WO2024032602A1 - 仓储系统、仓储系统调度方法、装置和电子设备 - Google Patents

仓储系统、仓储系统调度方法、装置和电子设备 Download PDF

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Publication number
WO2024032602A1
WO2024032602A1 PCT/CN2023/111716 CN2023111716W WO2024032602A1 WO 2024032602 A1 WO2024032602 A1 WO 2024032602A1 CN 2023111716 W CN2023111716 W CN 2023111716W WO 2024032602 A1 WO2024032602 A1 WO 2024032602A1
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WO
WIPO (PCT)
Prior art keywords
shelf
robot
target
goods
type
Prior art date
Application number
PCT/CN2023/111716
Other languages
English (en)
French (fr)
Inventor
刘凯
王梦迪
臧栋
安宇欣
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202222101841.4U external-priority patent/CN218950120U/zh
Priority claimed from CN202310121443.5A external-priority patent/CN116002257A/zh
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2024032602A1 publication Critical patent/WO2024032602A1/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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Definitions

  • the present disclosure relates to the technical field of warehousing system scheduling methods, and in particular to a warehousing system, a warehousing system scheduling method, a device and an electronic device.
  • picking in logistics or warehousing systems adopts a single-format picking model.
  • a picking robot is used to transport a kind of shelf or box to the operator, the operator can only perform single-format picking at the workstation.
  • the item of splitting and picking can only be adapted to the picking of splitting, and the picking of the whole box can only be adapted to the picking. Able to pick whole boxes.
  • Embodiments of the present disclosure provide a warehousing system, a warehousing system scheduling method, a device, and an electronic device.
  • a warehousing system including: a workstation area; at least one of at least one mixing workstation, at least one first workstation, and at least one second workstation, is provided in the workstation area, and is configured to receive The order hits at least the first type of goods and the second type of goods, and the first type of goods and the second type of goods are of different types; the storage area is configured to store at least one first type of vehicle and at least one second type of vehicle , wherein the first type of vehicle is configured to carry the first type of goods, and the second type of vehicle is configured to carry the second type of goods; at least one first type of handling equipment is configured to carry the first type of goods based on the handling instructions.
  • the first-type carrier of the goods is transported to the mixing workstation or the second workstation; at least one second-type handling equipment is configured to take out the material box from the second-type carrier based on the handling instruction and transport it to the mixing workstation or the first workstation. , the material box stores the second type of goods hit by the order;
  • the control device is connected to the first-type transportation equipment and the second-type transportation equipment, and sends transportation instructions to the first-type transportation equipment and the second-type transportation equipment respectively.
  • a warehousing system scheduling method including: obtaining an order, which hits at least the first type of goods and the second type of goods, and the types of the first type of goods and the second type of goods are different; based on the order, simultaneously or Sequentially call the first type of handling equipment and the second type of handling equipment, and control the first type of handling equipment and the second type of handling equipment to store the first type of vehicles with order hits of the first type of goods, and store the second type of goods with order hits.
  • the boxes of goods are transported to the workstation area for picking processing; the workstation area includes at least one of at least one mixing workstation, at least one first workstation and at least one second workstation, and the first type of handling equipment is configured to carry the The first type carrier of the first type of goods is transported to the mixing workstation or the second workstation, and the second type of handling equipment is configured to store the bins of the second type of goods that are ordered and transported to the mixing workstation or the first workstation.
  • a warehousing system including a storage area, handling equipment, a workstation, and a control device; the handling equipment includes a first robot, a second robot, and a third robot.
  • the robots have different handling methods;
  • the storage area includes a first area and a second area;
  • a workstation is provided on one side of the first area and/or the second area;
  • the workstation includes at least one robot corresponding to the second robot and the third robot.
  • the working platform includes a plurality of first shelves; the space between each first shelf is set as a first operating area for the first robot to run, and the bottom of the first shelf is a second operating area for the second robot to run;
  • the second area includes a plurality of second shelves, and the bottom of the second shelf is the third operating area where the third robot walks; the structures of the first shelf and the second shelf are different, and the first shelf and the second shelf respectively store different types of Goods;
  • the third robot is the first type of handling equipment, and the first robot and the second robot are the second type of handling equipment;
  • the control device is configured to obtain the outbound scheduling task of the target goods, and determine the target goods based on the outbound scheduling task
  • the corresponding target shelf generates an outbound handling task, and sends the outbound handling task to the target robot, so that the target robot performs the outbound scheduling task;
  • the target robot is at least one of the first robot, the second robot, and the third robot.
  • the target shelf is at least one of the first shelf and the second shelf; the outbound handling task includes location information of the target goods; the first robot is configured to run on the first after receiving the outbound handling task.
  • the operation area obtain the material box of the target goods on the first shelf, and transport the material box of the target goods to the first target goods cache position on the first shelf; the first target goods cache position is located at the lowest level of the first shelf;
  • the second robot is configured to run in the second operation area after receiving the out-of-warehouse transporting task, and transport the boxes of target goods placed in the first target cargo buffer position to the workstation;
  • the third robot is configured to operate in the second operation area. After receiving the outbound transportation task, it runs in the third operation area to transport the second shelf corresponding to the target goods to the workstation;
  • the workstation is configured to carry the target goods in the bin or the target in the second shelf carried by the target robot. Goods are picked.
  • a warehousing system scheduling method including: controlling a device to obtain an outbound scheduling task for target goods;
  • the target shelves corresponding to the target goods are determined; the target shelves include the first shelf located in the first area or the second shelf located in the second area; the structures of the first shelf and the second shelf are different; according to The target shelf determines the target robot that performs the outbound scheduling task, and sends outbound handling instructions to the target robot so that the target robot performs the outbound scheduling task in the target operating area; where the target operating area is the first operating area, the second operating area At least one of the area or the third operating area, the first operating area is the area between two first shelves, the second operating area is the bottom of the first shelf, and the third operating area is the bottom of the second shelf; target The robot is at least one of a first robot, a second robot, and a third robot.
  • a warehousing system scheduling device including: an acquisition module configured to acquire an order, and the order hits the first type of goods and the second type of goods; a control module configured to call simultaneously or in sequence based on the order
  • the first type of handling equipment and the second type of handling equipment, and control the first type of handling equipment and the second type of handling equipment will store the first type of vehicles with the order of the first type of goods, and store the second type of goods with the order of the hit.
  • the bins are transported to the workstation area for picking processing.
  • an electronic device including a memory and a processor.
  • the memory stores a computer program, wherein the steps of the above method are implemented when the processor executes the computer program.
  • a computer-readable storage medium is provided with a computer program stored thereon, wherein the steps of the above method are implemented when the computer program is executed by a processor.
  • Figure 1 is a schematic diagram of a warehousing system in related technologies
  • Figure 2 is a structural block diagram of a warehousing system provided according to some embodiments of the present disclosure
  • Figure 3 is a schematic structural diagram of the first handling equipment provided according to some embodiments of the present disclosure.
  • Figure 4 is a schematic structural diagram of a third handling equipment provided according to some embodiments of the present disclosure.
  • Figure 5 is another structural schematic diagram of a warehousing system provided according to some embodiments of the present disclosure.
  • Figure 6 is a schematic structural diagram of a first shelf provided according to some embodiments of the present disclosure.
  • Figure 7 is a schematic structural diagram of a second shelf provided according to some embodiments of the present disclosure.
  • Figure 8 is a first layout schematic diagram of a warehousing system provided according to some embodiments of the present disclosure.
  • Figure 9 is a schematic front structural view of the second container handling device taking out the container from the third carrier according to some embodiments of the present disclosure.
  • Figure 10 is a schematic top structural view of the second container handling device taking out the container from the third carrier according to some embodiments of the present disclosure
  • Figure 11 is a schematic structural diagram of a second container handling equipment provided according to some embodiments of the present disclosure.
  • Figure 12 is a schematic structural diagram of a carrying device according to some embodiments of the present disclosure.
  • Figure 13 is a schematic structural diagram of a carrying device according to some embodiments of the present disclosure.
  • Figure 14 is a schematic top view of the structure when the material box is on the loading device shown in Figure 12;
  • Figure 15 is a schematic structural diagram of another second shelf provided according to some embodiments of the present disclosure.
  • Figure 16 is a schematic diagram of shelf arrangement in the second area according to some embodiments of the present disclosure.
  • Figure 17 is a schematic structural diagram of a second layout of a warehousing system provided according to some embodiments of the present disclosure.
  • Figure 18 is a schematic structural diagram of a third layout of a warehousing system provided according to some embodiments of the present disclosure.
  • Figure 19 is a structural block diagram of a hybrid workstation provided according to some embodiments of the present disclosure.
  • Figure 20 is a control flow chart of a first warehousing system scheduling method provided according to some embodiments of the present disclosure
  • Figure 21 is a control flow chart of the second warehousing system scheduling method provided according to some embodiments of the present disclosure.
  • Figure 22 is a schematic diagram of the specific control flow of step S2 in Figure 21;
  • Figure 23 is a schematic flowchart of a third warehousing system scheduling method provided according to some embodiments of the present disclosure.
  • Figure 24 is a schematic flowchart of a fourth warehousing system scheduling method provided according to some embodiments of the present disclosure.
  • Figure 25 is a schematic flowchart of a fifth warehousing system scheduling method provided according to some embodiments of the present disclosure.
  • Figure 26 is a schematic structural diagram of a warehousing system scheduling device provided according to some embodiments of the present disclosure.
  • Figure 27 is a schematic structural diagram of an electronic device according to some embodiments of the present disclosure.
  • Figure 28 is a schematic structural diagram of another electronic device according to some embodiments of the present disclosure.
  • any specific values are to be construed as illustrative only and not as limiting. Accordingly, other examples of the exemplary embodiments may have different values.
  • picking in logistics or warehousing systems adopts a single-format picking mode. That is, the robots that carry shelves or boxes to workstations in the same warehouse are usually of the same type. As shown in Figure 1, the first warehouse is full of shelves A, and robot a can pick up the goods on shelf A and carry them to the workstation. Alternatively, the second warehouse is full of shelves B, and robot b can carry the goods on shelf B. to the workstation.
  • the types of goods stored on shelf A are different from the types of goods stored on shelf B.
  • the goods stored on shelf A are break-up goods, while the goods stored on shelf B are full containers.
  • Operators can only perform single-format picking at the workstation. For example, items for split-off picking can only be adapted to split-off picking, and full-box picking can only be done for full-box picking. This has resulted in low picking efficiency and high costs.
  • the joint scheduling between robots is relatively poor.
  • embodiments of the present disclosure provide a warehousing system, a warehousing system scheduling method, a device, and an electronic device to solve the above-mentioned problems existing in related technologies.
  • the warehousing system includes a workstation area, a storage area (also called a warehouse storage area) and a control device.
  • the workstation area includes a plurality of workstations, among the plurality of workstations, at least one workstation is a hybrid workstation, at least one workstation is a first workstation, and at least one workstation is a second workstation.
  • Each workstation is configured to receive orders and pick goods hit by the order.
  • the goods include at least Class 1 goods and Class 2 goods.
  • the first category of goods may include, but is not limited to, bulk goods or goods stored in full containers, and the second category of goods may include, but is not limited to, goods stored in containers.
  • the hybrid workstation is configured to receive orders and pick goods for the orders hitting the first category of goods and the second category of goods.
  • the order hits at least two types of goods among break-alone goods, goods stored in full containers, and goods stored in boxes.
  • the work platform in the hybrid workstation can perform at least two types of goods picking work.
  • the working platform in the mixing workstation may be called a mixed inspection working platform (for example, the first mixed inspection working platform).
  • the first workstation is configured to receive an order and pick goods for the order.
  • the order hits one of the first type of goods and the second type of goods.
  • the order hits the second type of goods.
  • the order Hit the goods stored in the bin. If the first work platform in the first work station can perform picking work of one type of goods, it can be understood that the first work station is a single-business work station.
  • the second workstation is configured to receive an order and pick goods for the order, the order hits another of the first type of goods and the second type of goods, illustratively, the order hits the first type of goods, for example, the order Hit break-bulk goods or goods stored in full containers.
  • the second work platform in the second work station can perform picking work of two sub-categories of bulk goods or goods stored in full containers.
  • the second work platform can be called a mixed inspection work platform (for example, a second mixed inspection work platform). Check the work platform).
  • the second workstation is a multi-business workstation.
  • the storage area in the embodiment of the present application is configured to store at least one first-type vehicle and at least one second-type vehicle, wherein the first-type vehicle is configured to carry the first type of cargo, and the second-type vehicle is configured to carry the first type of cargo.
  • To carry the second type of goods at least one first type of handling equipment, configured to transport the first type of carrier carrying the first type of goods to the mixing workstation or the second workstation based on the handling instructions; at least one second type of handling equipment , configured to take out the material box from the second type of carrier based on the handling instruction and transport it to the mixing workstation or the first workstation, where the material box stores the second type of goods that are hit by the order;
  • the control device is connected to the first-type transportation equipment and the second-type transportation equipment, and sends transportation instructions to the first-type transportation equipment and the second-type transportation equipment respectively.
  • the control device may be a control server or an electronic device (such as a terminal device), which is not the case in the embodiments of this application. Limitation, as long as it can receive the scheduling task corresponding to the order and send the handling instructions to the corresponding handling equipment so that the corresponding handling equipment can perform the scheduling task.
  • the following description takes the control device as the control server as an example.
  • the first type of vehicle may include at least one first vehicle and at least one second vehicle, and the second type of vehicle may include at least one third vehicle.
  • the first carrier is configured to store bulk goods
  • the second carrier is configured to store goods stored in full boxes
  • the third carrier is configured to store goods stored in boxes.
  • the storage area is configured to store at least one first carrier, at least one second carrier and At least one third vehicle.
  • the first type of handling equipment may include at least one first handling equipment and at least one second handling equipment
  • the second type of handling equipment may include at least one third handling equipment
  • At least one first handling device is configured to carry the first carrier from the storage area to the mixing workstation or the second work based on the first handling instruction, wherein the first carrier stores the bulk goods of the order hit.
  • At least one second handling device is configured to carry a second carrier from the storage area to the mixing workstation or the second workstation based on the second handling instruction, wherein the second carrier stores a full box of stored goods of the order hit.
  • At least one third handling device is configured to take out the material box from the third carrier based on the third handling instruction and transport it to the mixing workstation or the first workstation, wherein the order-hit goods are stored in the material box. It can be understood that the goods are goods stored in bins.
  • control server is connected to the first transportation equipment, the second transportation equipment, and the third transportation equipment, and sends transportation instructions to the first transportation equipment, the second transportation equipment, and the third transportation equipment respectively.
  • this transportation instruction can also be called a transportation task.
  • the orders received by the workstation area can hit at least two types of goods.
  • the carriers storing these goods are all located in the same storage area.
  • the control server can call the first type of handling equipment and The second type of handling equipment, for example, transports the first type carriers and the boxes on the second type carriers containing hit goods from the storage area to the workstations in the workstation area for picking processing.
  • the control server based on the received The order can call the first handling equipment, the second handling equipment, and the third handling equipment at the same time to carry at least two of the boxes on the first carrier, the second carrier, and the third carrier from the storage area to the workstation area. Carry out picking processing.
  • this warehousing system transports at least two types of goods to the workstation area through the coordination and scheduling of different types of handling equipment, such as transporting to a mixed workstation in the workstation area for picking of at least two formats, which is different from traditional single format warehousing.
  • the picking format of the warehousing system has been expanded.
  • each handling equipment can be operated simultaneously and jointly dispatched, which improves the efficiency of outbound and picking.
  • the warehousing system includes a workstation area and a storage area.
  • the workstation area and storage area are artificially divided into different areas within the warehouse to undertake different tasks.
  • the warehouse can be an indoor space composed of a building, or it can be an open open-air outdoor space. It mainly depends on the type of goods stored, which is no longer limited in this article.
  • the area sizes of the workstation area and the storage area can be the same or different. They are set by the user based on the area of the warehouse and actual storage needs, and are not limited here.
  • a plurality of workstations are provided in the workstation area, among which at least one workstation is a first workstation, at least one workstation is a second workstation, and at least one workstation is a hybrid workstation.
  • the first workstation and the second workstation respectively receive and pick one type of goods.
  • the first workstation receives and picks an order, and the order hits the second type of goods (such as goods stored in bins).
  • the second workstation receives and picks the goods.
  • Pick the goods hit by the order, and the goods hit by the order are the first type of goods (such as break-bulk goods or goods stored in full containers).
  • the mixed workstation is configured to receive an order, which hits at least the first type of goods and the second type of goods.
  • the order hits at least two types of goods among the bulk goods, the goods stored in the whole box, and the goods stored in the material box, That is, the mixed workstation is configured to pick and process at least two types of goods.
  • the bulk goods can be daily necessities such as nail polish, shampoo, toothpaste, etc.
  • the goods stored in the whole box can be toilet paper, copy paper and other goods.
  • the goods stored in the whole box can be food or free gifts with the purchase of designated goods. For example, if you buy a box of toilet paper, you can get a roll of toilet paper or a bottle of mineral water as a gift.
  • this article only illustrates the examples of bulk goods, goods stored in full containers, and goods stored in full containers. It is not limited to the above goods. In practice, those skilled in the art set different types based on the actual usage scenarios of the warehousing system. goods.
  • a hybrid workstation includes at least a work platform and bags or boxes configured to package goods for use by workers or picking robots to pick orders.
  • the hybrid workstation can be equipped with a display device and a control panel with a display function.
  • the display device is configured to display the orders that currently need to be processed.
  • the staff or picking robot sends the order through the control panel that comes with the display device or a control panel configured with an independent display device. Order instructions.
  • first type vehicles and second type vehicles stored in the storage area, wherein the first type vehicles are configured to store the first type of goods, and the second type of vehicles are configured to store the second type of goods.
  • the first type of vehicle includes at least one first vehicle and at least one second vehicle.
  • the second type of vehicle includes at least one third vehicle.
  • the first carrier is configured to store bulk goods
  • the second carrier is configured to store goods stored in full boxes
  • the third carrier is configured to store goods stored in boxes.
  • the first carrier can be a conventional shelf, that is, it consists of a leg member and two shelves vertically spaced on the leg member.
  • the shelf In order to facilitate picking, the shelf can be divided into different areas through partitions, and each area is discharged. Different kinds of goods.
  • the second carrier can also be a conventional shelf with the same structure as the first carrier, or it can also be a pallet, and the goods stored in the whole box can be stacked and stacked on the pallet to achieve the purpose of intensive storage.
  • the third carrier may also be a conventional shelf with the same structure as the first carrier, or may be partitions fixed to the wall of the warehouse at vertical intervals, etc.
  • the warehousing system of the present disclosure also includes a first type of handling equipment and a second type of handling equipment.
  • the first type of handling equipment is configured to move a first type of carrier carrying the first type of goods based on the handling instruction. to the mixing workstation or the second workstation; at least one second-type handling equipment is configured to take out the material box from the second-type carrier based on the handling instruction and carry it to the mixing workstation or the first workstation, and the material box stores the order-hit third workstation.
  • Class II goods Class II goods.
  • the first type of handling equipment includes at least one first handling equipment, and the first handling equipment is configured to handle the first carrier storing the order-hit bulk goods from the storage area to the mixing area based on the first handling instruction. workstation or secondary workstation.
  • the first handling equipment 1 includes a first traveling mechanism 10 and a lifting mechanism 11 .
  • the lifting mechanism 11 is fixedly installed on the first traveling mechanism 10, and a bearing plate 12 is provided on its top.
  • the lifting mechanism in Figure 3 is only used as an example, and other mechanisms that can perform lifting functions are within the scope of the present disclosure.
  • the first handling equipment 1 is configured to drive the jacking mechanism 11 to drive the bearing tray 12 to rise to lift the first carrier, then drive the first traveling mechanism 10 to walk to the workstation area, and then drive the jacking mechanism 11 to drive the bearing tray 12 to drop to
  • the first carrier is placed in the workstation area, and the first handling equipment 1 can be on standby in the workstation area or leave the workstation area to reach a designated location.
  • the first handling equipment 1 is further configured to return the picked first carrier back to the storage area.
  • the first handling equipment 1 is a robot AGV as a whole.
  • the first handling equipment 1 may be a third robot (to be distinguished from the first robot and the second machine mentioned below).
  • the lifting mechanism 11 can be a piston rod of a pneumatic cylinder or a hydraulic cylinder.
  • the cylinder is fixed on the second traveling mechanism 30 and the bearing plate 12 is fixed on the piston rod.
  • the piston rod drives the bearing plate 12 to rise and fall to lift the material box.
  • the lifting mechanism 11 can also be a telescopic linkage mechanism carried by a hinged combination of several rods.
  • the lifting frame can also include a bracket, a motor and a power transmission mechanism.
  • the function of the power transmission mechanism is to convert the rotation of the motor into a linear motion transmission mechanism, such as a rack and pinion transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc.
  • the rack extends in the vertical direction and is fixedly connected to the bracket, and the gear meshing with the rack is rotatably arranged on the bearing plate 12 .
  • the lifting frame adopts a belt transmission mechanism
  • its two transmission wheels are vertically spaced and rotatably arranged on the bracket.
  • the transmission belt is tensioned on the two transmission wheels, and the bearing plate 12 is fixed on the transmission belt.
  • the motor After the motor is started, it drives one of the transmission wheels to rotate, and then the transmission belt drives the bearing plate 12 to rise and fall.
  • the lifting frame adopts a chain transmission mechanism, its two sprockets are vertically spaced and rotatably arranged on the bracket, the chain is tensioned on the two sprockets, and the bearing plate 12 is fixed on the chain.
  • the motor After the motor is started, it drives one of the sprockets to rotate, and then the chain drives the bearing plate 12 to rise and fall.
  • the first type of handling equipment further includes at least one second handling equipment.
  • the second handling equipment is configured to carry the second carrier from the storage area to the mixing workstation based on the second handling instruction. Or a second workstation, the second vehicle contains a full box of stored goods hit by the order.
  • the specific structure and working principle of the second conveying equipment are basically the same as those of the first conveying equipment.
  • the second conveying equipment can also be a third robot.
  • the only difference is that the two conveying equipment are stored on the carrier. Cargo types vary. In order to keep the text concise, this article will not go into details here.
  • the second type of handling equipment in the embodiment of the present disclosure may include at least one third handling equipment, and the third handling equipment is configured to take out the material box from the third carrier and carry it to the mixing workstation based on a third handling instruction or At the first workstation, the material box contains the goods hit by the order.
  • the third handling device may be a single device that combines self-moving functionality with the functionality of picking and placing bins. That is to say, the equipment alone can take out the bins containing the order-hit goods on the third carrier, and can also transport the taken bins from the storage area to the mixing workstation. Of course, based on its dual function, the bin handling system alone can also transport the picked bins from the mixing workstation to the storage area and place them in the free temporary storage space on the third carrier.
  • at least one second type of handling equipment includes a first robot, that is, the third type of handling equipment includes a first robot, and the first robot is configured to take out the material box from the second type of carrier based on the handling instructions. and transported to the mixing workstation or the first workstation.
  • the third handling equipment 2 that is, the first robot, includes a gantry 20 , a second traveling mechanism 21 , and a pick-and-place bin mechanism 22 .
  • the mast 20 is fixed on the second traveling mechanism 21 , the second traveling mechanism 21 is configured to drive the mast 20 to walk on the ground, and the pick-and-place bin mechanism 22 is arranged on the mast 20 .
  • the portal frame 20 includes two relatively parallel columns 200 and a cross beam 201 connecting the two columns 200 .
  • the second traveling mechanism 21 can also be any other trolley that can drive the mast 20 and its pick-and-place bin mechanism 22 to move from the current position to the target position based on the carrying instructions.
  • the pick-and-place material box mechanism 22 includes a base plate, a U-shaped telescopic frame and two clamping claws.
  • the base plate is set on the two columns of the gantry in a liftable manner through the first lifting mechanism
  • the U-shaped telescopic frame is set on the base plate in a telescopic manner through the first-level telescopic mechanism
  • the two clamping claws pass through the first level telescopic mechanism.
  • the secondary telescopic mechanism is telescopically arranged on the U-shaped telescopic frame, and the two clamping claws are controlled by the grabbing driving mechanism to move closer to or away from each other to grab or release the material box.
  • the first lifting drive mechanism drives the base plate to lift relative to the gantry to drive the U-shaped telescopic frame thereon to lift relative to the gantry to the vertical coordinate where the target material box is located.
  • the second walking mechanism 21 of the third transportation equipment 2 When receiving the third transportation instruction, first, the second walking mechanism 21 of the third transportation equipment 2 walks from the current position to the horizontal coordinate position of the target bin on the third carrier, and the first lifting mechanism drives the lower layer to pick and place.
  • the bin mechanism 22 reaches the vertical coordinate position of the target bin.
  • the first-stage telescopic mechanism of the pick-and-place bin mechanism 22 drives the U-shaped telescopic frame to extend a first distance relative to the base plate in the direction close to the third carrier, and then the second telescopic mechanism drives the two clamping jaws relative to the U-shaped telescopic frame.
  • the font-shaped telescopic frame extends a second distance in the direction close to the third carrier, so that the two clamping jaws are located on both sides of the target material box, and then the grabbing drive mechanism drives the two clamping jaws to move in the direction close to each other until the clamping Tighten the material box above the target material box, and finally the first-stage telescopic mechanism and the second-stage telescopic mechanism drive the U-shaped telescopic frame and the two clamping claws to retract in the direction away from the third carrier one after another or simultaneously to place the material box. on the substrate, or remain in the current state.
  • the second traveling mechanism 21 drives the third transport equipment 2 from the storage area to the workstation area.
  • the pick-and-place box mechanism 22 reverses the above-mentioned process of taking out the box from the third carrier to place the box on the mixing workstation. for picking processing.
  • the third handling device 2 can also return the material box to the third carrier.
  • box picking and placing mechanism of the above-mentioned box handling equipment can be any one of a suction cup type, a telescopic arm, and a grabbing and loading box mechanism.
  • the third conveying device may be a combination of two conveying devices.
  • the third conveying device includes a first container conveying device and a second container conveying device.
  • the first container handling equipment is configured to take out the container containing the goods hit by the order from the third carrier and place it on the second container handling equipment.
  • the bin handling equipment is configured to transport received bins from the storage area to the workstation area.
  • the first container handling equipment may be a first robot
  • the second container handling equipment may be a second robot.
  • the second type of carrier includes an upper storage position and a lower temporary storage position
  • the first container handling equipment such as the first robot is configured to store the upper storage position based on the handling instruction.
  • the material boxes on the lower temporary storage position are transported to the lower temporary storage position
  • the second material box handling equipment such as the second robot, is configured to transport the material boxes on the lower temporary storage position to the mixing workstation or the first workstation.
  • the first implementation manner of the second type of transportation equipment such as the third transportation equipment, will be described below.
  • the first container handling equipment such as the first robot, may be the third handling equipment shown in Figure 4.
  • the third handling equipment shown in Figure 4 only operates in the storage area, and only the third handling equipment is required.
  • the bins on the third carrier can be transported to the second bin handling equipment without leaving the storage area.
  • the container handling equipment shown in Figure 4 is a mobile gantry type container handling equipment, and the gantry structure can be driven by the first walking mechanism to walk between various areas.
  • the first container handling equipment can also be a fixed gantry structure, with the gantry relatively fixed on one side of the third carrier, and a pick-and-place container mechanism movably provided on the gantry. Under the action of the driving mechanism, it can move in the horizontal direction and the vertical direction relative to the door frame to pick up and place the material boxes at different height positions of the third carrier.
  • the structure of the second container handling equipment is basically the same as the structure of the first conveying equipment in Figure 3. It at least includes a walking mechanism and a load-bearing plate arranged on the walking mechanism. The load-bearing plate receives the first container handling equipment. After the material box is pushed in, the traveling mechanism drives the second material box handling equipment to travel from the storage area to the workstation area.
  • the second container handling equipment may also include a lifting mechanism as shown in Figure 3 to adjust the height of the bearing plate relative to the traveling mechanism based on actual needs.
  • the third conveying equipment may be a combination of the first container conveying equipment and the second container conveying equipment of the two different structures mentioned above. Those skilled in the art can select the best combination based on actual scenarios.
  • the following describes a second implementation manner of the second type of transportation equipment, such as the third transportation equipment.
  • the third carrier may be a conventional shelf.
  • the shelf corresponding to the three carriers is named the first shelf.
  • the first shelf may include a bracket and a rack.
  • the bracket supports a plurality of layers arranged at intervals along the vertical direction. Each layer has at least one upper storage position, and each upper storage position is configured to store a container such as a material box.
  • the third carrier such as the lowest layer of the first shelf, forms a lower temporary storage position.
  • the third handling device of the second type of handling device may include a first container handling device and a second container handling device.
  • the first container handling equipment is configured to take out the container from the upper storage position of the first shelf and place it on the lower temporary storage position of the first shelf.
  • the second box handling equipment is configured to operate at the bottom of the first shelf to take out the boxes on the lower temporary storage position and transport them from the storage area to the workstation area.
  • the second type of handling equipment includes a first robot and a second robot.
  • the first container handling equipment may be a first robot
  • the second container handling equipment may be a first robot.
  • the second robot and the first type of handling equipment, such as the first handling equipment and the second handling equipment, may all be third robots.
