WO2024017142A1 - 仓储系统及其控制方法、装置、电子设备和存储介质 - Google Patents

仓储系统及其控制方法、装置、电子设备和存储介质 Download PDF

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Publication number
WO2024017142A1
WO2024017142A1 PCT/CN2023/107315 CN2023107315W WO2024017142A1 WO 2024017142 A1 WO2024017142 A1 WO 2024017142A1 CN 2023107315 W CN2023107315 W CN 2023107315W WO 2024017142 A1 WO2024017142 A1 WO 2024017142A1
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WO
WIPO (PCT)
Prior art keywords
container
goods
target
robot
type
Prior art date
Application number
PCT/CN2023/107315
Other languages
English (en)
French (fr)
Inventor
刘伟荫
Original Assignee
深圳市库宝软件有限公司
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Filing date
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Publication of WO2024017142A1 publication Critical patent/WO2024017142A1/zh

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Classifications

    • 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
    • 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

Definitions

  • the embodiments of the present application relate to the field of intelligent warehousing technology, and specifically relate to a warehousing system and its control method, device, electronic equipment and storage medium.
  • embodiments of the present application provide a warehousing system and its control method, device, electronic equipment and storage medium to solve the problems in the existing technology of low compatibility of warehouses with goods and low operating efficiency. .
  • a storage system control method including:
  • the container type is the first container or the second container.
  • the first container is used to store the first type of goods.
  • the first type of goods has attributes that meet the set standards. of goods, the second container is used to store at least a second type of goods, and the second type of goods is goods whose attributes do not meet the set standards;
  • the location includes a shelf located in the storage area or a first space at the bottom of the shelf, at least part of the first space is provided under the shelf, and the shelf is used for Place the first container, and the first space is used to place the second container;
  • a target robot for carrying the target container is determined, the target robot is a first robot or a second robot, and the first robot is used to access the first container on the shelf. , the second robot is used to access the second container in the first space;
  • the first robot and the second robot that perform the handling task corresponding to the same order are controlled to move the first type of goods respectively.
  • the goods and the second type of goods are sent to the same workstation, or the first robot is controlled to place the first container storing the first type of goods on the second container, and controls the second
  • the robot delivers the first type of goods and the second type of goods to the same workstation.
  • the method further includes:
  • the second robot is scheduled to sequentially carry the target second container from the target location to the part of the at least two workstations.
  • determining a target second container that meets at least part of the workstation's needs for the target goods from the second container storing the target goods includes:
  • the target second container in which the quantity of the target goods is closest to and greater than or equal to the total number of the target goods is determined from the second containers in which the target goods are stored.
  • the method further includes:
  • the second robot In response to receiving the first to-be-carried task, the second robot is scheduled to perform the first to-be-carried task.
  • the first to-be-carried task is to transport the target goods to the first workstation, and the target goods are stored in the target second container. ;
  • the second robot is scheduled to carry the target second container to the first workstation to complete the first to-be-transported task, and then continue to carry the target second container to the second workstation to complete the task.
  • the second task to be transported.
  • the method further includes:
  • the determination of the quantity of goods stored in the target second container transported by the second robot is not performed until the first to-be-transported quantity is completed.
  • the shelf includes a first shelf and a second shelf arranged along a height direction, the first shelf is adjacent to the first space in the height direction, and the second shelf is located Above the first shelf, the first robot includes a high-area robot, and the high-area robot is at least used to access the first container placed on the second shelf;
  • the method also includes:
  • the high-area robot is scheduled to transport the first sub-container that does not need to be taken out of the warehouse within a preset time from the first shelf to the second shelf, and to transport the first sub-container that needs to be taken out of the warehouse within a preset time.
  • Containers are transported from the second shelf to the first shelf.
  • the second container is also used to store the first type of goods
  • the method also includes:
  • the second robot is scheduled to carry the target second container to the target workstation.
  • the second container is also used to store the first type of goods
  • the method also includes:
  • a second space is formed at the bottom of the second container, and the height of the second space is greater than the height of the second robot;
  • the method also includes:
  • the second robot In response to the second robot not being loaded with the second container, the second robot is scheduled to travel from the second space.
  • the method further includes:
  • a dynamic adjustment plan for the first space is determined.
  • the dynamic adjustment plan includes setting the first space at the bottom of the first shelf where the first space is not set, and setting the first space at the bottom of the first shelf where the first space is set. Space the second shelf at the bottom to cancel the first space.
  • a storage system control device including:
  • the acquisition module is used to determine the container type of the target container corresponding to the task to be transported.
  • the container type includes a first container and a second container.
  • the first container is used to store a first type of goods.
  • the first type of goods is Goods whose attributes meet the set standards
  • the second container is used to store at least a second type of goods
  • the second type of goods are goods whose attributes meet the set standards;
  • the first determination module is used to determine the location for storing the target container.
  • the location includes a shelf located in the storage area or the first space at the bottom of the shelf. At least part of the shelf is provided with the first space. Space, the shelf is used to place the first container, and the first space is used to place the second container;
  • a second determination module configured to determine a target robot for carrying the target container according to the container type.
  • the target robot is a first robot or a second robot, and the first robot is used to transport the target container on the shelf. Accessing the first container, the second robot is used to access the second container in the first space;
  • a scheduling module for scheduling the target robot to access the target container at the location to perform the task to be transported;
  • the first robot and the second robot that perform the handling task corresponding to the same order are controlled to move the first type of goods respectively.
  • the goods and the second type of goods are sent to the same workstation, or the first robot is controlled to store the first container of the first type of goods. Place it on the second container, and control the second robot to send the first type of goods and the second type of goods to the same workstation.
  • an electronic device including: a processor, a memory, a communication interface, and a communication bus.
  • the processor, the memory, and the communication interface complete each other through the communication bus. communication between;
  • the memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the operations of the warehouse system control method as described above.
  • a computer-readable storage medium is provided. At least one executable instruction is stored in the storage medium. When the executable instruction is run on an electronic device, it causes the electronic device to execute the above Operation of the described storage system control method.
  • a computer program product including a computer program that implements the operations of the above-described storage system control method when executed by a processor.
  • a warehousing system including a storage area.
  • a plurality of shelves are provided in the storage area.
  • the shelves are used to place first containers.
  • the first containers are used to store Category 1 goods, said Category 1 goods are goods whose attributes meet the set standards;
  • At least part of the bottom of the shelf is formed with a first space.
  • the first space is used to place a second container.
  • the second container is used to store at least a second type of goods.
  • the second type of goods does not meet the properties of the Goods that set standards;
  • the storage area is also equipped with a first robot and a second robot.
  • the first robot is used to access the first container on the shelf, and the second robot is used to store the first container in the first space. Take the second container;
  • the storage system also includes a control device, which is used for:
  • the first robot and the second robot that perform the handling task corresponding to the same order are controlled to move the first type of goods respectively.
  • the goods and the second type of goods are sent to the same workstation, or the first robot is controlled to place the first container storing the first type of goods on the second container, and controls the second
  • the robot delivers the first type of goods and the second type of goods to the same workstation.
  • the warehousing system further includes multiple workstations
  • the control device is also used for:
  • control device is configured to determine a target second container that meets at least part of the workstation's needs for the target goods from the second container storing the target goods, including:
  • the target second container in which the quantity of the target goods is closest to and greater than or equal to the total number of the target goods is determined from the second containers in which the target goods are stored.
  • the warehousing system includes at least a first workstation and a second workstation;
  • the control device is also used for:
  • the second robot In response to receiving the first to-be-carried task, the second robot is scheduled to perform the first to-be-carried task.
  • the first to-be-carried task is to transport target goods to the first workstation, and the target goods are stored in the target third workstation. 2 containers;
  • the second robot is scheduled to carry the target second container to the first workstation to complete the first to-be-transported task, and then continue to carry the target second container to the second workstation to complete the task.
  • the second task to be transported.
  • control device is also used to:
  • the determination of the quantity of goods stored in the target second container transported by the second robot is not performed until the first to-be-transported quantity is completed.
  • the shelf includes a first shelf and a second shelf arranged along a height direction, the first shelf is adjacent to the first space in the height direction, and the second shelf is located Above the first shelf;
  • the first container includes a first sub-container for storing the first type of goods with a stockout rate lower than a first threshold;
  • the first robot includes a high-area robot, and the high-area robot is at least used to access the first container placed on the second shelf;
  • the control device is also used for:
  • the high-area robot is scheduled to transport the first sub-container that does not need to be taken out of the warehouse within a preset time from the first shelf to the second shelf, and to transport the first sub-container that needs to be taken out of the warehouse within a preset time.
  • Containers are transported from the second shelf to the first shelf.
  • the warehousing system further includes a plurality of workstations, and the second container is also used to store the first type of goods;
  • the control device is also used for:
  • the second robot is scheduled to carry the target second container to the target workstation.
  • the second container is also used to store the first type of goods
  • the control device is also used for:
  • a second space is formed at the bottom of the second container, and the height of the second space is greater than the height of the second robot;
  • the control device is also used for:
  • the second robot In response to the second robot not being loaded with the second container, the second robot is scheduled to travel from the second space.
  • control device is also used to:
  • a dynamic adjustment plan for the first space is determined.
  • the dynamic adjustment plan includes setting the first space at the bottom of the first shelf where the first space is not set, and setting the first space at the bottom of the first shelf where the first space is set. Space the second shelf at the bottom to cancel the first space.
  • the workstation is provided with at least two work stations, and the work stations are used for loading, unloading or picking operations on different types of containers or goods.
  • the shelves in the storage area are arranged on which the first container for storing the first type of goods can be placed, and the bottom of the shelf provides a first space for placing the second container.
  • a second container for storing the second type of goods where the first type of goods are goods whose attributes meet the set standards, and the second type of goods are goods whose attributes do not meet the set standards, and different robots are used to transport the first container and
  • the second container enables the storage of both the first type of goods and the second type of goods in one storage area, and realizes the handling control of different types of goods in the same storage area through one system, improving the compatibility of goods storage. Reduce costs and improve handling efficiency. And when the same order requires different types of goods, the required goods can be transported from one storage area without the need for secondary confluence, further improving handling efficiency and reducing costs.
  • Figure 1 is a top plan view of a storage system provided by an embodiment of the present application.
  • Figure 2 is a schematic side view of the storage system provided by the embodiment of the present application.
  • FIG. 3 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • Figure 4 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • FIG. 5 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • Figure 6 is a schematic side view of the storage system provided by the embodiment of the present application.
  • Figure 7 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • Figure 8 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • FIG. 9 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • Figure 10 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • Figure 11 is a flow chart of the method executed by the control device in the embodiment of the present application.
  • Figure 12 is a schematic side view of the second robot traveling at the bottom of the second container in the embodiment of the present application.
  • Figure 13 is a schematic plan view of path comparison in the embodiment of the present application.
  • Figure 14 is a schematic structural diagram of a storage system control device provided by an embodiment of the present application.
  • Figure 15 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Control device
  • h 1 The height of the first space at the bottom of the shelf; h 2.
  • the existing warehousing system and its control scheme can only store one kind of goods in each warehouse, but cannot store multiple goods in a single warehouse.
  • the types of goods involved in "one" and “multiple” here refer to the types of goods classified according to the volume, shape, weight, quantity or packaging method of the goods, rather than the stock keeping unit (stock keeping unit).
  • Uint, SKU Uint, SKU type.
  • this application proposes a storage system and a control method thereof.
  • the first container for storing the first type of goods can be placed, and the bottom of the shelf is provided with a shelf for placing the second container.
  • the handling control improves the compatibility of cargo storage, reduces costs, and improves handling efficiency. And when the same order requires different types of goods, the required goods can be transported from one storage area without the need for secondary confluence, further improving handling efficiency and reducing costs.
  • FIG. 1 is a schematic top plan view of a storage system provided by an embodiment of the present application
  • FIG. 2 is a schematic side view of a storage system provided by an embodiment of the present application.
  • the warehousing system 100 includes a storage area 10 and workstations (21, 22, 23, 24).
  • the warehousing system 100 of this embodiment can be installed in a warehouse, and the storage area 10 is a part of the warehouse.
  • the workstations may include an inbound workstation 21 , an outbound workstation 22 and a picking workstation 23 .
  • the various workstations mentioned above may be workstations with only one function, or may be workstations with two or three functions, such as the entry and exit workstation 24 .
  • a plurality of shelves 11 are provided in the storage area 10.
  • the shelves 11 are used to place first containers 31.
  • the first containers 31 are used to store the first type of goods.
  • the first type of goods are goods whose attributes meet the set standards.
  • a first space 12 is formed at the bottom of at least part of the shelf 11.
  • the first space 12 is used to place a second container 32.
  • the second container 32 is at least used to store a second type of goods.
  • the second type of goods is goods whose attributes do not meet the set standards. .
  • the first space 12 is only formed at the bottom of some shelves 11, and the bottoms of the remaining shelves 11 can be configured to store the first containers 31, which can improve the utilization rate of the storage system.
  • the goods are classified according to the set standards, and the goods are stored in the containers to which they are adapted according to the classification.
  • Properties include volume, weight, quantity, shape and/or packaging method, etc.
  • the setting standard is: volume and/or weight and/or quantity are less than or equal to the corresponding preset threshold ("corresponding" means that each attribute has a preset threshold defined separately, such as volume preset threshold, weight preset threshold and Quantity preset threshold), and/or the shape belongs to the preset specification shape, and/or the packaging method does not belong to the preset packaging method.
