first operating condition, control the target rack to At least one shelf in the shelf group where it is located moves to open the channel at the target shelf; when the target shelf does not meet the first operating condition, control at least one shelf in the shelf group where the target shelf is located Move, open the channel at the first shelf on the shelf group, and open the channel at the target shelf after the first shelf has performed the corresponding task.
  • control module may be configured to determine that the target shelf meets the requirements if at least one other shelf in the shelf group where the target shelf is located has no unfinished other tasks.
  • a first working condition if at least one other shelf in the shelf group where the target shelf is located has other unfinished tasks, it is determined that the target shelf does not meet the first working condition.
  • control module may be configured to: if at least one other shelf on the shelf group where the target shelf is located has unfinished other tasks, and the priority of the other tasks is low Based on the priority of the current task, it is determined that the target shelf satisfies the first operation condition; if at least one other shelf on the shelf group where the target shelf is located has other unfinished tasks, and the other tasks is higher than the priority of the current task, then it is determined that the target rack does not satisfy the first operation condition.
  • control module may also be configured to: when the aisle at the target shelf is in an open state, if it is determined that at least one other shelf on the shelf group where the target shelf is located If other tasks need to be completed first, then control the movement of at least one shelf on the shelf group, and open the passages at the other shelves; At least one shelf is moved to open the channel at the target shelf.
  • the determining module may also be configured to determine that the at least one other shelf needs to complete other tasks first if there are other unfinished tasks on the at least one other shelf; or, if If the at least one other shelf has other unfinished tasks, and the priority of the other task is higher than the priority of the current task, then it is determined that the at least one other shelf needs to complete other tasks with priority.
  • control module may be configured to: if there is only one aisle in the shelf group, the aisle located between the target shelf and the opened current aisle in the shelf group Other shelves move to the current passage to close the current passage and open the passage at the target shelf; if there are multiple passages in the shelf group, the distance between the target shelf and the Other shelves between the nearest aisle of the target shelf move toward the nearest aisle to close the nearest aisle and open the aisle at the target shelf.
  • the priority of the outbound task may be higher than that of the inbound task.
  • control terminal which may include: a memory and a processor, the memory is connected to the processor; the memory is configured to store programs; the processor is configured to The program stored in the memory is invoked to execute the method provided in the above embodiment of the first aspect and/or in combination with any possible implementation manner of the embodiment of the first aspect.
  • Another embodiment of the present application also provides a non-volatile computer-readable storage medium (hereinafter referred to as the readable storage medium), where a computer program can be stored on the readable storage medium, and the computer program is executed when the processor runs
  • a computer program can be stored on the readable storage medium, and the computer program is executed when the processor runs
  • Another embodiment of the present application also provides a computer program product, which may include a computer program, and when the computer program is run by a processor, it executes the shelf provided in the above embodiment and/or in combination with any possible implementation manner of this embodiment. Management method.
  • FIG. 1 Another embodiment of the present application also provides a shelf management system, which may include: at least one shelf group, each shelf group includes a plurality of horizontally movable shelves; a control terminal configured to execute the shelf included in the above-mentioned embodiments Management method.
  • Fig. 1 shows a schematic structural diagram of a shelf management system provided by an embodiment of the present application.
  • Fig. 2 shows one of the top views of a shelf set provided by the embodiment of the present application.
  • Fig. 3 shows the second top view of a shelf set provided by the embodiment of the present application.
  • Fig. 4 shows the third top view of a shelf set provided by the embodiment of the present application.
  • Fig. 5 shows one of the schematic diagrams of a storage system provided by the embodiment of the present application.
  • Fig. 6 shows the second schematic diagram of a storage system provided by the embodiment of the present application.
  • Fig. 7 shows a schematic structural diagram of a handling robot provided by an embodiment of the present application.
  • Fig. 8 shows a flowchart of a shelf management method provided by an embodiment of the present application.
  • Fig. 9 shows a structural block diagram of a shelf management device provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a control terminal provided by an embodiment of the present application.
  • Smart logistics uses artificial intelligence, big data, various information sensors, radio frequency identification technology, global positioning system (GPS) and other Internet of Things devices and technologies, and is widely used in basic logistics such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services.
  • the activity link realizes the intelligent analysis and decision-making, automatic operation and high-efficiency optimized management of the material management process.
  • the Internet of Things technology includes sensing equipment, RFID technology, laser infrared scanning, infrared induction recognition, etc.
  • the Internet of Things can effectively connect the materials in the logistics with the network, monitor the materials in real time, and sense the humidity and temperature of the warehouse. Data, guarantee the storage environment of materials.
  • all the data in the logistics can be sensed and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed and other operations, and finally the business process (such as transportation, storage, access, picking, packaging, distribution Picking, delivery, inventory, distribution and other links) to provide accurate data support.
  • the application direction of artificial intelligence in logistics can be roughly divided into two types: 1) Unmanned trucks, AGVs, AMRs, forklifts, shuttles, stackers, unmanned delivery vehicles, unmanned aerial vehicles, Smart devices such as service robots, robotic arms, and smart terminals replace part of the labor force; 2) Software such as transportation equipment management systems, warehouse management, equipment scheduling systems, and order distribution systems driven by computer vision, machine learning, and operational optimization technologies or algorithms The system improves labor efficiency. With the research and progress of smart logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothing, textiles, food and other fields.
  • the embodiment of the present application provides a storage system, shelf management method, device, system, control terminal and readable storage medium, which can improve the horizontal space utilization rate of the warehouse and help reduce the unit storage cost of the warehouse.
  • the embodiment of the present application provides a shelf management system 10 .
  • the shelf management system 10 may include a control terminal 100 and at least one shelf group 200 .
  • each shelf group 200 may include a plurality of shelves arranged in a row in the horizontal direction.
  • each shelf can be configured to store items, such as goods, containers, and the like.
  • all or part of the shelves may be provided with multi-layer container storage positions in the vertical direction. After such setting, each layer of container storage space of the shelf can be used to store items, so as to increase the space utilization rate of the warehouse where the shelf is located in the vertical direction, thereby helping to reduce the cost of unit storage.
  • a mobile device may be installed at the bottom of each shelf, so that the plurality of shelves included in each shelf group 200 can be placed on the level ground where the shelf group 200 to which it belongs Move horizontally.
  • some or all of the moving devices of the shelves included in the shelf groups 200 may be rollers.
  • a roller transmission structure may be installed at the bottom of these shelf groups 200, and the roller transmission structure may be controlled. Move to drive the rollers to move, and then realize the effect of driving the shelves to move.
  • one motor can be provided for each shelf group 200 , and one shared motor can also be provided for multiple shelf groups 200 .
  • the specific motor setting it can be adjusted according to the actual situation.
  • some or all of the moving devices of the shelves included in the shelf groups 200 may be unpowered pulleys, and correspondingly, guide rails may be installed on the tops of these shelf groups 200 .
  • the guide rail plays the role of transmission drive, and then realizes the effect of driving the shelf to move.
  • the shelves 210 included in the shelf set 200 can move horizontally on the horizontal ground, there may be at least one channel that can be opened in the shelf set 200, such as the area indicated by A in FIG. 2 .
  • FIG. 2 shows is the top view of the shelf group 200
  • the numerals 1-11 in Fig. 2 represent shelf 1-shelf 11
  • the shelf group 200 shown in Fig. The channel that is open.
  • the shelves to be moved in the shelf group 200 are moved to the currently opened aisle in sequence.
  • the position of the channel in the open state will also change. Based on this, it is possible to move part or all of the shelves under control, so that the channels at different shelves are in an open state.
  • FIG. 2 currently, for the rack 10 and the rack 11 , their channels are in an open state.
  • the channel at shelf 8 is expected to be open, it is necessary to move shelf 9 and shelf 10 in the direction shown by the dotted arrow in sequence, and fill the original position of shelf 10 and channel A.
  • the channel at shelf 8 is as follows As shown in Figure 3, it is in the open state.
  • shelf group 200 shown in Figure 2 and Figure 3 is provided with only one channel that can be in the open state, therefore, all the shelves included in the shelf group 200 shown in Figure 2 and Figure 3 can be at the same time, there is a The channel of the open state.
  • multiple channels that can be opened can be set in the shelf group 200 at the same time, for example, two channels that can be opened can be set in the shelf group shown in FIG. The location pointed by A in Figure 4 and the location pointed by B in Figure 4.
  • all the shelves included in the shelf group 200 shown in FIG. 4 can have two channels that can be opened at the same time.
  • control terminal 100 it can be electrically connected with each shelf group 200, and can be configured to control the movement of some or all of the shelves 210 in the shelf group 200, thereby opening the channel at the target shelf, so that it can cooperate with the handling robot to move to the target shelf. channel, and perform outbound or inbound tasks for the target shelves.
  • the size of the handling robot needs to be smaller than the size of the aisle.
  • the control terminal 100 when the control terminal 100 receives the current task, it can determine the shelf where the item that needs to be transported in the current task is located, that is, the target shelf, and then control the shelf group 200 where the target shelf is located. At least one of the shelves moves so that the aisle at the target shelf is in an open state.
  • the handling robot can move to the aisle of the target shelf, take out some or all of the items stored in the target shelf, and transfer them to the preset area, in order to complete the outbound task.
  • the handling robot can carry the items to be stored to the channel of the target shelf, and take out the items to be stored and place them on the target shelf for storage Save to complete the storage task.
  • each shelf management system 10 there is at least one channel that can be opened in each shelf group 200 , and the shelves in each shelf group 200 can be moved. Then for each shelf group 200, when each shelf in it is used as the target shelf, if the channel at the target shelf is in an unopened state, you can move the other at least one shelf in the shelf group 200 where the target shelf is located. Move, so that the channel at the target shelf is in an open state, so that the handling robot can move to the channel in the open state at the target shelf, and successfully work on the target shelf.