  • the storage area includes a first area and a second area.
  • a plurality of workstations are provided on one side of the first area and/or the second area.
  • the workstation includes a work platform corresponding to at least one of the second robot and the third robot.
  • the first type of carrier such as the first carrier and the second carrier
  • the first type of carrier and the second carrier may both be shelves.
  • the second type of carrier such as the third carrier
  • the first type of carrier and the second carrier may be racks. Both are named the second shelf.
  • the first area may include a plurality of second-type carriers such as first shelves.
  • a first operating area for the first robot to operate is provided between each first shelf, and the bottom of the first shelf is a second operating area for the second robot to operate;
  • the second area includes a plurality of first-type carriers, such as at least One first carrier and at least one second carrier, that is to say, the second area includes a plurality of second shelves.
  • at least one second shelf is configured to store bulk goods
  • at least another second shelf is configured to store full boxes of stored goods.
  • the bottom of the second shelf is the third running area where the third robot walks.
  • the first shelf and the second shelf have different structures.
  • the control server is used to obtain the outbound scheduling task of the target goods hit by the order, determine the target vehicle (or target shelf) corresponding to the target goods based on the outbound scheduling task, generate the outbound handling task, and transfer the outbound transportation task.
  • the warehouse handling task is sent to the target robot so that the target robot can perform the outbound scheduling task.
  • the target robot is at least one of the first robot, the second robot, and the third robot
  • the target vehicle is at least one of the first vehicle, the second vehicle, and the third vehicle.
  • the target shelf is at least one of the first shelf and the second shelf.
  • the target robot can travel within the corresponding driving area.
  • the outbound handling task includes the location information of the target goods.
  • the target goods include first class goods or second class goods.
  • the target goods may be one of bulk goods, goods stored in full containers, and goods stored in bins. It can be understood that in this example, the same order can hit two target goods at the same time.
  • One of the target goods is one of break-up goods, goods stored in full boxes, and goods stored in boxes.
  • the other target goods are another one of break-up goods, goods stored in full containers and goods stored in boxes.
  • the order needs to dispatch two target robots at the same time.
  • one of the target robots can be one of the third robots.
  • the third robot is configured to carry the second shelf where the bulk goods are stored, and the other target robot may be another third robot configured to carry the second shelf where the full box of storage goods is stored.
  • the same order needs to dispatch three target robots at the same time.
  • one of the target robots can be the first robot.
  • the other target robot is a second robot, and the other target robot is a third robot.
  • the first robot and the second robot jointly schedule the bins for storing goods so that the bins are transported to the mixing workstation.
  • the third robot Realize the scheduling of the second shelf where the bulk goods are stored, so that the second shelf where the bulk goods are stored is transported to the mixing workstation.
  • the target robot is the first robot
  • the first robot is used to run in the first operation area after receiving the outbound transportation task, obtain the bin of the target goods on the first shelf, and transfer the bin of the target goods Move to the first target cargo cache position on the first shelf; the first target cargo cache position is located at the lowest level of the first shelf, that is, at the lower temporary storage position of the first shelf.
  • the first shelf can be as shown in Figure 6.
  • the first robot can be seen in Figure 6.
  • the first robot can take out the material box (cargo box) from the shelf compartment through a box-removing device (for example, a robotic arm).
  • a box-removing device for example, a robotic arm
  • the specifications of the compartments for storing cargo boxes (goods) in the first shelf are the same.
  • the target robot is a second robot
  • the second robot is used to run in the second operation area after receiving the outbound transport task, and transport the boxes of the target goods placed on the first target goods buffering position to the workstation, for example Hybrid workstation.
  • the second robot can be as shown in Figure 6, and the second robot can lift the container of the target cargo from the cargo buffer position for transportation.
  • the second robot can transport the goods in the goods buffer position to the corresponding workstation, such as the mixing workstation.
  • the target robot is a third robot
  • the third robot is used to run in the third operation area after receiving the outbound transportation task, and move the first carrier or the second carrier (i.e., the second shelf) corresponding to the target goods. ) to a workstation such as a corresponding hybrid workstation.
  • the third robot is used to transport the second shelf as shown in Figure 7 to the corresponding mixing workstation.
  • the third robot can transport the target goods by lifting up the shelves where the boxes are located.
  • the mixing workstation is used to process at least two of the target goods in the bin transported by the target robot, the target goods in the second shelf where the bulk goods are stored, and the target goods in the second shelf where the whole box of stored goods is stored. The person makes the selection.
  • the storage density of the second type of carrier is greater than the storage density of the first type of carrier, such as the second shelf.
  • the first shelf is used to store the second type of goods
  • the second shelf is used to store the first type of goods.
  • the cargo specifications of the second type of goods are less than or equal to the cargo specifications of the first type of goods, and/or the outbound quantity of the first type of goods is greater than the outbound quantity of the second type of goods.
  • the storage density is determined by the number of compartments in the shelf. If the number of compartments is large, the storage density will be high. If the number of compartments is small, the storage density will be low.
  • the first shelf may store small and medium-sized commodities that do not need to be shipped out temporarily or have a low frequency of shipment.
  • the second shelf can store medium and large-sized goods that are about to be shipped out or are shipped out frequently.
  • different storage area layouts can be selected according to business scenarios and customer needs, which is more flexible and easier to use in actual picking operations.
  • the storage density is increased.
  • the pure box-to-box solution The human solution reduces costs and improves efficiency.
  • the storage area layout proposed in the embodiment of the present application can maximize the use of vertical storage space.
  • the warehousing system can realize simultaneous operation and joint scheduling of multiple robots, making full use of storage space, setting up combined shelves, better joint operation scheduling between robots, and improving the efficiency of outbound delivery.
  • the workstation area includes multiple workstations, and the workstations may include a mixed inspection working platform, a first working platform and a second working platform.
  • the first working platform is a working platform for picking target goods transported by the second robot.
  • the mixed inspection work platform is a work platform for picking target goods carried by the second robot or target goods carried by the third robot.
  • the second working platform is a platform for picking target goods in the second shelf transported by the third robot.
  • the second work platform corresponding to the third robot can also be understood as a mixed inspection work platform.
  • the above-mentioned working platform for picking the target goods transported by the second robot or the target goods transported by the third robot can be called the first mixed inspection working platform, and the second working platform can be called the second mixed inspection working platform.
  • a workstation whose work platform is a mixed inspection work platform is called a mixed workstation, and multiple mixed workstations may include the first mixed inspection workstation. platform and the second mixed inspection working platform.
  • at least one of the mixing workstations includes a first mixed inspection working platform, and at least another mixing workstation includes a second mixed inspection working platform.
  • the second robot is configured to operate in the second operating area after receiving the outbound transportation task, and transport the bins of the target goods to the first mixed inspection working platform or the first working platform.
  • the third robot is used to run in the third operation area after receiving the outbound transportation task to transport the second shelf corresponding to the target goods to the first mixed inspection working platform or the second working platform (i.e. the second mixed inspection work platform).
  • the third robot is specifically the first handling equipment, that is, after receiving the first handling instruction, the third robot will move the second shelf storing the bulk goods to the third A mixed inspection working platform or a second mixed inspection working platform.
  • the outbound transportation task includes the target working platform.
  • the target working platform can be selected from the first mixed inspection working platform or the first working platform.
  • the working platforms in the workstation can all be set as mixed inspection working platforms. That is, all workstations are hybrid workstations.
  • the second robot is configured to operate in the second operation area after receiving the outbound transportation task, and transport the bins of the target goods to the mixed inspection work platform.
  • the third robot is used to run in the third operation area after receiving the outbound transportation task, and transport the second shelf corresponding to the target goods to the mixed inspection work platform.
  • all workstations are set up as mixed inspection work platforms, so that there are more workstations to choose from during the process of robots leaving the warehouse, so as to realize simultaneous operation and joint scheduling of multiple robots and improve the efficiency of the warehouse.
  • the second shelf includes a transportable shelf, as shown in FIG. 7 , wherein the third robot is configured to run in the third operating area after receiving the outbound handling task, and move the target goods
  • the corresponding transportable racks are transported to the mixing workstation.
  • the layout of the storage system can be as shown in Figure 8.
  • the first area is located on the left side of the second area. It should be noted that the layout here is just an example. The first area can also be on the right side of the second area, or the first area can be located inside the second area. side, there is no restriction here.
  • a second type of carrier such as a third carrier, such as a first shelf, is also provided with a comb-tooth structure on the lowest level.
  • the comb-tooth structure has at least one lower temporary storage position, which includes successively spaced shelves. Multiple teeth 5.
  • the second robot is configured to drive under the lower temporary storage position and lift to pass through the comb gap of the lower temporary storage position to lift the material box on the lower temporary storage position and remove it from the storage area (such as the first area) Transport to workstation area.
  • the specific structure and working principle of the first container handling equipment (i.e., the first robot) in the second type of handling equipment are the same as the third handling equipment shown in Figure 3 in the previous embodiment, except that the first container The handling equipment transports the material boxes on the storage position on the third carrier (i.e., the first shelf) to the temporary storage position below it for temporary storage, instead of directly placing them on the second material box handling equipment (i.e., the second robot).
  • the first container handling equipment i.e., the first robot
  • the second material box handling equipment i.e., the second robot
  • the traveling mechanism 30 and the base 31 of the second container handling equipment 3 in the second type of handling equipment are connected through a lifting mechanism 33.
  • the lifting mechanism 33 can drive the base 31 and the base 31.
  • the conveying mechanism 32 on the base 31 rises or falls from the current position to the box picking position or the box sending position relative to the traveling mechanism 30 .
  • the lifting mechanism 33 includes a scissor-fork mechanism and a driving mechanism that drives the scissor-fork mechanism to expand or contract.
  • the driving mechanism is a hydraulic cylinder or a pneumatic cylinder.
  • the cylinder of the pneumatic cylinder or the pneumatic cylinder is fixed on the traveling mechanism 30, and The end of the piston rod is set on the scissor fork mechanism.
  • the scissor-fork mechanism is a commonly used lifting mechanism in the art. Those skilled in the art can completely implement it based on the existing technology, and will not be described in detail here.
  • the lifting mechanism is not limited to the structure in the above embodiment.
  • the lifting mechanism may also include a bracket, a motor and a power transmission mechanism.
  • the function of the power transmission mechanism is to convert the rotation of the motor into a linear motion transmission mechanism, such as a gear rack. Transmission mechanism, belt transmission mechanism, chain transmission mechanism, etc.
  • two vertically extending push rods 34 are provided on the base 31 of the second container handling equipment 3 .
  • the function of the push rod 34 is that when the second container handling equipment 3 passes under the lower temporary storage position of the third carrier, its push rod 34 passes between the gap between the two teeth 5 of the comb structure, so as to The material box 6 placed on the comb structure is pushed onto the conveying mechanism 32 of the second material box handling device 3, and then the second material box handling device 3 carries the material box and walks from the storage area to the mixing workstation in the workstation area.
  • two push rods 34 are provided in this embodiment to form two force application points for the material box 6 during the process of taking the box by the second material box handling equipment 3, so as to relatively smoothly move the material box 6 from the third carrier.
  • the lower temporary storage bit is launched.
  • push rod 34 only one push rod 34 or multiple push rods 34 can be provided on the base of the second container handling equipment 3.
  • Those skilled in the art can set a better push rod 34 based on factors such as the size of the base and the weight of the goods. Quantity is enough.
  • the second container handling equipment is configured to drive into the third carrier 750, such as under the lower temporary storage position of the first shelf, and lift it to pass through the comb gap of the temporary storage position, and lift the material boxes on the temporary storage position. and transport it from the lower temporary storage location to the mixing workstation.
  • a second type of carrier such as a third carrier 750 has a plurality of shelf teeth 755 arranged at intervals, and the plurality of shelf teeth 755 form a comb-tooth structure.
  • the shelf teeth 755 are configured to place goods, that is, to form a lower temporary storage position.
  • the second container handling equipment 7200 (ie, the second robot) includes a robot body 760 and a loading device 7100 .
  • the loading device 7100 is disposed on the top of the robot body 760 , with the second side 712 of the bottom plate 710 of the loading device 7100 facing the robot body 760 . It can also be understood that the robot body 760 is connected to the loading device 7100 on the second side 712 of the base plate 710 .
  • the carrier device 7100 includes a bottom plate 710, a support layer 720, a first blocking member 730 and a second blocking member 740.
  • base plate 710 is a generally rectangular plate.
  • the bottom plate 710 has a first side 711 configured to face the loaded items and a second side opposite the first side 711 (see FIG. 12 ).
  • the support layer 720 is configured to carry objects, that is, to directly contact the loaded objects (eg, bins).
  • the support layer 720 is composed of a plurality of protrusions 725 .
  • the plurality of protruding pieces 725 are provided to the first side 711 of the bottom plate 710 and protrude from the first side 711 of the bottom plate 710 in the height direction Z.
  • the plurality of protrusions 725 are spaced apart along the first direction When an item is placed on the support layer 720, the item is located on the first side of the base plate 710 and is supported by the raised member 725 (see Figure 12).
  • the height direction Z is a direction perpendicular to the bottom plate 710 . In actual use, the height direction Z is the upward direction.
  • the carrier 7100 includes a plurality of first barriers 730 .
  • a plurality of first blocking members 730 are provided to the protruding member 725 and respectively provided at both ends of the supporting layer 720 along the first direction X.
  • the plurality of first blocking members 730 extend beyond the protruding members 725 along the height direction Z on the first side 711 of the base plate 710 . That is, the protruding part 725 is higher than the bottom plate 710 , and the first blocking part 730 is higher than the protruding part 720 .
  • the support layer 720 is higher than the bottom plate 710 and the first blocking member 730 Above the support layer 720.
  • the plurality of first blocking members 730 are spaced apart along the first direction X.
  • the first direction X is perpendicular to the height direction Z.
  • the first direction X is, for example, the width direction of the bottom plate 710 .
  • the carrier 7100 includes a plurality of second barriers 740 .
  • a plurality of second blocking members 740 are provided to the protruding member 725 and respectively provided at both ends of the supporting layer 720 along the second direction Y.
  • the plurality of second blocking members 740 extend beyond the protruding member 725 along the height direction Z on the first side 711 of the base plate 710 . That is, the protruding part 725 is higher than the bottom plate 710 , and the second blocking part 740 is higher than the protruding part 725 .
  • the support layer 720 is higher than the bottom plate 710
  • the second blocking member 740 is higher than the support layer 720 .
  • the plurality of second blocking members 740 are spaced apart along the second direction Y.
  • the second direction Y is different from the first direction X.
  • the second direction Y is perpendicular to the height direction Z.
  • the second direction Y is, for example, the length direction of the bottom plate 710 .
  • the first direction X can also be the length direction of the bottom plate 710
  • the second direction Y can also be the width direction of the bottom plate 710 .
  • the first blocking member 730 can block the article in the first direction X
  • the second blocking member 740 can block the article in the second direction Y.
  • the first blocking member 730 and the second blocking member 740 define a loading area on the support layer 720 that can block items on all sides. In this loading area, the first blocking member 730 and the second blocking member 740 The extreme position of the object will be limited, so that the posture of the object can be controlled to a certain extent.
  • all the first blocking members 730 and/or all the second blocking members 740 are disposed along the edge of the supporting layer 720 to Make full use of the bearing area of the support layer 720.
  • the plurality of first blocking members 730 are respectively located in two rows, and the two rows are spaced apart along the first direction X.
  • the maximum span (or maximum size) of the support layer 720 along the first direction X does not exceed the two rows along the first direction X.
  • the plurality of second blocking members 740 are respectively located in two columns, and the two columns are spaced apart along the second direction Y.
  • the maximum span (or maximum size) of the support layer 720 along the second direction Y does not exceed the width of the two columns along the second direction Y. span (or distance).
  • the support layer 720 extends to the edge of the bottom plate 710 . It can be understood that the distance between the protrusions 725 also needs to be adapted to the size of the items being carried. The smaller the distance between the protrusions 725, the wider the range of sizes of items that they can accommodate.
  • first blocking member 730 and the second blocking member 740 are connected to the protruding member 725 by, for example, welding, bonding, or the like.
  • first blocking member 730 and the protruding member 725 are integrally formed, and/or the second blocking member 740 is integrally formed with the protruding member 725 .
  • the protruding member 725 is configured in a strip shape extending along the length direction.
  • a plurality of elongated protrusions 725 are arranged at intervals along the width direction X, so that the support layer 720 is in a comb-tooth shape.
  • the protruding member 725 is provided with a weight-reducing hole 726.
  • the object carrier 7100 has an axially symmetrical structure.
  • the plurality of protruding pieces 725 are arranged at equal intervals along the first direction X.
  • the plurality of protruding pieces 725 may also be arranged at unequal intervals along the first direction X.
  • the container 770 When the second container handling equipment 7200 performs transportation, the container 770 is placed on the loading device 7100 (in some embodiments, the support layer 720).
  • the second material box handling device 7200 moves to the open side of the shelf teeth 755, and aligns the protruding member 725 with the gap between the shelf teeth. Then, the second container handling equipment 7200 moves toward the third carrier 750, and the protruding parts 725 of the supporting layer 720 pass through the space between the shelf teeth 755 (the protruding parts 725 extend into the gaps between the shelf teeth 755 ) transport the material box 770 to the top of the shelf teeth 55 .
  • the height of the second container handling equipment 7200 is lowered, and the container 770 is placed on the shelf teeth 755 .
  • the second container handling device 7200 first moves under the shelf teeth 55 and aligns the protruding member 25 with the gap between the shelf teeth 755 .
  • the height of the second container handling equipment 7200 is raised, and the protruding member 25 lifts the container 770 by staggering with the space between the shelf teeth 755, so that the container 770 is placed on the loading device 7100 (in some embodiments, on the support layer 720).
  • the second container handling equipment 7200 drives out of the shelf position with the container 770 .
  • the first blocking member 730 and the second blocking member 740 respectively block the material box 770 in the width direction and the length direction of the bottom plate 710, thus controlling the attitude of the material box 770 to a certain extent, so that the material box 770 is positioned at the first position.
  • the three carriers 750 have a relatively unified posture, which can save storage space to a certain extent and also facilitate the second container handling equipment 7200 to stably place it in the loading space of the loading device 7100 when taking it out. .
  • the first stop 730 is configured as a stop.
  • the second stop 740 is configured as a gear lever.
  • the first blocking part 730 can also be configured as a gear lever.
  • the first blocking member 730 and the second blocking member 740 may also be configured in other suitable forms.
  • a first guide surface 731 is provided on the inner side of the first blocking member 730 (the side configured to face the object).
  • the first guide surface 731 is inclined outward and upward along the first direction X.
  • a second guide surface 741 is provided on the inner side of the second blocking member 740 (the side configured to face the article).
  • the second guide surface 741 is inclined outward and upward along the second direction Y. Under the action of the first guide surface 731 and the second guide surface 741 , the material box 770 can be more easily guided to the support layer 720 .
  • the first blocking member 730 is configured as a blocking piece extending along the second direction Y.
  • the second blocking member 740 is configured as a blocking rod, and a plurality of blocking rods located on the same side are spaced apart from each other.
  • the first blocking member 730 can also be configured as a gear lever, and multiple gear levers located on the same side are spaced apart from each other.
  • the shelf teeth 755 are disposed at the lowest level of the third carrier 750 , so the second container handling device 7200 is configured to move goods from the lowest layer of the third carrier 750 or place them on the lowest layer of the third carrier 750 goods.
  • the warehousing system 7300 further includes at least one high-rise work robot (not shown) configured to move goods from other levels of the third carrier 750 or to other levels of the third carrier 750 . Place goods on layers. Therefore, the second container handling equipment 7200 is combined with the high-rise work robot to complete the work of cargo handling and transfer.
  • the protruding piece 725 of the object carrier 7100 is configured in a protruding piece shape.
  • the plurality of protruding pieces 725 are scattered on the first side 711 of the bottom plate 710 , that is, the plurality of protruding pieces 725 are spaced apart along the first direction X and are also spaced apart along the second direction Y.
  • the plurality of protrusions 725 are arranged on the first side 711 in the form of a two-dimensional lattice (the plurality of protrusions 725 are arranged at equal intervals along the first direction X, and/or the plurality of protrusions 725 are arranged along the second direction Y).
  • the cross-sectional shape of the protruding member 725 is, for example, a circle, an ellipse, a rectangle, a regular polygon, etc.
  • the first blocking member 730 and the second blocking member 740 are also provided on the first side 711 of the bottom plate 710 .
  • the plurality of first blocking members 730 are respectively disposed on both sides of the support layer 720 along the first direction X.
  • the plurality of second blocking members 740 are respectively disposed on both sides of the support layer 720 along the second direction Y.
  • the first blocking member 730 and the second blocking member 740 extend beyond the protruding member 725 in the height direction Z on the first side 711 . Therefore, the first blocking member 730 and the second blocking member 740 surround the supporting layer 720 so that the posture of the article located on the supporting layer 720 is controlled to a certain extent.
  • all of the first blocking members 730 are provided along the edges of the bottom plate 710
  • all of the second blocking members 740 are provided along the edges of the base plate 710 .
  • the edge of the bottom plate 710 is set to fully increase the bottom area of the loading space of the loading device 7100 .
  • the remaining unexplained parts in the second embodiment refer to the description in the first embodiment.
  • the first blocking member 730 is provided to the raised member 725 and the second blocking member 740 is provided to the base plate 710 .
  • the first blocking member 730 is provided to the base plate 710 and the second blocking member 740 is provided to the protruding member 725 .
  • the remaining unexplained parts of the third and fourth embodiments refer to the descriptions of the first and second embodiments.
  • the first blocking member 730 and the second blocking member 740 of the loading device 7100 are located at the edge of the bottom plate 710 of the loading device 7100 .
  • the carrier 7100 has a symmetrical structure.
  • the distance between the two rows of first blocking members 730 spaced apart in the width direction X of the loading device 7100 is D. No.
  • the total span (total length in length direction Y) of a blocking member 730 is A.
  • the distance between the two rows of second blocking members 740 spaced apart in the length direction Y of the loading device 7100 is B.
  • the total span (total width in the width direction X) of the second barrier 740 is C.
  • the length of the material box 770 (for example, in the shape of a rectangular parallelepiped) is F and the width is G.
  • the movable distance b of the material box 770 relative to the loading device 7100 is:
  • the rotatable angle ⁇ of the material box 770 relative to the loading device 7100 is:
  • the rotatable angle ⁇ of the material box 770 relative to the loading device 7100 is:
  • the loading device 7100 can limit the moving distance and rotation angle of the material box 770, that is, to a certain extent. Control the attitude of the material box 770. On the contrary, if you want to control the attitude of the material box 770 within a preset range, the span A of the first blocking member 730 and the span C of the second blocking member 740 can be deduced according to the preset range, that is, the span A of the second blocking member 740 can be calculated according to actual needs. Modify the parameters of the carrier 7100.
  • the object carrying device 7100 is provided with only the first blocking member 730 .
  • the object carrier 7100 is provided with only the second blocking member 740 . Therefore, the loading device 7100 can only control the posture of the bin in one direction (length direction or width direction) as needed, and the loading device 7100 can not restrict the posture of the items in the other direction (width direction or length direction). size.
  • the remaining unexplained parts of the fifth and sixth embodiments refer to the descriptions of the first and second embodiments.
  • neither the first blocking member 730 nor the second blocking member 740 is provided in the loading device 7100, so that the loading device 7100 does not limit the size of the items to a certain extent, which is greatly The applicability of the loading device 7100 is improved.
  • the different configurations of the first blocking member 730 and the second blocking member 740 on the loading device 7100 need to match the shelf teeth of the third carrier 750 of the storage system 7300.
  • the member 725 can be extended from the gap of the shelf teeth 755 at the same time, and the configured first blocking member 730 and/or the second blocking member 740 can also be extended from the gap of the shelf teeth 755 at the same time.
  • the loading device of the present disclosure by arranging the protrusions spaced apart from each other, the loading device can cooperate with the comb teeth of the storage device (such as shelves, conveyor belts, etc.) to complete the transportation and transfer of goods.
  • the first type of carrier such as the second shelf
  • the first type of carrier may include a first sub-rack and a second sub-rack.
  • the first sub-shelf is arranged above the second sub-shelf
  • the structure of the first sub-shelf is different from the structure of the second sub-shelf
  • the grid opening of the first sub-shelf is the same as the grid opening of the first shelf.
  • a fourth operating area where the first robot operates is also included between two second shelves.
  • the first robot is also configured to operate in the fourth operating area and the first operating area after receiving the outbound transportation task, and transport the boxes of target goods on the first sub-shelf to the second target. Cargo cache location.
  • the second target cargo cache position is located at the lowest level of the first shelf in the first area. It can increase storage density and make full use of the vertical space of the warehouse.
  • the second robot is also used to run in the second operation area after receiving the outbound transportation task to transport the boxes of target goods to the first mixed inspection work platform.
  • the first robot is also used to operate in the fourth operation area to transport the bins of target goods on the first sub-shelf to the target compartment of the second sub-shelf.
  • the third robot is used to run in the third operation area after receiving the outbound transportation task, and transport the second sub-shelf corresponding to the target goods to the second mixed inspection working platform or the first mixed inspection working platform.
  • the second area may further include: a third shelf, and the third shelf has the same structure as the first shelf.
  • Each third shelf is located on one side of each second shelf, a fifth operating area for the first robot is provided between two third shelves, and a sixth operating area for the second robot is provided at the bottom of the third shelf;
  • the types of goods stored in the first shelf and the third shelf are the same.
  • the third shelf can store goods stored in bins.
  • the first robot is also configured to operate in the fifth operation area and the fourth operation area after receiving the outbound transportation task, and transport the boxes of target goods on the first sub-shelf to the third shelf.
  • the second robot is also used to transport the boxes of the target goods in the third target goods buffering position to the workstation area, such as the mixing workstation, after receiving the outbound transportation task.
  • a variety of robots can be run simultaneously and jointly dispatched. Different solution layouts and robot ratios can be selected according to business scenarios and customer needs. It is more flexible and easier to use in actual picking operations. Compared with pure shelf picking, The person-to-person solution increases storage density, reduces costs and improves efficiency compared to the pure box-to-person solution.
  • the layout of the warehousing system may be set as shown in FIG. 17 , or may be set to the third layout as shown in FIG. 18 .
  • the first area is located on one side of the second area, and a workstation, such as a hybrid workstation, is provided on the other side of the second area.
  • control server workstation area, first robot, second robot, and third robot communicate through the network.
  • the control server may include, but is not limited to, various electronic devices such as personal computers, laptops, smart phones, tablets, and portable wearable devices.
  • control server can be implemented as an independent server or a server cluster composed of multiple servers, which is not limited here.
  • the first robot, the second robot, and the third robot are used to perform cargo handling tasks (that is, perform cargo handling tasks based on transportation instructions).
  • the workstation such as the mixing workstation, is a location for picking goods.
  • the first shelf, the third The second shelf is used to place goods.
  • the control server can obtain the product information that needs to transport the target object after obtaining the outbound scheduling task of the target goods, and determine the target shelf corresponding to the target object based on the product information, and then determine the target robot to perform the outbound scheduling task based on the target shelf. Control the target robot to walk in the corresponding target operating area and carry the target object to the corresponding hybrid workstation.
  • the warehousing system proposed in the embodiment of the present disclosure can select different storage area layouts according to business scenarios and customer needs. It is more flexible and easier to use in actual picking operations. Compared with the pure shelf-to-person solution, the storage density is increased. The pure container-to-person solution reduces costs and improves efficiency.
  • the storage area layout proposed by the embodiment of the present disclosure can maximize the use of vertical storage space. When the storage demand is higher, a first sub-shelf can be added above the second sub-shelf, where the first sub-shelf includes the first robot. The storage space corresponding to the transported goods is used to make full use of the advantages of mixed movement.
  • a hybrid workstation includes a work platform and a review and packaging computer and a picking computer provided on the work platform.
  • the hybrid workstation is also provided with a storage device, and the storage device is configured to store the completed picking. and/or review the packaged goods.
  • the work platform is usually configured as a table made of wood or metal with a work platform top, and its height is suitable for workers to handle goods on the work platform top in a standing or sitting position. It can be understood that the working platform is a mixed inspection working platform, a first working platform or a second working platform.
  • the picking computer is configured to receive orders to be picked and to send completed orders.
  • the staff When the boxes on the first-type carrier or the second-type carrier are transported to the designated mixing workstation in the workstation area, the staff performs the picking task based on the picking order received by the picking computer. After the picking is completed, the completed order is Sent to the downstream work platform or master control system.
  • the review packaging computer is configured to receive packaging orders to be reviewed and to send orders that have been reviewed and packaged.
  • the staff member or other staff member When a staff member completes picking based on the picking order, the staff member or other staff member will review and package the picked goods based on the review packaging order received by the review packaging computer. After the review packaging is completed, the order will be sent to the downstream through the review packaging computer order. working platform or master control system.
  • staff can also temporarily store these goods on the storage device.
  • they can also be placed on the storage device so that other handling equipment can transport the goods on the storage device or the storage device to downstream work stations.
  • the storage device may be a shelf or a pallet or other device capable of storing goods.