  • Goods that meet the set standards can be accommodated by the first container 31, while goods that do not meet the set standards cannot be accommodated by the first container 31 or if accommodated by the first container 31, the space of the first container 31 cannot be fully utilized, so that the first container
  • the quantity of goods contained in container 31 is small, which is not convenient for subsequent goods picking, so goods that do not meet the set standards are accommodated in the second container 32 .
  • each attribute needs to meet set standards before it can be accommodated by the first container 31 .
  • the preset standard shape can be a cuboid, cylinder, etc. Goods that do not belong to the preset standard shape can be called special-shaped parts (or parts). Special-shaped parts can also be, but are not limited to, goods whose volume is greater than the preset volume threshold. When the volume of the special-shaped parts is less than or equal to the preset threshold, since the special-shaped parts cannot fully utilize the space in the first container 31, only a few special-shaped parts can be accommodated in a single first container 31, which brings inconvenience to subsequent picking.
  • the default packaging method includes packaging methods that require secondary transfer, such as carton packaging. Since the carton is easily deformed, it cannot be accurately accessed by the robot dedicated to transporting the first container 31.
  • the carton packaging method cannot be accurately accessed.
  • One container 31 stores goods, and the cartons need to be emptied when put into storage, that is, the cartons are dismantled, and then the goods are loaded into the first container 31 before being put into storage.
  • the secondary transfer of goods makes the operation cumbersome and the warehousing efficiency is low.
  • the cartons can be directly put into storage and stored in the second container 32 without the need for a secondary transfer operation. Therefore, if the packaging method does not belong to the above-mentioned default packaging method, it can be stored in the first container 31 , otherwise it needs to be stored in the second container 32 .
  • the small parts are usually goods to be picked (for example, the first type of goods has a variety of goods, which are stored in different containers, and a certain order needs to be picked from a variety of goods. goods required for the order).
  • the first container 31 and the second container 32 represent container types.
  • the first container 31 has a smaller capacity and size than the second container 32.
  • the first container 31 is suitable for storing the above-mentioned first type of goods
  • the second container 32 is suitable for storing the above-mentioned second type of goods. category goods.
  • the above-mentioned preset thresholds of volume, weight, and quantity can be set according to the first container 31 .
  • the volume preset threshold can be set according to the size of the accommodation space of the first container 31.
  • the volume preset threshold is set to the volume capacity of the first container 31, and the first container 31 cannot accommodate goods larger than the volume preset threshold; Or the volume preset threshold can also be set according to the minimum planned number of goods to be accommodated in the first container 31 and the size of its holding space.
  • the volume preset threshold can be set to the volume capacity of the first container 31/the minimum planned number of goods to be accommodated. If If the volume of the goods is greater than the preset volume threshold, the first container 31 will be unable to accommodate the minimum planned quantity of goods.
  • the weight preset threshold can be set according to the load-bearing capacity of the first container 31.
  • the weight preset threshold can be set to the maximum load-bearing weight of the first container 31, or slightly less than the maximum load-bearing weight of the first container 31; or similar to the volume mentioned above.
  • the preset threshold is set according to the minimum number of goods planned to be accommodated in the first container 31 and its maximum load-bearing weight.
  • the quantity preset threshold can be set according to the minimum quantity of goods planned to be accommodated by the first container 31 .
  • the planned minimum quantity of goods to be accommodated can be set based on experience to a quantity that facilitates the picking operation.
  • the second container 32 can be used not only to store the second type of goods, but also to store the first type of goods.
  • the second container 32 can also be used to store goods whose outbound rate is greater than the preset outbound frequency. Since the second container 32 is placed in the first space 12, and the first space 12 is provided at the bottom of the shelf 11, that is, on the ground, it can facilitate the transportation of goods that are frequently shipped out of the warehouse and improve the transportation efficiency.
  • the preset delivery frequency can be set by those skilled in the art as needed, for example, twice a day, once a day, once every two days, etc.
  • a first robot 41 and a second robot 42 are also provided in the storage area 10 .
  • One or more first robots 41 and second robots 42 may be provided respectively.
  • the first robot 41 is used to access the first container 31 on the shelf 11
  • the second robot 42 is used to access the second container 32 in the first space 12 .
  • the warehousing system 100 also includes a control device 50 for scheduling the first robot 41 and/or the second robot 42 to perform the task to be transported. For convenience of illustration, only one shelf, one first robot 41 and one second robot 42 are shown in FIG. 2 . Both the first robot 41 and the second robot 42 carry containers.
  • the robot can transport the goods to be stored from the storage workstation 21 to the shelf 11 or the first space 12, transport the goods to be shipped from the shelf 11 or the first space 12 to the storage workstation 22, or transport the goods to be picked from the shelf 11 or the first space 12.
  • the first space 12 is transported to the picking workstation 23 .
  • the first container 31 can be a container with limited volume and limited load such as a material box, and the corresponding first robot 41 is a material box robot; please refer to Figure 2.
  • the material box robot includes a mobile chassis 411, a column 412 and a movable chassis arranged on the column 412.
  • the conveying device 413 moves up and down along the column 412.
  • the conveying device 413 is used to convey the material box.
  • the bin robot may also include a storage layer 414 disposed on the side of the column 412 opposite to the transport device 413.
  • the storage layer 414 can temporarily store the bins, and the transport device 413 can store the bins on the storage layer 414. Retrieval box.
  • the second container 32 can be a pallet, a material rack, a cage or a movable shelf, or other container with a large volume and strong load capacity.
  • the corresponding second robot 42 is a latent lifting robot; the latent lifting robot includes a driving mechanism 421 and a lifting mechanism 422, wherein the driving mechanism 421 can drive the latent lifting robot to move, the lifting mechanism 422 is used to transport the second container 32, and when the lifting mechanism 422 rises, it can lift the second container 32 from the ground. When the lifting mechanism 422 is lowered, the second container 32 can be placed on the ground to transport the second container 32 and the goods placed thereon as a whole.
  • Channels are provided between the shelves 11, between the shelves 11 and the workstations, and/or between the workstations for robots or workers to pass.
  • Both the first robot 41 and the second robot 42 can be automatically guided robots.
  • the first robot 41 and the second robot 42 can share a channel and realize positioning by identifying guide lines or QR codes on the ground to achieve positioning within the warehousing system 100 of movement.
  • the height h 1 of the first space 12 at the bottom of the shelf 11 needs to be greater than the overall height h 2 of the second container 32 when accommodating the second type of goods, so that the first space 12 can accommodate the second container 32 . Furthermore, the height h 1 of the first space 12 at the bottom of the shelf 11 needs to be greater than the overall height h 3 of the second robot 42 when carrying the second container 32 , so that the second robot 42 can carry the second container 32 to the first space 12.
  • Figure 3 is a flow chart of the method executed by the control device in the embodiment of the present application. As shown in Figure 3, the control device is used to perform the following steps:
  • Step S11 Determine the container type of the target container corresponding to the task to be transported, and the container type is the first container or the second container.
  • the control device receives the task to be transported, which can be to transport the target goods from the workstation to the storage area (hereinafter referred to as the warehousing task), or to transport the target goods from the storage area to the action station (hereinafter referred to as the outbound task/picking) Task).
  • the container type of the target container corresponding to the task to be transported is determined according to the target container actually located at the workstation, that is, the container type is certain and does not need to be selected by the control device.
  • the container type of the target container corresponding to the task to be transported is not necessarily determined.
  • the task to be transported may only have target cargo information.
  • the control device needs to determine the container type of the target container based on the target cargo information, and store the target cargo. All containers can be used as candidate containers, and the control device selects a certain type of container from the candidate containers as the container type of the target container.
  • Step S12 Determine the location for storing the target container.
  • the control device can directly determine the above-mentioned position according to the task to be transported, that is, the above-mentioned position can be directly determined according to the workstation indicated by the task to be transported.
  • the control device determines the container type of the target container, it can determine the specific target container from the containers of this type in the storage area, that is, select one or a few containers of this type from a large number of containers as this time.
  • the target container to be transported is further determined to determine the location of the target container in the storage area. When determining a specific target container from this type of container in the storage area, it can be selected according to preset conditions.
  • the preset condition is that the container is closest to the target workstation, or there is an idle robot within the shortest distance around the container, or the distance between the container and the container is determined in step S13.
  • the target robot is the closest, so that the target container that helps improve handling efficiency can be selected.
  • Step S13 Determine the target robot for transporting the target container according to the container type, and the target robot is the first robot or the second robot.
  • the target robot is the first robot; if the container type is the second container, the target robot is the second robot.
  • step S12 There is no data correlation between step S12 and step S13.
  • the embodiment of this application does not include step S12 and step S13.
  • the execution order is not limited. Step S12 may be executed first, and then step S13 may be executed, or step S13 may be executed first, and then step S12 may be executed, or both may be executed simultaneously.
  • Step S14 Schedule the target robot to access the target container at the location to perform the task to be transported.
  • step S14 if the same order includes the first type of goods and the second type of goods, the first robot and the second robot that perform the handling task corresponding to the same order are controlled to deliver the first type of goods and the second type of goods respectively.
  • control the first robot to place the first container storing the first type of goods on the second container, and control the second robot to send the first type of goods and the second type of goods to the same workstation.
  • the same order can be a single order or a combined order composed of multiple orders.
  • the target workstations for the same order are the same.
  • the same order includes both the first type of goods and the second type of goods
  • the first type of goods can be sent to the target workstation by the first robot
  • the second type of goods can be sent to the target workstation by the second robot, completing Picking or shipping.
  • the first robot can also place the storage container of the first type of goods on the second container, and the second robot can send all the goods to the target workstation uniformly.
  • Having the second robot carry all the goods can improve robot utilization, save costs, and reduce the number of path planning, making path planning easier; controlling the two robots to carry them separately can be suitable for situations where the robot has sufficient transport capacity and/or the paths in the current warehousing system are not too crowded. Scenes.
  • the same workstation needs to handle different types of containers or goods, for example, the same workstation needs to be able to handle both the incoming and outgoing or picking of the first type of goods, and the incoming and outgoing or picking of the second type of goods, you can set at least Two working points, different working points are used for loading, unloading or picking operations for different types of containers or goods.
  • goods are shipped out of the warehouse, different goods can be sent to the same workstation without being transported to different workstations respectively. This improves the compatibility of the warehousing system for goods leaving the warehouse or picking, thereby improving the efficiency of the warehouse system.
  • the shelves in the storage area on which the first container for storing the first type of goods can be placed, at least part of the bottom of the shelf provides a first space for placing the second container, and the first space can be placed At least a second container used to store the second type of goods, where the first type of goods are goods whose attributes meet the set standards, and the second type of goods are goods whose attributes do not meet the set standards, and the first type of goods are transported by different robots respectively.
  • Container and second container thereby realizing the storage of both first-class goods and second-class goods in one storage area, and realizing the handling control of different types of goods in the same storage area through one system, improving the compatibility of goods storage safety, reducing costs and improving handling efficiency. And when the same order requires different types of goods, the required goods can be transported from one storage area without the need for secondary confluence, further improving handling efficiency and reducing costs.
  • the second robot can be used to sequentially transport the second container to different workstations that require the target goods, thereby realizing the cross-platform transportation of the second container. Station handling.
  • the control device is also used to perform the following steps:
  • Step S21 Receive at least two tasks to be transported, where the at least two tasks to be transported are to transport at least two target goods to at least two workstations respectively.
  • the first task to be transported is to transport the first quantity of target goods to the first workstation
  • the second task to be transported is to transport the second quantity of target goods to the second workstation
  • the target goods required by different workstations can be the same. Can be different. For the convenience of description, the following takes the example that the target goods required by each workstation are the same.
  • Step S22 Determine a target second container that meets at least part of the workstation's requirements for the target goods from the second containers storing the target goods.
  • the above-mentioned target goods are stored in a plurality of second containers. It is possible that not the quantity of target goods stored in each second container can meet the requirements of the above-mentioned to-be-handled tasks. In this step, you can first select from multiple second containers that satisfy at least part of The container required by the workstation for the target goods is used as the target second container.
  • the above-mentioned "satisfying at least some workstations' demand for the target goods” also includes meeting the needs of all workstations corresponding to the current to-be-handled tasks for the target goods.
  • the second container is given priority as the target second container; if there is no such second container, the second container that can meet the most workstation requirements is selected. In this way, the transportation of the target second container can meet the needs of as many workstations for the target goods as possible, reduce the number of containers that need to be transported, and improve the transportation efficiency.
  • Step S22 may be performed by first obtaining the total number of target goods for at least two tasks to be transported, and then determining from the second containers storing the target goods the target second container that stores the number of target goods closest to and greater than or equal to the total number of target goods.
  • the target second container can meet the needs of all workstations for the target goods, and the quantity of the target goods stored in it is closest to the total number of target goods, thus avoiding waste and unnecessary costs caused by redundant transportation as much as possible.
  • Step S23 Determine a target location for storing the target second container.
  • Step S24 Schedule the second robot to sequentially transport the target second container from the target location to some of the at least two workstations.
  • the optimal walking path can be planned for the second robot, for example, first transport the second container to the first workstation closest to the second container, and then transport it to the second workstation closest to the first workstation... to improve transportation efficiency.
  • control device While the second robot is performing the handling task, if the control device receives a new to-be-carried task, the to-be-carried task can be performed by the second robot that is currently performing the task. If the target goods stored in the containers are the same, a solution similar to the above-mentioned cross-site transportation can also be implemented. In some embodiments, as shown in Figure 5, the control device is also used to perform the following steps:
  • Step S31 In response to receiving the first to-be-carried task, schedule the second robot to perform the first to-be-carried task.
  • the first to-be-carried task is to transport the target goods to the first workstation, and the target goods are stored in the target second container.