  • each shelf group 200 Since in the embodiment of the present application, it is not necessary to set an interval between every two shelves included in each shelf group 200, it is possible for the handling robot to successfully perform the outbound task or the inbound task for the target shelf. Therefore, compared with The related technology can reduce the horizontal space occupied by each shelf group 200, thereby improving the utilization rate of the horizontal space of the warehouse. Correspondingly, on the premise that the total area of the warehouse is fixed, more shelf groups 200 can be accommodated, thereby reducing the unit storage cost of the warehouse, and can be widely applied to low-fluidity storage scenarios.
  • the embodiment of the present application also provides a storage system 20 , which may include the above-mentioned control terminal 100 , a handling robot, and multiple shelf groups 200 .
  • the storage system 20 may include one handling robot, or may include multiple handling robots, so as to improve working efficiency.
  • an active channel may be reserved between every two shelf groups 200 for the movement of the handling robot, as shown in FIG. 5 .
  • a black square represents a handling robot.
  • every two shelf groups 200 can be arranged against each other to form a shelf group pair 21, and an active channel is reserved between every two shelf group pairs 21 for the moving of the handling robot. After such setting, the utilization rate of the warehouse in the horizontal space can be further improved. Its schematic diagram is shown in Figure 6. In Fig. 6, a black square represents a transfer robot.
  • control terminal 100 As for the structures and functions of the control terminal 100, the shelf group 200, and the handling robot in the storage system 20, they are all similar to the above, and will not be repeated here.
  • the storage system 20 may also include a storage area C as shown in FIG. 5 or FIG. 6 and a storage conveyor line (not shown in FIG. 5 and FIG. 6 ).
  • the handling robot when carrying out the storage task, can move to the end of the storage conveyor line to remove the items transported by the transport mechanism (such as a conveyor belt) in the storage area, and transfer the items from the storage
  • the transport mechanism such as a conveyor belt
  • the storage system 20 may also include a warehouse-out area D shown in FIG. 5 or FIG. 6 and a warehouse-out conveying line (not shown in FIG. 5 and FIG. 6 ).
  • the handling robot when the handling robot performs the outbound task, it can move to the aisle of the target shelf to take off the items, and transport the items from the aisle of the target shelf to the end of the outbound conveyor line, and the outbound conveyor The line transports items to the outbound area.
  • a charging area E can also be set in the storage system 20, which can be used for autonomous charging of the transfer robot, or for charging the transfer robot under human control.
  • the handling robot involved in the embodiment of the present application is not limited to a container-to-person robot, but can also be a forklift, a stacking forklift, etc. that need to enter the channel at the shelf to carry the items (goods or containers) on the shelf. robot.
  • the handling robot can also be provided with multiple storage positions in the vertical direction.
  • FIG. 7 shows a possible structure of the transfer robot 300 .
  • each storage space 320 can be configured to store goods
  • the goods access mechanism 330 can be configured to move the goods stored outside to the handling robot 300 for storage, or to take out the goods stored on the handling robot 300 and Mobile external storage.
  • the cargo access mechanism 330 may be a fork, a mechanical arm, or the like.
  • N cargo spaces 320 can be arranged along the height direction, and the cargo access mechanism 330 can also move freely in the height direction (for example, if the cargo access mechanism 330 is a pallet fork, it can move along a The guide rail moves up and down, if the cargo access mechanism 330 is a mechanical arm, it can be freely stretched up and down, etc.), such a setting method is conducive to the rapid movement of the cargo access mechanism 330 to the height of any cargo location 320 to carry out cargo Access, on the other hand, is also beneficial to reduce the forward and backward movement of the handling robot 300 during operation, saving operation time.
  • the embodiment of the present application also provides a shelf management method applied to the control terminal 100 in the shelf management system 10 .
  • control terminal 100 can be configured mainly to control the movement of the shelves 210 in the shelf group 200, so as to open the channel at the target shelf.
  • the following will introduce the process of the control terminal 100 controlling the movement of the shelves 210 in the shelf group 200 to open the channel at the target shelf in combination with the structure of the shelf group 200 and the shelf management method shown in FIG. 8 .
  • shelf management method shown in FIG. 8 may include the following steps.
  • Step S110 According to the received current task, determine the target shelf corresponding to the current task.
  • the target shelf is the shelf needed to perform the current task.
  • Step S120 judging whether the aisle at the target shelf is open.
  • the channel at each shelf may have an open state and an unopened state.
  • the channels at the shelf 10 and the shelf 11 are in an open state, while the shelves at other shelves are in an unopened state.
  • the target shelf after the target shelf is determined, in some implementations, it may be determined whether the aisle at the target shelf is open by taking an image of the target shelf and then image recognition.
  • a sensor may be installed at each shelf to detect the state of the aisle at the corresponding shelf. After such setting, it can be determined whether the aisle at the target shelf is in an open state by acquiring the data collected by the sensor at the target shelf.
  • Step S130 When the aisle at the target shelf is not open, control the movement of at least one shelf in the shelf group where the target shelf is located, and open the aisle at the target shelf.
  • the control terminal when the control terminal determines that the channel at the target shelf is not open, in order to enable the handling robot to perform the outbound task or the inbound task for the target shelf, the control terminal can control at least one shelf in the shelf group where the target shelf is located. Move, so that the channel at the target shelf is opened, so that the handling robot can move to the target shelf based on this channel, and perform tasks on the target shelf.
  • step S130 when the channel at the target shelf is not open, control the movement of at least one shelf in the shelf group where the target shelf is located, and open the channel at the target shelf. Detailed description.
  • the control terminal determines the target shelf, as long as it judges that the aisle at the target shelf is not open, no other pre-operations are required, and it immediately controls the shelf group where the target shelf is located (hereinafter referred to as the target shelf group). At least one shelf in the shelf group) is moved, so that the channel at the target shelf is in an open state.
  • control terminal when the control terminal receives the current task, there may be other unfinished tasks in the task list of the control terminal.
  • other pre-operations can be performed first, such as first judging whether the target shelf satisfies the first operating conditions.
  • the control terminal when it is determined that the target shelf satisfies the first operating condition, the control terminal will immediately control the movement of at least one shelf in the target shelf group where the target shelf is located, so that the channel at the target shelf is in an open state.
  • the control terminal controls the opening of the channel at the shelf corresponding to the first task that needs to be completed first, and after the shelf corresponding to the first task cooperates with the handling robot to perform the first task, the control terminal controls the location of the target shelf. At least one shelf in the target shelf group moves, so that the aisle at the target shelf is in an open state.
  • the first working condition may be: all other shelves on the target shelf group where the target shelf is located have no unfinished tasks.
  • the control terminal when judging whether the target shelf satisfies the first operation condition, if the control terminal receives the current task, all other shelves on the target shelf group where the target shelf corresponding to the current task is located have no unfinished other tasks , it can be determined that the target shelf satisfies the first operation condition.
  • the other unfinished tasks are the first task, and the first task needs to be executed first, and after the first task is executed, the channel at the target shelf is controlled to be opened, and the current task is executed.
  • each task may have a corresponding priority.
  • the first working condition may be: on all other shelves in the target shelf group where the target shelf is located, there is no other unfinished task with a priority higher than that of the current task.
  • the control terminal when judging whether the target shelf satisfies the first operation condition, if the control terminal receives the current task, all other shelves on the target shelf group where the target shelf corresponding to the current task is located have no unfinished other tasks , it can be determined that the target shelf satisfies the first operation condition. In addition, if the control terminal receives the current task, it is determined that at least one other unfinished task exists on at least one other shelf on the target shelf group where the target shelf corresponding to the current task is located, but the priority of the unfinished other task is lower than According to the priority of the current task, it may also be determined that the target shelf satisfies the first operation condition.
  • the control terminal receives the current task, at least one other unfinished task exists on at least one other shelf on the target shelf group where the target shelf is located, and the priority of the unfinished other task is higher than the priority of the current task, then you can It is determined that the target rack does not satisfy the first operation condition. At this time, other unfinished tasks whose priority is higher than the priority of the current task are the first task, and at this time, the first task needs to be executed first, and the channel at the target shelf is controlled to be opened after the first task is executed. and execute the current task.
  • the task type of a task may be one of a warehouse-out task and a warehouse-in task. Since the urgency of the outbound task is higher than that of the inbound task, the priority of the outbound task may be higher than that of the inbound task.
  • each task may have an expected execution time, and correspondingly, the priority among tasks may be determined according to the expected execution time of the tasks. Specifically, for two tasks to be executed, if the expected execution time of task A is earlier than the expected execution time of task B, then the priority of task A is higher than the priority of task B.
  • the priority between tasks may be determined in combination with task types and task expected execution time.
  • the task type of the two tasks can be judged first. If the task types of the two tasks are inconsistent, the priority of the outbound task will be directly Based on the principle that the priority of the two tasks is higher than that of the storage task, the priority of the two tasks is determined; if the task types of the two tasks are the same, then according to the priority of the task whose execution time is expected to be earlier than the task whose execution time is expected to be later. The principle of task priority determines the priority of the two tasks.
  • step S120 when performing step S120: judging whether the aisle at the target shelf is in an open state, it may also appear that the judgment result is: the aisle at the target shelf is in an open state, the following will focus on this The situation is introduced.
  • the control terminal at this time may not perform other operations and wait for the handling robot to complete the task. Move to the aisle at the target shelf and execute the current task.