  • the warehousing system of the embodiment of the present disclosure further includes a control server configured to simultaneously or sequentially call the first type of handling equipment and the second type of handling equipment, such as the first type of handling equipment, based on orders sent by the workstation area, such as the mixed workstation. equipment, at least two of the second handling equipment, and the third handling equipment, and control at least two of the first handling equipment, the second handling equipment, and the third handling equipment to carry the first carrier storing the goods with the order hit. , at least two corresponding ones in the material boxes on the second carrier and the third carrier.
  • control server determines whether the type and quantity of handling equipment called by the control server depends on the type of goods hit by the order.
  • the control server calls the first handling equipment and the second handling equipment, and controls the first handling equipment and the second handling equipment to
  • the first carrier and the second carrier are respectively transported from the storage area to the mixing workstation in the workstation area
  • the third transportation equipment is called to transport the material box on the third carrier from the storage area to the mixing workstation in the workstation area.
  • the control server calls the first handling equipment and the second handling equipment, and controls the first handling equipment and the second handling equipment to move the first carrier and the second carrier respectively.
  • Mixed workstation where tools are moved from storage area to workstation area.
  • the control server calls the first handling equipment, and controls the first handling equipment to move the first carrier from the storage area to the mixed workstation in the workstation area, and calls the third handling equipment.
  • the third handling equipment is controlled to carry the material box on the third carrier from the storage area to the mixing workstation in the workstation area.
  • the control server calls the second handling equipment, controls the second handling equipment to carry the second carrier from the storage area to the mixed workstation in the workstation area, and calls The third conveying equipment controls the third conveying equipment to convey the material boxes on the third carrier from the storage area to the mixing workstation in the workstation area.
  • control server calls three handling devices to perform corresponding handling tasks based on the order sent by the hybrid workstation. It can be understood that the order received by the control server can also be sent by the user.
  • control server is configured to receive the order, call the first handling equipment, the second handling equipment, and the third handling equipment based on the order, and control the first handling equipment, the second handling equipment, and the third handling equipment to transfer the first handling equipment to the first handling equipment.
  • the material boxes on the carrier, the second carrier, and the third carrier can be transported from the storage area to the workstation area.
  • control server may include a warehouse management module, a positioning module and a scheduling module.
  • a database is stored in the warehouse management module, and the locations of various types of goods on the first and second types of vehicles are marked in the database. For example, the locations of various types of goods on the first and second types of vehicles are marked in the database. Position on the vehicle and third vehicle.
  • the warehouse management module is configured to determine, based on the order, the location of the first type of vehicle corresponding to the first type of goods hit by the order, and/or the location of the second type of vehicle corresponding to the second type of goods hit by the order;
  • the positioning module determines, based on the location information provided by the warehouse management module, that at least one of the first-type handling equipment and the second-type handling equipment reaches the materials on the first-type carrier and the second-type carrier in the storage area from the current position. boxes, as well as the path from the storage area to the workstation area after the boxes are moved to the first type of vehicle and the second type of vehicle;
  • the scheduling module is configured to call the first-type handling equipment and the second-type handling equipment that are currently idle and closest to the storage area based on the order, and move the boxes on the first-type carrier and the second-type carrier from the storage area. to the workstation area.
  • the warehouse management module is configured to determine, based on the order, the location of the first carrier, the location of the second carrier, and the third carrier of the bulk goods, the goods stored in the whole box, and the goods stored in the box based on the order.
  • the location of the bin is configured to determine, based on the order, the location of the first carrier, the location of the second carrier, and the third carrier of the bulk goods, the goods stored in the whole box, and the goods stored in the box based on the order. The location of the bin.
  • a map of the warehouse area is stored in the positioning module, and the map shows at least one path that can be passed by the first handling equipment, the second handling equipment, and the third handling equipment from their respective current positions to the target position.
  • the positioning module is configured to determine, based on the location information provided by the warehouse management module, that the first handling equipment, the second handling equipment, and the third handling equipment reach the first carrier, the second carrier, and the third carrier in the storage area from the current position. Material boxes, and the path from the storage area to the mixing workstation in the workstation area after being moved to the corresponding carrier. For example, the path determined by the positioning module is the shortest path.
  • the scheduling module stores information about all handling equipment and container handling equipment in the warehousing system. This information includes location information and current status information.
  • the current status information includes idle status or working status.
  • the scheduling module is configured to call the first handling equipment, the second handling equipment, and the third handling equipment that are currently idle and closest to the storage area based on the order, and control the first handling equipment, the second handling equipment that are currently idle and closest to the storage area.
  • the third transport equipment transports the material boxes on the first carrier, the second carrier, and the third carrier from the storage area to the mixing workstation in the workstation area.
  • first carrier, the second carrier, and the third carrier can arrive at the mixed workstation in the workstation area sequentially or simultaneously.
  • the specific arrival method can be determined by those skilled in the art according to the size of the workstation area and the number of picking personnel. You can choose based on factors such as the configuration of the picking equipment or the configuration of the picking equipment.
  • the review and packaging task can also be directly performed at the mixed workstation. In this way, there is no need to set up a review and packaging work platform in the warehousing system. Of course, there is no need to configure special review and packaging staff or corresponding Automation equipment simplifies the structure of the warehousing system and improves the efficiency of the warehousing system.
  • the hybrid workstation is further configured to perform review of the finished goods for packaging picking.
  • some embodiments of the present disclosure also provide another warehousing system, including a storage area, handling equipment, a workstation, and a control server.
  • the handling equipment includes a first robot, a second robot, and a third robot.
  • the first robot, the second robot, and the third robot have different handling methods;
  • the storage area includes a first area and a second area;
  • the first area and/or the second area A workstation is provided on one side of the area;
  • the workstation includes a work platform corresponding to at least one of the second robot and the third robot;
  • the first area includes a plurality of first shelves; a first operating area for the first robot to run is set between two first shelves, and the bottom of the first shelf is a second operating area for the second robot to run; the second area It includes multiple second shelves, and the bottom of the second shelf is the third operating area where the third robot walks; the structures of the first shelf and the second shelf are different, and the first shelf and the second shelf store different types of goods respectively;
  • the three robots are the first type of handling equipment, and the first robot and the second robot are the second type of handling equipment;
  • the control server is configured to obtain the outbound scheduling task of the target goods, determine the target shelf corresponding to the target goods based on the outbound scheduling task, generate the outbound handling task, and send the outbound handling task to the target robot so that the target robot Execute the outbound dispatching task;
  • the target robot is at least one of the first robot, the second robot, and the third robot;
  • the target shelf is at least one of the first shelf and the second shelf;
  • the outbound handling task includes the target goods
  • the second robot is configured to run in the second operation area after receiving the out-of-warehouse transporting task, and transport the boxes of target goods placed in the first target cargo buffer position to the workstation;
  • the third robot is configured to operate in the second operation area. After receiving the outbound transportation task, it runs in the third operation area to transport the second shelf corresponding to the target goods to the workstation;
  • the workstation is configured to carry the target goods in the bin or the target in the second shelf carried by the target robot. Goods are picked.
  • a warehousing system scheduling method including: controlling a server to obtain an outbound scheduling task for target goods;
  • the target shelves corresponding to the target goods are determined; the target shelves include the first shelf located in the first area or the second shelf located in the second area; the structures of the first shelf and the second shelf are different; according to The target shelf determines the target robot that performs the outbound scheduling task, and sends outbound handling instructions to the target robot so that the target robot performs the outbound scheduling task; where the target operating area is the first operating area, the second operating area, or the third At least one of the operating areas, the first operating area is the area between two first shelves, the second operating area is the bottom of the first shelf, and the third operating area is the bottom of the second shelf; the target robot is the first At least one of the robot, the second robot, and the third robot.
  • embodiments of the present disclosure also provide a hybrid picking method for a warehousing system (or can be called a scheduling method for a warehousing system).
  • the hybrid picking method is suitable for the mixed picking tasks of the above warehousing system. It can also be composed of components with equivalent functional components. other warehousing systems to implement.
  • the mixed picking method according to the embodiment of the present disclosure includes the following main steps:
  • S100 Obtain an order.
  • the order hits at least the first type of goods and the second type of goods.
  • the types of the first type of goods and the second type of goods are different.
  • S200 Call the first type of handling equipment and the second type of handling equipment simultaneously or in sequence based on the order, and control the first type of handling equipment and the second type of handling equipment to store the first type of vehicles and storage with the order hitting the first type of goods.
  • the bins of the second type of goods with order hits are transported to the workstation area for picking processing.
  • the workstation area includes at least one mixing workstation, at least one first workstation and at least one second workstation, and the first type of handling equipment is configured to transport the first type of carrier carrying the first type of goods to the mixing workstation or the second workstation, The second type of handling equipment is configured to transport the bins storing the second type of goods hit by the order to the mixing workstation or the first workstation.
  • the first type of handling equipment and the second type of handling equipment are called simultaneously or sequentially, and the first type of handling equipment and the second type of handling equipment are controlled to store the goods with the order hit.
  • the first-class carriers of the first-class goods and the boxes storing the second-class goods with the order hit are transported to the workstation area, which may include:
  • the first-type handling equipment and the second-type handling equipment that are currently idle and closest to the corresponding first-type carriers and material boxes are called, and the first-type carriers and material boxes are transported to the corresponding workstations.
  • the mixed picking method of the embodiment of the present disclosure specifically includes the following main steps:
  • S1 Send an order, and the order hits at least two types of goods (or commodities) from the group consisting of bulk goods, goods stored in full boxes, and goods stored in boxes;
  • the control server obtains the order and thereby obtains the outbound scheduling task of the target goods hit by the order.
  • the outbound dispatching task is a task that requires robots to transport target goods to a workstation, such as a mixing workstation, to pick the goods in the corresponding order at the workstation.
  • control server can assign each order to each workstation, and can generate corresponding outbound scheduling tasks based on each of the goods to be outbound in the order, so that the corresponding robot can be based on outbound scheduling
  • the task is to transport the target goods to the corresponding workstation to realize the picking and delivery of each goods in the order.
  • the first handling equipment, the second handling equipment, and the third handling equipment are called simultaneously or in sequence, and the first carrier storing the bulk goods hit by the order and the third carrier storing the whole box storage goods matching the order are placed.
  • the second carrier which stores the bins containing the order hits, transports the bins of stored goods to the mixing workstation for picking processing.
  • an order in order to realize the multi-business picking mode, can hit at least two types of goods at the same time, and based on the order, the first handling equipment, the second handling equipment, and the third handling equipment can be called simultaneously or in sequence. At least two of the three handling equipment, and control at least two of the first handling equipment, the second handling equipment, and the third handling equipment to store the first carrier containing the order-hit bulk goods, and the first carrier containing the order-hit bulk goods. At least two corresponding goods in the second carrier of the goods stored in the whole box and the box in which the order hit is stored are transported to the mixing workstation for picking processing.
  • step S2 may specifically include the following steps:
  • the first handling equipment and the second handling equipment are called to respectively move the first carrier and the second carrier to the workstation area, and the third handling equipment is called.
  • Three handling equipment will transport the material boxes to the mixing workstation in the workstation area.
  • the first handling equipment and the second handling equipment are called to respectively carry the first carrier and the second carrier to the mixed workstation in the workstation area.
  • the first handling equipment When the order hits both bulk goods and goods stored in bins, the first handling equipment is called to move the first carrier to the workstation area, and the third handling equipment is called to move the bins on the third carrier to the workstation area. of hybrid workstations.
  • the second handling equipment is called to transport the second carrier to the workstation area
  • the third handling equipment is called to transport the material box on the third carrier to Mixed workstations in the workstation area.
  • step S2 includes:
  • S20 Determine the location of the first vehicle, the location of the second vehicle, and the location of the material box for the bulk goods, the goods stored in the whole box, and the goods stored in the material box based on the order;
  • the hybrid picking method of the present disclosure also includes the following steps:
  • step S2 may specifically include the following steps:
  • the target shelf Based on the outbound dispatching task of the target goods, determine the target shelf corresponding to the target goods; the target shelves include the first shelf located in the first area or the second shelf located in the second area; the first shelf and the second shelf have different structures. .
  • S1 may specifically include:
  • S202 Control the server, such as the electronic device, to obtain the outbound scheduling task of the target goods.
  • control server determines the target shelf corresponding to the target goods based on the outbound scheduling task of the target goods hit by the order.
  • the product information may include the location information of the target goods, the location information of the container (carton or material box) where the target goods are located, the location information of the shelf corresponding to the target goods, the size specifications of the target goods, and the quantity information of the target goods. etc., are not restricted here. It should be noted that whether goods (boxes) are stored in each cargo space in each shelf, the location of each shelf, each cargo space, etc. are all pre-stored information. When each shelf is put into storage, the items stored in each cargo space will Information (including the type of stored goods, size specifications of stored goods, and quantity of stored goods are all stored in advance).
  • the product information of the target goods can be determined, for example, the location information of the shelf where the target goods are located and the cargo space information of the goods, etc., and then the target goods can be determined.
  • the target shelf corresponding to the goods.
  • each cargo (box) when each cargo (box) is being put on the shelf, it may be stored on the first shelf in the first area or the second shelf in the second area according to the size specifications of the goods (box). For example, if the size of the goods (carton) is larger than the preset size, it will be stored on the second shelf. If the size of the goods (carton) is not larger than the preset size, it will be stored on the first shelf.
  • the target shelf after obtaining the outbound dispatching task of the target goods, first determine the product information of the target goods, for example, the type of the target goods, and then determine the area corresponding to the target goods, and determine Store on the first shelf or the second shelf. Then based on the location information of the shelf where the target goods are located and the cargo space information of the goods, the target shelf corresponding to the target goods is further determined.
  • the shelf that is closest to the corresponding workstation and includes the slots storing the target goods may be prioritized as the target shelf.
  • the shelf closest to the corresponding mixing workstation can be a, as the target shelf.
  • the shelf in the same second shelf that has the most goods to be shipped out of an order can be used as the target shelf.
  • order A includes target goods c, object d, and object e.
  • target cargo c exists in both shelf q and shelf s in the second shelf
  • shelf q also stores object d and object e
  • shelf s only stores object e
  • shelf q is given priority as the target shelf.
  • the target shelf can be directly transported to the workstation by the third robot, and the objects to be shipped out can be transported to the corresponding workstation, such as a mixing workstation, at the most at one time, thus saving the number of transportation times and improving the efficiency of shipping out.
  • S206 Determine the target robot that performs the outbound scheduling task according to the target shelf, and send the outbound handling instruction (ie, outbound handling task) to the target robot, so that the target robot performs the outbound scheduling task in the target operating area.
  • outbound handling instruction ie, outbound handling task
  • the target operation area is at least one of the first operation area, the second operation area or the third operation area.
  • the first operation area is the area between two first shelves, and the second operation area is the area between the first shelves.
  • the bottom and the third operating area are the bottom of the second shelf; the target robot is at least one of the first robot, the second robot, and the third robot.
  • the corresponding target robot can be determined based on the target shelf where the target goods are located.
  • the target shelf After the target shelf is determined, if the target shelf is the first shelf, the target location of the target goods can be further obtained. Furthermore, if the target cargo location is located in the cargo buffer area on the corresponding first shelf, the second robot can be controlled to transport the box of the target cargo in the cargo buffer area to the workstation a corresponding to the second robot, wherein the second robot Driving in the second operating zone.
  • the workstation a can be set as a first working platform only for picking the target goods transported by the second robot, or it can be set as a first mixed inspection working platform, that is, it can be used for picking the objects carried by the second robot.
  • the working platform can also be set as a working platform for picking objects transported by the third robot, which is not limited here.
  • the first robot is controlled to transport the target goods from the target cargo location to the first target cargo buffer area of the first shelf, where the first A robot travels in the first operating area.
  • the second robot is controlled to carry the target goods in the first target goods buffer area to the workstation a corresponding to the second robot, wherein the second robot travels in the second operation area.
  • the corresponding third robot can be controlled to carry the target shelf to the corresponding In the workstation b, the third robot travels in the third operating area, and the third operating area is located at the bottom of the second shelf.
  • the workstation b can be set as a second working platform only for picking the target shelves transported by the third robot (i.e., the second mixed inspection working platform), or it can also be set as a mixed inspection working platform (i.e., the first mixed inspection working platform). ), that is, it can be used as a working platform for picking shelves transported by the third robot, or it can be set as a working platform used for picking objects transported by the second robot, which is not limited here.
  • the second shelf may be a combined shelf including a first sub-rack and a second sub-rack.
  • the second shelf may be a combined shelf including a first sub-rack and a second sub-rack.
  • FIG. 16 As shown in the figure, there is a third shelf next to the combination shelf.
  • step S206 determines the target robot that performs the outbound scheduling task according to the target shelf, and sends the corresponding outbound handling instruction (i.e., outbound handling task) to the target robot, so that the target robot performs the outbound scheduling task, Specifically include:
  • the target shelf is the first shelf, determine the first robot as the target robot, and send the outbound handling task to the first robot, so that after receiving the outbound handling task, the first robot runs on the third In the first operation area, the material box of the target goods on the first shelf is obtained, and the material box of the target goods is transported to the first target cargo cache position on the first shelf; the first target cargo cache position is located at the bottom of the first shelf , that is, the lower temporary storage position of the first shelf.
  • the first robot if the hit target shelf is the first shelf, the first robot is determined as the target robot, and an outbound handling task is sent to the first robot. So that after receiving the outbound transportation task, the first robot runs in the first operation area, obtains the box of the target goods on the first shelf, and transports the box of the target goods to the first target on the first shelf. Cargo cache location.
  • the second robot is determined as the target robot, and an outbound scheduling task is sent to the second robot, so that the second robot After receiving the outbound handling task, the robot runs in the second operating area. Transport the bins of target goods placed on the first target goods buffering position to the mixed inspection working platform in the workstation area (i.e., the first mixed inspection working platform).
  • the second robot will transport the box of target goods placed on the first target goods buffering position to the first work platform in the work station. If the workstation determined in the outbound handling task is a mixed inspection work platform, the second robot will transport the bin of target goods placed on the first target cargo buffering position to the mixed inspection work platform in the workstation, that is, to the mixed workstation.
  • the target shelf is the second shelf, determine the third robot as the target robot, and send the outbound handling task to the third robot, so that after receiving the outbound handling task, the third robot runs on the third In the third operation area, the second shelf corresponding to the target goods is transported to the second working platform (i.e., the second mixed inspection working platform) or the mixed inspection working platform (i.e., the first mixed inspection working platform) in the workstation.
  • the second working platform i.e., the second mixed inspection working platform
  • the mixed inspection working platform i.e., the first mixed inspection working platform
  • the hit target shelf is the second shelf
  • an outbound handling task can be sent to the third robot, so that after receiving the outbound handling task, the third robot runs in the third operation area to move the target goods
  • the corresponding second shelf is transported to the second working platform or mixed inspection working platform in the workstation.
  • the third robot will transport the second shelf to the second work platform in the work station. If the workstation determined in the outbound transportation task is the mixed inspection work platform, the second robot will transport the second shelf to the mixed inspection work platform in the workstation.
  • the second shelf includes a first sub-shelf and a second sub-shelf.
  • the first sub-shelf is disposed above the second sub-shelf.
  • the structure of the first sub-shelf is different from that of the second sub-shelf.
  • the structures are different, and the grid openings of the first sub-shelf are the same size as the grid openings of the first shelf.
  • the second shelves also include a fourth operating area where the first robot operates between the two shelves.
  • the scheduling method of the warehousing system also includes:
  • the fourth operation area and the first operation area are to transport the boxes of the target goods on the first sub-shelf to the second target cargo buffering position, or to make the first robot run in the fourth operation area and move the target goods on the first sub-shelf.
  • the cargo box is transported to the target compartment of the second sub-rack.
  • the first robot can send the outbound scheduling task first, so that after receiving the outbound handling task, the first robot , operating in the fourth operating area and the first operating area, transporting the boxes of the target goods of the first sub-shelf to the second target cargo buffering position, or, so that the first robot operates in the fourth operating area, moving the first The bins of the target goods on the sub-shelf are moved to the target compartment of the second sub-shelf.
  • the third robot can subsequently transport the second sub-shelf to the workstation area.
  • other first robots and second robots can be made to perform other handling tasks, enhancing joint scheduling between robots.
  • the second robot if the bin of the target goods has been transported to the second target goods buffering position, the second robot is required to transport it to the corresponding workstation, such as a mixing workstation.
  • the target shelf is the second sub-shelf and the bin of the target goods is located at the target compartment, determine the third robot as the target robot, and send the outbound scheduling task to the third robot so that the third robot After receiving the outbound transport task, it runs in the third operation area and transports the second shelf corresponding to the target goods to the workstation area.
  • the third robot when the hit target shelf is the second sub-shelf and the bin of the target goods is located at the target compartment, the third robot is determined as the target robot and an outbound handling task is sent to the third robot so that the third robot can After receiving the outbound transportation task, the three robots run in the third operation area and transport the second shelf corresponding to the target goods to the workstation area.
  • a third shelf may be provided in the second area.
  • the structure of the third shelf is the same as that of the first shelf.
  • Each third shelf is located on one side of each second shelf.
  • the bottom of the third shelf is provided with a sixth operating area where the second robot operates.
  • Warehousing system scheduling methods also include:
  • the target shelf is the first sub-shelf, determine the first robot as the target robot, and send the outbound handling task to the first robot so that the first machine runs in the fifth operation area and the fourth operation area. , transport the material box of the target goods on the first sub-shelf to the third target goods cache position on the third shelf; the third target goods cache position is located at the lowest level of the third shelf.
  • the warehousing system scheduling method also includes:
  • the target outbound orders include at least one target product that needs to be outbound.
  • the target outbound order can be an order issued by the upstream system.
  • Each target outbound order includes at least one target product to be shipped out.
  • the target product can be located in a container (box) or a shelf.
  • each shelf and cargo location where each product is distributed in the warehouse storage area is known data.
  • each target product in each target outbound order when it is determined that each target product in each target outbound order can correspond to the shelves in the first area and the second area, it can be statistically calculated that each target product in each target outbound order only corresponds to the first area.
  • the first order quantity in one area, and the second order quantity in the second area corresponding to each target product in each target outbound order.
  • the workstation configures the workstation as a mixed inspection work platform (i.e., the first mixed inspection work platform) according to the proportion of the first order quantity and the second order quantity to all target outbound orders, that is, the workstation is a mixed workstation; mixed inspection work
  • the platform is a working platform used for picking target objects transported by the second robot and target objects transported by the third robot.
  • the first order quantity accounts for a first proportion of all target outbound orders
  • the second order quantity accounts for a second proportion of all target outbound orders. Then, according to the determined first ratio and the second ratio, the number of workstations corresponding to the second robot and the third robot is allocated. That is, a mixed inspection working platform including two different working platforms is set up.
  • all workstations can be set as the first work platforms corresponding to the second robot.
  • all workstations can be set as the second work platform corresponding to the third robot.
  • the second working platform can also be understood. It is a mixed working platform (i.e. the second mixed inspection working platform mentioned above).
  • the quantity of the second working platform can be adaptively adjusted according to the order quantity of break-bulk goods and full-container storage goods.
  • the workstations can be set as the first mixed inspection work platform, and the first mixed inspection work platform is a work platform for picking target objects transported by the second robot and target objects transported by the third robot.
  • the number of the first mixed inspection working platform and the second mixed inspection working platform in the workstation can be determined according to the first order quantity and the second order quantity. For example, when the first order quantity is greater than the second order quantity, the set quantity of the first mixed inspection work platform can be greater than the set quantity of the second mixed inspection work platform. When the first order quantity is less than the second order quantity, the set quantity of the first mixed inspection work platform can be set. The number of settings of the first mixed inspection working platform is smaller than the number of settings of the second mixed inspection working platform.
  • the warehouse storage area corresponding to each target commodity is obtained.
  • the obtained warehouse storage area includes the first area and the second area
  • the corresponding warehouse storage in the order is determined.
  • the area only includes the first order quantity in the first area
  • the corresponding warehouse storage area in the order only includes the second order quantity in the second area, and then accounts for all target outbound orders according to the first order quantity and the second order quantity.
  • the mixed inspection work platform can be set up according to a reasonable ratio.
  • the three workstations can switch to each other according to the business scenario, adjust the quantity, and mix and pick during periods with a large number of orders.
  • the above embodiment explains the outbound scheduling in the warehousing system scheduling method.
  • the warehousing system scheduling also includes the incoming scheduling of commodity goods.
  • An embodiment is now used to describe the warehousing scheduling of the warehousing system.
  • the warehousing system scheduling method also includes:
  • the warehousing scheduling task is the task of putting goods on shelves in the warehouse storage area.
  • the warehousing scheduling task includes the product information and quantity of each product to be put on the shelves.
  • S304 Based on the warehousing scheduling task, obtain the product information of each product to be put on the shelf.
  • the product information includes product specifications and the frequency of shipment of the products to be put on the shelf in the historical time period.
  • information such as product specifications of each product to be put on the shelf and the frequency of shipment of the products to be put on the shelf in the historical time period can be obtained.
  • S306 According to the product information of each product to be put on the shelf, determine the target shelf corresponding to each product to be put on the shelf, and control the target robot corresponding to each target shelf to perform the warehousing scheduling task, and store the products to be put on the shelf to each corresponding target. On the shelf.
  • the target shelf corresponding to the product to be put on the shelf can first be determined based on the product specifications or types in the product information. For example, the product specifications of each product to be put on the shelves can be compared with the preset sizes, and the target shelf can be obtained based on the comparison results. It combines the advantages of shelf-to-person and box-to-person solutions, and can be applied to various complex picking scenarios of large, medium and small pieces of different product specifications.
  • the product type of each product to be put on the shelf can be compared with the preset type, and the target shelf can be obtained based on the comparison results.
  • the preset types include three types of bulk goods, goods stored in full containers and goods stored in boxes.
  • step S306 specifically includes:
  • the second shelf is used as the target shelf, and the third robot is controlled to transport the second shelf to the first shelving work platform of the workstation, and when the product to be put on the shelf is stored in After the target is put on the shelf, the third robot is controlled to carry the target shelf back to the original position.
  • the product type of each product to be put on the shelf can be compared with a preset type.
  • the comparison result is that the product type of the product to be put on the shelf is consistent with the type of bulk goods, then the second Shelves as target shelves.
  • the comparison result is that the product type of the product to be put on the shelf is consistent with the type of goods stored in the bin, the first shelf is used as the target shelf.
  • step S3064 specifically includes:
  • the second shelf is used as the target shelf, and the third robot is controlled to transport the second shelf corresponding to the goods to be put on the shelf to the first shelving work platform of the workstation, and When the goods to be put on the shelf are stored in the target shelf, the third robot is controlled to carry the target shelf back to the original position.
  • the loading status of each slot in the second shelf is obtained.
  • the second shelf When there is an unloaded cargo space in the second shelf, the second shelf is used as the target shelf, and the third robot is controlled to transport the second shelf corresponding to the goods to be put on the shelf to the first shelving work platform of the workstation, and When the products on the shelves are stored in the target shelf, the third robot is controlled to carry the target shelf back to the original position.
  • the first robot is controlled to run in the fourth operating area and transport the goods to be put on the shelves to the first sub-shelf in the second area.
  • the first shelf is used as the target shelf
  • the second robot is controlled to run in the second operating area
  • the first target box in the first shelf is transported Go to the second shelving work platform of the workstation.
  • the second robot is controlled to transport the first target shelving bin back to the first shelf, or the third shelf is used as the target shelving shelf.
  • control the second robot to run in the sixth operating area, and transport the second target bin corresponding to the product to be put on the shelf to the second shelving work platform of the workstation, and when the product to be put on the shelf is stored in the second target bin, control The second robot carries the second target material box back to the third shelf.
  • the storage area can be reasonably allocated based on the product specifications and the historical outbound frequency of the goods to be put on the shelves, comprehensively considering the distribution method of the incoming warehouse, and the corresponding shelving shelves, so as to better serve the outbound goods. .
  • the warehousing system scheduling method also includes:
  • the tally task when the working status of each workstation is working, can be performed while executing the outbound scheduling task, and the tally task can be performed based on the order information of each outbound order in the next wave.
  • Optimize allocation adjust the cargo location of each commodity in the next wave of outbound orders, and determine the target goods. That is, if the robot performs the outbound scheduling tasks of each outbound order in the next wave according to the target cargo location, it can with the most Travel a short route, or the number of times the robot performs transportation is optimal.
  • the goods to be tallied when the goods to be tallied correspond to the first shelf in the first area, the goods to be tallied can be adjusted to the free slots in the shelves closer to the workstation.
  • the goods to be sorted in the same order can be adjusted to the same second shelf as much as possible, so that the subsequent robot can directly move the goods to be sorted out of an order.
  • the goods are shipped out of the warehouse.
  • the first robot can be controlled to run in the first operating area based on the order information of each outbound order in the next wave, and transport each of the goods to be sorted from the initial shelf to each outbound warehouse.
  • the first robot can also be controlled to operate in the fourth operating area to transport each cargo to be tallied from the initial shelf to the target storage location corresponding to each target cargo in each outbound order.
  • control the first robot when the working status of each workstation is idle, control the first robot to transport the current material box and the target tally box corresponding to the goods to be tallied to the workstation, and after obtaining the tally completion instruction, control the third robot A robot operates in the first operating area based on the order information of each outbound order in the next wave to transport each current material box and the target tally box from the first tallying work platform to the initial position.