  • Step S32 In response to receiving the second to-be-carried task of transporting the target goods to the second workstation, determine whether the quantity of goods stored in the second target container transported by the second robot satisfies the second to-be-carried task after completing the first to-be-carried task. If the quantity of goods required by the transportation task is yes, step S33 is executed; otherwise, the process ends.
  • the second robot may not have completed the first to-be-carried task, for example, is on the way to the first workstation, or may have completed the first to-be-carried task, such as preparing to leave or has already Leave the first workstation. If the second robot has not completed the first to-be-carried task, the control device determines whether the quantity of goods stored in the second container transported by the second robot can still meet the goods demand of the second workstation after supplying the goods to the first workstation. If so, the second robot can be scheduled to continue performing the second to-be-carried task.
  • the control device determines whether the quantity of goods stored in the second container transported by the second robot can meet the goods demand of the second workstation. If so, the second robot can be scheduled to continue performing the second to-be-carried task.
  • Step S33 Scheduling the second robot to carry the target second container to the first workstation to complete the first to-be-carried task, and then continue to transport the target second container to the second workstation to complete the second to-be-carried task.
  • the tasks to be transported may also include more tasks, such as the third task to be transported, the fourth task to be transported, etc.
  • the control device determines whether the quantity of goods stored in the second container can satisfy the requirements of the third workstation, the fourth task, etc. If the demand of the workstation is yes, the second robot is scheduled to continue to perform the third to-be-carried task and the fourth to-be-carried task until all the goods in the second container are supplied.
  • the handling tasks of the same target goods can be flexibly handled during the robot operation, and the robots that are working can realize cross-station handling, further improving the flexibility of robot scheduling and handling efficiency of the warehousing system.
  • the robot when the robot performs the task to be transported, it may only handle cross-station transport tasks that require the robot to transport containers at other workstations (such as the second workstation) within a certain distance from the target workstation (such as the first workstation). If the distance exceeds this range, the task will not be processed, making scheduling simpler and path planning easier.
  • the control unit is also used to perform the following steps:
  • Step S31’ Determine whether the second workstation is located within the preset range around the first workstation
  • Step S32' If the second workstation is not located within the preset range around the first workstation, the judgment is not performed to determine whether the quantity of goods stored in the second container to be transported by the second robot satisfies the second to-be-transported task after completing the first to-be-transported task. Steps to determine the quantity of goods required by the task.
  • FIG. 6 is a schematic side view of a storage system provided by an embodiment of the present application.
  • the shelves include a first shelf 111 and a second shelf 112 arranged along the height direction. In the height direction, The first shelf 111 is adjacent to the first space 12, and the second shelf 112 is located above the first shelf 111.
  • the first robot includes a high area robot 41a, which is at least used to access the first container 31 placed on the second shelf 112.
  • the first container 31 includes a first sub-container for storing the first type of goods with a stockout rate lower than the first threshold.
  • the control device is also used to perform the following steps:
  • Step S41 Determine from the first container the first sub-container that stores the first type of goods with a stockout rate lower than the first threshold.
  • the first sub-container is first determined.
  • Step S42 Determine the first sub-container that does not need to be shipped out within the preset time, and the first sub-container that needs to be shipped out within the preset time.
  • Step S43 Schedule the high-area robot to transport the first sub-container that does not need to be shipped out within the preset time from the first shelf to the second shelf, and transport the first sub-container that needs to be shipped out from the second shelf within the preset time. First shelf.
  • the first sub-container that does not need to be shipped out within the preset time can be tallied to the second shelf by the high-area robot, which makes it easier to free up the space on the first shelf to provide goods with a higher frequency of shipment, or even if the frequency of shipment is not high But the goods need to be shipped out of the warehouse in a short time. Since the high-area robots do not participate in the execution of the task to be transported, other first robots cannot transport the goods on the second shelf. Therefore, the goods that need to be accessed cannot be placed on the second shelf.
  • the high-area robot can be scheduled in advance to carry the first sub-container to the first shelf that can be accessed by other first robots, so that the tasks to be transported of the first sub-container can be performed sequentially.
  • the control device is also used to perform the following steps:
  • Step S51 Determine from the first container the first sub-container that stores the first type of goods with a stockout rate lower than the first threshold.
  • Step S52 Schedule the high-area robot to transport the first sub-container from the first shelf to the second shelf.
  • the first sub-container Since the first sub-container is less frequently shipped out of the warehouse, it can be placed on the higher second shelf. At this time, since the high-area robot participates in the execution of the task to be transported, even if the first sub-container to be shipped is located on the second shelf, there is no need to transport it to the first shelf in advance. The high-area robot is dispatched to directly execute the first sub-container. The tasks to be transported can be completed.
  • the container type of the target container can be determined based on the required quantity of the first type of goods. When the required quantity is larger, the third type of goods can be hit. Two containers to improve handling efficiency.
  • the control device is also used to perform the following steps:
  • Step S61 Obtain the total number of target goods required by the target workstation corresponding to the task to be transported, and the target goods are the first type of goods.
  • Step S62 Determine whether the total number of target goods is greater than the preset threshold. If so, execute step S63. Otherwise, end the process.
  • the preset threshold may be the quantity of target goods stored in the first container. For example, if the total number of target goods is M and the number of target goods stored in the first container is N, determine whether M is greater than N.
  • Step S63 Determine the target second container from the second container storing the target goods, and the quantity of the target goods stored in the target second container is greater than the preset threshold.
  • M>N that is, the quantity of goods required exceeds the storage quantity of the first container
  • the first container is selected as the target container, at least 2 target containers are needed to satisfy the needs.
  • the demand for handling tasks leads to low handling efficiency.
  • the second container storing a larger quantity of target goods is selected as the target container. For example, if the same goods are stored in both pallets and bins, and the number of goods stored in the pallet exceeds 3 boxes, and 3 boxes of goods need to be delivered, hitting the bin will generate 3 handling volumes, and hitting the pallet will only generate 1 workload. , thereby reducing the handling flow and improving the handling efficiency.
  • Step S64 Schedule the second robot to transport the target second container to the target workstation.
  • control device can further dispatch robots to sort goods to improve container utilization and storage density.
  • the second container is also used to store the first type of goods, as shown in Figure 10, and the control device is also used to perform the following steps:
  • Step S71 Obtain the quantity of the first type of goods stored in the second container.
  • the control device may determine the quantity of goods remaining in the second container based on the quantity of goods initially contained in the second container and the goods outgoing record in the to-be-handled task involving the second container. For example, a second container initially contains 100 goods. After several handling tasks, the total number of outgoing goods is 95, and the remaining goods are 5.
  • control device can execute the command for each second container in the storage system. After the second container is shipped out of the warehouse, step S71 is executed to obtain the quantity of its remaining goods, so as to determine whether the goods transfer is required in subsequent steps, so as to handle the goods transfer as promptly as possible.
  • Step S72 Determine whether the quantity of the first type of goods is less than the second threshold; if so, execute step S73; otherwise, end the process.
  • the second threshold can be set based on the warehousing system operation experience, for example, set to a value between 1/10 and 1/5 of the capacity of the second container.
  • the remaining goods in the second container are lower than the threshold, it means that there is not much remaining goods in the second container, and the goods can be transferred out of the second container to empty the second container and become idle, which can be used to accommodate another container.
  • a larger number of goods can be batched, thereby increasing the storage density of the warehousing system.
  • the second threshold can also be set according to the capacity of the first container, for example, the second threshold is set to the quantity of the first type of goods held by the first container. If the quantity of the remaining first-type goods in the second container is less than the second threshold, it means that the remaining goods can be accommodated by a first container, and the remaining goods can be transferred to an idle first container to make the second container become It is idle and can be used to accommodate another batch of goods with a larger quantity.
  • the remaining goods in the second container When the number of remaining goods in the second container is less than the second threshold, it means that the remaining goods can be accommodated by 3 first containers (or a smaller number of first containers). , at this time, the remaining goods can be transferred to one or several first containers that can accommodate these goods.
  • Step S73 Send a cargo transfer instruction for instructing to transfer the cargo in the second container to the first container.
  • the control device After the control device generates and sends a transfer instruction, the user can receive the instruction and perform the transfer operation, or the transfer device (such as a transfer robot or other automation equipment with a mechanical arm capable of realizing the transfer operation function) can receive the instruction to achieve control.
  • the transfer device performs the transfer operation.
  • the above-mentioned first container is usually determined to be the first container in an idle state, that is, an empty container with no goods stored therein.
  • the control device can obtain status information of all containers and select a suitable container as a receiving container from all idle first containers.
  • the preset condition is that the first container is closest to the second container of the goods to be transferred, or there is an idle transfer equipment that can perform the transfer operation within the shortest distance around the first container. In this way The first container can be selected to help improve the efficiency of the transfer operation.
  • control device is also used to perform the following steps:
  • Step S81 Obtain the quantity of the first type of goods stored in the second container.
  • Step S82 Determine whether the quantity of the first type of goods is less than or equal to the quantity and capacity of the first container; if so, execute step S83; otherwise, end the process.
  • Step S83 Send a cargo transfer instruction for instructing to transfer the cargo in the second container to the first container.
  • This embodiment determines whether the goods in the second container need to be transferred based on the capacity of the first container. If the remaining quantity of goods in the second container can be accommodated by one first container, then the goods are transferred to the free first container.
  • the methods of the above two embodiments can also be combined. If the quantity of the first type of goods is less than the second threshold control device, or whether the quantity of the first type of goods is less than or equal to the second threshold control device, If the cargo quantity capacity of one container is exceeded, the cargo will be transferred. That is to say, as long as one of the above two conditions is met, the transfer operation can be performed. In this way, goods can be sorted out in a more timely manner, and the second container with a small amount of remaining goods can be emptied in a timely manner to improve container utilization.
  • Figure 12 is a schematic side view of the second robot traveling at the bottom of the second container in the embodiment of the present application.
  • a second space 13 is formed at the bottom of the second container 32, and the height h 4 of the second space 13 is greater than the second space 13.
  • the height of the second robot 42 h 5 so that the second robot 42 can pass through the second space 13 .
  • the control unit is also used to perform the following steps:
  • Step S91 In response to the second robot not being loaded with the second container, schedule the second robot to travel through the second space.
  • the robot's cargo status includes empty and loaded.
  • the control device determines whether the second container is loaded on the second robot by acquiring the loading status of the second robot. If the second container is not loaded, the second robot can travel through the second space.
  • the control device is planning a path for the second robot, if it travels through the second space under a certain shelf, the path will be shorter than traveling through the channels set between the shelves, between the shelves and the workstations, and/or between the workstations, or If you can avoid other robots on the channel, you can choose a path through the second space to improve the robot's movement and handling efficiency.
  • Figure 13 is a schematic plan view of path comparison in the embodiment of the present application.
  • path A As shown in Figure 13, the path that the second robot 42 (for the convenience of description, the labels of other robots have been deleted) passes through the passage is path A.
  • the second robot 42 The path traveling from the second space 13 is path B.
  • Path B is shorter than path A, and when there are other robots on the section of path A that is bypassed when selecting path B, there is no need to consider obstacle avoidance when selecting path B.
  • control device can also schedule the second robot in the unloaded state to travel through the first space where the second container is not placed, or the second robot in the loaded state can also schedule the second robot in the loaded state without placing the second container.
  • the first space travel of the container.
  • the number of first spaces 12 may not be fixed, but may be dynamically adjusted according to storage space requirements. For example, when the second type of goods to be stored increases, the first space 12 needs to be added, that is, the first space 12 is provided at the bottom of more shelves 11 .
  • the control unit is also used to perform the following steps:
  • the dynamic adjustment plan includes setting up the first space at the bottom of the first shelf where the first space is not set, and canceling the first space at the bottom of the second shelf where the first space is set. .
  • the first space can be adjusted through the shelf structure design and supporting layers.
  • the first space is reserved at the bottom of the shelf during the structural design; adding a layer under the shelf can be used to store the first container; accordingly, only the layer needs to be removed board, the first space can be re-formed.
  • the number of first spaces can be flexibly adjusted according to actual needs, improving the storage space utilization of the warehousing system. It is especially suitable for situations where the number of special-shaped parts changes greatly but the number of special-shaped parts is not large.
  • the first space can be added according to actual needs. space or transform the first space used to store the second container into a first subspace that can store the first container. In this way, the first space (used for placing the second container) and the first sub-space (used for placing the first container) can be converted to each other, that is, the storage positions of the two containers at the bottom of the shelf can be converted to each other.
  • the embodiment of this application also provides a control method for the above-mentioned warehousing system. Please refer to Figure 3.
  • the method includes the following steps:
  • the container type is the first container or the second container.
  • the first container is used to store the first type of goods.
  • the first type of goods is goods whose attributes meet the set standards.
  • the second container At least used to store second category goods, which are goods whose attributes do not meet the set standards;
  • the location includes a shelf located in the storage area or a first space at the bottom of the shelf. At least part of the shelf is provided with a first space under it. The shelf is used to place the first container, and the first space is used to place the third container. 2 containers;
  • the target robot used to carry the target container is determined.
  • the target robot is a first robot or a second robot.
  • the first robot is used to access the first container on the shelf, and the second robot is used to access the first space.
  • second container is a first robot or a second robot.
  • the first robot is used to access the first container on the shelf, and the second robot is used to access the first space.
  • the first robot and the second robot respectively deliver the first type of goods and the second type of goods to the same workstation, or control the first robot to place the first container storing the first type of goods on the second container, and control the third Two robots deliver the first type of goods and the second type of goods to the same workstation.
  • the method of this embodiment also includes the steps of various method embodiments executed by the control device in the above warehousing system embodiment. Please refer to the previous description and will not be repeated here.