  • control terminal when the control terminal receives the current task, similar to the above, it is not necessary to execute the current task first at this time, but it may be necessary to give priority to other unfinished tasks (the first task), And after the first task is executed, the current task is executed.
  • the aisle at the target shelf when the aisle at the target shelf is in an open state, if it is judged that at least one other shelf on the shelf group where the target shelf is located needs to complete other tasks first (first task), then control the shelf group At least one shelf on the mobile station moves to open passages at other shelves corresponding to the first task, and executes the first task.
  • first task the process of "opening the aisles at other shelves corresponding to the first task" can be skipped and the first task can be executed directly.
  • the control terminal judges whether the channel at the target shelf corresponding to the current task is open. If the channel at the target shelf is open at this time, you can directly execute the current task. Task. If the aisle at the target shelf is not open at this time, the control terminal controls at least one shelf on the target shelf group to move, so that the aisle at the target shelf is opened, and the current task is executed.
  • the aisle at the target shelf when the aisle at the target shelf is not opened, no matter whether the current task is executed first or not, the aisle at the target shelf will be opened when the current task is finally executed.
  • the aisle at the target shelf is in an open state, if at least one other task (the first task) on the target shelf group where the target shelf is located has unfinished other tasks (first task), it can be determined The at least one other shelf needs to complete other tasks (the first task) first, and the current task will not be executed until the other tasks (the first task) are completed.
  • first task if at least one other task (first task) has not been completed on at least one other shelf on the target shelf group where the target shelf is located, and the priority of the other task (first task) is high Based on the priority of the current task, it is determined that the at least one other shelf needs to complete other tasks first, and the current task will not be executed until the other tasks (first task) are completed.
  • the judgment method is similar to the previous one, and will not be repeated here to avoid repetition.
  • the target shelf is a shelf 8
  • the current passage (the passage on the right side of the shelf 10) between the target shelf 8 and the current open state in the target shelf group ) between other shelves (shelf 9 and shelf 10) move to the current aisle (the aisle on the right side of shelf 10).
  • the target shelf is a shelf 8
  • the target shelf group is located at the target shelf 8 and the channel closest to the target shelf (the channel on the right side of the shelf 9)
  • the embodiment of the present application also provides a shelf management device 400, which is applied to the control terminal 100 in the shelf management system 10.
  • the shelf management device 400 may include: a determination module 410, a judgment module 420, and a control module 430 .
  • the determination module 410 may be configured to determine the target shelf corresponding to the current task according to the received current task;
  • the judging module 420 may be configured to judge whether the channel at the target shelf is in an open state
  • the control module 430 may be configured to, when the aisle at the target shelf is not open, control movement of at least one shelf in the shelf group where the target shelf is located, and open the aisle at the target shelf.
  • control module 430 may be configured to determine whether the target rack satisfies the first operating condition; when the target rack satisfies the first operating condition, control the target At least one shelf in the shelf group where the shelf is located moves to open the channel at the target shelf; when the target shelf does not meet the first operating condition, control at least one of the shelf groups where the target shelf is located The shelf moves to open the passage at the first shelf on the shelf group, and then opens the passage at the target shelf after the first shelf completes the corresponding task.
  • control module 430 may be configured to determine that the target shelf satisfies the requirements if at least one other shelf in the shelf group where the target shelf is located has no unfinished tasks. The first working condition; if at least one other shelf in the shelf group where the target shelf is located has other unfinished tasks, it is determined that the target shelf does not meet the first working condition.
  • control module 430 may be configured to if at least one other shelf on the shelf group where the target shelf is located has unfinished other tasks, and the priority of the other tasks is If the priority of the current task is lower than that of the current task, it is determined that the target shelf satisfies the first operation condition; if at least one other shelf on the shelf group where the target shelf is located has other unfinished tasks, and the other If the priority of the task is higher than the priority of the current task, it is determined that the target rack does not satisfy the first operation condition.
  • control module 430 may also be configured to: when the aisle at the target shelf is in an open state, if it is determined that at least one other member of the shelf group where the target shelf is located If the shelf needs to complete other tasks first, then at least one shelf on the shelf group is controlled to move, and the passage at the other shelf is opened; and, after the tasks at the other shelf are completed, control At least one shelf moves to open the channel at the target shelf.
  • the determination module 410 may also be configured to determine that the at least one other shelf needs to complete other tasks in priority if there are other unfinished tasks in the at least one other shelf; or, If there are other unfinished tasks in the at least one other shelf, and the priority of the other tasks is higher than the priority of the current task, it is determined that the at least one other shelf needs to complete other tasks with priority.
  • control module 430 may be configured to, if there is only one aisle in the shelf group, place the aisle located between the target shelf and the opened current aisle in the shelf group The other shelves of the other shelves move to the current channel to close the current channel and open the channel at the target shelf; if there are multiple channels in the shelf group, the target shelf and the target shelf in the shelf group Other shelves between the aisles closest to the target shelf move toward the nearest aisle to close the nearest aisle and open the aisle at the target shelf.
  • the priority of the outbound task may be higher than that of the inbound task.
  • the shelf management device 400 provided by the embodiment of the present application has the same realization principle and technical effects as the aforementioned method embodiments.
  • the parts not mentioned in the device embodiments please refer to the corresponding content in the aforementioned method embodiments. .
  • an embodiment of the present application also provides a readable storage medium, on which a computer program can be stored, and when the computer program is run by a processor, the steps included in the above-mentioned shelf management method can be executed.
  • an embodiment of the present application also provides a computer program product, which may include a computer program, and when the computer program is run by a processor, it may execute the steps included in the above-mentioned shelf management method.
  • the embodiment of the present application further provides a control terminal 100 .
  • control terminal 100 may be, but not limited to, a personal computer (Personal computer, PC), a tablet computer, a mobile Internet device (Mobile Internet Device, MID), a server and other devices.
  • a personal computer Personal computer, PC
  • a tablet computer a mobile Internet device (Mobile Internet Device, MID)
  • MID Mobile Internet Device
  • server a server and other devices.
  • control terminal 100 may include: a processor 110 and a memory 120 .
  • control terminal 100 may also have other components and structures as required.
  • the processor 110, the memory 120 and other components that may appear in the control terminal 100 are directly or indirectly connected to each other to realize data transmission or interaction.
  • the processor 110, the memory 120 and other possible components may be electrically connected to each other through one or more communication buses or signal lines.
  • the memory 120 may be configured to store a program, for example, a program corresponding to the aforementioned shelf management method or the aforementioned shelf management device is stored.
  • the shelf management device may include at least one software function module that may be stored in the memory 120 in the form of software or firmware (firmware).
  • the software function modules included in the shelf management device may also be solidified in the operating system (operating system, OS) of the control terminal 100 .
  • the processor 110 may be configured to execute executable modules stored in the memory 120, such as software function modules or computer programs included in the shelf management device. After the processor 110 receives the execution instruction, it can execute the computer program, for example: according to the received current task, determine the target shelf corresponding to the current task; determine whether the channel at the target shelf is in an open state; When the channel at the target shelf is not opened, at least one shelf in the shelf group where the target shelf is located is controlled to move, and the channel at the target shelf is opened.
  • executable modules stored in the memory 120 such as software function modules or computer programs included in the shelf management device.
  • any embodiment of the present application may be applied to the processor 110 or implemented by the processor 110 .
  • each shelf group in the storage system and the shelf management system can be in an open state.
  • the aisles, as well as the shelves within each shelf group can be moved.
  • each shelf group when each shelf in it is used as the target shelf, if it is judged that the channel at the target shelf is not open, it can be moved by at least one other shelf in the shelf group where the target shelf is located. , so that the channel at the target shelf is in an open state, so that the handling robot can move to the channel in the open state at the target shelf, and successfully work on the target shelf.
  • each shelf group can be reduced, thereby improving the horizontal space utilization rate of the warehouse.
  • more shelf groups can be accommodated, thereby reducing the unit storage cost of the warehouse.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.
  • each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are realized in the form of software function modules and sold or used as independent products, they can be stored in a readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a notebook computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the application discloses a storage system and a shelf management method, device, system, control terminal and readable storage medium.
  • the storage system includes multiple shelf groups, control terminals and handling robots.
  • Each shelf group includes a plurality of shelves arranged horizontally, and a mobile device is installed at the bottom of each shelf.
  • the control terminal is configured to control the movement of the rack and open the channel at the target rack.
  • the handling robot is configured to move to the aisle of the target shelf to perform a warehouse-out or warehouse-in task.
  • the shelf management method includes: determining the target shelf corresponding to the current task according to the current task received; judging whether the channel at the target shelf is in an open state; when the channel at the target shelf is not in the open state, controlling the shelf group where the target shelf At least one of the shelves moves to open the channel at the target shelf.
  • the storage system and shelf management method, device, system, control terminal and readable storage medium of the present application are reproducible and can be applied in various industrial applications.
  • the storage system and shelf management method, device, system, terminal and storage medium of the present application can be applied to the field of logistics management.