  • the first robot when the working status of each workstation is idle, can be controlled to carry the goods to be tallied to the workstation, so that the staff can determine the target shelf and/or the goods to be tallied.
  • the tally completion command is triggered, and the first robot can be controlled to run in the first operating area based on the order information of each outbound order in the next wave to transport the goods to be tallied from the workstation to each outbound order.
  • the target cargo location corresponding to each target cargo in .
  • the third robot when the working status of each workstation is idle, can be controlled to transport the current shelf and target tally shelf corresponding to the goods to be tallied to the workstation. After the tally is completed, After the instruction, the third robot is controlled to run in the third operating area based on the order information of each outbound order in the next wave to transport each current shelf and target tally shelf from the first tally work platform to the initial position.
  • the automatic tallying mode can only be implemented in the first area.
  • tallying can be carried out based on two different tallying modes, so that when performing the next wave of outbound dispatching tasks, there will be a more reasonable storage and placement of goods, thereby optimizing the outbound shipment of goods.
  • Warehouse efficiency saving time out of the warehouse.
  • this embodiment of the present application also provides another scheduling method for the warehousing system, including:
  • the control server obtains the outbound scheduling task of the target goods
  • the target shelf Based on the outbound dispatching task of the target goods, determine the target shelf corresponding to the target goods; the target shelves include the first shelf located in the first area or the second shelf located in the second area; the first shelf and the second shelf have different structures. .
  • S206 Determine the target robot that performs the out-of-warehouse scheduling task according to the target shelf, and send the out-of-warehouse handling instructions to the target robot so that the target robot performs the out-of-warehouse scheduling task;
  • the target operation area is the first operation area and the second operation area.
  • the first operating area is the area between two first shelves, the second operating area is the bottom of the first shelf, and the third operating area is the bottom of the second shelf;
  • the target robot Be at least one of the first robot, the second robot, and the third robot.
  • the above embodiment is only an optional example of the warehousing system scheduling method.
  • the warehousing system scheduling method may also include other implementable embodiments, and the following limitations are not imposed here.
  • the specific limitations of the warehousing system scheduling method and the beneficial effects that can be achieved please refer to the limitations on the warehousing system scheduling method mentioned above, and will not be repeated here.
  • FIG. 25 is a schematic structural diagram of a storage system scheduling device in an embodiment of the present disclosure. As shown in Figure 26, the device includes:
  • the acquisition module 131 is configured to obtain an order, and the order hits the first type of goods and the second type of goods.
  • the acquisition module 131 can be configured to obtain an order, and the order hits the parts of the goods, the goods stored in the whole box, and the material box storage. at least two of the goods,
  • the acquisition module 131 may acquire the outbound scheduling task of the target goods hit by the order.
  • the control module is configured to call the first type of handling equipment and the second type of handling equipment simultaneously or sequentially based on the order, and control the first type of handling equipment and the second type of handling equipment to store the first type of goods with the order hitting the first type.
  • the carriers and bins storing the second type of goods hit by the order are transported to the workstation area for picking processing.
  • the control module can be configured to call the first handling equipment and the second handling equipment simultaneously or in sequence based on the order.
  • the second carrier of the goods stored in the whole box and the corresponding bins storing the goods stored in the bin with the order hit are transported to the mixing workstation for picking processing.
  • control module may include:
  • the first determination module 132 is configured to determine the target shelf corresponding to the target goods based on the outbound scheduling task of the target goods; the target shelves include the first shelf located in the first area or the third shelf located in the second area. Two shelves; the structures of the first shelf and the second shelf are different;
  • the second determination module 133 is configured to determine the target robot that performs the out-of-warehouse scheduling task according to the target shelf, and sends an out-of-warehouse handling instruction to the target robot so that the target robot performs the out-of-warehouse scheduling task; where the target operating area is the first At least one of the operating area, the second operating area or the third operating area, the first operating area is the area between two first shelves, the second operating area is the bottom of the first shelf, and the third operating area is the The bottom of the second shelf; the target robot is at least one of the first robot, the second robot, and the third robot; the target location includes the first target cargo cache position at the bottom of the first shelf, and the second robot and the third robot in the workstation. A corresponding workstation for at least one of the three robots.
  • the second determination module includes:
  • the first determination unit is configured to determine the first robot as the target robot if the target shelf is the first shelf, and send the outbound scheduling task to the first robot, so that the first robot receives the outbound handling After the task, run in the first operation area, obtain the material box of the target goods on the first shelf, and transport the material box of the target goods to the first target cargo cache position on the first shelf; the first target cargo cache position is located at The bottom shelf of the first shelf;
  • the second determination unit is configured to determine the second robot as the target robot when the first robot transports the box of the target goods to the first target goods buffer position on the first shelf, and sends an outbound message to the second robot. Schedule the task so that after receiving the outbound handling task, the second robot runs in the second operation area and carries the box of the target cargo placed on the first target cargo buffering position to the first working platform or mixer in the workstation.
  • the first work platform is a work platform for picking the target goods carried by the second robot;
  • the mixed inspection work platform is a work platform for picking the target goods carried by the second robot or the target goods carried by the third robot;
  • the third determination unit is configured to determine the third robot as the target robot if the target shelf is the second shelf, and send the outbound scheduling task to the third robot, so that the third robot receives the outbound handling After the task, it runs in the third operating area and transports the second shelf corresponding to the target goods to the second working platform or mixed inspection working platform in the workstation; the second working platform is a platform for picking the target goods transported by the third robot.
  • the second shelf includes a first sub-shelf and a second sub-shelf; the first sub-shelf is disposed above the second sub-shelf, the structure of the first sub-shelf is different from that of the second sub-shelf, and the first sub-shelf is disposed above the second sub-shelf.
  • the grid openings of one sub-shelf are the same size as the grid openings of the first shelf; the second shelf also includes a fourth operating area where the first robot operates; the storage system scheduling device also includes:
  • the first sending module is configured to, if the target shelf is the first sub-shelf, use the first robot as the target robot, and send the outbound scheduling task to the first robot, so that the first robot receives the outbound handling After the task, run in the fourth operation area and the first operation area to transport the boxes of the target goods on the first sub-shelf to the second target goods cache position, or, so that the first robot runs in the fourth operation area, move the The bins of the target goods on the first sub-shelf are moved to the target compartment of the second sub-shelf;
  • the second sending module is configured to determine the second robot as the target robot when the first robot carries the box of the target goods to the second target goods cache position, and send the outbound scheduling task to the second robot so that The second robot runs in the second operation area and carries the boxes of target goods to the workstation;
  • the third sending module is configured to determine the third robot as the target robot and send the outbound scheduling task to the third robot when the target shelf is the second sub-shelf and the bin of the target goods is located at the target compartment. , so that after receiving the outbound handling task, the third robot runs in the third operating area and carries the second shelf corresponding to the target goods to the workstation.
  • the second area also includes: a third shelf; the third shelf has the same structure as the first shelf; each third shelf is located on one side of each second shelf; and between two third shelves A fifth operating area for the first robot to operate is provided, and a sixth operating area for the second robot to operate is provided at the bottom of the third shelf; the storage system scheduling device also includes:
  • the fourth sending module is configured to determine the first robot as the target robot if the target shelf is the first sub-shelf, and send the outbound handling task to the first robot so that the first machine runs in the fifth operation area and the fourth operating area, transport the boxes of target goods on the first sub-shelf to the third target cargo cache position on the third shelf; the third target cargo cache position is located at the lowest level of the third shelf;
  • the fifth sending module is configured to use the second robot as the target robot when the first robot transports the bin of target goods to the third target goods buffering position, and sends an outbound transport task to the second robot so that the third robot The two robots transport the material box of the target cargo in the second target cargo buffering position to the workstation.
  • the warehousing system scheduling device also includes:
  • the warehousing task acquisition module is configured to obtain the warehousing scheduling task of the target goods for electronic equipment
  • the product information acquisition module is configured to obtain product information of each product to be put on the shelves based on the warehousing scheduling task; the product information includes product specifications and the frequency of shipment of the products to be put on the shelves in the historical time period;
  • the third determination module is configured to determine the target shelf corresponding to each product to be put on the shelf based on the product information of each product to be put on the shelf, and control the target robot corresponding to each target shelf to perform the warehousing scheduling task, and put each product to be put on the shelf into to the corresponding target shelves.
  • the third determining module includes:
  • the fourth determination unit is configured to use the second shelf as the target shelf if the product specification of the product to be put on the shelf is larger than the preset size, control the third robot to transport the second shelf to the first shelf work platform of the workstation, and place the shelf on the shelf. After the products are stored on the target shelf, the third robot is controlled to move the target shelf back to its original position;
  • the fifth determination unit is configured to determine the target shelf corresponding to each product to be put on the shelf according to the outbound frequency of the product to be put on the shelf if the product specification of the product to be put on the shelf is less than or equal to the preset size, and to control the corresponding target shelf of the product to be put on the shelf.
  • the target robot performs the warehousing scheduling task and puts the products to be put on the shelves into the corresponding target shelves.
  • the fifth determination unit is specifically configured to use the second shelf as the target shelf if the outgoing frequency of the goods to be put on the shelves is greater than the preset frequency threshold, and control the third robot to move the goods to the shelf to the third shelf corresponding to the goods to be put on the shelves.
  • the second shelf is transported to the first shelving work platform of the workstation, and when the goods to be put on the shelf are stored in the target shelf, the third robot is controlled to carry the target shelf back to the original position; if the frequency of the goods to be put on the shelf is not greater than the preset Frequency threshold, use the first shelf as the target shelving shelf, control the second robot to run in the second operating area, and transport the first target box in the first shelf to the second shelving work platform of the workstation.
  • the fifth determination unit is specifically configured to obtain the loading status of each cargo location in the second shelf if the outgoing frequency of the goods to be put on the shelf is greater than the preset frequency threshold;
  • the second shelf is used as the target shelf, and the third robot is controlled to transport the second shelf corresponding to the goods to be put on the shelf to the first shelving work platform of the workstation, and the goods to be put on the shelf are stored in the warehouse to the target shelf.
  • control the third robot to transport the target shelf back to its original position.
  • the warehousing system scheduling device further includes:
  • the status acquisition module is configured to obtain the working status of each workstation and multiple outbound orders for the next wave;
  • the first tally module is configured to trigger the automatic tally mode of the warehousing system when the working status of each workstation is working, and control the first robot to place orders based on the order information of each outbound order in the next wave.
  • the first operating area or the fourth operating area operates to transport each container of goods to be sorted from the current cargo location to the target cargo location;
  • the second tally module is configured to control the first robot to transport the current box and the target tally box corresponding to the goods to be tallied to the workstation when the working status of each workstation is idle.
  • the first robot is controlled to run in the first operating area based on the order information of each outbound order in the next wave to transport each current material box and the target tallying box from the first tallying work platform to the initial position. .