  • Figure 14 is a schematic structural diagram of a storage system control device provided by an embodiment of the present application. As shown in Figure 14, the device 200 includes:
  • the acquisition module 201 is used to determine the container type of the target container corresponding to the task to be transported.
  • the container type includes a first container and a second container.
  • the first container is used to store the first type of goods, and the first type of goods has attributes that meet the set standards.
  • the second container is used to store at least the second type of goods, and the second type of goods is goods whose attributes do not meet the set standards;
  • the first determination module 202 is used to determine a location for storing the target container.
  • the location includes a shelf located in the storage area or a first space at the bottom of the shelf. At least part of the shelf is provided with a first space under it, and the shelf is used to place the first container. , the first space is used to place the second container;
  • the second determination module 203 is used to determine a target robot for carrying the target container according to the container type.
  • the target robot is a first robot or a second robot.
  • the first robot is used to access the first container on the shelf.
  • the second robot is used to transport the target container. Used to access the second container in the first space;
  • the scheduling module 204 is used to schedule the target robot to access the target container at the location to perform the task to be transported; wherein,
  • control the first robot and the second robot that perform the handling tasks corresponding to the same order to send the first type of goods and the second type of goods to the same workstation respectively, or , controlling the first robot to place the first container storing the first type of goods on the second container, and controlling the second robot to send the first type of goods and the second type of goods to the same workstation.
  • the storage system control device provided in this embodiment is used to execute the technical solution of the storage system control method in the foregoing method embodiment. Its implementation principles and technical effects are similar and will not be described again here.
  • FIG. 15 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device may include: a processor (processor) 302, a communications interface (Communications Interface) 304, a memory (memory) 306, and a communication bus 308.
  • processor processor
  • communications interface Communication Interface
  • memory memory
  • the processor 302 the communication interface 304, and the memory 306 complete communication with each other through the communication bus 308.
  • the communication interface 304 is used to communicate with network elements of other devices such as clients or other servers.
  • the processor 302 is used to execute the program 310. Specifically, it can execute the relevant steps in the above-mentioned warehouse system control method embodiment.
  • program 310 may include program code including computer operating instructions.
  • the processor 302 may be a CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.
  • the one or more processors included in the electronic device may be the same type of processor, such as one or more CPUs; or they may be different types of processors, such as one or more CPUs and one or more ASICs.
  • Memory 306 is used to store program 310.
  • the memory 306 may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • Embodiments of the present application provide a computer-readable storage medium.
  • the storage medium stores at least one executable instruction.
  • the executable instruction When the executable instruction is run on an electronic device, it causes the electronic device to perform the operations of the warehousing system control method in the above embodiment.
  • An embodiment of the present application provides a computer program product, which includes a computer program.
  • the computer program is executed by a processor, the operations of the warehousing system control method of the above embodiment are implemented.
  • the embodiment of the present application provides a computer program.
  • the computer program can be called by the processor to cause the electronic device to execute the storage system control method in any of the above method embodiments.
  • modules in the devices in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment.
  • the modules or units or components in the embodiments may be combined into one module or unit or component, and they may be divided into multiple sub-modules or sub-units or sub-components.
  • All features disclosed in this specification including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of the equipment are combined.
  • Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

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Abstract

本申请实施例涉及智能仓储技术领域，提供一种仓储系统及其控制方法、装置、电子设备和存储介质。该仓储系统包括存储区，存储区内设有多个用于放置第一容器的货架，第一容器用于存储第一类货物，第一类货物为属性满足设定标准的货物；货架底部形成有第一空间，至少部分货架下方设置有第一空间，第一空间用于放置第二容器，第二容器至少用于存储第二类货物，第二类货物为属性不满足设定标准的货物；存储区内还设有第一机器人和第二机器人，第一机器人用于在货架上存取第一容器，第二机器人用于在第一空间内存取第二容器；仓储系统还包括控制装置，控制装置用于调度机器人存取货物。本申请实施例提高了存储兼容性和搬运效率。

Description

仓储系统及其控制方法、装置、电子设备和存储介质
本申请要求于2022年7月19日提交中国专利局、申请号为202210847837.4、申请名称为“仓储系统及其控制方法、装置、电子设备和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及智能仓储技术领域，具体涉及一种仓储系统及其控制方法、装置、电子设备和存储介质。
背景技术
随着电子商务与网络购物的兴起与日益发展，以及制造业对自动化程度的需求越来越高，给货物仓储物流的智能化带来了发展机遇。近年来，基于仓储机器人的智能仓储系统采用调度系统调度机器人，实现货物的快速出库和入库。目前，现有的仓储系统及其控制方案采用不同货物分仓存放的方式，或者不同的货物需要放置到同一仓库的不同库区，且不同库区的仓储方式可能不同，例如包括人工仓和自动化仓。处理不同货物的工作站也不同，货物出库时不同货物需分别运送至不同的工作站。因此，仓库对货物的兼容性不高，不仅导致管理运营成本增加，在订单需求多种货物时操作环节多，操作效率较低。
发明内容
鉴于上述问题，本申请实施例提供了一种仓储系统及其控制方法、装置、电子设备和存储介质，用于解决现有技术中存在的仓库对货物兼容性不高、操作效率较低的问题。
根据本申请实施例的第一方面，提供了一种仓储系统控制方法，包括：
确定待搬运任务对应的目标容器的容器类型，所述容器类型为第一容器或第二容器，所述第一容器用于存储第一类货物，所述第一类货物为属性满足设定标准的货物，所述第二容器至少用于存储第二类货物，所述第二类货物为所述属性不满足所述设定标准的货物；
确定用于存放所述目标容器的位置，所述位置包括位于存储区内的货架或所述货架底部的第一空间，至少部分所述货架下方设置有所述第一空间，所述货架用于放置所述第一容器，所述第一空间用于放置所述第二容器；
根据所述容器类型，确定用于搬运所述目标容器的目标机器人，所述目标机器人为第一机器人或第二机器人，所述第一机器人用于在所述货架上存取所述第一容器，所述第二机器人用于在所述第一空间内存取所述第二容器；
调度所述目标机器人在所述位置存取所述目标容器以执行所述待搬运任务；其中，
若同一订单中包括所述第一类货物和所述第二类货物，控制执行对应于所述同一订单的待搬运任务的所述第一机器人和所述第二机器人分别将所述第一类货物和所述第二类货物送往同一工作站，或者，控制所述第一机器人将存储所述第一类货物的所述第一容器放置在所述第二容器上，并控制所述第二机器人将所述第一类货物和所述第二类货物送往同一工作站。
在一些实施例中，所述方法还包括：
接收至少两个所述待搬运任务，至少两个所述待搬运任务为将至少两个目标货物分别搬运至至少两个工作站；
从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器；
确定用于存放所述目标第二容器的目标位置；
调度所述第二机器人将所述目标第二容器从所述目标位置依次搬运至所述至少两个工作站中的所述部分工作站。
在一些实施例中，所述从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器，包括：