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Abstract

本申请涉及仓储系统以及货架管理方法、装置、系统、控制终端及可读存储介质，属于物流管理领域。仓储系统包括多个货架组、控制终端以及搬运机器人。每个货架组包括在水平方向上排列设置的多个货架，每个货架底部安装有移动装置。控制终端配置成用于控制货架移动，打开目标货架处的通道。搬运机器人配置成用于移动到目标货架处的通道执行出库或入库任务。货架管理方法包括：根据接收到的当前任务，确定当前任务对应的目标货架；判断目标货架处的通道是否处于打开状态；当目标货架处的通道处于未打开状态时，控制目标货架所在的货架组中的至少一个货架移动，将目标货架处的通道打开。通过仓储系统和货架管理方法，可以提高仓库的水平空间利用率，有利于降低仓库的单位存储的成本。

Description

仓储系统、货架管理方法、装置、系统、终端及存储介质
相关申请的交叉引用
本申请要求于2021年9月17日提交中国国家知识产权局的申请号为202111095244.9、名称为“货架管理方法、装置、系统、控制终端及可读存储介质”的中国专利申请的优先权，并且要求于2021年9月17日提交中国国家知识产权局的申请号为202122265575.4、名称为“仓储系统”的中国专利申请的优先权，这两个专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请属于物流管理领域，具体涉及仓储系统并且涉及货架管理方法、装置、系统、控制终端及可读存储介质。
背景技术
相关技术的一组货架在水平方向上排列设置有多个货架，且在货架之间预留有足够大的间隔，以保证搬运机器人在针对货架执行出库任务或者入库任务时，有足够的运行空间供证搬运机器人在仓储区域与货架之间移动以及存取物品。
由于在各个货架之间均预留有足够大的间隔，因此，一组货架除了货架本身需要占用水平空间外，货架之间的间隔也会额外占用水平空间，进而导致仓库的水平空间利用率较低以及导致单位存储的成本较高。
发明内容
有鉴于此，本申请提供一种仓储系统以及货架管理方法、装置、系统、控制终端及可读存储介质，可以提高仓库的水平空间利用率，有利于降低仓库的单位存储的成本。
本申请的实施例是这样实现的：
本申请一些实施例提供一种仓储系统，该仓储系统可以包括：多个货架组，每个货架组包括在水平方向上排列设置的多个货架，其中每个货架底部安装有移动装置；控制终端，配置成用于控制所述货架组中的货架移动，打开目标货架处的通道；搬运机器人，配置成用于移动到所述目标货架处的通道执行出库或入库任务。
在本实施例中，每个货架组中存在至少一个可处于打开状态的通道，以及每个货架组内的货架均可移动。那么针对每个货架组而言，当其内的每个货架作为目标货架时，若目标货架处的通道处于未打开状态，均可以通过移动目标货架所在的货架组的内其他至少一个货架移动，从而使得目标货架处的通道处于打开状态，以便搬运机器人可移动至目标货架处的处于打开状态的通道处，并成功对目标货架作业。由于不必再为每个货架组所包括的每两个货架之间设置间隔，就可使得搬运机器人成功针对目标货架执行出库任务或者入库任务，因此，相较于相关技术，本申请实施例可减少每个货架组所占用的水平空间，进而可以提高仓库的水平空间利用率。相应的，在仓库总面积固定的前提下，可以容纳更多的货架组，进而可以降低仓库的单位存储成本。
在一种可能的实施方式中，至少一个货架组的底部可以安装滚轮传动结构；或者，至少一个货架组的底部可以安装无动力滑轮，顶部安装导轨。
在一种可能的实施方式中，所述多个货架可以在同一时间，最多存在一个可打开的通道。
在一种可能的实施方式中，所述货架可以在竖直方向上设置有多层货箱储位，所述搬运机器人可以在竖直方向上设置有多个货位。
在一种可能的实施方式中，每两个所述货架组之间可以预留出活动通道供所述搬运机器人移动；或者，每两个所述货架组可以抵靠设置形成一个货架组对，且在每两个所述货架组对之间可以预留出活动通道供所述搬运机器人移动。
在一种可能的实施方式中，所述仓储系统可以包括入库区以及入库输送线；所述搬运机器人在执行所述入库任务时，可以移动到所述入库输送线的末端取下由所述入库区传输的物品，并将所述物品从所述入库输送线的末端搬运到所述目标货架处。
在一种可能的实施方式中，所述仓储系统可以包括出库区以及出库输送线；所述搬运机器人在执行所述出库任务时，可以移动到所述目标货架的通道处取下物品，并将所述物品从所述目标货架的通道处搬运到所述出库输送线的末端，由所述出库输送线将所述物品传输到所述出库区。
在一种可能的实施方式中，所述搬运机器人可以包括主体，所述主体上可以设置有货物存取机构以及多个货位，所述货物存取机构可以构造成用于将外部存放的货物移动至所述搬运机器人上的货位，或者，将所述搬运机器人的货位上存放的货物取出。
在一种可能的实施方式中，所述多个货位可以沿高度方向设置，所述货物存取机构能够在高度方向上移动。
本申请另一些实施例提供一种货架管理方法，应用于货架管理系统中的控制终端，所述货架管理方法可以包括：根据接收到的当前任务，确定所述当前任务对应的目标货架；判断所述目标货架处的通道是否处于打开状态；当所述目标货架处的通道处于未打开状态时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开。
在本实施例中，每个货架组中存在至少一个可处于打开状态的通道，以及每个货架组内的货架均可移动。那么针对每个货架组而言，当其内的每个货架作为目标货架时，若目标货架处的通道处于未打开状态，均可以通过移动目标货架所在的货架组的内其他至少一个货架移动，从而使得目标货架处的通道处于打开状态，以便搬运机器人可移动至目标货架处的处于打开状态的通道处，并成功对目标货架作业。由于不必再为每个货架组所包括的每两个货架之间设置间隔，就可使得搬运机器人成功针对目标货架执行出库任务或者入库任务，因此，相较于相关技术，本申请实施例可减少每个货架组所占用的水平空间，进而可以提高仓库的水平空间利用率。相应的，在仓库总面积固定的前提下，可以容纳更多的货架组，进而可以降低仓库的单位存储成本。
在一种可能的实施方式中，所述控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开，可以包括：判断所述目标货架是否满足第一作业条件；在所述目标货架满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开；在所述目标货架不满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述货架组上的第一货架处的通道打开，并在所述第一货架执行完对应的任务后，再将所述目标货架处的通道打开。
当控制终端在接收到当前任务时，在控制终端的任务列表内还可能存在未完成的其他任务。在本实施例中，当控制终端确定出与当前任务对应的目标货架后，还可以先判断目标货架是否满足第一作业条件。当目标货架满足第一作业条件时，控制终端才会立即控制目标货架所在的目标货架组中的至少一个货架移动，从而使得目标货架处的通道处于打开状态满足，避免当前任务干扰未完成的其他任务。
在一种可能的实施方式中，所述判断所述目标货架是否满足第一作业条件，可以包括：若所述目标货架所在的货架组上的至少一个其他货架不存在未完成的其他任务，确定所述目标货架满足所述第一作业条件；若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，确定所述目标货架不满足所述第一作业条件。
在本实施例中，第一作业条件可以为：目标货架所在的目标货架组上的所有其他货架均不存在未完成的其他任务。基于此，在本申请实施例中，当目标货架满足第一作业条件时，才会优先打开目标货架处的通道并优先执行当前任务，否则优先执行未完成的其他任务，避免当前任务干扰在先未完成的其他任务。
在一种可能的实施方式中，所述判断所述目标货架是否满足第一作业条件，可以包括：若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级低于所述当前任务的优先级，则确定所述目标货架满足所述第一作业条件；若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述当前任务的优先级，则确定所述目标货架不满足所述第一作业条件。
在本实施例中，第一作业条件可以为：在目标货架所在的目标货架组上的所有其他货架上，不存在优先级高于当前任务的优先级的未完成的其他任务。基于此，在本申请实施例中，当目标货架满足第一作业条件时，才会优先打开目标货架处的通道并优先执行当前任务，否则优先执行未完成的其他任务，避免当前任务干扰在先未完成的高优先级任务，以使对于货架的管理更具有合理性。
在一种可能的实施方式中，所述货架管理方法还可以包括：当所述目标货架处的通道处于打开状态时，若判断所述目标货架所在的货架组上的至少一个其他货架需要优先完成其他任务，则控制所述货架组上的至少一个货架移动，将所述其他货架处的通道打开；以及，在所述其他货架处的任务执行完成之后，控制所述货架组上的至少一个货架移动，将所述目标货架处的通道打开。
在本实施例中，当目标货架处的通道处于打开状态时，若当前存在需要优先于当前任 务执行的其他任务，那么先打开需要优先执行的其他任务所对于的货架处的通道，并在该需要优先执行的其他任务执行完成后，再打开目标货架处的通道并执行当前任务。也就是说，在本申请实施例中，充分考虑到了任务之间的优先级，以使对于货架的管理更具有合理性。
在一种可能的实施方式中，所述货架管理方法还可以包括：若所述至少一个其他货架存在未完成的其他任务，确定所述至少一个其他货架需要优先完成其他任务；或者，若所述至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述当前任务的优先级，则确定所述至少一个其他货架需要优先完成其他任务。
在一种可能的实施方式中，所述控制所述目标货架所在的货架组上的至少一个货架水平移动，可以包括：若所述货架组中仅存在一个通道，则将所述货架组中位于所述目标货架与打开的当前通道之间的其他货架向所述当前通道移动，以关闭所述当前通道，打开所述目标货架处的通道；若所述货架组中存在多个通道，则将所述货架组中位于所述目标货架与距离所述目标货架最近的通道之间的其他货架向所述最近的通道移动，以关闭所述最近的通道，打开所述目标货架处的通道。