  • the second tally module is configured to control the third robot to transport the current shelf and target tally shelf corresponding to the goods to be tallied to the workstation when the working status of each workstation is idle. After completing the instruction, the third robot is controlled to operate in the third operating area based on the order information of each outbound order in the next wave to transport each current shelf and target tally shelf from the first tally work platform to the initial position.
  • the warehousing system scheduling device further includes:
  • the order acquisition module is configured to acquire multiple target outbound orders; the target outbound orders include at least one target product that needs to be outbound;
  • the storage area acquisition module is configured to obtain the warehouse storage area corresponding to each target commodity
  • the sixth determination module is configured to determine the first order quantity and the second order quantity when the obtained warehousing storage area includes the first area and the second area.
  • the first order quantity is that each target outbound order only hits the first area.
  • the second order quantity is the second order quantity of each target outbound order that only hits the second shelf in the second area;
  • the seventh determination module is configured to determine the number of mixed inspection work platforms in the work based on the proportion of the first order quantity and the second order quantity to all target outbound orders; the mixed inspection work platform is the target for picking the second robot.
  • Each module in the above-mentioned warehousing system scheduling device can be realized in whole or in part by software, hardware and combinations thereof.
  • Each of the above modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.
  • inventions of the present disclosure also provide an electronic device.
  • the electronic device may be the control server in the foregoing embodiment and is configured to implement all or part of the steps of the foregoing warehousing system scheduling method.
  • the electronic device includes: at least one processor 110, a memory 120, and at least one interface 130. In addition, it may also include a communication bus 140 configured to connect these components.
  • At least one processor 110 may be a CPU or a processing chip, configured to read and execute computer program instructions stored in the memory 120, so that the at least one processor 110 can execute the method flow in each of the foregoing embodiments.
  • the memory 120 can be a non-transitory memory (non-transitory memory), which can include volatile memory, such as high-speed random access memory (Random Access Memory, RAM), or can also include non-volatile memory (non-volatile memory). ), such as at least one disk storage.
  • non-transitory memory non-transitory memory
  • volatile memory such as high-speed random access memory (Random Access Memory, RAM)
  • non-volatile memory non-volatile memory
  • At least one interface 130 includes an input and output interface, and a communication interface.
  • the communication interface may be a wired or wireless interface, thereby realizing communication connections between the electronic device and other devices.
  • Input and output interfaces can be used to connect peripherals, such as displays, keyboards, etc.
  • the memory 120 stores computer-readable program instructions.
  • the processor 110 reads and executes the program instructions in the memory 120, a warehouse system scheduling method in the foregoing embodiments can be implemented.
  • this embodiment also provides a computer program product for storing computer-readable program instructions.
  • a warehousing system scheduling method in the foregoing embodiment can be implemented.
  • this embodiment also provides an electronic device, which may be a terminal, and the terminal may be a robot or a vehicle, or the like.
  • the internal structure diagram of the terminal can be shown in Figure 28.
  • the electronic device includes a processor, memory, communication interface, display screen and input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities.
  • the memory of the electronic device includes non-volatile storage media and internal memory.
  • the non-volatile storage medium stores operating systems and computer programs.
  • This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media.
  • the communication interface of the electronic device is used for wired or wireless communication with external terminals.
  • the wireless mode can be implemented through WIFI, operator network, NFC (Near Field Communication) or other technologies.
  • the computer program implements a warehouse system scheduling method when executed by a processor.
  • the display screen of the electronic device may be a liquid crystal display or an electronic ink display.
  • the input device of the electronic device may be a touch layer covered on the display screen, or may be a button, trackball or touch pad provided on the housing of the electronic device. , it can also be an external keyboard, trackpad or mouse, etc.
  • FIGS. 27 and 28 are only block diagrams of partial structures related to the solution of the present application, and do not constitute a limitation on the electronic equipment to which the solution of the present application is applied.
  • Electronic devices may include more or fewer components than shown in the figures, or some combinations of components, or have different arrangements of components.
  • embodiments of the present disclosure also provide an electronic device, including a memory and a processor.
  • a computer program is stored in the memory.
  • the processor executes the computer program, it implements the steps of the method in any of the above embodiments.
  • embodiments of the present disclosure provide a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.
  • embodiments of the present disclosure provide a computer program product, including a computer program that implements the steps of the method in any of the above embodiments when executed by a processor.
  • the user information including but not limited to user equipment information, user personal information, etc.
  • data including but not limited to data used for analysis, stored data, displayed data, etc.
  • the computer program can be stored in a non-volatile computer-readable storage.
  • the computer program when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory.
  • Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory (MRAM), ferroelectric memory (Ferroelectric Random Access Memory (FRAM)), phase change memory (Phase Change Memory, PCM), graphene memory, etc.
  • Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory.
  • RAM Random Access Memory
  • RAM Random Access Memory
  • RAM random access memory
  • RAM Random Access Memory
  • RAM random access memory
  • RAM Random Access Memory
  • RAM random access memory
  • RAM Random Access Memory
  • SRAM static random access memory
  • DRAM Dynamic Random Access Memory
  • the databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database.
  • Non-relational databases may include blockchain-based distributed databases, etc., but are not limited thereto.
  • the processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to this.

Abstract

本公开涉及仓储系统、仓储系统调度方法、装置和电子设备，包括工作站区；混合工作站、第一工作站及第二工作站中的至少一者，设置在工作站区，且被配置为接收订单，订单命中第一类货物和第二类货物；存储区被配置为存储第一类载具和第二类载具，第一类载具被配置为承载第一类货物，第二类载具被配置为承载第二类货物；第一类搬运设备被配置为基于搬运指令将承载有第一类货物的第一类载具搬运至混合工作站或第二工作站；第二类搬运设备被配置为基于搬运指令将料箱从第二类载具取出并搬运至混合工作站或第一工作站；控制装置与第一类搬运设备和第二类搬运设备连接，分别向第一类搬运设备和第二类搬运设备发送搬运指令。

Description

仓储系统、仓储系统调度方法、装置和电子设备
本申请要求于2022年08月10日提交的申请号为202222101841.4的中国专利申请的优先权，以及于2023年02月03日提交的申请号为202310121443.5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
本公开涉及仓储系统调度方法技术领域，特别涉及一种仓储系统、仓储系统调度方法、装置和电子设备。
背景技术
目前物流或仓储系统中的拣选采用单业态拣选模式。
也就是说，用一种拣选机器人搬运一种货架或料箱至操作人员面前，操作人员在工作站只能进行单业态的拣选，例如，拆零拣选的项目只能适配拆零拣选，整箱拣选只能整箱拣选。
发明内容
本公开实施例提供一种仓储系统、仓储系统调度方法、装置和电子设备。
根据本公开一些实施例，提供一种仓储系统，包括：工作站区；至少一个混合工作站、至少一个第一工作站及至少一个第二工作站中的至少一者，设置在工作站区，且被配置为接收订单，订单至少命中第一类货物和第二类货物，第一类货物与第二类货物的类型不同；存储区，被配置为存储至少一个第一类载具和至少一个第二类载具，其中，第一类载具被配置为承载第一类货物，第二类载具被配置为承载第二类货物；至少一个第一类搬运设备，被配置为基于搬运指令将承载有第一类货物的第一类载具搬运至混合工作站或第二工作站；至少一个第二类搬运设备，被配置为基于搬运指令将料箱从第二类载具取出并搬运至混合工作站或第一工作站，料箱存放有订单命中的第二类货物；
控制装置，与第一类搬运设备和第二类搬运设备连接，分别向第一类搬运设备和第二类搬运设备发送搬运指令。
根据本公开一些实施例，提供一种仓储系统调度方法，包括：获取订单，订单至少命中第一类货物和第二类货物，第一类货物和第二类货物的类型不同；基于订单同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制第一类搬运设备和第二类搬运设备将存放有订单命中第一类货物的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，以进行拣选处理；工作站区包括至少一个混合工作站、至少一个第一工作站及至少一个第二工作站的至少一者，第一类搬运设备被配置为将承载有第一类货物的第一类载具搬运至混合工作站或第二工作站，第二类搬运设备被配置为存储有订单命中的第二类货物的料箱搬运至混合工作站或第一工作站。
根据本公开一些实施例，提供一种仓储系统，包括存储区、搬运设备、工作站和控制装置；搬运设备包括第一机器人、第二机器人、第三机器人，第一机器人、第二机器人、第三机器人的搬运方式不同；存储区包括第一区域和第二区域；第一区域和/或第二区域的一侧设置有工作站；工作站中包括第二机器人、第三机器人中至少一种机器人对应的工作平台；第一区域中包括多个第一货架；各第一货架两两之间设置为第一机器人运行的第一运行区域，第一货架的底部为第二机器人运行的第二运行区域；第二区域中包括多个第二货架，第二货架的底部为第三机器人行走的第三运行区域；第一货架和第二货架的结构不同，第一货架和第二货架分别存储不同类型的货物；第三机器人为第一类搬运设备，第一机器人和第二机器人为第二类搬运设备；控制装置，被配置为获取目标货物的出库调度任务，并基于出库调度任务确定目标货物对应的目标货架，生成出库搬运任务，并将出库搬运任务发送至目标机器人，以使目标机器人执行出库调度任务；目标机器人为第一机器人、第二机器人、第三机器人中的至少一者；目标货架为第一货架和第二货架中的至少一者；出库搬运任务中包括目标货物的位置信息；第一机器人，被配置为在接收到出库搬运任务后，运行于第一运行区域，获取第一货架上的目标货物的料箱，并将目标货物的料箱搬运至第一货架上的第一目标货物缓存位；第一目标货物缓存位位于第一货架的最下层；
第二机器人，被配置为在接收到出库搬运任务后，运行于第二运行区域，将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站；第三机器人，被配置为在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站；工作站，被配置为对目标机器人搬运的料箱中的目标货物或者第二货架中的目标货物进行拣选。
根据本公开一些实施例，提供一种仓储系统调度方法，包括：控制装置获取目标货物的出库调度任务；
基于目标货物的出库调度任务，确定目标货物对应的目标货架；目标货架包括位于第一区域的第一货架或者位于第二区域的第二货架；第一货架和第二货架的结构不同；根据目标货架，确定执行出库调度任务的目标机器人，向目标机器人发送出库搬运指令，以使目标机器人在目标运行区域执行出库调度任务；其中，目标运行区域为第一运行区域、第二运行区域或者第三运行区域中的至少一者，第一运行区域为各第一货架两两之间区域，第二运行区域为第一货架的底部，第三运行区域为第二货架的底部；目标机器人为第一机器人、第二机器人、第三机器人中的至少一者。
根据本公开一些实施例，提供一种仓储系统调度装置，包括：获取模块，被配置为获取订单，订单命中第一类货物和第二类货物；控制模块，被配置为基于订单同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制第一类搬运设备和第二类搬运设备将存放有订单命中第一类货物的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，以进行拣选处理。
根据本公开一些实施例，提供一种电子设备，包括存储器和处理器，存储器存储有计算机程序，其中，处理器执行计算机程序时实现如上的方法的步骤。
根据本公开一些实施例，提供一种计算机可读存储介质，其上存储有计算机程序，其中，计算机程序被处理器执行时实现如上的方法的步骤。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本公开的实施例，并且连同其说明一起用于解释本公开的原 理。
图1为相关技术中仓储系统的示意图；
图2为根据本公开一些实施例提供的仓储系统的其中一种结构框图；
图3为根据本公开一些实施例提供的第一搬运设备的结构示意图；
图4为根据本公开一些实施例提供的第三搬运设备的结构示意图；
图5为根据本公开一些实施例提供的一种仓储系统的另一种结构示意图；
图6为根据本公开一些实施例提供的一种第一货架的结构示意图；
图7为根据本公开一些实施例提供的一种第二货架的结构示意图；
图8为根据本公开一些实施例提供的一种仓储系统的第一布局示意图；
图9为根据本公开一些实施例提供的第二料箱搬运设备从第三载具上取出料箱的主视结构示意图；
图10为根据本公开一些实施例提供的第二料箱搬运设备从第三载具上取出料箱的俯视结构示意图；
图11为根据本公开一些实施例提供的第二料箱搬运设备的结构示意图；
图12为根据本公开一些实施例中载物装置的结构示意图；
图13为根据本公开一些实施例中载物装置的结构示意图；
图14为料箱在图12所示的载物装置上时的俯视结构示意图；
图15为根据本公开一些实施例提供的另一种第二货架的结构示意图；
图16为根据本公开一些实施例提供的一种第二区域中货架设置示意图；
图17为根据本公开一些实施例提供的仓储系统的第二布局的结构示意图；
图18为根据本公开一些实施例提供的仓储系统的第三布局的结构示意图；
图19为根据本公开一些实施例提供的混合工作站的结构框图；
图20是根据本公开一些实施例提供的第一种仓储系统调度方法的控制流程图；
图21为根据本公开一些实施例提供的第二种仓储系统调度方法的控制流程图；
图22为图21中步骤S2的具体控制流程示意图；
图23为根据本公开一些实施例提供的第三种仓储系统调度方法的流程示意图；
图24为根据本公开一些实施例提供的第四种仓储系统调度方法的流程示意图；
图25为根据本公开一些实施例提供的第五种仓储系统调度方法的流程示意图；
图26为根据本公开一些实施例提供的一种仓储系统调度装置的结构示意图；
图27为根据本公开一些实施例提供的一种电子设备的结构示意图；
图28为根据本公开一些实施例提供的另一种电子设备的结构示意图。
具体实施方式
现在将参照附图来详细描述本公开的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
随着机器人领域的不断发展，逐渐从“人到货”式拣货模式转换至现有的“货到人”模式，货架到人是指机器人搬运货架到工作站，完成待拣选任务；货箱到人是指机器人搬运货箱到工作站完成拣选任务。
相关技术中，物流或仓储系统中的拣选采用单业态拣选模式。即，同一个仓库中执行将货架或者货箱搬运至工作站的机器人通常为同一种类的机器人。如图1所示，第一仓库中全是A货架，机器人a可以通过在A货架上拿取货物并搬运至工作站，或者，第二仓库中全是B货架，机器人b可以通过将B货架搬运至工作站。实际中，A货架上存放的货物种类与B货架上存放的货物种类不同，例如，A货架上存放的货物为散件货物，B货架上存放的货物为整箱存储的货物。操作人员在工作站只能进行单业态的拣选，例如，拆零拣选的项目只能适配拆零拣选，整箱拣选只能整箱拣选，这就造成了拣选效率低，成本高的问题。另外，各个机器人之间的联合调度性也相对较差。
基于此，本公开实施例提供一种仓储系统、仓储系统调度方法、装置和电子设备，以解决相关技术存在的上述问题。
参照图2所示，本公开实施例的仓储系统包括工作站区、存储区(又称仓库存储区)和控制装置。
其中，工作站区包括多个工作站，多个工作站中，至少一个工作站为混合工作站，至少一个工作站为第一工作站，至少一个工作站为第二工作站。每个工作站均被配置为接收订单，及拣选订单命中的货物。其中，货物至少包括第一类货物和第二类货物。第一类货物可以包括但不限于散件货物或整箱存储的货物，第二类货物包括但不限于料箱存储的货物。
可以理解的是，混合工作站被配置为接收订单及供订单命中货物的拣选，该订单命中第一类货物和第二类货物。例如，该订单命中散件货物、整箱存储的货物、料箱存储的货物中至少两种类型的货物。可以理解，混合工作站中的工作平台可进行至少两种类型货物拣选工作。该混合工作站中的工作平台可以称为混检工作平台(例如第一混检工作平台)。
第一工作站被配置为接收订单及供订单命中货物的拣选，该订单命中第一类货物及第二类货物中的其中一种，示例性地，该订单命中第二类货物，例如，该订单命中料箱存储的货物。第一工作站中的第一工作平台可以进行一种类型货物的拣选工作，则可以理解的是，该第一工作站为单业态工作站。
第二工作站被配置为接收订单以及供订单命中货物的拣选，该订单命中第一类货物及第二类货物中的另一种，示例性地，该订单命中第一类货物，例如，该订单命中散件货物或整箱存储的货物。可以理解的是，第二工作站中的第二工作平台可以进行散件货物或整箱存储的货物这两小类的拣选工作，该第二工作平台可以称为混检工作平台(例如第二混检工作平台)。则可以理解的是，该第二工作站为多业态工作站。
本申请实施例的存储区被配置为存储至少一个第一类载具和至少一个第二类载具，其中，第一类载具被配置为承载第一类货物，第二类载具被配置为承载第二类货物；至少一个第一类搬运设备，被配置为基于搬运指令将承载有第一类货物的第一类载具搬运至混合工作站或第二工作站；至少一个第二类搬运设备，被配置为基于搬运指令将料箱从第二类载具取出并搬运至混合工作站或第一工作站，料箱存放有订单命中的第二类货物；
控制装置，与第一类搬运设备和第二类搬运设备连接，分别向第一类搬运设备和第二类搬运设备发送搬运指令。需要说明的是，控制装置可以是控制服务器，也可以是电子设备(例如终端设备)，本申请实施例对此不作 限制，只要能够接收订单对应的调度任务，并向对应的搬运设备发送搬运指令，以使相应的搬运设备执行调度任务即可。以下均以控制装置为控制服务器为例进行说明。
在一些示例中，第一类载具可包括至少一个第一载具和至少一个第二载具，第二类载具可包括至少一个第三载具。其中，第一载具被配置为存放散件货物，第二载具被配置为存放整箱存储的货物，第三载具被配置为存放料箱存储的货物。
因此，当工作站区命中的货物包括散件货物、整箱存储的货物及料箱存储的货物这三种货物时，存储区被配置为存储至少一个第一载具、至少一个第二载具和至少一个第三载具。
相应地，第一类搬运设备可以包括至少一个第一搬运设备和至少一个第二搬运设备，第二类搬运设备包括至少一个第三搬运设备。
其中，至少一个第一搬运设备被配置为基于第一搬运指令将第一载具从存储区搬运至所述混合工作站或者第二工作，其中，第一载具存放有订单命中的散件货物。至少一个第二搬运设备被配置为基于第二搬运指令将第二载具从存储区搬运至所述混合工作站或者第二工作站，其中，第二载具中存放有订单命中的整箱存储的货物。
至少一个第三搬运设备被配置为基于第三搬运指令将料箱从第三载具取出并搬运至混合工作站或第一工作站，其中，料箱内存放有订单命中的货物。可以理解，该货物为料箱存储的货物。
示例性地，控制服务器与第一搬运设备、第二搬运设备和第三搬运设备连接，分别向第一搬运设备、第二搬运设备和第三搬运设备发送搬运指令。可以理解，该搬运指令也可称为搬运任务。
本公开实施例的仓储系统中，工作站区接收的订单可以命中至少两种类型的货物，存放这些货物的载具均位于同一存储区，控制服务器基于接收到的订单可以呼叫第一类搬运设备和第二类搬运设备，例如，将存放有命中货物的第一类载具和第二类载具上的料箱从存储区搬运至工作站区的工作站进行拣选处理，例如，控制服务器基于接收到的订单可以同时呼叫第一搬运设备、第二搬运设备、第三搬运设备，将第一载具、第二载具、第三载具上的料箱中的至少两者从存储区搬运至工作站区进行拣选处理。
可见，该仓储系统通过不同类型的搬运设备的配合调度，将至少两种类型的货物搬运至工作站区，例如搬运至工作站区的混合工作站，进行至少两种业态的拣选，与传统的单业态仓储系统相比，拓展了仓储系统的拣选业态方式。另外，各搬运设备之间可同时运行、联合调度，提高了出库及拣选效率。
为了便于更好地理解，下面参照图2至图27，结合具体实施例详细说明本公开的仓储系统的具体结构及其工作原理。
参见图2，本公开实施例的仓储系统包括工作站区和存储区。
在一些实施例中，工作站区和存储区是人为的在仓库内划分出来，以承担不同任务的不同区域，该仓库可以是由建筑物构成的室内空间，也可以为开放式的露天室外空间，主要取决于所存放的货物种类，本文在此不再限定。
此外，工作站区和存储区的面积大小可以相同也可以不同，基于仓库的面积和实际仓储需要来由用户设定，本文在此也不加以限定。
工作站区内设置有多个工作站，其中，至少一个工作站为第一工作站，至少一个工作站为第二工作站，至少一个工作站为混合工作站。其中，第一工作站和第二工作站分别接收以及拣选其中一种类型的货物，例如，第一工作站接收并拣选订单，该订单命中第二类货物(例如料箱存储的货物)第二工作站接收并拣选订单命中的货物，该订单命中的货物为第一类货物(例如散件货物或整箱存储的货物)。混合工作站被配置为接收订单，该订单至少命中第一类货物及第二类货物，例如，该订单命中散件货物、整箱存储的货物、料箱存储的货物中至少两种类型的货物，也就是说，该混合工作站被配置为拣选处理至少两种类型的货物。
以商场或超市等零售行业为例，散件货物可以为指甲油、洗发水、牙膏等日用品。整箱存储的货物可以为卫生纸、复印纸等货物。整箱存储的货物可以为食品或者购买指定货物是赠送的附赠品，比如，购买一箱卫生纸即可赠送一卷手纸或者一瓶矿泉水。当然，本文在此只是举例说明散件货物、整箱存储的货物、整箱存储的货物，当并不仅限于上述货物，实践中，本领域技术人员基于该仓储系统的实际使用场景设定不同类型货物。
混合工作站至少包括工作平台以及被配置为包装货物的包装袋或包装盒，以供工作人员或拣选机器人拣选订单使用。
混合工作站可以设置具有显示功能的显示装置和控制面板等，显示装置被配置为显示当前需要处理的订单，工作人员或拣选机器人通过显示装置自带的控制面板或者独立显示装置配置的控制面板发送该订单指令。
存储区内存储有第一类载具和第二类载具，其中，第一类载具被配置为存放第一类货物，第二类载具被泪痣为存放第二类货物。示例性地，第一类载具包括至少一个第一载具和至少一个第二载具。第二类载具包括至少一个第三载具。其中，第一载具被配置为存放散件货物，第二载具被配置为存放整箱存储的货物，第三载具被配置为存放料箱存储的货物。
第一载具可以为常规货架，即由支腿构件和垂直依次间隔设置在支腿构件上的两个层板，为了便于拣选，层板上可以通过隔板划分出不同区域，每个区域排放不同种类的货物。
第二载具也可以为与第一载具相同结构的常规货架，还可以为托盘，整箱存储的货物可以堆叠码放在托盘上，以实现密集存放的目的。
第三载具也可以为与第一载具相同结构的常规货架，也可以为垂直依次间隔固定在仓库的墙面上的隔板等。
继续参见图2，本公开的仓储系统还包括第一类搬运设备和第二类搬运设备，该第一类搬运设备被配置为基于搬运指令将承载有第一类货物的第一类载具搬运至混合工作站或第二工作站；至少一个第二类搬运设备，被配置为基于搬运指令将料箱从第二类载具取出并搬运至混合工作站或第一工作站，料箱存放有订单命中的第二类货物。
在一些示例中，第一类搬运设备包括至少一个第一搬运设备，第一搬运设备被配置为基于第一搬运指令将存放有订单命中的散件货物的第一载具从存储区搬运至混合工作站或者第二工作站。
详细地，参见图3，在一些实施例中，第一搬运设备1包括第一行走机构10和顶升机构11。其中，顶升机构11固设在第一行走机构10上，其顶端设置了承载盘12。该图3中的顶升机构仅作为举例说明，其他可起到升降功能的机构均在本公开的保护范围内。
第一搬运设备1被配置为驱动顶升机构11带动承载盘12上升至举起第一载具，再驱动第一行走机构10行走至工作站区，然后驱动顶升机构11带动承载盘12下降至将第一载具放置在工作站区，第一搬运设备1可以在工作站区待命或离开工作站区达到指定位置。
待拣选完成后，第一搬运设备1还被配置为将拣选完成的第一载具从送回存储区。
在一个实施例中，第一搬运设备1整体为机器人AGV，例如，该第一搬运设备1可以是第三机器人(以便于与下文提到的第一机器人和第二机器区分开)。
顶升机构11可以为气缸或液压缸的活塞杆，其缸体固设在第二行走机构30上，承载盘12固设在活塞杆的 自由端，随着液压油或气体进出各自的缸体，活塞杆带动承载盘12升降，以托举料箱。
顶升机构11还可以为由若干个杆件铰接组合承载的可伸缩连杆机构。当然，升降架还可以包括支架、电机和动力传动机构，该动力传动机构的作用是将电机的转动转化为直线运动的传动机构，比如齿轮齿条传动机构、带传动机构、链传动机构等。
详细地，升降架采用齿轮齿条传动机构时，其齿条沿竖直方向延伸且固定连接在支架上，与该齿条啮合的齿轮以可转动地方式设置在承载盘12上。
启动电机后，其驱动齿轮带动承载板12沿着齿条的延伸方向升降。