获取至少两个所述待搬运任务的目标货物总数；
从存储有所述目标货物的所述第二容器中确定存储所述目标货物的数量最接近且大于或等于所述目标货物总数的所述目标第二容器。
在一些实施例中，所述方法还包括：
响应于接收到第一待搬运任务，调度第二机器人执行所述第一待搬运任务，所述第一待搬运任务为将目标货物搬运至第一工作站，所述目标货物存储于目标第二容器；
响应于接收到将所述目标货物搬运至第二工作站的第二待搬运任务，判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足所述第二待搬运任务对货物数量的需求；
若是，调度所述第二机器人在将所述目标第二容器搬运至所述第一工作站完成所述第一待搬运任务之后，继续将所述目标第二容器搬运至所述第二工作站以完成所述第二待搬运任务。
在一些实施例中，所述方法还包括：
判断所述第二工作站是否位于所述第一工作站周围预设范围内；
若所述第二工作站不位于所述第一工作站周围预设范围内，不执行所述判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足所述第二待搬运任务对货物数量的需求的步骤。
在一些实施例中，所述货架包括沿高度方向设置的第一货架和第二货架，在所述高度方向上，所述第一货架与所述第一空间相邻，所述第二货架位于所述第一货架的上方，所述第一机器人包括高区机器人，所述高区机器人至少用于存取所述第二货架上放置的所述第一容器；
所述方法还包括：
从所述第一容器中确定存储有出库率低于第一阈值的所述第一类货物的第一子容器；
确定预设时间内无需出库的所述第一子容器，以及所述预设时间内需要出库的所述第一子容器；
调度所述高区机器人将预设时间内无需出库的所述第一子容器从所述第一货架搬运至所述第二货架，以及将预设时间内需要出库的所述第一子容器从所述第二货架搬运至所述第一货架。
在一些实施例中，所述第二容器还用于存储所述第一类货物；
所述方法还包括：
获取所述待搬运任务对应的目标工作站所需的目标货物总数，所述目标货物为所述第一类货物；
判断所述目标货物总数是否大于预设阈值；
若是，从存储有所述目标货物的所述第二容器中确定目标第二容器，所述目标第二容器内存储的所述目标货物的数量大于所述预设阈值；
调度所述第二机器人将所述目标第二容器搬运至所述目标工作站。
在一些实施例中，所述第二容器还用于存储所述第一类货物；
所述方法还包括：
获取所述第二容器内存储的所述第一类货物的数量；
判断所述第一类货物的数量是否小于第二阈值，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令；和/或，判断所述第一类货物的数量是否小于或等于所述第一容器的货物数量容量，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令。
在一些实施例中，所述第二容器的底部形成有第二空间，所述第二空间的高度大于所述第二机器人的高度；
所述方法还包括：
响应于所述第二机器人未装载有所述第二容器，调度所述第二机器人从所述第二空间穿行。
在一些实施例中，所述方法还包括：
根据货物存储需求，确定所述第一空间的动态调整方案，所述动态调整方案包括在未设置所述第一空间的第一货架底部设置所述第一空间，以及在设置有所述第一空间的第二货架底部取消所述第一空间。
根据本申请实施例的第二方面，提供了仓储系统控制装置，包括：
获取模块，用于确定待搬运任务对应的目标容器的容器类型，所述容器类型包括第一容器和第二容器，所述第一容器用于存储第一类货物，所述第一类货物为属性满足设定标准的货物，所述第二容器至少用于存储第二类货物，所述第二类货物为属性满足设定标准的货物；
第一确定模块，用于确定用于存放所述目标容器的位置，所述位置包括位于存储区内的货架或所述货架底部的第一空间，至少部分所述货架下方设置有所述第一空间，所述货架用于放置所述第一容器，所述第一空间用于放置所述第二容器；
第二确定模块，用于根据所述容器类型，确定用于搬运所述目标容器的目标机器人，所述目标机器人为第一机器人或第二机器人，所述第一机器人用于在所述货架上存取所述第一容器，所述第二机器人用于在所述第一空间内存取所述第二容器；
调度模块，用于调度所述目标机器人在所述位置存取所述目标容器以执行所述待搬运任务；其中，
若同一订单中包括所述第一类货物和所述第二类货物，控制执行对应于所述同一订单的待搬运任务的所述第一机器人和所述第二机器人分别将所述第一类货物和所述第二类货物送往同一工作站，或者，控制所述第一机器人将存储所述第一类货物的所述第一容器 放置在所述第二容器上，并控制所述第二机器人将所述第一类货物和所述第二类货物送往同一工作站。
根据本申请实施例的第三方面，提供了一种电子设备，包括：处理器、存储器、通信接口和通信总线，所述处理器、所述存储器和所述通信接口通过所述通信总线完成相互间的通信；
所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行如上所述的仓储系统控制方法的操作。
根据本申请实施例的第四方面，提供了一种计算机可读存储介质，所述存储介质中存储有至少一可执行指令，所述可执行指令在电子设备上运行时，使得电子设备执行如上所述的仓储系统控制方法的操作。
根据本申请实施例的第五方面，提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如上所述的仓储系统控制方法的操作。
根据本申请实施例的第六方面，提供了一种仓储系统，包括存储区，所述存储区内设有多个货架，所述货架用于放置第一容器，所述第一容器用于存储第一类货物，所述第一类货物为属性满足设定标准的货物；
至少部分所述货架底部形成有第一空间，所述第一空间用于放置第二容器，所述第二容器至少用于存储第二类货物，所述第二类货物为所述属性不满足所述设定标准的货物；
所述存储区内还设有第一机器人和第二机器人，所述第一机器人用于在所述货架上存取所述第一容器，所述第二机器人用于在所述第一空间内存取所述第二容器；
所述仓储系统还包括控制装置，所述控制装置用于：
确定待搬运任务对应的目标容器的容器类型，所述容器类型为所述第一容器或所述第二容器；
确定用于存放所述目标容器的位置；
根据所述容器类型，确定用于搬运所述目标容器的目标机器人，所述目标机器人为所述第一机器人或所述第二机器人；
调度所述目标机器人在所述位置存取所述目标容器以执行所述待搬运任务；其中，
若同一订单中包括所述第一类货物和所述第二类货物，控制执行对应于所述同一订单的待搬运任务的所述第一机器人和所述第二机器人分别将所述第一类货物和所述第二类货物送往同一工作站，或者，控制所述第一机器人将存储所述第一类货物的所述第一容器放置在所述第二容器上，并控制所述第二机器人将所述第一类货物和所述第二类货物送往同一工作站。
在一些实施例中，所述仓储系统还包括多个工作站；
所述控制装置还用于：
接收至少两个所述待搬运任务，至少两个所述待搬运任务为将至少两个目标货物分别搬运至至少两个工作站；
从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器；
确定用于存放所述目标第二容器的目标位置；
调度所述第二机器人将所述目标第二容器从所述目标位置依次搬运至所述至少两个 工作站中的所述部分工作站。
在一些实施例中，所述控制装置用于从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器，包括：
获取至少两个所述待搬运任务的目标货物总数；
从存储有所述目标货物的所述第二容器中确定存储所述目标货物的数量最接近且大于或等于所述目标货物总数的所述目标第二容器。
在一些实施例中，所述仓储系统至少包括第一工作站和第二工作站；
所述控制装置还用于：
响应于接收到第一待搬运任务，调度第二机器人执行所述第一待搬运任务，所述第一待搬运任务为将目标货物搬运至所述第一工作站，所述目标货物存储于目标第二容器；
响应于接收到将所述目标货物搬运至所述第二工作站的第二待搬运任务，判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足所述第二待搬运任务对货物数量的需求；
若是，调度所述第二机器人在将所述目标第二容器搬运至所述第一工作站完成所述第一待搬运任务之后，继续将所述目标第二容器搬运至所述第二工作站以完成所述第二待搬运任务。
在一些实施例中，所述控制装置还用于：
判断所述第二工作站是否位于所述第一工作站周围预设范围内；
若所述第二工作站不位于所述第一工作站周围预设范围内，不执行所述判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足所述第二待搬运任务对货物数量的需求的步骤。
在一些实施例中，所述货架包括沿高度方向设置的第一货架和第二货架，在所述高度方向上，所述第一货架与所述第一空间相邻，所述第二货架位于所述第一货架的上方；
所述第一容器包括用于存储出库率低于第一阈值的所述第一类货物的第一子容器；
所述第一机器人包括高区机器人，所述高区机器人至少用于存取所述第二货架上放置的所述第一容器；
所述控制装置还用于：
从所述第一容器中确定存储有出库率低于第一阈值的所述第一类货物的第一子容器；
确定预设时间内无需出库的所述第一子容器，以及所述预设时间内需要出库的所述第一子容器；
调度所述高区机器人将预设时间内无需出库的所述第一子容器从所述第一货架搬运至所述第二货架，以及将预设时间内需要出库的所述第一子容器从所述第二货架搬运至所述第一货架。
在一些实施例中，所述仓储系统还包括多个工作站，所述第二容器还用于存储所述第一类货物；
所述控制装置还用于：
获取所述待搬运任务对应的目标工作站所需的目标货物总数，所述目标货物为所述第一类货物；
判断所述目标货物总数是否大于预设阈值；
若是，从存储有所述目标货物的所述第二容器中确定目标第二容器，所述目标第二容器内存储的所述目标货物的数量大于所述预设阈值；
调度所述第二机器人将所述目标第二容器搬运至所述目标工作站。
在一些实施例中，所述第二容器还用于存储所述第一类货物；
所述控制装置还用于：
获取所述第二容器内存储的所述第一类货物的数量；
判断所述第一类货物的数量是否小于第二阈值，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令；和/或，判断所述第一类货物的数量是否小于或等于所述第一容器的货物数量容量，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令。
在一些实施例中，所述第二容器的底部形成有第二空间，所述第二空间的高度大于所述第二机器人的高度；
所述控制装置还用于：
响应于所述第二机器人未装载有所述第二容器，调度所述第二机器人从所述第二空间穿行。
在一些实施例中，所述控制装置还用于：
根据货物存储需求，确定所述第一空间的动态调整方案，所述动态调整方案包括在未设置所述第一空间的第一货架底部设置所述第一空间，以及在设置有所述第一空间的第二货架底部取消所述第一空间。
在一些实施例中，所述工作站设置有至少两个工作点位，所述工作点位用于对不同类型的容器或货物进行出入库或拣选作业。
本申请实施例通过将存储区的货架设置为其上可放置用于存储第一类货物的第一容器，货架底部提供用于放置第二容器的第一空间，第一空间内可以放置至少用于存储第二类货物的第二容器，其中第一类货物为属性满足设定标准的货物，第二类货物为属性不满足设定标准的货物，并通过不同的机器人分别搬运第一容器和第二容器，从而实现在一个存储区内既存储第一类货物，又存储第二类货物，并通过一个系统实现对同一存储区内不同类货物的搬运控制，提高了货物存储的兼容性，降低了成本，提高了搬运效率。且同一订单需要不同类型货物时，从一个存储区就可以搬运所需货物，无需二次合流，进一步提高了搬运效率和降低成本。
上述说明仅是本申请实施例技术方案的概述，为了能够更清楚了解本申请实施例的技术手段，而可依照说明书的内容予以实施，并且为了让本申请实施例的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
附图仅用于示出实施方式，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1为本申请实施例提供的仓储系统的俯视平面示意图；
图2为本申请实施例提供的仓储系统的侧视示意图；
图3为本申请实施例中控制装置所执行的方法流程图；
图4为本申请实施例中控制装置所执行的方法流程图；
图5为本申请实施例中控制装置所执行的方法流程图；
图6为本申请实施例提供的仓储系统的侧视示意图；
图7为本申请实施例中控制装置所执行的方法流程图；
图8为本申请实施例中控制装置所执行的方法流程图；
图9为本申请实施例中控制装置所执行的方法流程图；
图10为本申请实施例中控制装置所执行的方法流程图；
图11为本申请实施例中控制装置所执行的方法流程图；
图12为本申请实施例中第二机器人在第二容器底部穿行的侧面示意图；
图13为本申请实施例中的路径对比平面示意图；
图14为本申请实施例提供的仓储系统控制装置的结构示意图；
图15为本申请实施例提供的电子设备的结构示意图。
附图标记如下：
100、仓储系统；
10、存储区；
21、入库工作站；22、出库工作站；23、拣选工作站；24、出入库工作站；
11、货架；111、第一货架；112、第二货架；12、第一空间；13、第二空间；
31、第一容器；32、第二容器；
41、第一机器人；42、第二机器人；41a、高区机器人；41b、中低区机器人；
411、移动底盘；412、立柱；413、搬运装置；414、存储层板；421、驱动机构；422、举升机构；
50、控制装置；
h1、货架底部的第一空间的高度；h2、第二容器上容纳第二类货物时的整体高度；h3、第二机器人在搬运第二容器的工作情况下的整体高度；h4、第二空间的高度；h5、第二机器人的高度。
具体实施方式
下面将参照附图更详细地描述本申请的示例性实施例。虽然附图中显示了本申请的示例性实施例，然而应当理解，可以以各种形式实现本申请而不应被这里阐述的实施例所限制。
随着电子商务与网络购物的兴起与日益发展，以及制造业对自动化程度的需求越来越高，给货物仓储物流的智能化带来了发展机遇。近年来，基于仓储机器人的智能仓储系统采用调度系统调度机器人，实现货物的快速出库和入库。
目前，现有的仓储系统及其控制方案仅能满足每个仓库内存放一种货物，而无法在单个仓库内存放多种货物。需要说明的是，此处的“一种”和“多种”所涉及的货物种类是指按照货物的体积、形状、重量、数量或者打包方式分类的货物种类，而非库存量单位(stock Keeping Uint，SKU)种类。当仓储系统内需要存放多种货物时，需要分多个仓库存放，导致管理运营成本增加。此外，在一个订单包括不同仓库的货物的时候，需要先从不同仓库分别搬运存储于该仓库的货物，分别拣选后然后再进行二次合流，操作环节多，效率较低， 也需要投入较多人力，成本进一步提高。
针对上述问题，本申请提出一种仓储系统及其控制方法，通过将存储区的货架设置为其上可放置用于存储第一类货物的第一容器，货架底部提供用于放置第二容器的第一空间，第一空间内可以放置至少用于存储第二类货物的第二容器，其中第一类货物为属性满足设定标准的货物，第二类货物为属性不满足设定标准的货物，并通过不同的机器人分别搬运第一容器和第二容器，从而实现在一个存储区内既存储第一类货物，又存储第二类货物，并通过一个系统实现对同一存储区内不同类货物的搬运控制，提高了货物存储的兼容性，降低了成本，提高了搬运效率。且同一订单需要不同类型货物时，从一个存储区就可以搬运所需货物，无需二次合流，进一步提高了搬运效率和降低成本。