在一种可能的实施方式中，出库任务的优先级可以高于入库任务。
在本实施例中，由于出库任务的紧急程度高于入库任务的紧急程度，因此，将出库任务的优先级设置得高于入库任务，以使对于货架的管理更具有合理性。
本申请又一些实施例提供一种货架管理装置，应用于货架管理系统中的控制终端，所述装置可以包括：确定模块、判断模块以及控制模块。
确定模块，配置成用于根据接收到的当前任务，确定所述当前任务对应的目标货架；
判断模块，配置成用于判断所述目标货架处的通道是否处于打开状态；
控制模块，配置成用于当所述目标货架处的通道处于未打开状态时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开。
在一种可能的实施方式中，所述控制模块，可以配置成用于判断所述目标货架是否满足第一作业条件；在所述目标货架满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开；在所述目标货架不满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述货架组上的第一货架处的通道打开，并在所述第一货架执行完对应的任务后，再将所述目标货架处的通道打开。
在一种可能的实施方式中，所述控制模块，可以配置成用于若所述目标货架所在的货架组上的至少一个其他货架不存在未完成的其他任务，确定所述目标货架满足所述第一作业条件；若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，确定所述目标货架不满足所述第一作业条件。
在一种可能的实施方式中，所述控制模块，可以配置成用于若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级低于所述当 前任务的优先级，则确定所述目标货架满足所述第一作业条件；若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述当前任务的优先级，则确定所述目标货架不满足所述第一作业条件。
在一种可能的实施方式中，所述控制模块，还可以配置成用于：当所述目标货架处的通道处于打开状态时，若判断所述目标货架所在的货架组上的至少一个其他货架需要优先完成其他任务，则控制所述货架组上的至少一个货架移动，将所述其他货架处的通道打开；以及，在所述其他货架处的任务执行完成之后，控制所述货架组上的至少一个货架移动，将所述目标货架处的通道打开。
在一种可能的实施方式中，所述确定模块，还可以配置成用于若所述至少一个其他货架存在未完成的其他任务，确定所述至少一个其他货架需要优先完成其他任务；或者，若所述至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述当前任务的优先级，则确定所述至少一个其他货架需要优先完成其他任务。
在一种可能的实施方式中，所述控制模块，可以配置成用于若所述货架组中仅存在一个通道，则将所述货架组中位于所述目标货架与打开的当前通道之间的其他货架向所述当前通道移动，以关闭所述当前通道，打开所述目标货架处的通道；若所述货架组中存在多个通道，则将所述货架组中位于所述目标货架与距离所述目标货架最近的通道之间的其他货架向所述最近的通道移动，以关闭所述最近的通道，打开所述目标货架处的通道。
在一种可能的实施方式中，出库任务的优先级可以高于入库任务。
本申请再一些实施例还提供一种控制终端，该控制终端可以包括：存储器和处理器，所述存储器和所述处理器连接；所述存储器配置成用于存储程序；所述处理器配置成调用存储于所述存储器中的程序，以执行上述第一方面实施例和/或结合第一方面实施例的任一种可能的实施方式提供的方法。
本申请另外的实施例还提供一种非易失性计算机可读取存储介质(以下简称可读存储介质)，可读存储介质上可以存储有计算机程序，所述计算机程序被处理器运行时执行上述实施例和/或结合该实施例的任一种可能的实施方式提供的货架管理方法。
本申请另外的实施例还提供一种计算机程序产品，可以包括计算机程序，所述计算机程序被处理器运行时执行上述实施例和/或结合该实施例的任一种可能的实施方式提供的货架管理方法。
本申请另外的实施例还提供一种货架管理系统，可以包括：至少一个货架组，每个货架组包括多个可水平移动的货架；控制终端，配置成用于执行上述实施例所包括的货架管理方法。
本申请的其他特征和优点将在随后的说明书阐述，并且，部分地从说明书中变得显而易见，或者通过实施本申请实施例而了解。本申请的目的和其他优点可通过在所写的说明书以及附图中所特别指出的结构来实现和获得。
附图说明
为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。通过附图所示，本申请的上述及其它目的、特征和优势将更加清晰。在全部附图中相同的附图标记指示相同的部分。并未刻意按实际尺寸等比例缩放绘制附图，重点在于示出本申请的主旨。
图1示出本申请实施例提供的一种货架管理系统的结构示意图。
图2示出本申请实施例提供的一种货架组的俯视图之一。
图3示出本申请实施例提供的一种货架组的俯视图之二。
图4示出本申请实施例提供的一种货架组的俯视图之三。
图5示出本申请实施例提供的一种仓储系统的示意图之一。
图6示出本申请实施例提供的一种仓储系统的示意图之二。
图7示出本申请实施例提供的一种搬运机器人的结构示意图。
图8示出本申请实施例提供的一种货架管理方法的流程图。
图9示出本申请实施例提供的一种货架管理装置的结构框图。
图10出本申请实施例提供的一种控制终端的结构示意图。
附图标记：10-货架管理系统；20-仓储系统；21-货架组对；C-入库区；D-出库区；E-充电区；100-控制终端；110-处理器；120-存储器；200-货架组；210-货架；300-搬运机器人；310-主体；320-货位；330-货物存取机构；400-货架管理装置；410-确定模块；420-判断模块；430-控制模块。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本申请的描述中诸如“第一”、“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
再者，本申请中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。
随着物联网、人工智能、大数据等智能化技术的发展，利用这些智能化技术对传统物 流业进行转型升级的需求愈加强劲，智慧物流(Intelligent Logistics System)成为物流领域的研究热点。智慧物流利用人工智能、大数据以及各种信息传感器、射频识别技术、全球定位系统(GPS)等物联网装置和技术，广泛应用于物料的运输、仓储、配送、包装、装卸和信息服务等基本活动环节，实现物料管理过程的智能化分析决策、自动化运作和高效率优化管理。物联网技术包括传感设备、RFID技术、激光红外扫描、红外感应识别等，物联网能够将物流中的物料与网络实现有效连接，并可实时监控物料，还可感知仓库的湿度、温度等环境数据，保障物料的储存环境。通过大数据技术可感知、采集物流中所有数据，上传至信息平台数据层，对数据进行过滤、挖掘、分析等作业，最终对业务流程(如运输、入库、存取、拣选、包装、分拣、出库、盘点、配送等环节)提供精准的数据支持。人工智能在物流中的应用方向可以大致分为两种：1)以AI技术赋能的如无人卡车、AGV、AMR、叉车、穿梭车、堆垛机、无人配送车、无人机、服务机器人、机械臂、智能终端等智能设备代替部分人工；2)通过计算机视觉、机器学习、运筹优化等技术或算法驱动的如运输设备管理系统、仓储管理、设备调度系统、订单分配系统等软件系统提高人工效率。随着智慧物流的研究和进步，该项技术在众多领域展开了应用，例如零售及电商、电子产品、烟草、医药、工业制造、鞋服、纺织、食品等领域。
其中，针对物流领域，由于为了保证搬运机器人在针对货架执行出库任务或者入库任务时，有足够的运行空间供证搬运机器人在仓储区域与货架之间移动以及存取物品，所以在布局相关技术的货架时，需要在货架之间预留足够的间隔，这导致货架在仓库中占用了额外的水平空间，使得仓库存在的水平空间利用率较低的问题以及存在单位存储的成本较高的问题，无法满足行业需求。
为了解决上述问题，本申请实施例提供一种仓储系统以及货架管理方法、装置、系统、控制终端及可读存储介质，可以提高仓库的水平空间利用率，有利于降低仓库的单位存储的成本。
该技术可采用相应的软件、硬件以及软硬结合的方式实现。以下对本申请实施例进行详细介绍。
首先，请参照图1，本申请实施例提供一种货架管理系统10，货架管理系统10可以包括控制终端100以及至少一个货架组200。
其中，针对每个货架组200而言，可以包括在水平方向上排列设置的多个货架。
可选的，每个货架可以构造成用于存放物品，例如货物、容器等。
当然，在一些实施方式中，全部或者部分货架在竖直方向上可以设置有多层货箱储位。如此设置之后，货架的每层货箱储位均可以用于存放物品，以增加货架所在的仓库在竖直方向上的空间利用率，进而有利于减少单位存储的成本。
值得指出的是，在本申请实施例中，在每个货架的底部可以安装有移动装置，从而使得每个货架组200所包括的多个货架可在其所属的货架组200所坐落的水平地面上水平移动。
可选的，在一些实施方式中，部分或者全部货架组200所包括的货架的移动装置可以是滚轮，相应的，在这些货架组200的底部可以安装有滚轮传动结构，可以通过控制滚轮传动结构移动来带动滚轮移动，进而实现带动货架移动的效果。
在这种实施方式下，对于设置有滚轮传动结构的货架组200而言，需要通过电机来驱动滚轮传动结构运动。
其中，对于需要设置电机的货架组200，可以为每个货架组200设置一个电机，也可以为多个货架组200设置一个共用电机。至于具体的电机设置情况，可以根据实际情况进行调整。
在另一些实施方式中，部分或者全部货架组200所包括的货架的移动装置可以是无动力滑轮，相应的，在这些货架组200的顶部可以安装有导轨。该导轨起到传动驱动的作用，进而实现带动货架移动的效果。
具体的，为了实现货架组200所包括的货架210可在水平地面上水平移动的效果，在货架组200中可以至少存在一个可以处于打开状态的通道，例如图2中的A所指向的区域。
其中，值得指出的是，图2所示出的是货架组200的俯视图，图2中的数字1-11代表货架1-货架11，且图2所示出的货架组200可以仅设置一个可处于打开状态的通道。