升降架采用带传动机构时，其两个传动轮垂直间隔且以可转动地方式设置在支架上，其传动带张紧在两个传动轮上，承载盘12固设在传动带上。
启动电机后，其驱动其中一个传动轮转动，继而使传动带带动承载盘12升降。升降架采用链传动机构时，其两个链轮垂直间隔且以可转动地方式设置在支架上，其链条张紧在两个链轮上，承载盘12固设在链条上。
启动电机后，其驱动其中一个链轮转动，继而使链条带动承载盘12升降。
继续参见图2，本公开实施例的第一类搬运设备还包括至少一个第二搬运设备，第二搬运设备被配置为基于第二搬运指令将第二载具从所述存储区搬运至混合工作站或第二工作站，该第二载具内存放有订单命中的整箱存储的货物。
需要说明的是，第二搬运设备的具体结构及其工作原理与第一搬运设备基本相同，例如，第二搬运设备也可以是第三机器人，区别仅在于两者所搬运的载具上存放的货物类型不同。为了保持文本简洁，本文在此不再赘述。
本公开实施例的第二类搬运设备可包括至少一个第三搬运设备，第三搬运设备被配置为基于第三搬运指令将料箱从所述第三载具取出并搬运至所述混合工作站或第一工作站，其中，该料箱内存放有订单命中的货物。
在其中一些示例中，第三搬运设备可以为单个设备，该设备兼具自移动功能和取放料箱的功能。也就是说，该设备独自可以取出第三载具上的存放有订单命中的货物的料箱，并且还可以将取出的料箱从存储区搬运至混合工作站。当然基于其双重功能，料箱搬运系统独自也可以将拣选完成的料箱从混合工作站搬运至存储区并放置在第三载具上的空闲下暂存位上。例如，至少一个第二类搬运设备包括第一机器人，即，该第三搬运设备包括第一机器人，所述第一机器人被配置为基于搬运指令，将料箱从所述第二类载具取出并搬运至所述混合工作站或所述第一工作站。
在一些示例中，参见图4，第三搬运设备2即第一机器人包括门架20、第二行走机构21和取放料箱机构22。
其中，门架20固设在第二行走机构21上，第二行走机构21被配置为带动门架20在地面上行走，取放料箱机构22设置在门架20上。
详细地，门架20包括相对平行设置的两个立柱200以及连接两个立柱200的横梁201。
当然，第二行走机构21也可以为其他任何可以基于搬运指令带动门架20及其上取放料箱机构22从当前位置运动至目标位置的其他小车。
取放料箱机构22包括基板、U字型伸缩框和两个夹爪。其中，基板通过第一升降机构以可升降地方式设置在门架的两个立柱上，U字型伸缩框通过第一级伸缩机构以可伸缩地方式设置在基板上，两个夹爪通过第二级伸缩机构以可伸缩地方式设置在U字型伸缩框上，且两个夹爪受控于抓取驱动机构向靠近或远离彼此的方向运动，以抓取或松开料箱。
第一升降驱动机构驱动基板相对于门架升降，以带动其上的U字型伸缩框相对于门架升降至目标料箱所在的垂直坐标。
基于这种结构，第三搬运设备2的工作原理为：
当收到第三搬运指令时，首先，第三搬运设备2的第二行走机构21从当前位置行走至第三载具上目标料箱所在的水平坐标位置，第一升降机构带动下层的取放料箱机构22达到目标料箱的竖直坐标位置。
其次，取放料箱机构22的第一级伸缩机构驱动U字型伸缩框相对于基板向靠近第三载具的方向伸出第一距离，然后第二伸缩机构驱动两个夹爪相对于U字型伸缩框向靠近第三载具的方向伸出第二距离，以使两个夹爪位于目标料箱两侧，再由抓取驱动机构驱动两个夹爪向靠近彼此的方向运动至夹紧目标料箱上方的料箱，最后第一级伸缩机构和第二级伸缩机构先后或同时驱动U字型伸缩框和两个夹爪向远离第三载具的方向回缩至将料箱放置在基板上，或者保持当前状态。
第二行走机构21带动第三搬运设备2从存储区达到工作站区，取放料箱机构22反向实施上述从第三载具上取出料箱的过程即可将料箱放置在混合工作站上，供拣选处理。
可以理解，待拣选完成后第三搬运设备2也可以将料箱送还回第三载具上。
可以理解，上述料箱搬运设备的取放料箱机构可以为吸盘式、伸缩臂、抓取使取放料箱机构中任一种。
在另外一些实施例中，该第三搬运设备可以为由两个搬运设备组合而成例如，该第三搬运设备包括第一料箱搬运设备和第二料箱搬运设备。
作为第一种实现方式，参见图2，第一料箱搬运设备被配置为将存放有订单命中的货物的料箱从第三载具上取出并放置到第二料箱搬运设备上，第二料箱搬运设备被配置将接收到的料箱从存储区搬运至工作站区。其中，第一料箱搬运设备可以是第一机器人，第二料箱搬运设备可以是第二机器人。
作为第二种实现方式，参照图5和图6所示，第二类载具包括上存储位和下暂存位，第一料箱搬运设备例如第一机器人被配置为基于搬运指令将上存储位上的料箱搬运至下暂存位，第二料箱搬运设备例如第二机器人被配置为将下暂存位上的料箱搬运至混合工作站或第一工作站。
以下先对第二类搬运设备例如第三搬运设备的第一种实现方式进行说明。
第一料箱搬运设备例如第一机器人可以为图4中所示的第三搬运设备，在这一实施例中，图4所示的第三搬运设备仅在存储区内运行，只需将第三载具上的料箱搬运到第二料箱搬运设备上即可，无需离开存储区。可以理解，图4中所示料箱搬运设备为移动门架式料箱搬运设备，门架结构可以由第一行走机构驱动在各个区域之间行走。
在另一个实施例中，第一料箱搬运设备也可以为固定门架式结构，其门架相对固定在第三载具一侧，可活动地设置在门架上的取放料箱机构在驱动机构作用下可以相对于门架沿水平方向和竖直方向运动，以取放第三载具不同高度位置的料箱。
第二料箱搬运设备例如第二机器人的结构与图3中第一搬运设备的结构基本相同，其至少包括行走机构和设置在行走机构上的承载板，承载板接收到第一料箱搬运设备推入的料箱后，行走机构带动第二料箱搬运设备从存储区行走至工作站区。
当然，该第二料箱搬运设备还可以包括图3中所示的升降机构，以便基于实际需要调整承载板相对于行走机构的高度。可以理解，第三搬运设备可以为上述两种不同结构的第一料箱搬运设备与第二料箱搬运设备的组合。本领域技术人员可以基于实际场景选取最佳的组合方式即可。
以下对第二类搬运设备例如第三搬运设备的第二种实现方式进行说明。
结合图5和图6，在又一个实施例中，第三载具可以是常规的货架，为了便于描述，将该三载具对应的货架命名为第一货架，第一货架可包括支架以及由支架支撑的沿垂直方向依次间隔设置的多个层板，每个层板具有至少一个上存储位，每个上存储位被配置为存放一个容器例如料箱。此外，第三载具例如第一货架的最下层的层板形成下暂存位。
第二类搬运设备的第三搬运设备可包括第一料箱搬运设备和第二料箱搬运设备。其中，第一料箱搬运设备被配置为取出第一货架的上存储位的料箱并放置到第一货架的下暂存位上。第二料箱搬运设备被配置为在第一货架的底部运行，以取出下暂存位上的料箱，并从存储区搬运至工作站区。
参照图5和图6所示，在一些示例中，第二类搬运设备包括第一机器人和第二机器人，例如，第一料箱搬运设备可以为第一机器人，第二料箱搬运设备可以为第二机器人，第一类搬运设备例如第一搬运设备和第二搬运设备可均为第三机器人。
可以理解，第一机器人、第二机器人、第三机器人的搬运方式不同。存储区包括第一区域和第二区域。第一区域和/或第二区域的一侧设置有多个工作站。其中，工作站中包括第二机器人、第三机器人中至少一种机器人对应的工作平台。
在一些示例中，第一类载具例如第一载具和第二载具可以均为货架，为了与第二类载具例如第三载具区别开，第一载具和第二载具可均命名为第二货架。
其中，第一区域中可包括多个第二类载具例如第一货架。各第一货架两两之间设置为第一机器人运行的第一运行区域，第一货架的底部为第二机器人运行的第二运行区域；第二区域中包括多个第一类载具例如至少一个第一载具和至少一个第二载具，也即是说，第二区域中包括多个第二货架。可以理解的是，多个第二货架中，至少一个第二货架被配置为存放散件货物，至少另一个第二货架被配置为存放整箱存储的货物。第二货架的底部为第三机器人行走的第三运行区域。其中，第一货架和第二货架的结构不同。
其中，控制服务器，用于获取订单命中的目标货物的出库调度任务，并基于出库调度任务确定目标货物对应的目标载具(或可称目标货架)，生成出库搬运任务，并将出库搬运任务发送至目标机器人，以使目标机器人执行出库调度任务。需要说明的是，目标机器人为第一机器人、第二机器人、第三机器人中的至少一者，目标载具为第一载具、第二载具及第三载具中的至少一者，也即，目标货架为第一货架和第二货架中的至少一者。目标机器人可以在对应的行驶区域内行驶。其中，出库搬运任务中包括目标货物的位置信息。
另外，目标货物包括第一类货物或第二类货物。例如，目标货物可以是散件货物、整箱存储的货物及料箱存储的货物中的其中一个。可以理解的是，在本示例中，同一次订单可同时命中两个目标货物，其中一个目标货物为散件货物、整箱存储的货物及料箱存储的货物中的其中一种，另一个目标货物为散件货物、整箱存储的货物及料箱存储的货物中的另一种。
例如，在一次订单中同时命中的两个目标货物分别为散件货物和整箱存储的货物，则该订单需同时调度两个目标机器人，例如，其中一个目标机器人可以是其中一个第三机器人，该第三机器人被配置为搬运存放有散件货物的第二货架，另一个目标机器人可以是另一个第三机器人，该第三机器人被配置为搬运存放有整箱存储货物的第二货架。
再例如，在一次订单中同时命中的两个目标货物分别为散件货物和料箱存储的货物，则同一次订单需同时调度三个目标机器人，例如，其中一个目标机器人可以是第一机器人，另一个目标机器人为第二机器人，再一个目标机器人为第三机器人，其中，第一机器人和第二机器人共同实现对存储货物的料箱进行调度，以使料箱搬运至混合工作站，第三机器人实现对存放有散件货物的第二货架进行调度，以使存放有散件货物的第二货架搬运至混合工作站。
其中，若目标机器人为第一机器人，第一机器人用于在接收到出库搬运任务后，运行于第一运行区域，获取第一货架上的目标货物的料箱，并将目标货物的料箱搬运至第一货架上的第一目标货物缓存位；第一目标货物缓存位位于第一货架的最下层，即位于第一货架的下暂存位。第一货架可以如图6所示。第一机器人可以参见图6所示。第一机器人可以将货架格口中的料箱(货箱)通过取箱装置(例如，机械臂)从格口中取出。可选地，第一货架中存放货箱(货物)的格口规格相同。
其中，若目标机器人为第二机器人，第二机器人用于在接收到出库搬运任务后，运行于第二运行区域，将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站例如混合工作站。第二机器人可以如图6所示，第二机器人可以通过将目标货物的料箱从货物缓存位顶起运输。第二机器人可以通过将货物缓存位上的货物运输至对应的工作站例如混合工作站。
其中，若目标机器人为第三机器人，第三机器人用于在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第一载具或第二载具(即第二货架)搬运至工作站例如对应的混合工作站。第三机器人用于将如图7所示的第二货架搬运至对应的混合工作站。第三机器人可以通过将目标货物的料箱所在的货架顶起运输。
其中，混合工作站用于对目标机器人搬运的料箱中的目标货物、存放有散件货物的第二货架中的目标货物、存放有整箱存储货物的第二货架中的目标货物中的至少两者进行拣选。
在一些示例中，第二类载具例如第一货架的存储密度大于第一类载具例如第二货架的存储密度。其中，第一货架用于存储第二类货物，第二货架用于存储的第一类货物。示例性地，第二类货物的货物规格小于等于第一类货物的货物规格，和/或，第一类货物的出库量大于第二类货物的出库量。其中，存储密度为货架中格口的数量多少决定，若格口的数量多，则存储密度较大，若格口的数量少，则存储密度小。
示例地，第一货架中可以存储暂时无需出库或出库频率较低的中小件商品。第二货架中可以存储即将出库或出库频率较高的中大件商品。
在本申请实施例中，可根据业务场景和客户需求选择不同的存储区域布局，在实际拣选作业中更灵活、更易用，相比纯货架到人方案增加了存储密度，相比纯货箱到人方案降低了成本、提高了效率。另外，本申请实施例提出的存储区域布局可将纵向存储空间利用到极致。并且仓储系统中能够实现多种机器人同时运行、联合调度，可充分利用存储空间，设置组合货架，更好的联合机器人之间的运行调度，提高出库效率。
在一些可选择的实施例中，工作站区包括多个工作站，工作站可以包括混检工作平台、第一工作平台和第二工作平台。其中，第一工作平台为对第二机器人搬运的目标货物进行拣选的工作平台。混检工作平台为拣选第二机器人搬运的目标货物或者第三机器人搬运的目标货物的工作平台。第二工作平台为对第三机器人搬运的第二货架中的目标货物进行拣选的平台。
需要说明的是，因第三机器人搬运的第二货架可以存放散件货物，也可以存放整箱存储的货物，因此，第三机器人对应的第二工作平台也可以理解为混检工作平台。则为了区别，可以将上述拣选第二机器人搬运的目标货物或者第三机器人搬运的目标货物的工作平台称为第一混检工作平台，将第二工作平台称为第二混检工作平台。
可以理解的是，工作平台为混检工作平台的工作站称为混合工作站，多个混合工作站可以包括第一混检工作 平台和第二混检工作平台。例如，至少其中一个混合工作站包括第一混检工作平台，至少另一个混合工作站包括第二混检工作平台。
在一些实施例中，第二机器人，用于在接收到出库搬运任务后，运行于第二运行区域，将目标货物的料箱搬运至第一混检工作平台或者第一工作平台。
第三机器人，用于在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至第一混检工作平台或者第二工作平台(即第二混检工作平台)。例如，当订单命中的目标货物为散件货物，第三机器人具体为第一搬运设备，即该第三机器人在接收到第一搬运指令后，将存放有散件货物的第二货架搬运至第一混检工作平台或者第二混检工作平台。
需要说明的是，出库搬运任务中包括目标工作平台，针对第二机器人，目标工作平台在设置的过程中，可以在第一混检工作平台或者第一工作平台中选择，
在本申请实施例中，可以通过设置混检工作平台、第一工作平台和第二工作平台，充分利用多个机器人运行的优势对应设置工作站，以提高调度效率。
在另一些可选择的实施例中，工作站中的工作平台可以均设置为混检工作平台。即，所有的工作站均为混合工作站。
在一些实施例中，第二机器人，用于在接收到出库搬运任务后，运行于第二运行区域，将目标货物的料箱搬运至混检工作平台。
第三机器人，用于在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至混检工作平台。
在本实施例中，将工作站均设置为混检工作平台，可以在机器人出库的过程中工作站的选择更多，以实现多种机器人同时运行、联合调度，提高出库效率。
在一些可选择地的实施例中，第二货架包括可搬运货架，参照图7所示，其中，第三机器人用于在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的可搬运货架搬运至混合工作站。在第二货架为可搬运货架时，仓储系统的布局可以如图8所示。第一区域位于第二区域的左侧，需要说明的是，此处的布局仅为一种示例，第一区域也可以为与第二区域的右侧，或者第一区域位于第二区域的里侧，在此不加以限制。
参照图9和图10所示，第二类载具例如第三载具例如第一货架最下层还设置有梳齿结构，梳齿结构上具有至少一个下暂存位，其包括依次间隔设置的多个齿5。
第二机器人被配置为驶入下暂存位下方并提升至穿过下暂存位的梳齿间隙，以将下暂存位上的料箱抬起，并从存储区(例如第一区域)搬运至工作站区。
其中，第二类搬运设备中的第一料箱搬运设备(即第一机器人)的具体结构及其工作原理与前一个实施例中图3所示第三搬运设备相同，区别在于第一料箱搬运设备将第三载具(即第一货架)上存储位上的料箱搬运至其下暂存位暂存，而并非直接放置到第二料箱搬运设备(即第二机器人)上，本领域技术人员基于前文描述完全可以实现，本文在此不再赘述。
继续参见图9和图10，本实施例中第二类搬运设备中的第二料箱搬运设备3的行走机构30和基座31通过升降机构33连接，升降机构33可以带动基座31以及基座31上的输送机构32相对于行走机构30由当前位置上升或下降至取箱位置或送箱位置。
本公开实施例中，升降机构33包括剪刀叉机构及驱动剪刀叉机构展开或收缩的驱动机构，该驱动机构为液压缸或气缸，气压缸或气缸的缸体固设在行走机构30上，而其活塞杆端部设置在剪刀叉机构上，随着活塞杆相对于缸体的伸缩，其推动剪刀叉机构展开或收缩，继而带动基座31以及基座31上的输送机构32相对于行走机构30由当前位置上升或下降。剪刀叉机构为现有比较常用的升降机构，本领域技术人员基于现有技术完全可以实施，本文在此不再赘述。
当然，升降机构并不仅限于上述实施例中的结构，升降机构还可以包括支架、电机和动力传动机构，该动力传动机构的作用是将电机的转动转化为直线运动的传动机构，比如齿轮齿条传动机构、带传动机构、链传动机构等。当第一料箱搬运设备将料箱6送到梳齿结构上后，第二料箱搬运设备3基于第三搬运指令由当前位置行进至第三载具的下暂存位处，并将料箱6从第三载具的下暂存位取走。
详细地，第二料箱搬运设备3的基座31上设置两个垂直延伸的推杆34。
推杆34的作用在于，当第二料箱搬运设备3从第三载具的下暂存位下方经过时，其推杆34从梳齿结构的两个齿5的间隙之间穿过，以将放置在梳齿结构上的料箱6推入到第二料箱搬运设备3的输送机构32上，然后第二料箱搬运设备3携带料箱从存储区行走至工作站区的混合工作站处。
可以理解，本实施例中设置了两个推杆34，在第二料箱搬运设备3取箱过程中对料箱6形成两个施力点，以较为平稳的将料箱6从第三载具的下暂存位推出。
当然，第二料箱搬运设备3的基座上也可以仅设置一个推杆34或者是多个推杆34，本领域技术人员可以基于基座尺寸大小、货物的重量大小等因素设置较佳的数量即可。
下面参照图11至图14，结合另一个实施例来详细说明，第二料箱搬运设备的具体结构及其工作原理。
第二料箱搬运设备被配置为驶入第三载具750例如第一货架的下暂存位下方并提升至穿过所述暂存位的梳齿间隙，将暂存位上的料箱抬起，并从下暂存位搬运至混合工作站。
详细地，参见图11，第二类载具例如第三载具750具有间隔设置的多个货架齿755，多个货架齿755形成梳齿结构。货架齿755被配置为放置货物，也就是形成下暂存位。
第二料箱搬运设备7200(即第二机器人)包括机器人本体760和载物装置7100。载物装置7100设置在机器人本体760的顶部，其中载物装置7100的底板710的第二侧712朝向机器人本体760。也可以理解为，机器人本体760在底板710的第二侧712与载物装置7100连接。
载物装置7100包括底板710、支撑层720、第一阻挡件730和第二阻挡件740。
在一些实施例中，底板710大致为矩形板。底板710具有被配置为朝向被载物品的第一侧711和与第一侧711相反的第二侧(参见图12)。支撑层720被配置为承载物品，也即直接接触被载物品(例如料箱)。支撑层720由多个凸起件725组成。多个凸起件725设置至底板710的第一侧711，并从底板710的第一侧711沿高度方向Z凸出。多个凸起件725沿第一方向X间隔设置，使得仓储系统或仓储装置(例如货架、传动带等)的梳齿可以进入支撑层720(详见下文)。当物品放置在支撑层720上时，物品位于底板710的第一侧，并且物品由凸起件725支撑(参见图12)。其中，高度方向Z为垂直于底板710的方向。在实际使用中，高度方向Z为向上的方向。
载物装置7100包括多个第一阻挡件730。多个第一阻挡件730设置至凸起件725并沿第一方向X分别设置在支撑层720的两端。多个第一阻挡件730在底板710的第一侧711沿高度方向Z延伸超出凸起件725。也即，凸起件725高出底板710，第一阻挡件730高出凸起件720。或者说，支撑层720高出底板710，第一阻挡件730 高出支撑层720。多个第一阻挡件730沿第一方向X间隔设置。第一方向X垂直于高度方向Z。第一方向X例如为底板710的宽度方向。
载物装置7100包括多个第二阻挡件740。多个第二阻挡件740设置至凸起件725并沿第二方向Y分别设置在支撑层720的两端。多个第二阻挡件740在底板710的第一侧711沿高度方向Z延伸超出凸起件725。也即，凸起件725高出底板710，第二阻挡件740高出凸起件725。或者说，支撑层720高出底板710，第二阻挡件740高出支撑层720。多个第二阻挡件740沿第二方向Y间隔设置。第二方向Y与第一方向X不同。第二方向Y垂直于高度方向Z。第二方向Y例如为底板710的长度方向。当然，第一方向X也可以为底板710的长度方向，第二方向Y也可以为底板710的宽度方向。
当物品被支撑层720承托，第一阻挡件730可以在第一方向X阻挡该物品，第二阻挡件740则可以在第二方向Y阻挡该物品。或者说，第一阻挡件730与第二阻挡件740在支撑层720上围设出可在四周阻挡物品的载物区域，在该载物区域中，第一阻挡件730与第二阻挡件740将限制物品的极限位置，从而使得物品的姿态在一定程度被控制。
为了使载物装置7100能够适被配置为更多尺寸的物品，优选地，如图12所示，全部第一阻挡件730和/或全部第二阻挡件740沿支撑层720的边缘设置，以充分利用支撑层720的承载面积。或者说，多个第一阻挡件730分别位于两排，该两排沿第一方向X间隔开，支撑层720沿第一方向X的最大跨度(或最大尺寸)不超过该两排沿第一方向X的跨度(或距离)。多个第二阻挡件740分别位于两列，该两列沿第二方向Y间隔开，支撑层720沿第二方向Y的最大跨度(或最大尺寸)不超过该两列沿第二方向Y的跨度(或距离)。
为尽可能增加支撑层720的承载面积，优选地，如图12所示，支撑层720延伸至底板710的边缘。可以理解的，凸起件725之间的距离也需要适应承载物品的尺寸。凸起件725之间的距离越小，其能适应的物品的尺寸范围越大。
在本公开中，第一阻挡件730和第二阻挡件740例如通过焊接、粘接等方式连接至凸起件725。或者，第一阻挡件730与凸起件725一体成型，并且/或者第二阻挡件740与凸起件725一体成型。
在图12所示的实施方式中，凸起件725构造为沿长度方向延伸的长条状。多个长条状的凸起件725沿宽度方向X间隔排列，使得支撑层720呈梳齿状。为了减小载物装置7100的重量，凸起件725设置有减重孔726。
优选地，载物装置7100具有轴对称的结构。
优选地，多个凸起件725沿第一方向X等间隔设置。多个凸起件725沿第一方向X也可以不等间隔设置。
第二料箱搬运设备7200进行搬运时，料箱770置于载物装置7100(在一些实施例中，支撑层720)上。当需要将料箱770放置至第三载具750时，第二料箱搬运设备7200移动至货架齿755的开放侧，并使凸起件725对准货架齿之间的间隙。然后，第二料箱搬运设备7200朝向第三载具750移动，支撑层720的凸起件725通过与货架齿755之间的空间交错(凸起件725伸入货架齿755之间的空隙中)将料箱770运输至货架齿55上方。然后，第二料箱搬运设备7200高度降低，将料箱770放置于货架齿755上。第二料箱搬运设备7200取出料箱770时，第二料箱搬运设备7200首先行走至货架齿55的下方，并将凸起件25对准货架齿755之间的间隙。第二料箱搬运设备7200自身高度升高，凸起件25通过与货架齿755之间的空间交错将料箱770顶起，使料箱770置于载物装置7100(在一些实施例中，支撑层720)上。随后，第二料箱搬运设备7200带着料箱770驶出货架位置。
在上述搬运过程中，第一阻挡件730和第二阻挡件740分别在底板710的宽度方向和长度方向阻挡料箱770，因而在一定程度控制了料箱770的姿态，使得料箱770在第三载具750上具有相对统一的姿态，可以在一定程度节省储物空间，也便于第二料箱搬运设备7200在将其取出时可以稳定地将其放置在载物装置7100的载物空间中。
可以理解的，在上述搬运过程中，不仅全部凸起件725需要同时从货架齿755之间的空隙穿出，全部的第一阻挡件730和全部的第二阻挡件740也需要同时从货架齿755之间的空隙穿出。也即，多个货架齿55与全部凸起件725、全部第一阻挡件730和全部第二阻挡件740均匹配，使得全部凸起件725、全部第一阻挡件730和全部第二阻挡件740均能够同时从货架齿755的间隙中伸出。
为了与货架齿755相匹配，在第一实施方式中，第一阻挡件730构造为挡板。第二阻挡件740构造为档杆。当然，第一阻挡件730也可以构造为档杆。第一阻挡件730和第二阻挡件740也可以构造为其他适合的形式。
优选地，第一阻挡件730的内侧(被配置为朝向物品的一侧)设置有第一导向面731。第一导向面731沿第一方向X向外上倾斜。第二阻挡件740的内侧(被配置为朝向物品的一侧)设置有第二导向面741。第二导向面741沿第二方向Y向外上倾斜。在第一导向面731和第二导向面741的作用下，料箱770可以更容易地被引导至支撑层720上。优选地，在第一实施方式中，第一阻挡件730构造为沿第二方向Y延伸的挡片。第二阻挡件740构造为挡杆，位于同侧的多个档杆相互间隔开。
当然，第一阻挡件730也可以构造为档杆，位于同侧的多个档杆相互间隔开。通常，货架齿755设置在第三载具750的最底层，因此第二料箱搬运设备7200被配置为从第三载具750的最底层搬走货物或向第三载具750的最底层放置货物。在这种情况下，仓储系统7300还包括至少一个高层作业机器人(未示出)，该高层作业机器人被配置为从第三载具750的其它层搬走货物或向第三载具750的其它层放置货物。从而，第二料箱搬运设备7200与高层作业机器人组合完成货物搬运转移的工作。
如图13所示，在第二实施方式中，载物装置7100的凸起件725构造为凸起件状。多个凸起件725散布在底板710的第一侧711，也即多个凸起件725沿第一方向X间隔设置并且沿第二方向Y也间隔设置。例如多个凸起件725以二维点阵的形式设置在第一侧711(多个凸起件725沿第一方向X等间隔设置，并且/或者多个凸起件725沿第二方向Y也等间隔设置)。凸起件725的横截面形状例如为圆形、椭圆形、矩形、正多边形等。第一阻挡件730和第二阻挡件740也设置在底板710的第一侧711。多个第一阻挡件730沿第一方向X分别设置在支撑层720的两侧。多个第二阻挡件740沿第二方向Y分别设置在支撑层720的两侧。第一阻挡件730和第二阻挡件740在第一侧711沿高度方向Z延伸超出凸起件725。从而，第一阻挡件730和第二阻挡件740将支撑层720包围其中，使得位于支撑层720上的物品的姿态在一定程度被控制。
与第一实施方式类似，为了使载物装置7100能够适被配置为更多尺寸的物品，优选地，全部第一阻挡件730沿底板710的边缘设置，并且/或者全部第二阻挡件740沿底板710的边缘设置，以充分加大载物装置7100的载物空间的底面积。
第二实施方式中其余未阐述的部分参照第一实施方式中的描述。在本公开的未示出的第三实施方式中，第一阻挡件730设置至凸起件725，第二阻挡件740设置至底板710。在本公开的未示出的第四实施方式中，第一阻挡件730设置至底板710，第二阻挡件740设置至凸起件725。第三和第四实施方式中其余未阐述的部分参照第一和第二实施方式中的描述。
如图14所示，载物装置7100的第一阻挡件730和第二阻挡件740均位于载物装置7100的底板710的边缘。载物装置7100具有对称的结构。在载物装置7100的宽度方向X上间隔开的两排第一阻挡件730的间距为D。第 一阻挡件730的总跨度(在长度方向Y的总长度)为A。在载物装置7100的长度方向Y上间隔开的两列第二阻挡件740的间距为B。第二阻挡件740的总跨度(在宽度方向X的总宽度)为C。料箱770(例如为长方体形状)的长度为F，宽度为G。当料箱770放置在载物装置7100上时，在料箱770的中心与载物装置7100的中心相重合时，料箱770相对于载物装置7100可移动的距离b为：
或者，料箱770相对于载物装置7100可移动的距离b为：
料箱770相对于载物装置7100可转动的角度α为：
或者，料箱770相对于载物装置7100可转动的角度α为：
在料箱770与载物装置7100的尺寸为已知的情况下，通过上述公式(1)-(4)可知载物装置7100可以限制料箱770的移动距离和转动角度，也即在一定程度控制料箱770的姿态。反之，如果希望将料箱770的姿态控制在预设范围内，则可以根据该预设范围反推第一阻挡件730的跨度A和第二阻挡件740的跨度C，也即可以根据实际需求修改载物装置7100的参数。
在本公开未示出的第五实施方式中，载物装置7100仅设置了第一阻挡件730。在本公开未示出的第六实施方式中，载物装置7100仅设置了第二阻挡件740。从而，载物装置7100可以根据需要仅在一个方向(长度方向或宽度方向)上控制料箱的姿态，并且使得载物装置7100在另一个方向(宽度方向或长度方向)上可以不限制物品的尺寸。第五和第六实施方式中其余未阐述的部分参照第一和第二实施方式中的描述。
在本公开未示出的第七实施方式中，载物装置7100均未设置第一阻挡件730和第二阻挡件740，从而载物装置7100在一定程度上不限制物品的尺寸，这极大提高了载物装置7100的适用性。
可以理解的，载物装置7100上第一阻挡件730和第二阻挡件740的不同的配置情况，均需要与仓储系统7300的第三载具750的货架齿相匹配，不仅要使全部凸起件725能够同时从货架齿755的间隙中伸出，还要使已配置的第一阻挡件730和/或第二阻挡件740也能够同时从货架齿755的间隙中伸出。根据本公开的载物装置，通过设置相互间隔开的凸起件，使得载物装置能够与仓储装置(例如货架、传送带等)的梳齿配合，完成货物的搬运转移。
在另一些可选择的实施例中，如图15所示，第一类载具例如第二货架可包括第一子货架和第二子货架。其中，第一子货架设置于第二子货架的上方，第一子货架的结构与第二子货架的结构不同，并且第一子货架的格口与第一货架的格口相同。第二货架两两之间还包括第一机器人运行的第四运行区域。
在一些实施例中，第一机器人，还用于在接收到出库搬运任务后，运行于第四运行区域和第一运行区域，将第一子货架的目标货物的料箱搬运至第二目标货物缓存位。其中，第二目标货物缓存位位于第一区域中第一货架的最下层。可以增加存储密度、充分利用仓库纵向空间。
第二机器人，还用于在接收到出库搬运任务后，运行于第二运行区域，将目标货物的料箱搬运至第一混检工作平台。
第一机器人，还用于运行于第四运行区域，将第一子货架的目标货物的料箱搬运至第二子货架的目标格口。
第三机器人，用于在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二子货架搬运至第二混检工作平台或者第一混检工作平台。
在一些实施例中，参照图16所示，第二区域中还可包括：第三货架，第三货架与第一货架的结构相同。各第三货架分别位于各第二货架的一侧，各第三货架两两之间设置有第一机器人运行的第五运行区域，第三货架底部设置有第二机器人运行的第六运行区域；第一货架和第三货架中存储的货物类型相同。例如，第三货架可存放料箱存储的货物。
在一些实施例中，第一机器人，还用于在接收到出库搬运任务后，运行于第五运行区域和第四运行区域，将第一子货架的目标货物的料箱搬运至第三货架的第三目标货物缓存位；
第二机器人，还用于接收到出库搬运任务后，将第三目标货物缓存位的目标货物的料箱搬运至工作站区例如混合工作站。
在本实施例中，可以实现多种机器人同时运行、联合调度，可根据业务场景和客户需求选择不同的方案布局、机器人配比，在实际拣选作业中更灵活、更易用，相比纯货架到人方案增加了存储密度，相比纯货箱到人方案降低了成本、提高了效率。
在一个实施例中，仓储系统的布局可以参照图17所示设置，也可以设置为如图18所示的第三布局。第三布局中，第一区域位于第二区域的一侧，第二区域的另一侧设置有工作站例如混合工作站。
其中，控制服务器、工作站区、第一机器人、第二机器人、第三机器人之间通过网络通信。其中，控制服务器可以包括但不限于是各种个人计算机、笔记本电脑、智能手机、平板电脑和便携式可穿戴设备等电子设备。另外，该控制服务器可以用独立的服务器或者是多个服务器组成的服务器集群来实现，在此不加以限制。其中，第一机器人、第二机器人、第三机器人用于执行货物搬运任务(即基于搬运指令执行货物搬运任务)，工作站例如混合工作站为用于对货物进行拣选操作的地点，第一货架、第二货架为用于放置货物。
控制服务器可以在获取目标货物的出库调度任务后，获取需要搬运目标物体的商品信息，并基于商品信息确定目标物体对应的目标货架，进而根据目标货架，确定执行出库调度任务的目标机器人，控制目标机器人在对应的目标运行区域中行走，并将目标物体搬运至对应的混合工作站。
在本公开实施例中提出的仓储系统，可根据业务场景和客户需求选择不同的存储区域布局，在实际拣选作业中更灵活、更易用，相比纯货架到人方案增加了存储密度，相比纯货箱到人方案降低了成本、提高了效率。另外，本公开实施例提出的存储区域布局可将纵向存储空间利用到极致，当储量需求更高时，可将第二子货架上方增设第一子货架，其中第一子货架中包括第一机器人搬运货物对应的存储货位，充分利用混跑优势。
参见图19，在一些示例中，本公开实施例的混合工作站包括工作平台以及设置在工作平台上的复核打包电脑和拣选电脑，混合工作站内还设置有存储装置，存储装置被配置为存放拣选完成和/或复核打包完成的货物。
其中，工作平台通常为被配置为木质或金属制成的具有工作平台台面的桌子等，其高度适于工作人员以站立或坐姿状态下处理工作平台台面上的货物。可以理解的是，该工作平台为混检工作平台、第一工作平台或第二工作平台。
拣选电脑被配置为接收待拣选订单并发送已拣选完成的订单。
当第一类载具或第二类载具上的料箱被搬运至工作站区的指定混合工作站后，工作人员基于拣选电脑接收到的拣选订单执行拣选任务，拣选完成后再将拣选完成的订单发送至下游的工作平台或总控制系统。
复核打包电脑被被配置为接收待复核打包订单并发送已复核打包完成的订单。
当工作人员基于拣选订单拣选完成后，由该工作人员或其他工作人员基于复核打包电脑接收到的复核打包订单将拣选完成的货物进行复核打包，复核打包完成后将通过复核打包电脑订单发送至下游的工作平台或总控制系统。
如果某些拣选完成的订单尚未收到对应的复核打包订单时，工作人员也可将这些货物先暂存在存储装置上。另外，货物复核打包完成后也可以放置在存储装置上，以便其他搬运设备将该存储装置上的货物或者存储装置搬运至下游工位。
该存储装置可以为货架或托盘等能够存放货物的装置。
继续参见图2，本公开实施例的仓储系统还包括控制服务器，控制服务器被配置为基于工作站区例如混合工作站发送的订单同时或排序呼叫第一类搬运设备和第二类搬运设备例如第一搬运设备、第二搬运设备、第三搬运设备中的至少两者，并控制第一搬运设备、第二搬运设备、第三搬运设备中的至少两者搬运存放有订单命中的货物的第一载具、第二载具、第三载具上的料箱中对应的至少两者。
需要说明的是，控制服务器呼叫的搬运设备的种类和数量取决于订单命中的货物的种类。
例如，当订单同时命中了散件货物、整箱存储的货物和料箱存储的货物时，控制服务器呼叫第一搬运设备、第二搬运设备，并控制该第一搬运设备和第二搬运设备而分别将第一载具和第二载具从存储区搬运至工作站区的混合工作站，并且呼叫第三搬运设备将第三载具上的料箱从存储区搬运至工作站区的混合工作站。
当订单同时命中了散件货物、整箱存储的货物时，控制服务器呼叫第一搬运设备、第二搬运设备，并控制第一搬运设备和第二搬运设备分别将第一载具和第二载具从存储区搬运至工作站区的混合工作站。
当订单同时命中了散件货物、料箱存储的货物时，控制服务器呼叫第一搬运设备，并控制该第一搬运设备将第一载具从存储区搬运至工作站区的混合工作站，并呼叫第三搬运设备，控制该第三搬运设备将第三载具上的料箱从存储区搬运至工作站区的混合工作站。
当订单同时命中了整箱存储的货物、料箱存储的货物时，控制服务器呼叫第二搬运设备，控制该第二搬运设备将第二载具从存储区搬运至工作站区的混合工作站，并呼叫第三搬运设备，控制该第三搬运设备将第三载具上的料箱从存储区搬运至工作站区的混合工作站。
需要说明的是，本公开实施例中，控制服务器基于混合工作站发送的订单呼叫三个搬运设备执行相应的搬运任务，可以理解，控制服务器接收到的订单也可以由用户发送。
也就是说，控制服务器被配置为接收订单，并基于订单呼叫第一搬运设备、第二搬运设备、第三搬运设备，并控制第一搬运设备、第二搬运设备及第三搬运设备将第一载具、第二载具、第三载具上的料箱从存储区搬运至工作站区即可。
继续参见图2，该控制服务器可包括仓库管理模块、定位模块和调度模块。
其中，仓库管理模块内存储有数据库，数据库内标出各类货物在第一类载具和第二类载具上的位置，例如，数据库内标出各类货物在第一载具、第二载具、第三载具上的位置。基于此，仓库管理模块，被配置为基于订单确定订单命中的第一类货物对应的第一类载具的位置，和/或订单命中的第二类货物对应的第二类载具的位置；
定位模块，基于仓库管理模块提供的位置信息，确定第一类搬运设备和第二类搬运设备中的至少一者从当前位置达到存储区内第一类载具、第二类载具上的料箱，以及搬取到第一类载具及第二类载具上的料箱后，从存储区达到工作站区的路径；
调度模块，被配置为基于订单呼叫当前空闲且距离存储区最近的第一类搬运设备和第二类搬运设备，并将第一类载具、第二类载具上的料箱从存储区搬运至工作站区。