下面先对本申请实施例提供的仓储系统进行说明。如无特别说明，下文中“多个”指至少两个。
图1为本申请实施例提供的仓储系统的俯视平面示意图，图2为本申请实施例提供的仓储系统的侧视示意图。如图1和图2所示，该仓储系统100包括存储区10和工作站(21,22,23,24)。本实施例的仓储系统100可以设置在库房内，存储区10为库房中的一部分区域。工作站可以包括入库工作站21、出库工作站22和拣选工作站23。本领域技术人员应当理解，上述各种工作站可以为仅具备一种功能的工作站，也可以为兼具两种或者三种功能的工作站，例如出入库工作站24。
存储区10内设有多个货架11，货架11用于放置第一容器31，第一容器31用于存储第一类货物，第一类货物为属性满足设定标准的货物。至少部分货架11底部形成有第一空间12，第一空间12用于放置第二容器32，第二容器32至少用于存储第二类货物，第二类货物为属性不满足设定标准的货物。在需要存放第二容器32的数量并不太多的场景，仅在部分货架11底部形成第一空间12，其余货架11底部可以设置为存放第一容器31的方式，可提高仓储系统利用率。
本申请实施例中，通过为货物设置与容器适配的设定标准，依据设定标准为货物分类，根据分类将货物分别存储于其所适配的容器。属性包括体积、重量、数量、形状和/或打包方式等。设定标准为：体积和/或重量和/或数量均小于或等于对应的预设阈值(“对应”即指每种属性分别定义有预设阈值，例如体积预设阈值、重量预设阈值和数量预设阈值)，和/或形状属于预设规范形状，和/或打包方式不属于预设打包方式。满足设定标准的货物可以被第一容器31容纳，不满足设定标准的货物不能被第一容器31容纳或者若被第一容器31容纳无法充分利用第一容器31的空间，使得第一容器31内容纳货物数量较少，不便于后续货物拣选，因此不满足设定标准的货物由第二容器32容纳。在属性包括多种时，通常每种属性均需满足设定标准才能被第一容器31容纳。
预设规范形状可以是长方体、圆柱体等形状，不属于预设规范形状的货物可称为异形件(或散件)，异形件同时也可以是但不限于体积大于体积预设阈值的货物。当异形件的体积小于或等于预设阈值时，由于异形件不能充分利用第一容器31里的空间，单个第一容器31内仅能容纳少数几个异形件，给后续的拣选带来不便。预设打包方式包括需要二次转移的打包方式，例如纸箱打包，由于纸箱容易变形，无法通过专用于搬运第一容器31的机器人进行精确存取，因此在货物打包方式为纸箱打包时若通过第一容器31存储货物，纸箱入库时还需要进行倒箱，即将纸箱拆开，然后将货物装到第一容器31中再进行入库， 货物二次转移使得操作繁琐，入库效率低。如果利用第二容器存储，则可将纸箱直接入库并存放置于第二容器32，无需二次转移操作。因此，若打包方式不属于上述预设打包方式，则可以存储于第一容器31，否则需存储于第二容器32。
综上，在实际应用场景中，异形件、大尺寸件、超重件、超量件、整托出入库件(例如已经打包好的大件商品等)、纸箱件等通常利用第二容器32存储，其余小型件则可利用第一容器31存储，，小型件通常为待拣选的货物(例如第一类货物有多种货物，分别存储于不同容器，某一订单需要从多种货物中拣选出订单所需货物)。
第一容器31和第二容器32代表容器类型，第一容器31的容量和尺寸小于第二容器32，第一容器31适用于存储上述第一类货物，第二容器32适用于存储上述第二类货物。上述体积、重量、数量的预设阈值可根据第一容器31设置。例如，体积预设阈值可根据第一容器31的容纳空间的尺寸而设置，体积预设阈值被设置为第一容器31的体积容量，第一容器31无法容纳大于该体积预设阈值的货物；或者体积预设阈值还可根据第一容器31的计划最少容纳货物数量和其容纳空间的尺寸而设置，体积预设阈值可以被设置为第一容器31的体积容量/计划最少容纳货物数量，若货物体积大于体积预设阈值，将导致第一容器31无法容纳计划最少容纳货物数量。再如，重量预设阈值可根据第一容器31承重而设置，重量预设阈值可以被设置为第一容器31的最大承重重量，或者稍小于第一容器31的最大承重重量；或者类似上述体积预设阈值，根据第一容器31的计划最少容纳货物数量和其最大承重重量而设置。数量预设阈值可根据第一容器31计划最少容纳货物数量设置。计划最少容纳货物数量可根据经验设置为方便拣选操作的数量。
体积、形状、重量或数量大于预设阈值的货物不能被第一容器31容纳，由更大尺寸的第二容器32存储该类货物。当然，第二容器32不仅能用于存储第二类货物，也可用于存储第一类货物。第二容器32还可以用于存储出库率大于预设出库频率的货物。由于第二容器32放置于第一空间12，第一空间12设置于货架11底部，也即位于地面，可以方便出库频繁的货物的搬运，提高搬运效率。预设出库频率可由本领域技术人员根据需要设置，例如一天出库两次、一天出库一次、两天出库一次等。
存储区10内还设有第一机器人41和第二机器人42。第一机器人41和第二机器人42可分别设置1个或多个。第一机器人41用于在货架11上存取第一容器31，第二机器人42用于在第一空间12内存取第二容器32。仓储系统100还包括控制装置50，用于调度第一机器人41和/或第二机器人42执行待搬运任务。为方便示意，图2中仅示出1个货架、1个第一机器人41和1个第二机器人42，第一机器人41和第二机器人42上均搬运有容器。机器人可将待入库货物从入库工作站21搬运至货架11或第一空间12、将待出库货物从货架11或第一空间12搬运至出库工作站22或者将待拣选货物从货架11或第一空间12搬运至拣选工作站23。
第一容器31可以为料箱等容积有限、承载有限的容器，相应的第一机器人41为料箱机器人；请参考图2，料箱机器人包括移动底盘411、立柱412和设置在立柱412上可沿立柱412升降的搬运装置413，搬运装置413用于搬运料箱。可选的，料箱机器人还可以包括设置在立柱412上与搬运装置413相对的一侧的存储层板414，存储层板414可以暂存料箱，搬运装置413可以在存储层板414上存取料箱。
第二容器32可以为托盘、料架、笼车或者可移动货架等容积较大、承载较强的容器，相应的第二机器人42为潜伏顶升式机器人；潜伏顶升式机器人包括驱动机构421和举升机构422，其中，驱动机构421可以驱动潜伏顶升式机器人动，举升机构422用于搬运第二容器32，举升机构422升起时可以将第二容器32从地面抬起，举升机构422下降时可以将第二容器32放在地面上，以将第二容器32及其上放置的货物整体搬运。
货架11之间、货架11和工作站之间和/或工作站之间设置有通道，可供机器人或者工作人员通行。第一机器人41和第二机器人42均可为自动导引机器人，第一机器人41和第二机器人42可共用通道，通过识别位于地面的导向线或二维码实现定位，实现在仓储系统100内的移动。
在高度方向上，货架11底部的第一空间12的高度h1需大于第二容器32上容纳第二类货物时的整体高度h2，以使第一空间12可以容纳第二容器32。进一步的，货架11底部的第一空间12的高度h1需大于第二机器人42在搬运第二容器32的工作情况下的整体高度h3，以使第二机器人42可以将第二容器32搬运至第一空间12内。
下面对控制装置调度第一机器人和/或第二机器人执行待搬运任务的过程进行说明。图3为本申请实施例中控制装置所执行的方法流程图，如图3所示，控制装置用于执行如下步骤：
步骤S11：确定待搬运任务对应的目标容器的容器类型，容器类型为第一容器或第二容器。
控制装置接收待搬运任务，待搬运任务可以是将目标货物从工作站搬运至存储区(以下称为入库任务)，或者将目标货物从存储区搬运至动作站(以下称为出库任务/拣选任务)。对于入库任务，待搬运任务对应的目标容器的容器类型根据实际位于工作站的目标容器而定，也即该容器类型是一定的，无需控制装置另行选择。对于出库任务，待搬运任务对应的目标容器的容器类型不一定是确定的，待搬运任务中可能仅有目标货物信息，控制装置需根据目标货物信息确定目标容器的容器类型，存储有目标货物的容器均可作为备选容器，控制装置从备选容器中选择某一类容器作为目标容器的容器类型。
步骤S12：确定用于存放目标容器的位置。
对于入库任务，控制装置可以直接根据待搬运任务确定上述位置，也即根据待搬运任务指示的工作站可以直接确定上述位置。对于出库任务，控制装置确定目标容器的容器类型后，可以从存储区的该类型容器中确定具体的目标容器，也即从众多数量的该类型容器中选择某个或某几个作为此次搬运的目标容器，继而进一步确定目标容器在存储区中的位置。从存储区的该类型容器中确定具体的目标容器时，可以根据预设条件选择，例如预设条件为容器距离目标工作站位置最近，或者容器周围最短距离内存在空闲机器人，或者容器距离步骤S13确定的目标机器人距离最近，这样可以选择出有助于提高搬运效率的目标容器。
步骤S13：根据容器类型，确定用于搬运目标容器的目标机器人，目标机器人为第一机器人或第二机器人。
若容器类型为第一容器，则目标机器人为第一机器人；若容器类型为第二容器，则目标机器人为第二机器人。
步骤S12和步骤S13之间无数据上的关联关系，本申请实施例对步骤S12和步骤S13 的执行顺序不做限定，可以先执行步骤S12、然后执行步骤S13，或者先执行步骤S13、然后执行步骤S12，或者二者同时执行。
步骤S14：调度目标机器人在位置存取目标容器以执行待搬运任务。
在步骤S14中，若同一订单中包括第一类货物和第二类货物，控制执行对应于同一订单的待搬运任务的第一机器人和第二机器人分别将第一类货物和第二类货物送往同一工作站，或者，控制第一机器人将存储第一类货物的第一容器放置在第二容器上，并控制第二机器人将第一类货物和第二类货物送往同一工作站。
其中，同一订单可以是单独的一个订单，也可以是由多个订单组合而成的组合订单。同一订单的目标工作站相同。当同一订单中既包括第一类货物，又包括第二类货物时，可以由第一机器人将第一类货物送往目标工作站，以及由第二机器人将第二类货物送往目标工作站，完成拣选或出库。还可以由第一机器人将第一类货物的存储容器放置于第二容器上，由第二机器人将所有货物统一送往目标工作站。由第二机器人搬运所有货物可以提高机器人利用率，节约成本，且减少路径规划数量，方便路径规划；控制两种机器人分别搬运可适用于机器人运力充足和/或当前仓储系统内路径不太拥挤的场景。
在同一工作站需要处理不同类型的容器或货物时，例如同一工作站需要既能处理第一类货物的出入库或拣选，又能处理第二类货物的出入库或拣选，则可以通过在工作站设置至少两个工作点位，不同的工作点位用于对不同类型的容器或货物进行出入库或拣选作业。货物出库时不同货物可送至同一工作站，无需分别运送至不同的工作站，提高仓储系统对货物出库或拣选的兼容性，从而提高仓储系统的出库或拣选效率。
本申请实施例通过将存储区的货架设置为其上可放置用于存储第一类货物的第一容器，至少部分货架底部提供用于放置第二容器的第一空间，第一空间内可以放置至少用于存储第二类货物的第二容器，其中第一类货物为属性满足设定标准的货物，第二类货物为属性不满足设定标准的货物，并通过不同的机器人分别搬运第一容器和第二容器，从而实现在一个存储区内既存储第一类货物，又存储第二类货物，并通过一个系统实现对同一存储区内不同类货物的搬运控制，提高了货物存储的兼容性，降低了成本，提高了搬运效率。且同一订单需要不同类型货物时，从一个存储区就可以搬运所需货物，无需二次合流，进一步提高了搬运效率和降低成本。
由于第二容器尺寸较大，可存储较多货物，当多个工作站存在待搬运任务时，可以通过第二机器人依次将第二容器搬运至需求目标货物的不同工作站，从而实现第二容器的跨站搬运。在一些实施例中，如图4所示，控制装置还用于执行如下步骤：
步骤S21：接收至少两个待搬运任务，至少两个待搬运任务为将至少两个目标货物分别搬运至至少两个工作站。
例如，第一待搬运任务为将第一数量的目标货物搬运至第一工作站，第二待搬运任务为将第二数量的目标货物搬运至第二工作站……不同工作站需求的目标货物可以相同也可以不同。为便于描述，下面以各工作站需求的目标货物均相同为例进行说明。
步骤S22：从存储有目标货物的第二容器中确定至少满足部分工作站对目标货物需求的目标第二容器。
多个第二容器中存储有上述目标货物。可能并非每个第二容器中存储的目标货物的数量均可以满足上述待搬运任务的需求。本步骤可以先从多个第二容器中选择至少满足部分 工作站对目标货物需求的容器作为目标第二容器。
上述“至少满足部分工作站对目标货物需求”也包括满足所有的当前待搬运任务对应的全部工作站对目标货物的需求。当存在这样的第二容器能够满足所有工作站任务需求，则优先选择给第二容器作为目标第二容器；若不存在这样的第二容器，则选择能够满足最多的工作站需求的第二容器。这样可以使得搬运该目标第二容器能够尽可能满足较多工作站对目标货物的需求，减少所需搬运的容器数量，提高搬运效率。
步骤S22具体可通过先获取至少两个待搬运任务的目标货物总数，然后从存储有目标货物的第二容器中确定存储目标货物的数量最接近且大于或等于目标货物总数的目标第二容器。这样，目标第二容器可满足所有工作站对目标货物的需求，且其存储目标货物的数量最接近目标货物总数，尽可能避免了多余运输导致的浪费和不必要成本。
步骤S23：确定用于存放目标第二容器的目标位置。
步骤S24：调度第二机器人将目标第二容器从目标位置依次搬运至至少两个工作站中的部分工作站。
搬运时可以为第二机器人规划最优行走路径，例如首先将第二容器搬运至距离该第二容器最近的第一工作站，然后搬运至距离第一工作站最近的第二工作站……以提高搬运效率。
通过上述方式，可以实现第二容器的连续跨站搬运，直到满足一段时间内所有工作站的需求或者第二容器内剩余的目标货物不足以满足任何一个工作站的需求。这样在接收到需要搬运第二容器存储的目标货物的多个待搬运任务时，无需将某个第二容器搬运至某个工作站后，继续从存储区搬运另一第二容器至另一工作站，从而进一步提高了搬运效率。
在第二机器人执行搬运任务过程中，若控制装置接收到新的待搬运任务，该待搬运任务可以由当前正在执行任务的第二机器人执行，所需目标货物与该第二机器人搬运的第二容器内存储的目标货物相同，则也可以执行类似上述跨站搬运的方案。在一些实施例中，如图5所示，控制装置还用于执行如下步骤：
步骤S31：响应于接收到第一待搬运任务，调度第二机器人执行第一待搬运任务，第一待搬运任务为将目标货物搬运至第一工作站，目标货物存储于目标第二容器。
步骤S32：响应于接收到将目标货物搬运至第二工作站的第二待搬运任务，判断第二机器人搬运的目标第二容器内存储的货物数量在完成第一待搬运任务后是否满足第二待搬运任务对货物数量的需求，若是，执行步骤S33，否则，结束流程。
在接收到第二待搬运任务时，第二机器人可能还未执行完第一待搬运任务，例如正在移动至第一工作站的途中，也可能已执行完第一待搬运任务，例如准备离开或者已经离开第一工作站。若第二机器人还未执行完第一待搬运任务，控制装置判断第二机器人搬运的第二容器内存储的货物数量是否在将货物供应给第一工作站后还能满足第二工作站的货物需求。若是，则可以调度该第二机器人继续执行第二待搬运任务。若第二机器人已完成第一待搬运任务的执行，控制装置则判断第二机器人搬运的第二容器内存储的货物数量是否能满足第二工作站的货物需求。若是，则可以调度该第二机器人继续执行第二待搬运任务。
步骤S33：调度第二机器人在将目标第二容器搬运至第一工作站完成第一待搬运任务之后，继续将目标第二容器搬运至第二工作站以完成第二待搬运任务。
当然，待搬运任务还可包括更多的任务，例如第三待搬运任务、第四待搬运任务等，类似的，控制装置判断第二容器内存储的货物数量是否能满足第三工作站、第四工作站的需求，若是，则调度第二机器人继续执行第三待搬运任务和第四待搬运任务，直至第二容器内货物全部供应完毕。