如此设置后，当需要移动货架组200中的货架时，即是将货架组200中的待移动货架依次往当前处于打开状态的通道处移动。相应的，货架移动之后，处于打开状态的通道所在的位置也会发生改变。基于此，可以通过控制移动部分或者全部的货架，从而使得不同货架处的通道处于打开状态。
继续以图2为例，当前对于货架10以及货架11而言，其通道处于打开状态。当预计货架8处的通道处于打开状态时，需要依次将货架9和货架10往虚线箭头所示的方向移动，且填补原来货架10以及通道A的位置，那么移动之后，货架8处的通道如图3所示，处于打开状态。
由于图2以及图3所示的货架组200只设置一个可处于打开状态的通道，因此，图2以及图3所示的货架组200所包括的所有货架，可以在同一时间，存在一个可处于打开状态的通道。
当然，在一些实施方式中，在货架组200中可以同时设置多个可处于打开状态的通道，例如在图4所示出的货架组中设置两个可处于打开状态的通道，分别为图4中A所指向的位置以及图4中B所指向的位置。
如此设置之后，图4所示的货架组200所包括的所有货架，可以在同一时间，存在两个可处于打开状态的通道。
至于控制终端100，可以与各个货架组200电连接，可以配置成用于控制货架组200中的部分或者全部货架210移动，从而打开目标货架处的通道，以便可以配合搬运机器人移动到目标货架处的通道，并针对目标货架执行出库任务或入库任务。
当然，值得指出的是，搬运机器人的尺寸需要小于通道的尺寸。
如此设置之后，对于整个货架管理系统10而言，当控制终端100接收到当前任务之后，即可确定出当前任务需要搬运的物品所在的货架，即目标货架，然后控制目标货架所在的货架组200中的至少一个货架移动，以使得目标货架处的通道处于打开状态。
当目标货架处的通道处于打开状态后，若当前任务是出库任务，那么搬运机器人即可移动到目标货架的通道处，并将目标货架所存放的部分或全部物品取出，并转移至预设区域，以此来完成出库任务。
当目标货架处的通道处于打开状态后，若当前任务是入库任务，那么搬运机器人即可携带待入库物品移动到目标货架的通道处，并将待入库物品取出放置到目标货架入库保存，以此来完成入库任务。
在相关技术中，只有为每个货架组200所包括的每两个货架之间设置间隔才能保证搬运机器人针对目标货架正常作业。
而在本申请实施例所提供的货架管理系统10中，从上述描述可知，在每个货架组200中存在至少一个可处于打开状态的通道，以及每个货架组200内的货架均可移动。那么针对每个货架组200而言，当其内的每个货架作为目标货架时，若目标货架处的通道处于未打开状态，均可以通过移动目标货架所在的货架组200的内其他至少一个货架移动，从而使得目标货架处的通道处于打开状态，以便搬运机器人可移动至目标货架处的处于打开状态的通道处，并成功对目标货架作业。
由于在本申请实施例中不必再为每个货架组200所包括的每两个货架之间设置间隔，就可使得搬运机器人成功针对目标货架执行出库任务或者入库任务，因此，相较于相关技术，可减少每个货架组200所占用的水平空间，进而可以提高仓库的水平空间利用率。相应的，在仓库总面积固定的前提下，可以容纳更多的货架组200，进而可以降低仓库的单位存储成本，可以广泛适用于低流动性存储场景。
此外，请参照图5以及图6，本申请实施例还提供一种仓储系统20，仓储系统20可以包括上述控制终端100、搬运机器人以及多个货架组200。
当然，在仓储系统20中可以包括一个搬运机器人，也可以包括多个搬运机器人，从而提高作业效率。
其中，在一些实施方式中，每两个货架组200之间可以预留出活动通道供，以供搬运机器人移动，其示意图如图5所示。在图5中，黑色正方形表示搬运机器人。
在另一些实施方式中，每两个货架组200可以抵靠设置，形成一个货架组对21，且在每两个货架组对21之间预留出活动通道，以供搬运机器人移动。如此设置之后，可以进一步提高仓库在水平空间的利用率。其示意图如图6所示。在图6中，黑色正方形表示搬运机器人。
至于仓储系统20中的控制终端100、货架组200以及搬运机器人的结构以及作用，均与上文相似，此处不再赘述。
此外，值得指出的是，在一些实施方式中，仓储系统20还可以包括如图5或者图6所 示出的入库区C以及入库输送线(图5以及图6中未示出)。
在这种实施方式下，搬运机器人在执行入库任务时，可以移动到述入库输送线的末端取下由入库区的传送机构(例如传送皮带)所传输的物品，并将物品从入库输送线的末端搬运到目标货架处。
此外，值得指出的是，在一些实施方式中，仓储系统20还可以包括图5或者图6所示出的出库区D以及出库输送线(图5以及图6中未示出)。
在这种实施方式下，搬运机器人在执行出库任务时，可以移动到目标货架的通道处取下物品，并将物品从目标货架的通道处搬运到出库输送线的末端，由出库输送线将物品传输到出库区。
当然，在一些实施方式中，在仓储系统20内，还可以设置充电区E，可供搬运机器人自主充电，或者人为控制搬运机器人充电。
值得指出的是，本申请实施例所涉及到的搬运机器人不限于是货箱到人机器人，还可以是叉车、堆垛叉车等需要进入货架处的通道去搬运货架上的物品(货物或容器)的机器人。
其中，若货架可以在竖直方向上设置有多层货箱储位，相应的，搬运机器人在竖直方向上也可设置有多个货位。在这种实施方式中，请参照图7，图7示出了搬运机器人300的一种可能的结构。
在图7中，搬运机器人300可以包括主体310，主体310上可以设置有N个(N取大于1的整数，图7中N＝5)货位320以及货物存取机构330。其中，每个货位320可构造成用于存放货物，货物存取机构330可以构造成用于将外部存放的货物移动至搬运机器人300上存放，或者，将搬运机器人300上存放的货物取出并移动外部存放。
货物存取机构330可以是货叉、机械臂等。
在一种可选方案中，N个货位320可以沿高度方向设置，而货物存取机构330也能够在高度方向上自由移动(例如，若货物存取机构330是货叉，则可沿一导轨上下移动，若货物存取机构330是机械臂，则可以上下自由伸展，等等)，这样的设置方式一方面有利于货物存取机构330快速移动至任一货位320所在的高度进行货物存取，另一方面也有利于减少搬运机器人300在作业时的前后移动，节省作业时间。
此外，本申请实施例还提供一种应用于货架管理系统10中的控制终端100的货架管理方法。
前文提及，控制终端100可以配置成主要用于控制货架组200中的货架210移动，从而打开目标货架处的通道。下面将结合货架组200的结构以及图8所示出的货架管理方法，针对控制终端100控制货架组200中的货架210移动来打开目标货架处的通道的过程进行介绍。
其中，图8示出的货架管理方法可以包括以下步骤。
步骤S110：根据接收到的当前任务，确定所述当前任务对应的目标货架。
也就是说，目标货架即为执行当前任务所需要使用到的货架。
步骤S120：判断所述目标货架处的通道是否处于打开状态。
在本申请实施例中，每个货架处的通道可以具有打开状态以及未打开状态。其中，如图2所示出的货架组200，货架10以及货架11处的通道处于打开状态，而其他货架处的货架则处于未打开状态。
在本申请实施例中，在确定出目标货架后，在一些实施方式中，可以通过拍摄目标货架处的图像，进而通过图像识别的方式，确定出目标货架处的通道是否处于打开状态。
在另一些实施方式中，可以在每个货架处安装传感器，以检测对应货架处的通道的状态。如此设置之后，可以通过获取目标货架处的传感器所采集到的数据，进而确定出目标货架处的通道是否处于打开状态。
步骤S130：当所述目标货架处的通道处于未打开状态时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开。
其中，当控制终端在确定目标货架处的通道处于未打开状态时，为了使得搬运机器人可以针对目标货架执行出库任务或者入库任务，控制终端可以控制目标货架所在的货架组中的至少一个货架移动，从而使得目标货架处的通道打开，以供搬运机器人基于此通道可以移动到目标货架处，对目标货架执行任务。
下面将针对执行步骤S130：当所述目标货架处的通道处于未打开状态时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开的过程，进行详细说明。
在一些实施方式中，当控制终端确定出目标货架后，只要判断出目标货架处的通道处于未打开状态，则无需进行其他前置操作，并立刻控制目标货架所在的货架组(以下简称为目标货架组)中的至少一个货架移动，从而使得目标货架处的通道处于打开状态。
在一些应用场景中，当控制终端在接收到当前任务时，在控制终端的任务列表内还可能存在未完成的其他任务。为了避免当前任务干扰未完成的其他任务，在另一些实施方式中，当控制终端确定出与当前任务对应的目标货架后，还可以先进行其他前置操作，例如先判断目标货架是否满足第一作业条件。
其中，当确定目标货架满足第一作业条件时，控制终端才会立即控制目标货架所在的目标货架组中的至少一个货架移动，从而使得目标货架处的通道处于打开状态。
当确定目标货架不满足第一作业条件时，则说明需要优先完成控制终端的任务列表内的至少一个未完成的其他任务(为了便于区分，称之为第一任务)。相应的，此时控制终端控制需要优先完成的第一任务所对应的货架处的通道打开，并在第一任务所对应的货架配合搬运机器人执行完第一任务之后，控制终端再控制目标货架所在的目标货架组中的至少一个货架移动，从而使得目标货架处的通道处于打开状态。
至于第一作业条件，在一些实施方式中，第一作业条件可以为：目标货架所在的目标货架组上的所有其他货架均不存在未完成的其他任务。
相应的，在判断目标货架是否满足第一作业条件时，若在控制终端接收到当前任务时，当前任务所对应的目标货架所在的目标货架组上的所有其他货架均不存在未完成的其他任务，则可以确定目标货架满足第一作业条件。
若在控制终端接收到当前任务时，目标货架所在的目标货架组上的至少一个其他货架存在未完成的其他任务，则可以确定目标货架不满足第一作业条件。此时该未完成的其他任务为第一任务，且此时需要优先执行第一任务，且在第一任务执行完毕后再控制打开目标货架处的通道，并执行当前任务。
在另一些实施方式中，每个任务可以具有相应的优先级。此时，第一作业条件可以为：在目标货架所在的目标货架组上的所有其他货架上，不存在优先级高于当前任务的优先级的未完成的其他任务。
相应的，在判断目标货架是否满足第一作业条件时，若在控制终端接收到当前任务时，当前任务所对应的目标货架所在的目标货架组上的所有其他货架均不存在未完成的其他任务，则可以确定目标货架满足第一作业条件。此外，若在控制终端接收到当前任务时，确定当前任务所对应的目标货架所在的目标货架组上的至少一个其他货架存在未完成的其他任务，但该未完成的其他任务的优先级低于当前任务的优先级，则也可以确定目标货架满足第一作业条件。