示例性地，仓库管理模块被配置为基于订单确定订单命中的散件货物、整箱存储的货物、料箱存储的货物的第一载具的位置、第二载具的位置、第三载具的料箱的位置。
定位模块内存储有仓库区域的地图，地图上显示了第一搬运设备、第二搬运设备、第三搬运设备从各自的当前位置达到目标位置可以通行的至少一种路径。
定位模块被配置为基于仓库管理模块提供的位置信息，确定第一搬运设备、第二搬运设备、第三搬运设备从当前位置达到存储区内第一载具、第二载具、第三载具的料箱，以及搬取到对应的载具后从存储区达到工作站区的混合工作站的路径。示例性地，定位模块确定的路径为最短路径。
调度模块内存储有仓储系统内所有搬运设备和料箱搬运设备的信息，该信息包括位置信息和当前状态信息，当前状态信息包括空闲状态或工作状态。
调度模块被配置为基于订单呼叫当前空闲且距离存储区最近的第一搬运设备、第二搬运设备、第三搬运设备，并控制当前空闲且距离存储区最近的第一搬运设备、第二搬运设备、第三搬运设备将第一载具、第二载具、第三载具上的料箱从存储区搬运至工作站区的混合工作站。
需要说明的是，第一载具、第二载具、第三载具可以先后顺序或同时达到工作站区的混合工作站，具体的达到方式，本领域技术人员可以根据工作站区的面积大小、拣选人员或拣选设备配置情况等因素选择即可。
图2中仓储系统的工作站区仅设置了一个混合工作站，基于工作站区的面积大小、仓储系统需要处理的拣选任务的体量大小，本领域技术人员可以在工作站区设置两个或多个混合工作站。这些混合工作站可以同时处理拣选任务。
当由人工或拣选机器人在混合工作站完成拣选任务后，在混合工作站还可以直接进行复核打包任务，如此仓储系统内无需再设置复核打工作平台，当然也无需配置专门的复核打包工作人员或相应的自动化设备，简化了仓储系统的结构，提高了仓储系统的工作效率。
也就是说，混合工作站还被配置为被配置为执行复核打包拣选完成的货物。参照图5所示，本公开一些实施例还提供另一种仓储系统，包括存储区、搬运设备、工作站和控制服务器。
搬运设备包括第一机器人、第二机器人、第三机器人，第一机器人、第二机器人、第三机器人的搬运方式不同；存储区包括第一区域和第二区域；第一区域和/或第二区域的一侧设置有工作站；工作站中包括第二机器人、第三机器人中至少一种机器人对应的工作平台；
第一区域中包括多个第一货架；各第一货架两两之间设置为第一机器人运行的第一运行区域，第一货架的底部为第二机器人运行的第二运行区域；第二区域中包括多个第二货架，第二货架的底部为第三机器人行走的第三运行区域；第一货架和第二货架的结构不同，第一货架和第二货架分别存储不同类型的货物；第三机器人为第一类搬运设备，第一机器人和第二机器人为第二类搬运设备；
控制服务器，被配置为获取目标货物的出库调度任务，并基于出库调度任务确定目标货物对应的目标货架，生成出库搬运任务，并将出库搬运任务发送至目标机器人，以使目标机器人执行出库调度任务；目标机器人为第一机器人、第二机器人、第三机器人中的至少一者；目标货架为第一货架和第二货架中的至少一者；出库搬运任务中包括目标货物的位置信息；第一机器人，被配置为在接收到出库搬运任务后，运行于第一运行区域，获取第一货架上的目标货物的料箱，并将目标货物的料箱搬运至第一货架上的第一目标货物缓存位；第一目标货物缓存位位于第一货架的最下层；
第二机器人，被配置为在接收到出库搬运任务后，运行于第二运行区域，将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站；第三机器人，被配置为在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站；工作站，被配置为对目标机器人搬运的料箱中的目标货物或者第二货架中的目标货物进行拣选。
根据本公开一些实施例，提供一种仓储系统调度方法，包括：控制服务器获取目标货物的出库调度任务；
基于目标货物的出库调度任务，确定目标货物对应的目标货架；目标货架包括位于第一区域的第一货架或者位于第二区域的第二货架；第一货架和第二货架的结构不同；根据目标货架，确定执行出库调度任务的目标机器人，向目标机器人发送出库搬运指令，以使目标机器人执行出库调度任务；其中，目标运行区域为第一运行区域、第二运行区域或者第三运行区域中的至少一者，第一运行区域为各第一货架两两之间区域，第二运行区域为第一货架的底部，第三运行区域为第二货架的底部；目标机器人为第一机器人、第二机器人、第三机器人中的至少一者。
需要说明的是，参照图5所示，上述提供的另一种仓储系统的具体结构可参照上文中的相关内容，此处不再赘述。
此外，本公开实施例还提供一种仓储系统的混合拣选方法(或可称为仓储系统的调度方法)，该混合拣选方法适用于上述仓储系统的混合拣选任务，也可以由具有同等功能元件的其他仓储系统来实施。
参照图20所示，本公开实施例的混合拣选方法包括如下主要步骤：
S100、获取订单，订单至少命中第一类货物和第二类货物，第一类货物和第二类货物的类型不同。
S200、基于订单同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制第一类搬运设备和第二类搬运设备将存放有订单命中第一类货物的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，以进行拣选处理。
工作站区包括至少一个混合工作站、至少一个第一工作站及至少一个第二工作站，第一类搬运设备被配置为将承载有第一类货物的第一类载具搬运至混合工作站或第二工作站，第二类搬运设备被配置为存储有订单命中的第二类货物的料箱搬运至混合工作站或第一工作站。
在其中一些示例中，基于订单命中的货物的具体类型，同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制第一类搬运设备和第二类搬运设备将存放有订单命中第一类货物的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，具体可包括：
基于订单确定订单命中的第一类货物和第二类货物对应的第一类载具的位置和第二类载具的位置；
确定第一类搬运设备和第二类搬运设备从当前位置达到第一类载具和料箱，以及搬取到对应的第一类载具和料箱后达到对应工作站的路径；
基于订单呼叫当前空闲且距离对应地第一类载具、料箱最近的第一类搬运设备和第二类搬运设备，将第一类载具和料箱搬运至对应的工作站。
参见图21，示例性地，本公开实施例的混合拣选方法具体包括如下主要步骤：
S1、发送订单，订单命中散件货物、整箱存储的货物、料箱存储的货物中至少两种货物(或称商品)；
以控制服务器侧为例，该控制服务器获取订单，从而获取订单命中的目标货物的出库调度任务。出库调度任务为需要机器人将目标货物搬运至工作站例如混合工作站，以在工作站拣选对应订单中货物的任务。
需要说明的是，当控制服务器获取到各个订单后，可以将各个订单分配至各个工作站，可以基于订单中各个待出库的货物生成对应的出库调度任务，以使对应的机器人基于出库调度任务将目标货物搬运至对应工作站中，实现订单中各个货物的拣选后出库。
S2、基于订单同时或排序呼叫第一搬运设备、第二搬运设备、第三搬运设备，将存放有订单命中的散件货物的第一载具、存放有订单命中的整箱存储的货物的第二载具、存储有订单命中的料箱存储货物的料箱搬运至混合工作站进行拣选处理。
需要说明的是，本公开实施例中，为了实现多业态拣选模式，一次订单可同时命中至少两种类型的货物，则基于该订单可同时或排序呼叫第一搬运设备、第二搬运设备、第三搬运设备中的至少两者，并控制第一搬运设备、第二搬运设备、第三搬运设备中的至少两者将存放有订单命中的散件货物的第一载具、存放有订单命中的整箱存储的货物的第二载具、存储有订单命中的料箱存储货物的料箱中对应的至少两种货物搬运至混合工作站进行拣选处理。
在其中一些示例中，基于订单命中的货物的具体类型，步骤S2具体可包括如下步骤：
当订单同时命中了散件货物、整箱存储的货物和料箱存储的货物时，呼叫第一搬运设备、第二搬运设备分别将第一载具和第二载具搬运至工作站区，呼叫第三搬运搬运设备将料箱搬运至工作站区的混合工作站。
当订单同时命中了散件货物、整箱存储的货物时，呼叫第一搬运设备、第二搬运设备分别将第一载具和第二载具搬运至工作站区的混合工作站。
当订单同时命中了散件货物、料箱存储的货物时，呼叫第一搬运设备将第一载具搬运至工作站区，并呼叫第三搬运设备将第三载具上的料箱搬运至工作站区的混合工作站。
当订单同时命中了整箱存储的货物、料箱存储的货物时，呼叫第二搬运设备将第二载具搬运至工作站区，并呼叫第三搬运设备将第三载具上的料箱搬运至工作站区的混合工作站。
更为在一些实施例中，参见图22，步骤S2包括：
S20、基于订单确定订单命中的散件货物、整箱存储的货物、料箱存储的货物的第一载具的位置、第二载具的位置、料箱的位置；
S21、确定第一搬运设备、第二搬运设备、第三搬运设备从当前位置达到第一载具、第二载具、料箱，以及搬取到对应的第一载具、第二载具、料箱后达到混合工作站的路径；
S22、基于订单呼叫当前空闲且距离对应地第一载具、第二载具、料箱最近的第一搬运设备、第二搬运设备、第三搬运设备，将第一载具、第二载具、料箱搬运至混合工作站。
继续参见图21，待订单拣选完成后，本公开的混合拣选方法还包括如下步骤：
S3、在混合工作站复核订单并贴标签。
例如，当由人工或拣选机器人在混合工作站完成拣选任务后，在混合工作站还可以直接进行复核打包任务，如此仓储系统内无需再设置复核打包工作平台，当然也无需配置专门的复核打包工作人员或相应的自动化设备，简化了仓储系统的结构，提高了仓储系统的工作效率。在另外一些示例中，步骤S2具体可包括如下步骤：
S204、基于目标货物的出库调度任务，确定目标货物对应的目标货架；目标货架包括位于第一区域的第一货架或者位于第二区域的第二货架；第一货架和第二货架的结构不同。
参照图23所示，可以理解的是，在S204之前，S1可具体包括：
S202、控制服务器例如电子设备获取目标货物的出库调度任务。
接着，在S204中，控制服务器基于订单命中的目标货物的出库调度任务，确定目标货物对应的目标货架。
其中，商品信息可以包括目标货物的所在货位信息、目标货物所在容器(货箱或者料箱)的货位信息，目标货物对应的货架的位置信息、目标货物的尺寸规格以及目标货物的数量信息等，在此不加以限制。需要说明的是，各个货架中各个货位是否存储货物(料箱)，各个货架、各个货位的位置等都为预先存储的信息，当各个货架中进行入库后，各个货位存储的物品信息(包括存储货物的类型、存储货物的尺寸规格、存储货物的数量信息均预先进行存储)。
在一些实施例中，当获取到目标货物的出库调度任务后，可以确定出目标货物的商品信息，例如，目标物品所在货架的位置信息以及所在货位的货位信息等，进而可以确定目标货物对应的目标货架。
示例性地，在各个货物(料箱)在进行上架的过程中，可以根据货物(货箱)的尺寸规格，对应存储于第一区域的第一货架，或者第二区域的第二货架。例如，若货物(货箱)的尺寸规格大于预设的尺寸，则存储于第二货架。若货物(货箱)的尺寸规格不大于预设的尺寸，则存储于第一货架。
进一步地，在确定目标货架之前，还可以当获取到目标货物的出库调度任务后，首先确定出目标货物的商品信息，例如，目标货物的类型，进而可以确定目标货物对应存储的区域，确定存储于第一货架或者第二货架。再基于目标货物的所在货架的位置信息以及所在货位的货位信息等，进一步确定出目标货物对应的目标货架。
在其中一些示例中，当目标货物对应存储于第一货架，或者，第二货架中的多个货位时，可以优先将距离对应工作站最近的包括存储目标货物货位的货架作为目标货架。
例如，若目标货物对应存储于第一货架中的货架a、货架b、货架c，也即货架a、货架b、货架c中均存放有目标货物，则可以将距离对应的混合工作站最近的货架a，作为目标货架。
在另外一些示例中，若目标货物对应存储于第二货架中，可以将同一个第二货架中具有一个订单中最多待出库的货物的货架，作为目标货架。
例如，若目标货物对应第二货架中，该目标货物对应的订单中，若包括多个待出库的其他物体，例如，订单A中包括目标货物c、物体d、物体e。若第二货架中，货架q、货架s均存在目标货物c，若货架q中还存储有物体d和物体e，货架s中仅存储有物体e，则优先选择货架q作为目标货架。进而，可以将目标货架由第三机器人直接搬运至工作站中，能够一次性最多的搬运待出库的物体至对应的工作站例如混合工作站，节省搬运次数，提高出库效率。
S206，根据目标货架，确定执行出库调度任务的目标机器人，向目标机器人发送出库搬运指令(即出库搬运任务)，以使目标机器人在目标运行区域执行出库调度任务。
其中，目标运行区域为第一运行区域、第二运行区域或者第三运行区域中的至少一者，第一运行区域为各第一货架两两之间区域，第二运行区域为第一货架的底部，第三运行区域为第二货架的底部；目标机器人为第一机器人、第二机器人、第三机器人中的至少一者。
在一些实施例中，当确定了目标货物对应的目标货架后，由于不同的目标货架对应不同执行搬运任务的机器人，则可以根据目标货物所在的目标货架，确定对应目标机器人。
当确定了目标货架后，若目标货架为第一货架，则可以进一步获取目标货物的目标货位。进而，若目标货位位于对应的第一货架上的货物缓存区，则可以控制第二机器人将货物缓存区的目标货物的料箱搬运至对应第二机器人的工作站a中，其中，第二机器人在第二运行区域行驶。需要说明的是，该工作站a可以设置为仅用于拣选第二机器人搬运的目标货物的第一工作平台，也可以设置为第一混检工作平台，即可以用于拣选第二机器人搬运物体的工作平台，也可以设置为用于拣选第三机器人搬运物体的工作平台，在此不加以限制。
若目标货架为第一货架，目标货物对应存储的目标货位并非货物缓存区，则控制第一机器人将目标货物由目标货位搬运至所在第一货架的第一目标货物缓存区，其中，第一机器人在第一运行区域行驶。进而，控制第二机器人将第一目标货物缓存区的目标货物搬运至对应第二机器人的工作站a中，其中，第二机器人在第二运行区域行驶。
在一种可选择的实施例中，参照图7所示，若第二货架设置为可搬运货架，目标货物对应存储于第二货架中，则可以控制对应的第三机器人将目标货架搬运至对应的工作站b中，其中，第三机器人在第三运行区域行驶，该第三运行区域位于第二货架的底部。其中，该工作站b可以设置为仅用于拣选第三机器人搬运的目标货架的第二工作平台(即第二混检工作平台)，也可以设置为混检工作平台(即第一混检工作平台)，即可以用于拣选第三机器人搬运货架的工作平台，也可以设置为用于拣选第二机器人搬运物体的工作平台，在此不加以限制。
在另一种可选择的实施例中，参照图15所示，第二货架可以为包括第一子货架和第二子货架组合形成的组合货架，在其他可选择的实施例中，参照图16所示，在组合货架的旁边还存在有第三货架。
示例性地，步骤S206，根据目标货架，确定执行出库调度任务的目标机器人，向目标机器人发送出对应的出库搬运指令(即出库搬运任务)，以使目标机器人执行出库调度任务，具体包括：
S2062，若目标货架为第一货架的情况下，将第一机器人确定为目标机器人，并向第一机器人发送出库搬运任务，以使第一机器人在接收到出库搬运任务后，运行于第一运行区域，获取第一货架上的目标货物的料箱，并将目标货物的料箱搬运至第一货架上的第一目标货物缓存位；第一目标货物缓存位位于第一货架的最下层，即第一货架的下暂存位。
在一些实施例中，若命中的目标货架为第一货架，将第一机器人确定为目标机器人，并向第一机器人发送出库搬运任务。以使第一机器人在接收到出库搬运任务后，运行于第一运行区域，获取第一货架上的目标货物的料箱，并将目标货物的料箱搬运至第一货架上的第一目标货物缓存位。
S2064，在第一机器人将目标货物的料箱搬运至第一货架上的第一目标货物缓存位时，将第二机器人确定为目标机器人，并向第二机器人发送出库调度任务，以使第二机器人在接收到出库搬运任务后，运行于第二运行区域，将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站区中的第一工作平台或者混检工作平台。
在一些实施例中例如，若命中的目标货架为第一货架上的第一目标货物缓存位时，将第二机器人确定为目标机器人，并向第二机器人发送出库调度任务，以使第二机器人在接收到出库搬运任务后，运行于第二运行区域， 将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站区中混检工作平台(即第一混检工作平台)。
需要说明的是，若出库搬运任务中确定的工作站为第一工作平台，则第二机器人将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站中的第一工作平台。若出库搬运任务中确定的工作站为混检工作平台，则第二机器人将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站中的混检工作平台，即搬运至混合工作站。
S2066，若目标货架为第二货架的情况下，将第三机器人确定为目标机器人，并向第三机器人发送出库搬运任务，以使第三机器人在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站中的第二工作平台(即第二混检工作平台)或者混检工作平台(即第一混检工作平台)。
在一些实施例中，命中的目标货架为第二货架，可以向第三机器人发送出库搬运任务，以使第三机器人在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站中的第二工作平台或者混检工作平台。
需要说明的是，若出库搬运任务中确定的工作站为第二工作平台，则第三机器人将第二货架搬运至工作站中的第二工作平台。若出库搬运任务中确定的工作站为混检工作平台，则第二机器人将第二货架搬运至工作站中的混检工作平台。
在本实施例中，能够实现多种机器人同时运行、联合调度，可充分利用存储空间，设置组合货架，更好的联合机器人之间的运行调度，提高出库效率。
在一些示例中，参照图15所示，第二货架包括第一子货架和第二子货架，第一子货架设置于第二子货架的上方，第一子货架的结构与第二子货架的结构不同，并且第一子货架的格口与第一货架的格口尺寸相同，第二货架两两之间还包括第一机器人运行的第四运行区域。则仓储系统的调度方法，还包括：
S302，若目标货架为第一子货架的情况下，将第一机器人作为目标机器人，并向第一机器人发送出库搬运任务，以使第一机器人在接收到出库搬运任务后，运行于第四运行区域和第一运行区域，将第一子货架的目标货物的料箱搬运至第二目标货物缓存位，或者，以使第一机器人运行于第四运行区域，将第一子货架的目标货物的料箱搬运至第二子货架的目标格口。
在一些实施例中，若命中的目标货架为第二区域中第二货架的第一子货架，则可以先第一机器人发送出库调度任务，以使第一机器人在接收到出库搬运任务后，运行于第四运行区域和第一运行区域，将第一子货架的目标货物的料箱搬运至第二目标货物缓存位，或者，以使第一机器人运行于第四运行区域，将第一子货架的目标货物的料箱搬运至第二子货架的目标格口。
在第一机器人运行于第四运行区域，将第一子货架的目标货物的料箱搬运至第二子货架的目标格口时，可以使得第三机器人后续能够将第二子货架搬运至工作站区，同时可以使得其他的第一机器人、第二机器人执行其他搬运任务，增强机器人之间的联合调度。
S304，在第一机器人将目标货物的料箱搬运至第二目标货物缓存位时，将第二机器人确定为目标机器人，并向第二机器人发送出库搬运任务，以使第二机器人运行于第二运行区域，将目标货物的料箱搬运至工作站区。
在一些实施例中，若在目标货物的料箱已搬运至第二目标货物缓存位时，则需要第二机器人将其搬运至对应的工作站例如混合工作站。
S306，若目标货架为第二子货架的情况下，且目标货物的料箱位于目标格口时，将第三机器人确定为目标机器人，向第三机器人发送出库调度任务，以使第三机器人在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站区。
在一些实施例中，当命中目标货架为第二子货架，且目标货物的料箱位于目标格口时，将第三机器人确定为目标机器人，向第三机器人发送出库搬运任务，以使第三机器人在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站区。
进一步地，若为了提高存储密度，在第二区域中还可以设置有第三货架。参照图16所示，其中，第三货架与第一货架的结构相同，各第三货架分别位于各第二货架的一侧，各第三货架两两之间设置有第一机器人运行的第五运行区域，第三货架底部设置有第二机器人运行的第六运行区域。仓储系统调度方法，还包括：
S402，若目标货架为第一子货架的情况下，将第一机器人确定为目标机器人，并向第一机器人发送出库搬运任务，以使第一机器运行于第五运行区域和第四运行区域，将第一子货架的目标货物的料箱搬运至第三货架的第三目标货物缓存位；第三目标货物缓存位位于第三货架的最下层。
S404，在第一机器人将目标货物的料箱搬运至第三目标货物缓存位时，将第二机器人作为目标机器人，并向第二机器人发送出库搬运任务，以使第二机器人将第三目标货物缓存位的目标货物的料箱搬运至工作站区。
在本申请实施例中，通过不同货架对应不同机器人的出库调度方案，能够实现多种机器人同时运行、联合调度，可充分利用存储空间，设置组合货架，更好的联合机器人之间的运行调度，提高出库效率。
当仓储系统中既需要第二机器人对应的工作平台，又需要第三机器人对应的工作平台时，需要合理的分配工作站，基于此，在一个实施例中，仓储系统调度方法，还包括：
S102，获取多个目标出库订单；目标出库订单中包括至少一种需要出库的目标商品。
其中，目标出库订单可以为上游系统发布的订单，在每一个目标出库订单中包括至少一个待出库的目标商品，该目标商品可以位于货箱(料箱)、货架上。
S104，获取各目标商品对应存储的仓库存储区。
其中，各个商品分布于仓库存储区中的各个货架及货位为已知数据。
S106，在获取的仓储存储区包括第一区域和第二区域时，确定订单中对应的仓库存储区仅包括第一区域的第一订单数量，以及，订单中对应的仓库存储区仅包括第二区域的第二订单数量。
在一些实施例中，当确定各个目标出库订单中的各个目标商品可以对应第一区域和第二区域两个区域中的货架时，可以统计出各个目标出库订单中各个目标商品仅对应第一区域的第一订单数量，以及对应各个目标出库订单中各个目标商品仅对应第二区域的第二订单数量。
S108，根据第一订单数量和第二订单数量分别占所有目标出库订单的比例，将工作站配置为混检工作平台(即第一混检工作平台)，即该工作站为混合工作站；混检工作平台为用于拣选第二机器人搬运的目标物体以及第三机器人搬运的目标物体的工作平台。
在一些实施例中，可以分别确定出第一订单数量占所有目标出库订单的第一比例，以及第二订单数量占所有目标出库订单的第二比例。进而按照确定出的第一比例和第二比例，分配对应第二机器人和第三机器人的工作站数量。即设置包括两种不同工作平台的混检工作平台。
示例性地，若各个目标出库订单中的各个目标商品仅第一区域时，则可以将工作站全部设置为第二机器人对应的第一工作平台。
若各个目标出库订单中的各个目标商品仅第二区域，且第二区域中的第二货架并非组合货架时，则可以将工作站全部设置为第三机器人对应的第二工作平台。
需要说明的是，多个第二货架中，其中一部分第一货架被配置为存放散件货物，另一个部分第一货架被配置为存放整箱存储的货物，则该第二工作平台也可理解为混合工作平台(即上文提到的第二混检工作平台)。在一些示例中，可以根据散件货物和整箱存储货物的订单数量，适应性地的调整第二工作平台的数量。
另外，在其他示例中，可以将工作站均设置为第一混检工作平台，第一混检工作平台为拣选第二机器人搬运的目标物体以及第三机器人搬运的目标物体的工作平台。
可以理解，在某些示例中，可根据第一订单数量和第二订单数量，确定工作站中第一混检工作平台和第二混检工作平台的数量。例如，当第一订单数量大于第二订单数量时，可以将第一混检工作平台的设置数量大于第二混检工作平台的设置数量，当第一订单数量小于第二订单数量时，可以将第一混检工作平台的设置数量小于第二混检工作平台的设置数量。
在本公开实施例中，通过获取多个目标出库订单，获取各目标商品对应存储的仓库存储区，在获取的仓储存储区包括第一区域和第二区域时，确定订单中对应的仓库存储区仅包括第一区域的第一订单数量，以及，订单中对应的仓库存储区仅包括第二区域的第二订单数量，进而根据第一订单数量和第二订单数量分别占所有目标出库订单的比例，将工作站配置为混检工作平台。能够根据合理的比例设置混检工作平台，在仓储系统运行过程中，三种工位可根据业务场景相互切换、调整数量，混合拣选订单较多的时段。
上述实施例对仓储系统调度方法中的出库调度进行了说明，在仓储系统调度中，还包括对商品货物的入库调度。现以一个实施例对仓储系统调度的入库调度进行说明，在一个实施例中，如图24所示，仓储系统调度方法，还包括：
S302，控制服务服务器例如电子设备获取目标货物的入库调度任务。
其中，入库调度任务为将商品上架至仓库存储区中各个货架中的任务。入库调度任务中包括各个待上架商品的商品信息、数量等。
需要说明的是，当执行入库调度任务时，停止执行出库调度任务。
S304，基于入库调度任务，获取各个待上架商品的商品信息，商品信息包括商品规格和历史时间段内待上架商品的出库频率。
在一些实施例中，当获取到入库调度任务后，即可以获取到各个待上架商品的商品规格和历史时间段内待上架商品的出库频率等信息。
S306，根据各待上架商品的商品信息，确定各待上架商品对应的目标上架货架，并控制各目标上架货架对应的目标机器人执行入库调度任务，将各待上架商品入库至各个对应的目标上架货架中。
其中，当获取到待上架商品的商品信息后，可以首先基于商品信息中的商品规格或类型，确定待上架商品对应的目标上架货架。例如，可以将各个待上架商品的商品规格和预设的尺寸进行比较，根据比较结果，得到目标上架货架。集合了货架到人与货箱到人方案的优点，可适用于不同商品规格的大中小件各类复杂拣选场景。
又例如，可以将各待上架商品的商品类型与预设类型进行比较，根据比较结果，得到目标上架货架。其中，预设类型包括散件货物、整箱存储的货物及料箱存储的货物这三种类型。
在一种可选择地实施例中，步骤S306，具体包括：
S3062，若待上架商品的商品规格大于预设的尺寸，将第二货架作为目标上架货架，控制第三机器人将第二货架搬运至工作站的第一上架工作平台，并在待上架商品入库至目标上架货架后，控制第三机器人将目标上架货架搬运回原始位置。
S3064，若待上架商品的商品规格小于等于预设的尺寸，则根据待上架商品的出库频率，确定各待上架商品对应的目标上架货架，并控制各目标上架货架对应的目标机器人执行入库调度任务，将各待上架商品入库至各个对应的目标上架货架中。
在另外一种可选择地实施例中，可以将各待上架商品的商品类型与预设类型进行比较，当比较结果为待上架商品的商品类型与散件货物的类型一致时，则将第二货架作为目标上架货架。当比较结果为待上架商品的商品类型与料箱存储货物的类型一致时，则将第一货架作为目标上架货架。
进一步地，步骤S3064，具体包括：
S3064a，若待上架商品的出库频率大于预设频率阈值，则将第二货架作为目标上架货架，控制第三机器人将待上架商品对应的第二货架搬运至工作站的第一上架工作平台，并在待上架商品入库至目标上架货架时，控制第三机器人将目标上架货架搬运回原始位置。
在一些实施例中，若待上架商品的出库频率大于预设频率阈值，获取第二货架中各个货位的载物状态。
在第二货架中存在未载物的货位的情况下，将第二货架作为目标上架货架，控制第三机器人将待上架商品对应的第二货架搬运至工作站的第一上架工作平台，并在待上架商品入库至目标上架货架时，控制第三机器人将目标上架货架搬运回原始位置。
若第二子货架中各个货位均载物的情况下，则控制第一机器人在第四运行区域运行，并将待上架商品搬运至第二区域中的第一子货架。
S3064b，若待上架商品的出库频率不大于预设频率阈值，将第一货架作为目标上架货架，控制第二机器人在第二运行区域运行，并将第一货架中的第一目标料箱搬运至工作站的第二上架工作平台，在待上架商品入库至第一目标料箱时，控制第二机器人将第一目标上架料箱搬运回第一货架，或者，将第三货架作为目标上架货架，控制第二机器人在第六运行区域运行，并将待上架商品对应的第二目标料箱搬运至工作站的第二上架工作平台，并在待上架商品入库至第二目标料箱时，控制第二机器人将第二目标料箱搬运回第三货架。
在本公开实施例中，可以通过商品规格以及待上架商品的历史出库频率，综合考虑入库的分配方式，以及对应的上架货架，能够合理分配存储区域，以便更好的服务于商品出库。
上述实施例对仓储系统调度方法中的入库调度进行了说明，在仓储系统调度过程中，还需要进行理货。现以一个实施例对仓储系统调度过程中的理货调度进行说明。在一个实施例中，如图25所示，仓储系统调度方法，还包括：
S402，获取各个工作站的工作状态以及下一波次的多个出库订单。
需要说明的是，各个工作站在工作时，工作状态为工作中。工作站在未工作时，工作状态为空闲。下一波次的多个出库订单为即将要执行出库任务的出库订单。
S404，在各个工作站的工作状态为工作中的情况下，则触发仓储系统的自动理货模式，控制第一机器人基于下一波次各个出库订单的订单信息在所第一运行区域或者第四运行区域运行，将各个待理货货物的料箱从当前货位搬运至目标货位。
在一些实施例中，当各个工作站的工作状态为工作中的情况下，则可以在执行出库调度任务的同时，进行理货任务，可以基于下一波次各个出库订单的订单信息，进行优化分配，将下一波次的出库订单中各个商品的货位进行调整，确定目标货物，也即机器人若按照目标货位执行下一波次各个出库订单的出库调度任务时，能够以最 短的路线行进，或者，机器人执行搬运次数最优。
可选地，在待理货货物对应第一区域的第一货架时，可以将待理货货物调整至距离工作站较近的货架中的空闲货位中。
可选地，在待理货货物对应第二区域的第二货架时，可以将同一订单中的待理货货物尽量调整至同一第二货架中，以便于后续机器人可以直接将一个订单的待出库货物进行出库。
当确定了目标货位后，则可以控制第一机器人基于下一波次各个出库订单的订单信息在所第一运行区域运行，将各个待理货货物从初始所在的货架搬运至各出库订单中的各个目标货物对应的目标货位。也可以控制第一机器人在第四运行区域运行，将各待理货货物从初始所在的货架搬运至各出库订单中的各个目标货物对应的目标货位。
S406，在各个工作站的工作状态均为空闲的情况下，控制第一机器人将待理货货物对应的当前料箱和目标理货货箱搬运至工作站，在获取到理货完成指令后，控制第一机器人基于下一波次各个出库订单的订单信息在所第一运行区域运行将各当前料箱和目标理货货箱从第一理货工作平台搬运至初始位置。
在一些实施例中，当各个工作站的工作状态均为空闲的情况下，则可以控制第一机器人将待理货货物搬运至工作站，以使工作人员在将待理货货物确定目标货架和/或目标货位后，触发理货完成指令，则可以控制第一机器人基于下一波次各个出库订单的订单信息在所第一运行区域运行将各待理货货物从工作站搬运至各出库订单中的各个目标货物对应的目标货位。
S408，在各个工作站的工作状态均为空闲的情况下，控制第三机器人，将待理货货物对应的当前货架和目标理货货架搬运至工作站，在获取到理货完成指令后，控制第三机器人基于下一波次各个出库订单的订单信息在所第三运行区域运行将各当前货架和目标理货货架从第一理货工作平台搬运至初始位置。
在一些实施例中，当各个工作站的工作状态均为空闲的情况下，则可以控制第三机器人，将待理货货物对应的当前货架和目标理货货架搬运至工作站，在获取到理货完成指令后，控制第三机器人基于下一波次各个出库订单的订单信息在所第三运行区域运行将各当前货架和目标理货货架从第一理货工作平台搬运至初始位置。
需要说明的是，若对应第一布局中，第二货架仅为可搬运货架的情况下，只能针对第一区域中实现自动理货模式。
在本申请实施例中，可以基于两种不同的理货模式进行理货，以便于后续在执行下一波次出库调度任务时，已经有一个较为合理的货物存储摆放，进而优化货物出库效率，节省出库时间。
参照图23所示，本申请实施例还提供仓储系统的另一种调度方法，包括：
S202、控制服务器获取目标货物的出库调度任务；
S204、基于目标货物的出库调度任务，确定目标货物对应的目标货架；目标货架包括位于第一区域的第一货架或者位于第二区域的第二货架；第一货架和第二货架的结构不同。
S206、根据目标货架，确定执行出库调度任务的目标机器人，向目标机器人发送出库搬运指令，以使目标机器人执行出库调度任务；其中，目标运行区域为第一运行区域、第二运行区域或者第三运行区域中的至少一者，第一运行区域为各第一货架两两之间区域，第二运行区域为第一货架的底部，第三运行区域为第二货架的底部；目标机器人为第一机器人、第二机器人、第三机器人中的至少一者。
需要说明的是，上述另一种调度方法可以对应于图5所示的另一种仓储系统，具体的过程可参照上文中的相关内容，此处不再赘述。
上述实施例仅为仓储系统调度方法的一种可选择的示例，仓储系统调度方法还可以包括其他可实现的实施例，在此不加以下限制。关于仓储系统调度方法的具体限定和能够达到的有益效果，可以参见上文中对于仓储系统调度方法的限定，在此不再赘述。
基于同样的发明构思，本公开实施例还提供了一种用于实现上述所涉及的仓储系统调度方法的仓储系统调度装置。该装置所提供的解决问题的实现方案与上述方法中所记载的实现方案相似，故下面所提供的一个或多个仓储系统调度装置实施例中的具体限定可以参见上文中对于仓储系统调度方法的限定，在此不再赘述。在一些实施例中，图25为本公开实施例中一种仓储系统调度装置的结构示意图。如图26所示，该装置包括：
获取模块131，被配置为获取订单，订单命中第一类货物和第二类货物，例如，该获取模块131可被配置为获取订单，订单命中散件货物、整箱存储的货物、料箱存储的货物中至少两种货物，
在一些实施例中，该获取模块131可获取订单命中的目标货物的出库调度任务。
控制模块，被配置为基于订单同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制第一类搬运设备和第二类搬运设备将存放有订单命中第一类货物的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，以进行拣选处理，例如，该控制模块可被配置为基于订单同时或排序呼叫第一搬运设备、第二搬运设备、第三搬运设备中的至少两者，并控制第一搬运设备、第二搬运设备、第三搬运设备的至少两者将存放有订单命中的散件货物的第一载具、存放有订单命中的整箱存储的货物的第二载具、存储有订单命中的料箱存储的货物的料箱中对应的两者搬运至混合工作站，以进行拣选处理。
在一些实施例中，控制模块可包括：
第一确定模块132，该第一确定模块132被配置为基于目标货物的出库调度任务，确定目标货物对应的目标货架；目标货架包括位于第一区域的第一货架或者位于第二区域的第二货架；第一货架和第二货架的结构不同；
第二确定模块133，被配置为根据目标货架，确定执行出库调度任务的目标机器人，向目标机器人发送出库搬运指令，以使目标机器人执行出库调度任务；其中，目标运行区域为第一运行区域、第二运行区域或者第三运行区域中的至少一者，第一运行区域为各第一货架两两之间区域，第二运行区域为第一货架的底部，第三运行区域为第二货架的底部；目标机器人为第一机器人、第二机器人、第三机器人中的至少一者；目标位置包括第一货架最下层的第一目标货物缓存位，以及，工作站中第二机器人和第三机器人中至少一个对应的工作站。
关于仓储系统调度装置的具体限定和能够达到的有益效果，可以参见上文中对于仓储系统调度方法的限定，在此不再赘述。
在一个实施例中，第二确定模块，包括：
第一确定单元，被配置为若目标货架为第一货架的情况下，将第一机器人确定为目标机器人，并向第一机器人发送出库调度任务，以使第一机器人在接收到出库搬运任务后，运行于第一运行区域，获取第一货架上的目标货物的料箱，并将目标货物的料箱搬运至第一货架上的第一目标货物缓存位；第一目标货物缓存位位于第一货架的最下层；
第二确定单元，被配置为在第一机器人将目标货物的料箱搬运至第一货架上的第一目标货物缓存位时，将第二机器人确定为目标机器人，并向第二机器人发送出库调度任务，以使第二机器人在接收到出库搬运任务后，运行于第二运行区域，将第一目标货物缓存位上放置的目标货物的料箱搬运至工作站中的第一工作平台或者混检工作平台；第一工作平台为对第二机器人搬运的目标货物进行拣选的工作平台；混检工作平台为拣选第二机器人搬运的目标货物或者第三机器人搬运的目标货物的工作平台；
第三确定单元，被配置为若目标货架为第二货架的情况下，将第三机器人确定为目标机器人，并向第三机器人发送出库调度任务，以使第三机器人在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站中的第二工作平台或者混检工作平台；第二工作平台为对第三机器人搬运的目标货物进行拣选的平台。
在一个实施例中，第二货架包括第一子货架和第二子货架；第一子货架设置于第二子货架的上方，第一子货架的结构与第二子货架的结构不同，并且第一子货架的格口与第一货架的格口尺寸相同；第二货架两两之间还包括第一机器人运行的第四运行区域；仓储系统调度装置，还包括：