通过上述方式，可以在机器人作业过程中灵活处理需求相同目标货物的待搬运任务，由正在作业的机器人实现跨站搬运，进一步提高仓储系统对机器人调度的灵活性和搬运效率。
在一些实施例中，在机器人执行待搬运任务时，可仅处理距离目标工作站(例如第一工作站)一定距离范围内的其他工作站(例如第二工作站)需要机器人搬运容器的跨站搬运任务。超过该距离范围则不处理该任务，使调度更简单，路径规划更为容易。控制装置还用于执行如下步骤：
步骤S31’：判断第二工作站是否位于第一工作站周围预设范围内；
步骤S32’：若第二工作站不位于第一工作站周围预设范围内，不执行判断第二机器人搬运的目标第二容器内存储的货物数量在完成第一待搬运任务后是否满足第二待搬运任务对货物数量的需求的步骤。
在一些实施例中，可以为货架划分功能区，例如部分货架用于存储频繁出库的货物，部分货架用于存储无需频繁出库的货物。在该方式下，可以进一步调度机器人进行货物整理，使货物存储位置更便于存取。图6为本申请实施例提供的仓储系统的侧视示意图，如图6所示，在一些实施例中，货架包括沿高度方向设置的第一货架111和第二货架112，在高度方向上，第一货架111与第一空间12相邻，第二货架112位于第一货架111的上方。第一机器人包括高区机器人41a，高区机器人41a至少用于存取第二货架112上放置的第一容器31。第一容器31中包括用于存储出库率低于第一阈值的第一类货物的第一子容器。
第一机器人中除高区机器人41a以外的机器人(例如图中所示的中低区机器人41b)受高度限制，不能存取第二货架112上的货物，仅能存取第一货架111上的货物。当高区机器人41a被配置为仅用于执行货物整理任务时，高度较高的第二货架112由于没有适配的机器人存取货物，因此其上不能放置需要存取的货物，在该情形下，如图7所示，控制装置还用于执行如下步骤：
步骤S41：从第一容器中确定存储有出库率低于第一阈值的第一类货物的第一子容器。
例如，货架上放置有多个第一容器，其中部分为存储的货物出库频率较低的第一子容器，首先确定出第一子容器。
步骤S42：确定预设时间内无需出库的第一子容器，以及预设时间内需要出库的第一子容器。
步骤S43：调度高区机器人将预设时间内无需出库的第一子容器从第一货架搬运至第二货架，以及将预设时间内需要出库的第一子容器从第二货架搬运至第一货架。
预设时间内无需出库的第一子容器，可以通过高区机器人理货至第二货架，方便腾出第一货架的空间提供给出库频率较高的货物，或者即使出库频率不高但短时间内需要出库的货物。由于高区机器人不参与待搬运任务的执行，其他第一机器人无法搬运第二货架的货物，因此第二货架上不能放置需要存取的货物，因此若第一子容器中存取的货物需要出 库时，可以预先调度高区机器人将该第一子容器搬运至可以有其他第一机器人存取的第一货架，以使该第一子容器的待搬运任务可以被顺序执行。
当高区机器人被配置为既用于执行待搬运任务，又用于执行货物整理任务时，高度较高的第二货架也可以由高区机器人存取货物，在该情形下，如图8所示，控制装置还用于执行如下步骤：
步骤S51：从第一容器中确定存储有出库率低于第一阈值的第一类货物的第一子容器。
步骤S52：调度高区机器人将第一子容器从第一货架搬运至第二货架。
由于第一子容器的出库频率较低，可将其放置于位置较高的第二货架。此时由于高区机器人参与执行待搬运任务，因此即使需出库的第一子容器位于第二货架，也无需预先将其搬运至第一货架，调度高区机器人直接执行针对该第一子容器的待搬运任务即可。
当第二容器也用于存储第一类货物时，若目标工作站需要第一类货物时，可根据所需第一类货物的数量确定目标容器的容器类型，当所需数量较多时可命中第二容器，以提高搬运效率。在一些实施例中，如图9所示，该控制装置还用于执行如下步骤：
步骤S61：获取待搬运任务对应的目标工作站所需的目标货物总数，目标货物为第一类货物。
步骤S62：判断目标货物总数是否大于预设阈值，若是，执行步骤S63，否则，结束流程。
预设阈值可以是第一容器内存储的目标货物的数量。例如，目标货物总数为M，第一容器内存储的目标货物的数量为N，判断M是否大于N。
步骤S63：从存储有目标货物的第二容器中确定目标第二容器，目标第二容器内存储的目标货物的数量大于预设阈值。
若M＞N，也即需求的货物数量超过第一容器的存储数量，此时不适宜选择第一容器作为目标容器，若选择第一容器作为目标容器，至少需要2个以上目标容器才能满足待搬运任务的需求，导致搬运效率较低。此时选择存储有更多数量目标货物的第二容器作为目标容器。例如若托盘和料箱中均存放相同的货物，托盘中存放的货物数量超过3箱，需要出3箱货物时，命中料箱将产生3个搬运量，命中托盘则只需产生1个工作量，从而减少搬运流量，提高搬运效率。
可以理解的是，即使第二容器存储的目标货物数量不足以满足待搬运任务的需求，选择第二容器作为目标容器也可以减少搬运流量，在此基础上额外命中其他容器作为补充完成该待搬运任务的目标容器即可。
步骤S64：调度第二机器人将目标第二容器搬运至目标工作站。
在仓储系统的使用过程中，控制装置还可以进一步调度机器人进行货物整理，以提高容器利用率，提高存储密度。在一些实施例中，第二容器还用于存储第一类货物，如图10所示，控制装置还用于执行如下步骤：
步骤S71：获取第二容器内存储的第一类货物的数量。
控制装置可以根据第二容器最初容纳的货物数量，以及涉及该第二容器的待搬运任务中货物出库记录，确定该第二容器内剩余货物数量。例如，某个第二容器最初容纳货物数量为100，经过数次待搬运任务之后，总共出库货物数量为95，剩余货物数量为5。
对于每个存储有第一类货物的第二容器，控制装置可以在仓储系统每执行一次针对该 第二容器的出库操作后执行步骤S71，获取其剩余货物数量，从而在后续步骤判断是否需要进行货物转移，以尽可能及时处理货物转移。
步骤S72：判断第一类货物的数量是否小于第二阈值；若是，执行步骤S73，否则，结束流程。
第二阈值可根据仓储系统运营经验设置，例如设置为第二容器容量的1/10～1/5之间的数值。当第二容器内剩余货物低于该阈值，说明第二容器内剩余货物不多，可以将货物转移出第二容器，以将第二容器清空，变为空闲状态，可以用于重新容纳另一批数量更多的货物，从而提高仓储系统的存储密度。
第二阈值还可根据第一容器的容量设置，例如将第二阈值设置为第一容器容纳第一类货物的数量。若第二容器内剩余第一类货物的数量小于第二阈值，说明剩余的货物可以被一个第一容器容纳，则可以将剩余货物转移至一个空闲的第一容器，以使该第二容器变为空闲状态，可以用于重新容纳另一批数量更多的货物。当然，第二阈值还可以设置为数个第一容器的容量之和，例如2个、3个或更多个。例如，第二阈值＝3*第一容器容量，当第二容器内剩余货物数量小于该第二阈值时，说明这些剩余货物能够被3个第一容器(或者更少数量的第一容器)容纳，此时可将剩余货物转移至能容纳这些货物的1个或数个第一容器内。
步骤S73：发送用于指示将第二容器内货物转移至第一容器的货物转移指令。
控制装置生成并发送转移指令后，可由用户接收该指令并执行转移操作，也可以由转移设备(例如具备可实现转移操作功能的机械臂的转移机器人或其他自动化设备)接收该指令，从而实现控制转移设备执行转移操作。
上述第一容器通常被确定为处于空闲状态的第一容器，也即其内未存储货物的空容器。控制装置可以获取所有容器的状态信息，并从所有空闲的第一容器中选择合适的容器作为接收容器。选择第一容器时可以根据预设条件选择，例如预设条件为第一容器距离待转移货物的第二容器位置最近，或者第一容器周围最短距离内存在可执行转移操作的空闲转移设备，这样可以选择出有助于提高转移操作效率的第一容器。
在另一用于实现货物整理的实施例中，如图11所示，控制装置还用于执行如下步骤：
步骤S81：获取第二容器内存储的第一类货物的数量。
步骤S82：判断第一类货物的数量是否小于或等于第一容器的货物数量容量；若是，执行步骤S83，否则，结束流程。
步骤S83：发送用于指示将第二容器内货物转移至第一容器的货物转移指令。
本实施例根据第一容器的容量判断第二容器内货物是否需转移，若第二容器内剩余货物数量可以被一个第一容器容纳，则将其转移至空闲的第一容器。
在另一用于实现货物整理的实施例中，还可以结合上述两个实施例的方式，若第一类货物的数量小于第二阈值控制装置，或者第一类货物的数量是否小于或等于第一容器的货物数量容量，则进行货物转移。也即上述两个条件只要满足其中之一则可以执行转移操作。这样可以更加及时地进行货物整理，及时清空剩余货物数量不多的第二容器，以提高容器利用率。
图12为本申请实施例中第二机器人在第二容器底部穿行的侧面示意图，如图12所示，第二容器32的底部形成有第二空间13，第二空间13的高度h4大于第二机器人42的高度 h5，使得第二机器人42可以从第二空间13通过。控制装置还用于执行如下步骤：
步骤S91：响应于第二机器人未装载有第二容器，调度第二机器人从第二空间穿行。
机器人的载货状态包括空载和载货。控制装置通过获取第二机器人的载货状态，判断其上是否装载有第二容器。若未装载有第二容器，该第二机器人可以从第二空间穿行。控制装置在为第二机器人规划路径时，若从某个货架下方的第二空间穿行，相比从货架之间、货架和工作站之间和/或工作站之间设置的通道穿行会缩短路径，或者可以避开通道上的其他机器人，则可以选择第二空间穿行的路径，以提高机器人移动效率和搬运效率。图13为本申请实施例中的路径对比平面示意图，如图13所示，第二机器人42(为便于描述，其他机器人的标号均已删除)从通道通行的路径为路径A，第二机器人42从第二空间13穿行的路径为路径B，路径B比路径A短，且在选择路径B时绕开的路径A路段上存在其他机器人时，选择路径B无需考虑避障问题。
当然，与上述方案类似的，控制装置也可以调度空载状态的第二机器人从未放置有第二容器的第一空间穿行，或者调度载货状态的第二机器人也可以从未放置有第二容器的第一空间穿行。
在一些实施例中，第一空间12的数量可以不是固定的，而是可根据库位需求动态调整。例如，当需要存储的第二类货物增多，则需增加第一空间12，也即在更多的货架11底部设置第一空间12。控制装置还用于执行如下步骤：
根据货物存储需求，确定第一空间的动态调整方案，动态调整方案包括在未设置第一空间的第一货架底部设置第一空间，以及在设置有第一空间的第二货架底部取消第一空间。
第一空间的调整可通过货架结构设计及配套层板，例如货架底部在结构设计时预留第一空间；在货架下方增加层板，则可用于存储第一容器；相应的，只需拆除层板，则可重新形成第一空间。
通过上述方式，能够根据实际需求灵活调整第一空间的数量，提高仓储系统的仓储空间利用率，尤其适合异形件的数量变化比较大但是异形件数量不多的情形，可根据实际需求增加第一空间或者将用于存储第二容器的第一空间转变为可以存储第一容器的第一子空间。这样，第一空间(用于放置第二容器)和第一子空间(用于放置第一容器)可以相互转换，也即货架底部上述两种容器的存储位可以互相转换。
本申请实施例还提供了上述仓储系统的控制方法，请参考图3所示，该方法包括如下步骤：
确定待搬运任务对应的目标容器的容器类型，容器类型为第一容器或第二容器，第一容器用于存储第一类货物，第一类货物为属性满足设定标准的货物，第二容器至少用于存储第二类货物，第二类货物为属性不满足设定标准的货物；
确定用于存放目标容器的位置，位置包括位于存储区内的货架或货架底部的第一空间，至少部分货架下方设置有第一空间，货架用于放置第一容器，第一空间用于放置第二容器；
根据容器类型，确定用于搬运目标容器的目标机器人，目标机器人为第一机器人或第二机器人，第一机器人用于在货架上存取第一容器，第二机器人用于在第一空间内存取第二容器；
调度目标机器人在位置存取目标容器以执行待搬运任务；其中，
若同一订单中包括第一类货物和第二类货物，控制执行对应于同一订单的待搬运任务 的第一机器人和第二机器人分别将第一类货物和第二类货物送往同一工作站，或者，控制第一机器人将存储第一类货物的第一容器放置在第二容器上，并控制第二机器人将第一类货物和第二类货物送往同一工作站。
本实施例的方法还包括上述仓储系统实施例中控制装置执行的各种方法实施例的步骤，请参考前文描述，此处不再赘述。
图14为本申请实施例提供的仓储系统控制装置的结构示意图，如图14所示，该装置200包括：
获取模块201，用于确定待搬运任务对应的目标容器的容器类型，容器类型包括第一容器和第二容器，第一容器用于存储第一类货物，第一类货物为属性满足设定标准的货物，第二容器至少用于存储第二类货物，第二类货物为属性不满足设定标准的货物；
第一确定模块202，用于确定用于存放目标容器的位置，位置包括位于存储区内的货架或货架底部的第一空间，至少部分货架下方设置有第一空间，货架用于放置第一容器，第一空间用于放置第二容器；
第二确定模块203，用于根据容器类型，确定用于搬运目标容器的目标机器人，目标机器人为第一机器人或第二机器人，第一机器人用于在货架上存取第一容器，第二机器人用于在第一空间内存取第二容器；
调度模块204，用于调度目标机器人在位置存取目标容器以执行待搬运任务；其中，
若同一订单中包括第一类货物和第二类货物，控制执行对应于同一订单的待搬运任务的第一机器人和第二机器人分别将第一类货物和第二类货物送往同一工作站，或者，控制第一机器人将存储第一类货物的第一容器放置在第二容器上，并控制第二机器人将第一类货物和第二类货物送往同一工作站。
本实施例提供的仓储系统控制装置，用于执行前述方法实施例中的仓储系统控制方法的技术方案，其实现原理和技术效果类似，在此不再赘述。
图15为本申请实施例提供的电子设备的结构示意图，本申请具体实施例并不对该电子设备的具体实现做限定。如图15所示，该电子设备可以包括：处理器(processor)302、通信接口(Communications Interface)304、存储器(memory)306、以及通信总线308。
其中：处理器302、通信接口304、以及存储器306通过通信总线308完成相互间的通信。通信接口304，用于与其它设备比如客户端或其它服务器等的网元通信。处理器302，用于执行程序310，具体可以执行上述仓储系统控制方法实施例中的相关步骤。
具体地，程序310可以包括程序代码，该程序代码包括计算机操作指令。
处理器302可能是CPU，或者是特定集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本发明实施例的一个或多个集成电路。电子设备包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个ASIC。
存储器306，用于存放程序310。存储器306可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
本申请实施例提供了一种计算机可读存储介质，存储介质中存储有至少一可执行指令，可执行指令在电子设备上运行时，使得电子设备执行如上实施例的仓储系统控制方法的操作。
本申请实施例提供了一种计算机程序产品，包括计算机程序，计算机程序被处理器执行时实现如上实施例的仓储系统控制方法的操作。
本申请实施例提供了一种计算机程序，计算机程序可被处理器调用使电子设备执行上述任意方法实施例中的仓储系统控制方法。
在此提供的算法或显示不与任何特定计算机、虚拟系统或者其它设备固有相关。各种通用系统也可以与基于在此的示教一起使用。根据上面的描述，构造这类系统所要求的结构是显而易见的。此外，本申请实施例也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本申请的内容，并且上面对特定语言所做的描述是为了披露本申请的最佳实施方式。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本申请并帮助理解各个发明方面中的一个或多个，在上面对本申请的示例性实施例的描述中，本申请实施例的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本申请要求比在每个权利要求中所明确记载的特征更多的特征。