若在控制终端接收到当前任务时，目标货架所在的目标货架组上的至少一个其他货架存在未完成的其他任务，且该未完成的其他任务的优先级高于当前任务的优先级，则可以确定目标货架不满足第一作业条件。此时该优先级高于当前任务的优先级的未完成的其他任务为第一任务，且此时需要优先执行第一任务，且在第一任务执行完毕后再控制打开目标货架处的通道，并执行当前任务。
至于任务之间的优先级高低，在一些实施方式中，任务的任务类型可以是出库任务、入库任务中的其中一种。由于出库任务的紧急程度高于入库任务的紧急程度，因此，出库任务的优先级可以高于入库任务的优先级。
在另一些实施方式中，每个任务可以存在预期执行时间，相应的，任务之间的优先级高低可以根据任务的预期执行时间来确定。具体的，对于两个待执行的任务而言，若任务A的预期执行时间早于任务B的预期执行时间，那么任务A的优先级高于任务B的优先级。
此外，另一些实施方式中，任务之间的优先级高低可以同时结合任务类型以及任务预期执行时间来确定。
具体的，针对两个待执行的任务，在判断两者的优先级高低时，可以优先判断这两个任务的任务类型，若这两个任务的任务类型不一致，则直接根据出库任务的优先级高于入库任务的优先级的原则，确定这两个任务的优先级；若这两个任务的任务类型一致，那么再根据预期执行时间早的任务的优先级高于预期执行时间晚的任务的优先级的原则，确定这两个任务的优先级。
值得指出的是，前文所描述的内容，均是在目标货架处的通道处于未打开状态时的前 提下可实施的。
在一些实施方式中，在执行步骤S120：判断所述目标货架处的通道是否处于打开状态时，还有可能会出现判断结果为：目标货架处的通道处于打开状态的情况，下面将针对这种情况进行介绍。
在一些实施方式中，当目标货架处的通道处于打开状态时，由于此时的目标货架存在供搬运机器人执行当前任务的作业通道，因此，此时的控制终端可以不执行其他操作，等待搬运机器人移动至目标货架处的通道，并执行当前任务。
在一些实施方式中，当控制终端接收到当前任务时，与上文类似的，此时并不一定要先执行当前任务，而是有可能需要优先执行未完成的其他任务(第一任务)，并在第一任务执行完毕后，再执行当前任务。
相应的，在这种实施方式下，当目标货架处的通道处于打开状态时，若判断目标货架所在的货架组上的至少一个其他货架需要优先完成其他任务(第一任务)，则控制货架组上的至少一个货架移动，将第一任务所对应的其他货架处的通道打开，并执行第一任务。当然，若此时第一任务所对应的其他货架处的通道本来就处于打开状态，则可以跳过“将第一任务所对应的其他货架处的通道打开”的过程，直接执行第一任务。
在其他货架处的任务(第一任务)执行完成之后，控制终端再判断当前任务对应的目标货架处的通道是否处于打开状态，若此时目标货架处的通道处于打开状态，那么可以直接执行当前任务。若此时目标货架处的通道处于未打开状态，那么控制终端控制目标货架组上的至少一个货架移动，以使得目标货架处的通道打开，并执行当前任务。
也就是说，在本申请实施例中，当目标货架处的通道处于未打开状态时，无论是否优先执行当前任务，最终在执行当前任务时，均会打开目标货架处的通道。
至于在与当前任务对应的目标货架处的通道处于打开状态时，是否要优先执行当前任务，可以通过如下过程进行判断：
在一些实施方式中，与前文类似，当目标货架处的通道处于打开状态时，若目标货架所在的目标货架组上的至少一个其他货架存在未完成的其他任务(第一任务)，则可以确定该至少一个其他货架需要优先完成其他任务(第一任务)，且在该其他任务(第一任务)执行完毕后，才会开始执行当前任务。
在另一些实施方式中，与前文类似，若目标货架所在的目标货架组上的至少一个其他货架存在未完成的其他任务(第一任务)，且该其他任务(第一任务)的优先级高于当前任务的优先级，则确定该至少一个其他货架需要优先完成其他任务，且在该其他任务(第一任务)执行完毕后，才会开始执行当前任务。
至于任务之间的优先级高低，其判断方式与前文类似，此处为了避免重复，不再赘述。
从上文可知，无论是先执行当前任务，还是先执行第一任务，均需要将当前待执行的任务处的通道打开，使得其处于打开状态。下面将以打开目标货架处的通道为例进行介绍。
前文提及，在货架组中可能同时存在一个处于打开状态的通道，也可能同时存在多个 处于打开状态的通道。
其中，若目标货架组中仅存在一个通道，那么在准备打开目标货架处的通道时，将目标货架组中位于目标货架与当前处于打开状态的当前通道之间的其他货架向当前通道移动，以关闭当前通道并打开目标货架处的通道。
如图2所示，假设目标货架为货架8，当前在准备打开目标货架8处的通道时，是将目标货架组中位于目标货架8与当前处于打开状态的当前通道(货架10右侧的通道)之间的其他货架(货架9以及货架10)向当前通道(货架10右侧的通道)移动。
若目标货架组中存在多个通道，那么在准备打开目标货架处的通道时，可以将目标货架组中位于目标货架与距离目标货架最近的通道(当前处于打开状态)之间的其他货架向该最近的通道移动，以关闭当前通道并打开目标货架处的通道。
如图4所示，假设目标货架为货架8，当前在准备打开目标货架8处的通道时，是将目标货架组中位于目标货架8与距离目标货架最近的通道(货架9右侧的通道)之间的其他货架(货架9)向该最近的通道(货架9右侧的通道)移动。
此外，请参照图9，本申请实施例还提供一种货架管理装置400，应用于货架管理系统10中的控制终端100，货架管理装置400可以包括：确定模块410、判断模块420以及控制模块430。
确定模块410，可以配置成用于根据接收到的当前任务，确定所述当前任务对应的目标货架；
判断模块420，可以配置成用于判断所述目标货架处的通道是否处于打开状态；
控制模块430，可以配置成用于当所述目标货架处的通道处于未打开状态时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开。
在一种可能的实施方式中，所述控制模块430，可以配置成用于判断所述目标货架是否满足第一作业条件；在所述目标货架满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开；在所述目标货架不满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述货架组上的第一货架处的通道打开，并在所述第一货架执行完对应的任务后，再将所述目标货架处的通道打开。
在一种可能的实施方式中，所述控制模块430，可以配置成用于若所述目标货架所在的货架组上的至少一个其他货架不存在未完成的其他任务，确定所述目标货架满足所述第一作业条件；若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，确定所述目标货架不满足所述第一作业条件。
在一种可能的实施方式中，所述控制模块430，可以配置成用于若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级低于所述当前任务的优先级，则确定所述目标货架满足所述第一作业条件；若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述 当前任务的优先级，则确定所述目标货架不满足所述第一作业条件。
在一种可能的实施方式中，所述控制模块430，还可以配置成用于：当所述目标货架处的通道处于打开状态时，若判断所述目标货架所在的货架组上的至少一个其他货架需要优先完成其他任务，则控制所述货架组上的至少一个货架移动，将所述其他货架处的通道打开；以及，在所述其他货架处的任务执行完成之后，控制所述货架组上的至少一个货架移动，将所述目标货架处的通道打开。
在一种可能的实施方式中，所述确定模块410，还可以配置成用于若所述至少一个其他货架存在未完成的其他任务，确定所述至少一个其他货架需要优先完成其他任务；或者，若所述至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述当前任务的优先级，则确定所述至少一个其他货架需要优先完成其他任务。
在一种可能的实施方式中，所述控制模块430，可以配置成用于若所述货架组中仅存在一个通道，则将所述货架组中位于所述目标货架与打开的当前通道之间的其他货架向所述当前通道移动，以关闭所述当前通道，打开所述目标货架处的通道；若所述货架组中存在多个通道，则将所述货架组中位于所述目标货架与距离所述目标货架最近的通道之间的其他货架向所述最近的通道移动，以关闭所述最近的通道，打开所述目标货架处的通道。
在一种可能的实施方式中，出库任务的优先级可以高于入库任务。
本申请实施例所提供的货架管理装置400，其实现原理及产生的技术效果和前述方法实施例相同，为简要描述，装置实施例部分未提及之处，可参考前述方法实施例中相应内容。
此外，本申请实施例还提供一种可读存储介质，该可读存储介质上可以存储有计算机程序，该计算机程序被处理器运行时，可以执行如上述的货架管理方法所包含的步骤。
此外，本申请实施例还提供一种计算机程序产品，该计算机程序产品可以包括机算机程序，该计算机程序被处理器运行时，可以执行如上述的货架管理方法所包含的步骤。
此外，请参照图10，本申请实施例还提供一种控制终端100。
可选的，控制终端100，可以是，但不限于个人电脑(Personal computer，PC)、平板电脑、移动上网设备(Mobile Internet Device，MID)、服务器等设备。
其中，控制终端100可以包括：处理器110、存储器120。
应当注意，图10所示的控制终端100的组件和结构只是示例性的，而非限制性的，根据需要，控制终端100也可以具有其他组件和结构。
处理器110、存储器120以及其他可能出现于控制终端100的组件相互之间直接或间接地连接，以实现数据的传输或交互。例如，处理器110、存储器120以及其他可能出现的组件相互之间可通过一条或多条通讯总线或信号线实现电性连接。
存储器120可以配置成用于存储程序，例如存储有前文出现的货架管理方法对应的程序或者前文出现的货架管理装置。可选的，当存储器120内存储有货架管理装置时，货架管理装置可以包括至少一个可以以软件或固件(firmware)的形式存储于存储器120中的软件功能模块。
可选的，货架管理装置所包括软件功能模块也可以固化在控制终端100的操作系统(operating system，OS)中。
处理器110可以配置成用于执行存储器120中存储的可执行模块，例如货架管理装置包括的软件功能模块或计算机程序。当处理器110在接收到执行指令后，可以执行计算机程序，例如执行：根据接收到的当前任务，确定所述当前任务对应的目标货架；判断所述目标货架处的通道是否处于打开状态；当所述目标货架处的通道处于未打开状态时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开。
当然，本申请任一实施例所揭示的方法都可以应用于处理器110中，或者由处理器110实现。
综上所述，本申请实施例提出的仓储系统以及货架管理方法、装置、系统、控制终端及可读存储介质，仓储系统和货架管理系统中的每个货架组中存在至少一个可处于打开状态的通道，以及每个货架组内的货架均可移动。那么针对每个货架组而言，当其内的每个货架作为目标货架时，若判断目标货架处的通道处于未打开状态，均可以通过移动目标货架所在的货架组的内其他至少一个货架移动，从而使得目标货架处的通道处于打开状态，以便搬运机器人可移动至目标货架处的处于打开状态的通道处，并成功对目标货架作业。由于不必再为每个货架组所包括的每两个货架之间设置间隔，就可使得搬运机器人成功针对目标货架执行出库任务或者入库任务，因此，相较于相关技术，本申请实施例可减少每个货架组所占用的水平空间，进而可以提高仓库的水平空间利用率。相应的，在仓库总面积固定的前提下，可以容纳更多的货架组，进而可以降低仓库的单位存储成本。
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
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，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个可读存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做 出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品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，笔记本电脑，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。
工业实用性
本申请公开了仓储系统以及货架管理方法、装置、系统、控制终端及可读存储介质。仓储系统包括多个货架组、控制终端以及搬运机器人。每个货架组包括在水平方向上排列设置的多个货架，每个货架底部安装有移动装置。控制终端配置成用于控制货架移动，打开目标货架处的通道。搬运机器人配置成用于移动到目标货架处的通道执行出库或入库任务。货架管理方法包括：根据接收到的当前任务，确定当前任务对应的目标货架；判断目标货架处的通道是否处于打开状态；当目标货架处的通道处于未打开状态时，控制目标货架所在的货架组中的至少一个货架移动，将目标货架处的通道打开。通过仓储系统和货架管理方法，可以提高仓库的水平空间利用率，有利于降低仓库的单位存储的成本。
此外，可以理解的是，本申请的仓储系统以及货架管理方法、装置、系统、控制终端及可读存储介质是可以重现的，并且可以应用在多种工业应用中。例如，本申请的仓储系统以及货架管理方法、装置、系统、终端及存储介质可以应用于物流管理领域。

Claims (20)

  1. 一种仓储系统，其特征在于，包括：
    多个货架组，每个货架组包括在水平方向上排列设置的多个货架，其中每个货架底部安装有移动装置；
    控制终端，配置成用于控制所述货架组中的货架移动，打开目标货架处的通道；
    搬运机器人，配置成用于移动到所述目标货架处的通道执行出库任务或入库任务。
  2. 根据权利要求1所述的仓储系统，其特征在于，至少一个货架组的底部安装滚轮传动结构；或者，至少一个货架组的底部安装无动力滑轮，顶部安装导轨。
  3. 根据权利要求1或2所述的仓储系统，其特征在于，所述多个货架在同一时间，最多存在一个可打开的通道。
  4. 根据权利要求1至3中任一项所述的仓储系统，其特征在于，所述货架在竖直方向上设置有多层货箱储位，所述搬运机器人在竖直方向上设置有多个货位。
  5. 根据权利要求1至4中任一项所述的仓储系统，其特征在于，每两个所述货架组之间预留出活动通道供所述搬运机器人移动；或者，
    每两个所述货架组抵靠设置形成一个货架组对，且在每两个所述货架组对之间预留出活动通道供所述搬运机器人移动。
  6. 根据权利要求1至5中任一项所述的仓储系统，其特征在于，所述仓储系统包括入库区以及入库输送线；
    所述搬运机器人在执行所述入库任务时，移动到所述入库输送线的末端取下由所述入库区传输的物品，并将所述物品从所述入库输送线的末端搬运到所述目标货架处。
  7. 根据权利要求1至6中任一项所述的仓储系统，其特征在于，所述仓储系统包括出库区以及出库输送线；
    所述搬运机器人在执行所述出库任务时，移动到所述目标货架的通道处取下物品，并将所述物品从所述目标货架的通道处搬运到所述出库输送线的末端，由所述出库输送线将所述物品传输到所述出库区。
  8. 根据权利要求1至6中任一项所述的仓储系统，其特征在于，所述搬运机器人包括主体，所述主体上设置有货物存取机构以及多个货位，
    所述货物存取机构构造成用于将外部存放的货物移动至所述搬运机器人上的货位，或者，将所述搬运机器人的货位上存放的货物取出。
  9. 根据权利要求8所述的仓储系统，其特征在于，所述多个货位沿高度方向设置，所述货物存取机构能够在高度方向上移动。
  10. 一种货架管理方法，其特征在于，应用于货架管理系统中的控制终端，所述货架管理方法包括：
    根据接收到的当前任务，确定所述当前任务对应的目标货架；
    判断所述目标货架处的通道是否处于打开状态；
    当所述目标货架处的通道处于未打开状态时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开。
  11. 根据权利要求10所述的货架管理方法，其特征在于，所述控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开，包括：
    判断所述目标货架是否满足第一作业条件；
    在所述目标货架满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述目标货架处的通道打开；
    在所述目标货架不满足所述第一作业条件时，控制所述目标货架所在的货架组中的至少一个货架移动，将所述货架组上的第一货架处的通道打开，并在所述第一货架执行完对应的任务后，再将所述目标货架处的通道打开。
  12. 根据权利要求11所述的货架管理方法，其特征在于，所述判断所述目标货架是否满足第一作业条件，包括：
    若所述目标货架所在的货架组上的至少一个其他货架不存在未完成的其他任务，确定所述目标货架满足所述第一作业条件；
    若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，确定所述目标货架不满足所述第一作业条件。
  13. 根据权利要求11所述的货架管理方法，其特征在于，所述判断所述目标货架是否满足第一作业条件，包括：
    若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级低于所述当前任务的优先级，则确定所述目标货架满足所述第一作业条件；
    若所述目标货架所在的货架组上的至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述当前任务的优先级，则确定所述目标货架不满足所述第一作业条件。
  14. 根据权利要求10至13中的任一项所述的货架管理方法，其特征在于，所述货架管理方法还包括：
    当所述目标货架处的通道处于打开状态时，若判断所述目标货架所在的货架组上的至少一个其他货架需要优先完成其他任务，则控制所述货架组上的至少一个货架移动，将所 述其他货架处的通道打开；以及，
    在所述其他货架处的任务执行完成之后，控制所述货架组上的至少一个货架移动，将所述目标货架处的通道打开。
  15. 根据权利要求14所述的货架管理方法，其特征在于，所述货架管理方法还包括：
    若所述至少一个其他货架存在未完成的其他任务，确定所述至少一个其他货架需要优先完成其他任务；或者，
    若所述至少一个其他货架存在未完成的其他任务，且所述其他任务的优先级高于所述当前任务的优先级，则确定所述至少一个其他货架需要优先完成其他任务。
  16. 根据权利要求10至15中任一项所述的货架管理方法，其特征在于，所述控制所述目标货架所在的货架组上的至少一个货架水平移动，包括：
    若所述货架组中仅存在一个通道，则将所述货架组中位于所述目标货架与打开的当前通道之间的其他货架向所述当前通道移动，以关闭所述当前通道，打开所述目标货架处的通道；
    若所述货架组中存在多个通道，则将所述货架组中位于所述目标货架与距离所述目标货架最近的通道之间的其他货架向所述最近的通道移动，以关闭所述最近的通道，打开所述目标货架处的通道。
  17. 一种控制终端，其特征在于，包括：存储器和处理器，所述存储器和所述处理器连接；
    所述存储器配置成用于存储程序；
    所述处理器配置成调用存储于所述存储器中的程序，以执行根据权利要求10至16中任一项所述的货架管理方法。
  18. 一种可读存储介质，其特征在于，所述可读存储介质上存储有计算机程序，所述计算机程序被处理器运行时执行根据权利要求10至16中任一项所述的货架管理方法。
  19. 一种计算机程序产品，其特征在于，包括计算机程序，所述计算机程序被处理器运行时执行根据权利要求10至16中任一项所述的货架管理方法。
  20. 一种货架管理系统，其特征在于，包括：
    至少一个货架组，每个货架组包括多个可水平移动的货架；
    控制终端，配置成用于执行根据权利要求10至16中任一项所述的货架管理方法。
PCT/CN2022/103720 2021-09-17 2022-07-04 仓储系统、货架管理方法、装置、系统、终端及存储介质 WO2023040425A1 (zh)

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