本领域技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
应该注意的是上述实施例对本申请进行说明而不是对本申请进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。上述实施例中的步骤，除有特殊说明外，不应理解为对执行顺序的限定。

Claims (25)

  1. 一种仓储系统控制方法，其特征在于，包括：
    确定待搬运任务对应的目标容器的容器类型，所述容器类型为第一容器或第二容器，所述第一容器用于存储第一类货物，所述第一类货物为属性满足设定标准的货物，所述第二容器至少用于存储第二类货物，所述第二类货物为所述属性不满足所述设定标准的货物；
    确定用于存放所述目标容器的位置，所述位置包括位于存储区内的货架或所述货架底部的第一空间，至少部分所述货架下方设置有所述第一空间，所述货架用于放置所述第一容器，所述第一空间用于放置所述第二容器；
    根据所述容器类型，确定用于搬运所述目标容器的目标机器人，所述目标机器人为第一机器人或第二机器人，所述第一机器人用于在所述货架上存取所述第一容器，所述第二机器人用于在所述第一空间内存取所述第二容器；
    调度所述目标机器人在所述位置存取所述目标容器以执行所述待搬运任务；其中，
    若同一订单中包括所述第一类货物和所述第二类货物，控制执行对应于所述同一订单的待搬运任务的所述第一机器人和所述第二机器人分别将所述第一类货物和所述第二类货物送往同一工作站，或者，控制所述第一机器人将存储所述第一类货物的所述第一容器放置在所述第二容器上，并控制所述第二机器人将所述第一类货物和所述第二类货物送往同一工作站。
  2. 根据权利要求1所述的仓储系统控制方法，其特征在于，所述方法还包括：
    接收至少两个所述待搬运任务，至少两个所述待搬运任务为将至少两个目标货物分别搬运至至少两个工作站；
    从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器；
    确定用于存放所述目标第二容器的目标位置；
    调度所述第二机器人将所述目标第二容器从所述目标位置依次搬运至所述至少两个工作站中的所述部分工作站。
  3. 根据权利要求2所述的仓储系统控制方法，其特征在于，所述从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器，包括：
    获取至少两个所述待搬运任务的目标货物总数；
    从存储有所述目标货物的所述第二容器中确定存储所述目标货物的数量最接近且大于或等于所述目标货物总数的所述目标第二容器。
  4. 根据权利要求1所述的仓储系统控制方法，其特征在于，所述方法还包括：
    响应于接收到第一待搬运任务，调度第二机器人执行所述第一待搬运任务，所述第一待搬运任务为将目标货物搬运至第一工作站，所述目标货物存储于目标第二容器；
    响应于接收到将所述目标货物搬运至第二工作站的第二待搬运任务，判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足 所述第二待搬运任务对货物数量的需求；
    若是，调度所述第二机器人在将所述目标第二容器搬运至所述第一工作站完成所述第一待搬运任务之后，继续将所述目标第二容器搬运至所述第二工作站以完成所述第二待搬运任务。
  5. 根据权利要求4所述的仓储系统控制方法，其特征在于，所述方法还包括：
    判断所述第二工作站是否位于所述第一工作站周围预设范围内；
    若所述第二工作站不位于所述第一工作站周围预设范围内，不执行所述判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足所述第二待搬运任务对货物数量的需求的步骤。
  6. 根据权利要求1所述的仓储系统控制方法，其特征在于，所述货架包括沿高度方向设置的第一货架和第二货架，在所述高度方向上，所述第一货架与所述第一空间相邻，所述第二货架位于所述第一货架的上方，所述第一机器人包括高区机器人，所述高区机器人至少用于存取所述第二货架上放置的所述第一容器；
    所述方法还包括：
    从所述第一容器中确定存储有出库率低于第一阈值的所述第一类货物的第一子容器；
    确定预设时间内无需出库的所述第一子容器，以及所述预设时间内需要出库的所述第一子容器；
    调度所述高区机器人将预设时间内无需出库的所述第一子容器从所述第一货架搬运至所述第二货架，以及将预设时间内需要出库的所述第一子容器从所述第二货架搬运至所述第一货架。
  7. 根据权利要求1所述的仓储系统控制方法，其特征在于，所述第二容器还用于存储所述第一类货物；
    所述方法还包括：
    获取所述待搬运任务对应的目标工作站所需的目标货物总数，所述目标货物为所述第一类货物；
    判断所述目标货物总数是否大于预设阈值；
    若是，从存储有所述目标货物的所述第二容器中确定目标第二容器，所述目标第二容器内存储的所述目标货物的数量大于所述预设阈值；
    调度所述第二机器人将所述目标第二容器搬运至所述目标工作站。
  8. 根据权利要求1所述的仓储系统控制方法，其特征在于，所述第二容器还用于存储所述第一类货物；
    所述方法还包括：
    获取所述第二容器内存储的所述第一类货物的数量；
    判断所述第一类货物的数量是否小于第二阈值，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令；和/或，判断所述第一类货物的数量是否小于 或等于所述第一容器的货物数量容量，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令。
  9. 根据权利要求1～8任一项所述的仓储系统控制方法，其特征在于，所述第二容器的底部形成有第二空间，所述第二空间的高度大于所述第二机器人的高度；
    所述方法还包括：
    响应于所述第二机器人未装载有所述第二容器，调度所述第二机器人从所述第二空间穿行。
  10. 根据权利要求1所述的仓储系统控制方法，其特征在于，所述方法还包括：
    根据货物存储需求，确定所述第一空间的动态调整方案，所述动态调整方案包括在未设置所述第一空间的第一货架底部设置所述第一空间，以及在设置有所述第一空间的第二货架底部取消所述第一空间。
  11. 一种仓储系统控制装置，其特征在于，包括：
    获取模块，用于确定待搬运任务对应的目标容器的容器类型，所述容器类型包括第一容器和第二容器，所述第一容器用于存储第一类货物，所述第一类货物为属性满足设定标准的货物，所述第二容器至少用于存储第二类货物，所述第二类货物为所述属性不满足所述设定标准的货物；
    第一确定模块，用于确定用于存放所述目标容器的位置，所述位置包括位于存储区内的货架或所述货架底部的第一空间，至少部分所述货架下方设置有所述第一空间，所述货架用于放置所述第一容器，所述第一空间用于放置所述第二容器；
    第二确定模块，用于根据所述容器类型，确定用于搬运所述目标容器的目标机器人，所述目标机器人为第一机器人或第二机器人，所述第一机器人用于在所述货架上存取所述第一容器，所述第二机器人用于在所述第一空间内存取所述第二容器；
    调度模块，用于调度所述目标机器人在所述位置存取所述目标容器以执行所述待搬运任务；其中，
    若同一订单中包括所述第一类货物和所述第二类货物，控制执行对应于所述同一订单的待搬运任务的所述第一机器人和所述第二机器人分别将所述第一类货物和所述第二类货物送往同一工作站，或者，控制所述第一机器人将存储所述第一类货物的所述第一容器放置在所述第二容器上，并控制所述第二机器人将所述第一类货物和所述第二类货物送往同一工作站。
  12. 一种电子设备，其特征在于，包括：处理器、存储器、通信接口和通信总线，所述处理器、所述存储器和所述通信接口通过所述通信总线完成相互间的通信；
    所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行如权利要求1～10任一项所述的仓储系统控制方法的操作。
  13. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有至少一可执行指令，所述可执行指令在电子设备上运行时，使得电子设备执行如权利要求1～10任一项所述的仓储系统控制方法的操作。
  14. 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执行时实现如权利要求1～10任一项所述的仓储系统控制方法的操作。
  15. 一种仓储系统，其特征在于，包括存储区，所述存储区内设有多个货架，所述货架用于放置第一容器，所述第一容器用于存储第一类货物，所述第一类货物为属性满足设定标准的货物；
    至少部分所述货架底部形成有第一空间，所述第一空间用于放置第二容器，所述第二容器至少用于存储第二类货物，所述第二类货物为所述属性不满足所述设定标准的货物；
    所述存储区内还设有第一机器人和第二机器人，所述第一机器人用于在所述货架上存取所述第一容器，所述第二机器人用于在所述第一空间内存取所述第二容器；
    所述仓储系统还包括控制装置，所述控制装置用于：
    确定待搬运任务对应的目标容器的容器类型，所述容器类型为所述第一容器或所述第二容器；
    确定用于存放所述目标容器的位置；
    根据所述容器类型，确定用于搬运所述目标容器的目标机器人，所述目标机器人为所述第一机器人或所述第二机器人；
    调度所述目标机器人在所述位置存取所述目标容器以执行所述待搬运任务；其中，若同一订单中包括所述第一类货物和所述第二类货物，控制执行对应于所述同一订单的待搬运任务的所述第一机器人和所述第二机器人分别将所述第一类货物和所述第二类货物送往同一工作站，或者，控制所述第一机器人将存储所述第一类货物的所述第一容器放置在所述第二容器上，并控制所述第二机器人将所述第一类货物和所述第二类货物送往同一工作站。
  16. 根据权利要求14所述的仓储系统，其特征在于，所述仓储系统还包括多个工作站；
    所述控制装置还用于：
    接收至少两个所述待搬运任务，至少两个所述待搬运任务为将至少两个目标货物分别搬运至至少两个工作站；
    从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器；
    确定用于存放所述目标第二容器的目标位置；
    调度所述第二机器人将所述目标第二容器从所述目标位置依次搬运至所述至少两个工作站中的所述部分工作站。
  17. 根据权利要求16所述的仓储系统，其特征在于，所述控制装置用于从存储有所述目标货物的所述第二容器中确定至少满足部分工作站对所述目标货物需求的目标第二容器，包括：
    获取至少两个所述待搬运任务的目标货物总数；
    从存储有所述目标货物的所述第二容器中确定存储所述目标货物的数量最接近且大 于或等于所述目标货物总数的所述目标第二容器。
  18. 根据权利要求15所述的仓储系统，其特征在于，所述仓储系统至少包括第一工作站和第二工作站；
    所述控制装置还用于：
    响应于接收到第一待搬运任务，调度第二机器人执行所述第一待搬运任务，所述第一待搬运任务为将目标货物搬运至所述第一工作站，所述目标货物存储于目标第二容器；
    响应于接收到将所述目标货物搬运至所述第二工作站的第二待搬运任务，判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足所述第二待搬运任务对货物数量的需求；
    若是，调度所述第二机器人在将所述目标第二容器搬运至所述第一工作站完成所述第一待搬运任务之后，继续将所述目标第二容器搬运至所述第二工作站以完成所述第二待搬运任务。
  19. 根据权利要求18所述的仓储系统，其特征在于，所述控制装置还用于：
    判断所述第二工作站是否位于所述第一工作站周围预设范围内；
    若所述第二工作站不位于所述第一工作站周围预设范围内，不执行所述判断所述第二机器人搬运的所述目标第二容器内存储的货物数量在完成所述第一待搬运任务后是否满足所述第二待搬运任务对货物数量的需求的步骤。
  20. 根据权利要求15所述的仓储系统，其特征在于，所述货架包括沿高度方向设置的第一货架和第二货架，在所述高度方向上，所述第一货架与所述第一空间相邻，所述第二货架位于所述第一货架的上方；
    所述第一容器包括用于存储出库率低于第一阈值的所述第一类货物的第一子容器；
    所述第一机器人包括高区机器人，所述高区机器人至少用于存取所述第二货架上放置的所述第一容器；
    所述控制装置还用于：
    从所述第一容器中确定存储有出库率低于第一阈值的所述第一类货物的第一子容器；
    确定预设时间内无需出库的所述第一子容器，以及所述预设时间内需要出库的所述第一子容器；
    调度所述高区机器人将预设时间内无需出库的所述第一子容器从所述第一货架搬运至所述第二货架，以及将预设时间内需要出库的所述第一子容器从所述第二货架搬运至所述第一货架。
  21. 根据权利要求15所述的仓储系统，其特征在于，所述仓储系统还包括多个工作站，所述第二容器还用于存储所述第一类货物；
    所述控制装置还用于：
    获取所述待搬运任务对应的目标工作站所需的目标货物总数，所述目标货物为所述第一类货物；
    判断所述目标货物总数是否大于预设阈值；
    若是，从存储有所述目标货物的所述第二容器中确定目标第二容器，所述目标第二容器内存储的所述目标货物的数量大于所述预设阈值；
    调度所述第二机器人将所述目标第二容器搬运至所述目标工作站。
  22. 根据权利要求15所述的仓储系统，其特征在于，所述第二容器还用于存储所述第一类货物；
    所述控制装置还用于：
    获取所述第二容器内存储的所述第一类货物的数量；
    判断所述第一类货物的数量是否小于第二阈值，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令；和/或，判断所述第一类货物的数量是否小于或等于所述第一容器的货物数量容量，若是，发送用于指示将所述第二容器内货物转移至所述第一容器的货物转移指令。
  23. 根据权利要求15～22任一项所述的仓储系统，其特征在于，所述第二容器的底部形成有第二空间，所述第二空间的高度大于所述第二机器人的高度；
    所述控制装置还用于：
    响应于所述第二机器人未装载有所述第二容器，调度所述第二机器人从所述第二空间穿行。
  24. 根据权利要求15所述的仓储系统，其特征在于，所述控制装置还用于：
    根据货物存储需求，确定所述第一空间的动态调整方案，所述动态调整方案包括在未设置所述第一空间的第一货架底部设置所述第一空间，以及在设置有所述第一空间的第二货架底部取消所述第一空间。
  25. 根据权利要求15所述的仓储系统，其特征在于，所述工作站设置有至少两个工作点位，所述工作点位用于对不同类型的容器或货物进行出入库或拣选作业。
PCT/CN2023/107315 2022-07-19 2023-07-13 仓储系统及其控制方法、装置、电子设备和存储介质 WO2024017142A1 (zh)

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