第一发送模块，被配置为若目标货架为第一子货架的情况下，将第一机器人作为目标机器人，并向第一机器人发送出库调度任务，以使第一机器人在接收到出库搬运任务后，运行于第四运行区域和第一运行区域，将第一子货架的目标货物的料箱搬运至第二目标货物缓存位，或者，以使第一机器人运行于第四运行区域，将第一子货架的目标货物的料箱搬运至第二子货架的目标格口；
第二发送模块，被配置为在第一机器人将目标货物的料箱搬运至第二目标货物缓存位时，将第二机器人确定为目标机器人，并向第二机器人发送出库调度任务，以使第二机器人运行于第二运行区域，将目标货物的料箱搬运至工作站；
第三发送模块，被配置为若目标货架为第二子货架的情况下，且目标货物的料箱位于目标格口时，将第三机器人确定为目标机器人，向第三机器人发送出库调度任务，以使第三机器人在接收到出库搬运任务后，运行于第三运行区域，将目标货物对应的第二货架搬运至工作站。
在一个实施例中，第二区域中还包括：第三货架；第三货架与第一货架的结构相同；各第三货架分别位于各第二货架的一侧；各第三货架两两之间设置有第一机器人运行的第五运行区域，第三货架底部设置有第二机器人运行的第六运行区域；仓储系统调度装置，还包括：
第四发送模块，被配置为若目标货架为第一子货架的情况下，将第一机器人确定为目标机器人，并向第一机器人发送出库搬运任务，以使第一机器运行于第五运行区域和第四运行区域，将第一子货架的目标货物的料箱搬运至第三货架的第三目标货物缓存位；第三目标货物缓存位位于第三货架的最下层；
第五发送模块，被配置为在第一机器人将目标货物的料箱搬运至第三目标货物缓存位时，将第二机器人作为目标机器人，并向第二机器人发送出库搬运任务，以使第二机器人将第二目标货物缓存位的目标货物的料箱搬运至工作站。
在一些实施例中，仓储系统调度装置，还包括：
入库任务获取模块，被配置为电子设备获取目标货物的入库调度任务；
商品信息获取模块，被配置为基于入库调度任务，获取各个待上架商品的商品信息；商品信息包括商品规格和历史时间段内待上架商品的出库频率；
第三确定模块，被配置为根据各待上架商品的商品信息，确定各待上架商品对应的目标上架货架，并控制各目标上架货架对应的目标机器人执行入库调度任务，将各待上架商品入库至各个对应的目标上架货架中。
在一些实施例中，第三确定模块，包括：
第四确定单元，被配置为若待上架商品的商品规格大于预设的尺寸，将第二货架作为目标上架货架，控制第三机器人将第二货架搬运至工作站的第一上架工作平台，并在待上架商品入库至目标上架货架后，控制第三机器人将目标上架货架搬运回原始位置；
第五确定单元，被配置为若待上架商品的商品规格小于等于预设的尺寸，则根据待上架商品的出库频率，确定各待上架商品对应的目标上架货架，并控制各目标上架货架对应的目标机器人执行入库调度任务，将各待上架商品入库至各个对应的目标上架货架中。
在一个实施例中，第五确定单元，具体被配置为若待上架商品的出库频率大于预设频率阈值，则将第二货架作为目标上架货架，控制第三机器人将待上架商品对应的第二货架搬运至工作站的第一上架工作平台，并在待上架商品入库至目标上架货架时，控制第三机器人将目标上架货架搬运回原始位置；若待上架商品的出库频率不大于预设频率阈值，将第一货架作为目标上架货架，控制第二机器人在第二运行区域运行，并将第一货架中的第一目标料箱搬运至工作站的第二上架工作平台，在待上架商品入库至第一目标料箱时，控制第二机器人将第一目标上架料箱搬运回第一货架，或者，将第三货架作为目标上架货架，控制第二机器人在第六运行区域运行，并将待上架商品对应的第二目标料箱搬运至工作站的第二上架工作平台，并在待上架商品入库至第二目标料箱时，控制第二机器人将第二目标料箱搬运回第三货架。
在一个实施例中，第五确定单元，具体被配置为若待上架商品的出库频率大于预设频率阈值，获取第二货架中各个货位的载物状态；在第二货架中存在未载物的货位的情况下，将第二货架作为目标上架货架，控制第三机器人将待上架商品对应的第二货架搬运至工作站的第一上架工作平台，并在待上架商品入库至目标上架货架时，控制第三机器人将目标上架货架搬运回原始位置。
在一个实施例中，仓储系统调度装置，还包括：
状态获取模块，被配置为获取各个工作站的工作状态以及下一波次的多个出库订单；
第一理货模块，被配置为在各个工作站的工作状态为工作中的情况下，则触发仓储系统的自动理货模式，控制第一机器人基于下一波次各个出库订单的订单信息在所第一运行区域或者第四运行区域运行，将各个待理货货物的料箱从当前货位搬运至目标货位；
第二理货模块，被配置为在各个工作站的工作状态均为空闲的情况下，控制第一机器人将待理货货物对应的当前料箱和目标理货货箱搬运至工作站，在获取到理货完成指令后，控制第一机器人基于下一波次各个出库订单的订单信息在所第一运行区域运行将各当前料箱和目标理货货箱从第一理货工作平台搬运至初始位置。
第二理货模块，被配置为在各个工作站的工作状态均为空闲的情况下，控制第三机器人，将待理货货物对应的当前货架和目标理货货架搬运至工作站，在获取到理货完成指令后，控制第三机器人基于下一波次各个出库订单的订单信息在所第三运行区域运行将各当前货架和目标理货货架从第一理货工作平台搬运至初始位置。
在一个实施例中，仓储系统调度装置，还包括：
订单获取模块，被配置为获取多个目标出库订单；目标出库订单中包括至少一种需要出库的目标商品；
存储区获取模块，被配置为获取各目标商品对应的仓库存储区；
第六确定模块，被配置为在获取的仓储存储区包括第一区域和第二区域时，确定第一订单数量和第二订单数量，第一订单数量为各目标出库订单仅命中第一区域中第一货架的订单数量；第二订单数量为各目标出库订单仅命中第二区域中第二货架的第二订单数量；
第七确定模块，被配置为根据第一订单数量和第二订单数量分别占所有目标出库订单的比例，确定工作中混行工作平台的数量；混检工作平台为拣选第二机器人搬运的目标货物或者第三机器人搬运的目标货物的工作平台。
关于仓储系统调度装置的具体限定和能够达到的有益效果，可以参见上文中对于仓储系统调度方法的限定， 在此不再赘述。上述仓储系统调度装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于电子设备中的处理器中，也可以以软件形式存储于电子设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在具体实现中，本公开实施例还提供了一种电子设备，该电子设备可以是前述实施例中的控制服务器，被配置为实现前述仓储系统调度方法步骤中的全部或部分。
如图27所示，电子设备包括：至少一个处理器110、存储器120和至少一个接口130，此外，还可以包括通信总线140，被配置为连接上述这些部件。
其中，至少一个处理器110可以是CPU或处理芯片，被配置为读取并执行存储器120中存储的计算机程序指令，以使至少一个处理器110能够执行前述各个实施例中的方法流程。
存储器120可以为非暂态存储器(non-transitory memory)，其可以包含易失性存储器，例如高速随机存取存储器(Random Access Memory，RAM)，也可以包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
至少一个接口130包括输入输出接口，以及通信接口，通信接口可以是有线或者无线接口，从而实现电子设备与其他设备之间的通信连接。输入输出接口可以用于连接外设，比如显示屏、键盘等。
在一些实施方式中，存储器120存储了计算机可读程序指令，当处理器110读取并执行该存储器120中的程序指令时，可实现前述实施例中的一种仓储系统调度方法。
此外，本实施例还提供了一种计算机程序产品，用于存储计算机可读程序指令，该指令被处理器110执行时，可实现前述实施例中的一种仓储系统调度方法。
此外，本实施例还提供一种电子设备，该电子设备可以是终端，该终端可以是一种机器人或车辆等等。该终端的内部结构图可以如图28所示。该电子设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该电子设备的处理器用于提供计算和控制能力。该电子设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该电子设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、运营商网络、NFC(近场通信)或其他技术实现。该计算机程序被处理器执行时以实现一种仓储系统调度方法。该电子设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该电子设备的输入装置可以是显示屏上覆盖的触摸层，也可以是电子设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图27和图28中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的电子设备的限定，具体的电子设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在具体实现中，本公开实施例还提供了一种电子设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现上述任一项实施例中方法的步骤。
在具体实现中，本公开实施例提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现上述任一项实施例中方法的步骤。
在具体实现中，本公开实施例提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述任一项实施例中方法的步骤。
需要说明的是，本公开实施例所涉及的用户信息(包括但不限于用户设备信息、用户个人信息等)和数据(包括但不限于用于分析的数据、存储的数据、展示的数据等)，均为经用户授权或者经过各方充分授权的信息和数据。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存、光存储器、高密度嵌入式非易失性存储器、阻变存储器(ReRAM)、磁变存储器(Magnetoresistive Random Access Memory，MRAM)、铁电存储器(Ferroelectric Random Access Memory，FRAM)、相变存储器(Phase Change Memory，PCM)、石墨烯存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器等。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。本申请所提供的各实施例中所涉及的数据库可包括关系型数据库和非关系型数据库中至少一种。非关系型数据库可包括基于区块链的分布式数据库等，不限于此。本申请所提供的各实施例中所涉及的处理器可为通用处理器、中央处理器、图形处理器、数字信号处理器、可编程逻辑器、基于量子计算的数据处理逻辑器等，不限于此。

Claims (39)

  1. 一种仓储系统，包括：
    工作站区；
    至少一个混合工作站、至少一个第一工作站及至少一个第二工作站中的至少一者，设置在所述工作站区，且被配置为接收订单，所述订单至少命中第一类货物和第二类货物，所述第一类货物与所述第二类货物的类型不同；
    存储区，被配置为存储至少一个第一类载具和至少一个第二类载具，其中，所述第一类载具被配置为承载所述第一类货物，所述第二类载具被配置为承载所述第二类货物；
    至少一个第一类搬运设备，被配置为基于搬运指令将承载有所述第一类货物的所述第一类载具搬运至所述混合工作站或所述第二工作站；
    至少一个第二类搬运设备，被配置为基于搬运指令将料箱从所述第二类载具取出并搬运至所述混合工作站或所述第一工作站，所述料箱存放有订单命中的所述第二类货物；
    控制装置，与所述第一类搬运设备和第二类搬运设备连接，分别向所述第一类搬运设备和所述第二类搬运设备发送搬运指令。
  2. 根据权利要求1所述的仓储系统，其中，
    至少一个所述第二类搬运设备包括第一机器人，所述第一机器人被配置为基于搬运指令，将料箱从所述第二类载具取出并搬运至所述混合工作站或所述第一工作站；
    或者，至少一个所述第二类搬运设备包括第一机器人和第二机器人，所述第一机器人被配置为基于搬运指令将料箱从所述第二类载具取出；所述第二机器人被配置为基于搬运指令接收所述第一机器人上的料箱，并搬运至所述混合工作站或所述第一工作站；
    或者，至少一个所述第二类搬运设备包括第一机器人和第二机器人，所述第二类载具包括上存储位和下暂存位，所述第一机器人被配置为基于搬运指令将所述上存储位上的料箱搬运至所述下暂存位，所述第二机器人被配置为将所述下暂存位上的所述料箱搬运至所述混合工作站或所述第一工作站；
    其中，所述料箱存放有订单命中的所述第二类货物。
  3. 根据权利要求2所述的仓储系统，其中，所述第二类载具包括上存储位和下暂存位；所述第二类搬运设备包括第一机器人和第二机器人；所述第一类搬运搬运设备为第三机器人；
    所述第一机器人、第二机器人、第三机器人的搬运方式不同；所述存储区包括第一区域和第二区域；所述第一区域和/或所述第二区域的一侧设置有所述工作站区；所述第一区域中包括多个所述第二类载具；各所述第二类载具两两之间设置为所述第一机器人运行的第一运行区域，所述第二类载具的底部为所述第二机器人运行的第二运行区域；所述第二区域中包括至少一个第一类载具，所述第一类载具的底部为所述第三机器人行走的第三运行区域；所述第一类载具和所述第二类载具的结构不同；
    所述控制装置，被配置为获取订单命中的目标货物的出库调度任务，并基于所述出库调度任务确定所述目标货物对应的目标载具，生成出库搬运任务，并将所述出库搬运任务发送至目标机器人，以使所述目标机器人执行所述出库调度任务；所述目标机器人为所述第一机器人、第二机器人、第三机器人中的至少一者；所述目标载具为所述第一类载具和所述第二类载具中的至少一者，所述出库搬运任务中包括所述目标货物的位置信息；
    所述第一机器人，被配置为在接收到所述出库搬运任务后，运行于所述第一运行区域，获取所述第二类载具上的所述目标货物的料箱，并将所述目标货物的料箱搬运至所述第二类载具上的第一目标货物缓存位；所述第一目标货物缓存位位于所述第二类载具的所述下暂存位；
    所述第二机器人，被配置为在接收到所述出库搬运任务后，运行于所述第二运行区域，将所述第一目标货物缓存位上放置的所述目标货物的料箱搬运至所述混合工作站或所述第一工作站；
    所述第三机器人，被配置为在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第一类载具搬运至所述混合工作站或所述第二工作站。
  4. 根据权利要求3所述的仓储系统，其中，所述第二类载具包括第一货架，所述第一类载具包括第二货架，所述第二货架包括第一子货架和第二子货架；所述第一子货架设置于所述第二子货架的上方，所述第一子货架的结构与所述第二子货架的结构不同，并且所述第一子货架的格口与所述第一货架的格口相同；所述第二货架两两之间还包括所述第一机器人运行的第四运行区域；
    所述第一机器人，还被配置为在接收到所述出库搬运任务后，运行于所述第四运行区域和所述第一运行区域，将所述第一子货架的所述目标货物的料箱搬运至第二目标货物缓存位；所述第二目标货物缓存位位于所述第一货架的所述下暂存位；
    所述第二机器人，还被配置为在接收到所述出库搬运任务后，运行于第二运行区域，将所述目标货物的料箱搬运至所述混合工作站或所述第一工作站；
    所述第一机器人，还被配置为运行于所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第二子货架的目标格口；
    所述第三机器人，被配置为在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二子货架搬运至所述混合工作站或所述第二工作站。
  5. 根据权利要求4所述的仓储系统，其中，所述第二区域中还包括：第三货架；所述第三货架与所述第一货架的结构相同；各所述第三货架分别位于各所述第二货架的一侧；各所述第三货架两两之间设置有所述第一机器人运行的第五运行区域，所述第三货架底部设置有所述第二机器人运行的第六运行区域；所述第一货架和所述第三货架被配置为存储所述第二类货物；
    所述第一机器人，还被配置为在接收到所述出库搬运任务后，运行于所述第五运行区域和所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第三货架的第三目标货物缓存位；
    所述第二机器人，还被配置为接收到所述出库搬运任务后，将所述第三目标货物缓存位的所述目标货物的料箱搬运至所述混合工作站或所述第一工作站。
  6. 根据权利要求2所述的仓储系统，其中，所述第二类载具的下暂存位被构造为梳齿结构；
    所述第二机器人，被配置为驶入所述下暂存位下方并提升至穿过所述下暂存位的梳齿间隙，以将所述下暂存位上的料箱抬起，并从所述下暂存位搬运至所述混合工作站或所述第一工作站。
  7. 根据权利要求6所述的仓储系统，其中，所述第二机器人包括机器人本体和载物装置；
    所述载物装置设置在所述机器人本体的顶部；
    所述载物装置包括：
    底板，具有相背设置的第一侧和第二侧，所述第二侧与所述机器人本体连接；
    支撑层，设置在所述第二侧，且被配置为承载物品，所述物品包括所述存储所述第二类货物的料箱，所述支撑层包括多个从所述第一侧沿高度方向凸起的凸起件，多个所述凸起件沿第一方向间隔设置，相邻两个所述凸起件之间的间隙供所述第二类载具的梳齿结构插入；
    当需要将物品从所述第二机器人转移至所述第二类载具的下暂存位时，所述机器人本体被配置为带动所述载物装置移动至所述第二类载具的梳齿结构开放侧，并使所述凸起件对准所述梳齿结构的梳齿间隙，继而所述机器人本体带动所述载物装置朝向所述第二类载具移动，所述凸起件通过与所述梳齿间隙交错，以将所述物品运输至所述梳齿结构上方；控制所述载物装置下降，将所述物品放置于所述梳齿结构上，完成所述物品的对接；
    当需要将物品从所述第二类载具的下暂存位转移至所述第二机器人上时，所述机器人本体被配置为带动所述载物装置行走于所述第二类载具的梳齿结构下方，并将所述凸起件对应所述梳齿间隙；控制所述载物装置上升，凸起件通过与所述梳齿间隙交错，使所述物品支撑于所述支撑层，所述机器人本体带动所述载物装置驶出所述第二类载具，完成所述物品的对接。
  8. 根据权利要求7所述的仓储系统，其中，所述载物装置还包括：
    多个第一阻挡件，多个所述第一阻挡件设置于所述支撑层沿所述第一方向的两端，所述第一阻挡件被配置为在所述第一方向上阻挡承载在所述支撑层上的物品；
    多个第二阻挡件，多个所述第二阻挡件设置于所述凸起件上，且位于所述支撑层沿第二方向的两端，所述第一方向与所述第二方向不同，所述第二阻挡件被配置为在所述第二方向上阻挡承载在所述支撑层上的物品。
  9. 根据权利要求8所述的仓储系统，其中，所述第一阻挡件构造为挡板，且设置在所述底板上；所述第二阻挡件构造为档杆，且设置于所述凸起件上；
    所述第一阻挡件的内侧设置有第一导向面，所述第一导向面沿所述第一方向向外倾斜，所述第二阻挡件的内侧设置有第二导向面，所述第二导向面沿所述第二方向向外倾斜，所述第一导向面和所述第二导向面被配置为引导物品至所述支撑层上。
  10. 根据权利要求2所述的仓储系统，其中，所述第二类搬运设备的第一机器人被配置为基于搬运指令将料箱从所述第二类载具上取出，所述第二类搬运设备的第二机器人被配置为基于搬运指令接收所述第一机器人上的料箱，并搬运至所述混合工作站或所述第一工作站；
    其中，所述第一机器人包括：
    门架；
    取放料箱机构，以可活动地方式设置在所述门架上；
    基于搬运指令，所述取放料箱机构从所述第二类载具取出存放有订单命中的第二类货物的料箱；
    所述第二机器人包括：
    第三行走机构；
    设置在所述第三行走机构上的承载板；
    所述承载板被配置为接收所述第一机器人推入的所述料箱，所述第三行走机构被配置为带动所述承载板从所述存储区行走至所述混合工作站或所述第一工作站。
  11. 根据权利要求2所述的仓储系统，其中，所述第二类搬运设备包括第一机器人，所述第一机器人被配置为基于搬运指令，将料箱从所述第二类载具取出并搬运至所述混合工作站或所述第一工作站；
    所述第一机器人包括：
    第二行走机构；
    门架，固设在所述第二行走机构上；
    取放料箱机构，以可活动地方式设置在所述门架上；
    基于搬运指令，所述取放料箱机构从所述第二类载具取出存放有订单命中的第二类货物的料箱，第二行走机构携带取出的料箱从存储区搬运至所述混合工作站或所述第一工作站。
  12. 根据权利要求11所述的仓储系统，其中，所述取放料箱机构包括：
    基板，以可升降地方式设置在所述门架上；
    U字型伸缩框，以可伸缩地方式设置在所述基板上；
    两个夹爪，以可伸缩地方式设置在所述U字型伸缩框上，且两个所述夹爪受控于抓取驱动机构向靠近或远离彼此的方向运动，以抓取或松开料箱。
  13. 根据权利要求1-12任一项所述的仓储系统，其中，所述第二类载具的存储密度大于所述第一类载具的存储密度；
    所述第二类货物的货物规格小于等于所述第一类货物的货物规格，和/或，所述第一类货物的出库量大于所述第二类货物的出库量；
    所述第一类货物包括散件货物和整箱存储的货物中的至少一者，所述第二类货物包括料箱存储的货物。
  14. 根据权利要求1-12任一项所述的仓储系统，其中，所述第一工作站包括第一工作平台；所述第一工作平台为拣选所述第二类搬运设备搬运的目标货物的工作平台；
    所述第二工作站包括第二工作平台，所述第二工作平台为拣选所述第一类搬运设备搬运的所述目标货物的工作平台；
    所述混合工作站包括混检工作平台，所述混检工作平台为拣选所述第二类搬运设备搬运的所述目标货物或者所述第一类搬运设备搬运的所述目标货物的工作平台。
  15. 一种仓储系统调度方法，包括：
    获取订单，订单至少命中第一类货物和第二类货物，所述第一类货物和所述第二类货物的类型不同；
    基于所述订单同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制所述第一类搬运设备和所述第二类搬运设备将存放有订单命中第一类货物的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，以进行拣选处理；
    所述工作站区包括至少一个混合工作站、至少一个第一工作站及至少一个第二工作站中的至少一者，所述第一类搬运设备被配置为将承载有所述第一类货物的所述第一类载具搬运至所述混合工作站或所述第二工作站，所述第二类搬运设备被配置为存储有订单命中的第二类货物的料箱搬运至所述混合工作站或所述第一工作站。
  16. 根据权利要求15所述的方法，其中，所述基于所述订单同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制所述第一类搬运设备和第二类搬运设备将存放有订单命中第一类载具的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，包括：
    基于订单确定订单命中的第一类货物和所述第二类货物对应的第一类载具的位置和第二类载具的位置；
    确定所述第一类搬运设备和第二类搬运设备从当前位置达到第一类载具和料箱，以及搬取到对应的第一类载具和料箱后达到对应工作站的路径；
    基于订单呼叫当前空闲且距离对应地第一类载具、料箱最近的第一类搬运设备和第二类搬运设备，将第一类载具和料箱搬运至对应的工作站。
  17. 根据权利要求16所述的方法，其中，所述基于订单确定订单命中的第一类货物和所述第二类货物对应的第一类载具的位置和第二类载具的位置，包括：
    基于所述订单命中的目标货物的出库调度任务，确定所述目标货物对应的目标货架；所述目标货架包括位于第一区域的第一货架或者位于第二区域的第二货架；所述第一货架和所述第二货架的结构不同；
    根据所述目标货架，确定执行所述出库调度任务的目标机器人，向所述目标机器人发送对应的出库搬运任务，以使所述目标机器人在目标运行区域执行所述出库调度任务；其中，所述目标运行区域为第一运行区域、第二运行区域或者第三运行区域中的至少一者，所述第一运行区域为各所述第一货架两两之间区域，所述第二运行区域为所述第一货架的底部，所述第三运行区域为所述第二货架的底部；所述目标机器人为第一机器人、第二机器人、第三机器人中的至少一者，所述第二类搬运设备包括所述第一机器人和所述第二机器人，所述第一类搬运设备为所述第三机器人；所述第二类载具为第一货架，所述第一类载具均为第二货架。
  18. 根据权利要求17所述的方法，其中，所述根据所述目标货架，确定执行所述出库调度任务的目标机器人，向所述目标机器人发送对应的出库搬运任务，以使所述目标机器人执行所述出库调度任务，包括：
    若所述目标货架为所述第一货架的情况下，将所述第一机器人确定为所述目标机器人，并向所述第一机器人发送出库搬运任务，以使所述第一机器人在接收到所述出库搬运任务后，运行于所述第一运行区域，获取所述第一货架上的所述目标货物的料箱，并将所述目标货物的料箱搬运至所述第一货架上的第一目标货物缓存位；所述第一目标货物缓存位位于所述第一货架的下暂存位；
    在所述第一机器人将所述目标货物的料箱搬运至所述第一货架上的第一目标货物缓存位时，将所述第二机器人确定为所述目标机器人，并向所述第二机器人发送所述出库搬运任务，以使所述第二机器人在接收到所述出库搬运任务后，运行于所述第二运行区域，将所述第一目标货物缓存位上放置的所述目标货物的料箱搬运至工作站区中的混合工作站或第一工作站；所述第一工作站为拣选所述第二机器人搬运的所述目标货物的工作站，所述混合工作站为拣选所述第二机器人搬运的所述目标货物或者所述第三机器人搬运的所述目标货物的工作站；
    若所述目标货架为所述第二货架的情况下，将所述第三机器人确定为所述目标机器人，并向所述第三机器人发送出库搬运任务，以使所述第三机器人在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二货架搬运至所述工作站区中的所述混合工作站或第二工作站，所述第二工作站为拣选所述第三机器人搬运的所述目标货物的工作站。
  19. 根据权利要求18所述的方法，其中，所述第二货架包括第一子货架和第二子货架；所述第一子货架设置于所述第二子货架的上方，所述第一子货架的结构与所述第二子货架的结构不同，并且所述第一子货架的格口与所述第一货架的格口尺寸相同；所述第二货架两两之间还包括所述第一机器人运行的第四运行区域；所述方法还包括：
    若所述目标货架为所述第一子货架的情况下，将所述第一机器人作为所述目标机器人，并向所述第一机器人发送出库搬运任务，以使所述第一机器人在接收到所述出库搬运任务后，运行于所述第四运行区域和所述第一运行区域，将所述第一子货架的所述目标货物的料箱搬运至第二目标货物缓存位，或者，以使所述第一机器人运行于所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第二子货架的目标格口；
    在所述第一机器人将所述目标货物的料箱搬运至所述第二目标货物缓存位时，将所述第二机器人确定为所述目标机器人，并向所述第二机器人发送所述出库搬运任务，以使所述第二机器人运行于第二运行区域，将所述目标货物的料箱搬运至所述第一工作站或混合工作站；
    若所述目标货架为所述第二子货架的情况下，且所述目标货物的料箱位于所述目标格口时，将所述第三机器人确定为所述目标机器人，向所述第三机器人发送出库搬运任务，以使所述第三机器人在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二货架搬运至所述第二工作站或所述混合工作站。
  20. 根据权利要求19所述的方法，其中，所述第二区域中还包括：第三货架；所述第三货架与所述第一货架的结构相同；各所述第三货架分别位于各所述第二货架的一侧；各所述第三货架两两之间设置有所述第一机器人运行的第五运行区域，所述第三货架底部设置有所述第二机器人运行的第六运行区域；所述方法还包括：
    若所述目标货架为所述第一子货架的情况下，将所述第一机器人确定为目标机器人，并向所述第一机器人发送所述出库搬运任务，以使所述第一机器运行于所述第五运行区域和所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第三货架的第三目标货物缓存位；所述第三目标货物缓存位位于所述第三货架的最下层；
    在所述第一机器人将所述目标货物的料箱搬运至所述第三目标货物缓存位时，将所述第二机器人作为所述目标机器人，并向所述第二机器人发送所述出库搬运任务，以使所述第二机器人将所述第三目标货物缓存位的所述目标货物的料箱搬运至所述第一工作站或所述混合工作站。
  21. 一种仓储系统，包括存储区、搬运设备、工作站和控制装置；
    所述搬运设备包括第一机器人、第二机器人、第三机器人，所述第一机器人、第二机器人、第三机器人的搬运方式不同；所述存储区包括第一区域和第二区域；所述第一区域和/或所述第二区域的一侧设置有所述工作站；所述工作站中包括所述第二机器人、所述第三机器人中至少一种机器人对应的工作平台；所述第一区域中包括多个第一货架；各所述第一货架两两之间设置为所述第一机器人运行的第一运行区域，所述第一货架的底部为所述第二机器人运行的第二运行区域；所述第二区域中包括多个第二货架，所述第二货架的底部为所述第三机器人行走的第三运行区域；所述第一货架和所述第二货架的结构不同，所述第一货架和所述第二货架分别存储不同类型的货物；
    所述控制装置，被配置为获取目标货物的出库调度任务，并基于所述出库调度任务确定所述目标货物对应的目标货架，生成出库搬运任务，并将所述出库搬运任务发送至目标机器人，以使所述目标机器人执行所述出库调度任务；所述目标机器人为所述第一机器人、第二机器人、第三机器人中的至少一者；所述目标货架为所述第一货架和所述第二货架中的至少一者；所述出库搬运任务中包括所述目标货物的位置信息；
    所述第一机器人，被配置为在接收到所述出库搬运任务后，运行于所述第一运行区域，获取所述第一货架上的所述目标货物的料箱，并将所述目标货物的料箱搬运至所述第一货架上的第一目标货物缓存位；所述第一目标货物缓存位位于所述第一货架的最下层；
    所述第二机器人，被配置为在接收到所述出库搬运任务后，运行于所述第二运行区域，将所述第一目标货物 缓存位上放置的所述目标货物的料箱搬运至所述工作站；
    所述第三机器人，被配置为在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二货架搬运至所述工作站；
    所述工作站，被配置为对所述目标机器人搬运的所述料箱中的目标货物或者所述第二货架中的目标货物进行拣选。
  22. 根据权利要求21所述的仓储系统，其中，所述工作站包括混检工作平台、第一工作平台和第二工作平台；所述第一工作平台为对所述第二机器人搬运的所述目标货物进行拣选的工作平台；所述混检工作平台为拣选所述第二机器人搬运的所述目标货物或者所述第三机器人搬运的所述目标货物的工作平台；所述第二工作平台为对所述第三机器人搬运的所述第二货架中的所述目标货物进行拣选的平台；
    所述第二机器人，被配置为在接收到所述出库搬运任务后，运行于第二运行区域，将所述目标货物的料箱搬运至所述混检工作平台或者所述第一工作平台；
    所述第三机器人，被配置为在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二货架搬运至所述混检工作平台或者所述第二工作平台。
  23. 根据权利要求22所述的仓储系统，其中，所述工作站中的工作平台均设置为混检工作平台；
    所述第二机器人，被配置为在接收到所述出库搬运任务后，运行于第二运行区域，将所述目标货物的料箱搬运至所述混检工作平台；
    所述第三机器人，被配置为在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二货架搬运至所述混检工作平台。
  24. 根据权利要求21-23任一项所述的仓储系统，其中，
    所述第二货架包括第一子货架和第二子货架；所述第一子货架设置于所述第二子货架的上方，所述第一子货架的结构与所述第二子货架的结构不同，并且所述第一子货架的格口与所述第一货架的格口相同；所述第二货架两两之间还包括所述第一机器人运行的第四运行区域；
    所述第一机器人，还被配置为在接收到所述出库搬运任务后，运行于所述第四运行区域和所述第一运行区域，将所述第一子货架的所述目标货物的料箱搬运至第二目标货物缓存位；所述第二目标货物缓存位位于所述第一区域中第一货架的最下层；
    所述第二机器人，还被配置为在接收到所述出库搬运任务后，运行于第二运行区域，将所述目标货物的料箱搬运至第一工作平台或者混检工作平台；
    所述第一机器人，还被配置为运行于所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第二子货架的目标格口；
    所述第三机器人，被配置为在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二子货架搬运至第二工作平台或者所述混检工作平台。
  25. 根据权利要求24所述的仓储系统，其中，所述第二区域中还包括：第三货架；所述第三货架与所述第一货架的结构相同；各所述第三货架分别位于各所述第二货架的一侧；各所述第三货架两两之间设置有所述第一机器人运行的第五运行区域，所述第三货架底部设置有所述第二机器人运行的第六运行区域；所述第一货架和所述第三货架中存储的货物类型相同；
    所述第一机器人，还被配置为在接收到所述出库搬运任务后，运行于所述第五运行区域和所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第三货架的第三目标货物缓存位；
    所述第二机器人，还被配置为接收到所述出库搬运任务后，将所述第三目标货物缓存位的所述目标货物的料箱搬运至所述工作站。
  26. 根据权利要求21-23任一项所述的仓储系统，其中，
    所述第一货架的存储密度大于所述第二货架的存储密度；
    所述第一货架被配置为存储第二类货物，所述第二货架被配置为存储的第一类货物；所述第二类货物的货物规格小于等于所述第一类货物的货物规格，和/或，所述第一类货物的出库量大于所述第二类货物的出库量。
  27. 一种仓储系统调度方法，所述方法包括：
    控制装置获取目标货物的出库调度任务；
    基于所述目标货物的出库调度任务，确定所述目标货物对应的目标货架；所述目标货架包括位于第一区域的第一货架或者位于第二区域的第二货架；所述第一货架和所述第二货架的结构不同；
    根据所述目标货架，确定执行所述出库调度任务的目标机器人，向所述目标机器人发送出库搬运指令，以使所述目标机器人在目标运行区域执行所述出库调度任务；其中，所述目标运行区域为第一运行区域、第二运行区域或者第三运行区域中的至少一者，所述第一运行区域为各所述第一货架两两之间区域，所述第二运行区域为所述第一货架的底部，所述第三运行区域为所述第二货架的底部；所述目标机器人为第一机器人、第二机器人、第三机器人中的至少一者。
  28. 根据权利要求27所述的方法，其中，所述根据所述目标货架，确定执行所述出库调度任务的目标机器人，向所述目标机器人发送出库搬运指令，以使所述目标机器人执行所述出库调度任务，包括：
    若所述目标货架为所述第一货架的情况下，将所述第一机器人确定为所述目标机器人，并向所述第一机器人发送出库调度任务，以使所述第一机器人在接收到所述出库搬运任务后，运行于所述第一运行区域，获取所述第一货架上的所述目标货物的料箱，并将所述目标货物的料箱搬运至所述第一货架上的第一目标货物缓存位；所述第一目标货物缓存位位于所述第一货架的最下层；
    在所述第一机器人将所述目标货物的料箱搬运至所述第一货架上的第一目标货物缓存位时，将所述第二机器人确定为所述目标机器人，并向所述第二机器人发送所述出库调度任务，以使所述第二机器人在接收到所述出库搬运任务后，运行于所述第二运行区域，将所述第一目标货物缓存位上放置的所述目标货物的料箱搬运至工作站中的第一工作平台或者混检工作平台；所述第一工作平台为对所述第二机器人搬运的所述目标货物进行拣选的工作平台；所述混检工作平台为拣选所述第二机器人搬运的所述目标货物或者所述第三机器人搬运的所述目标货物的工作平台；
    若所述目标货架为所述第二货架的情况下，将所述第三机器人确定为所述目标机器人，并向所述第三机器人发送出库调度任务，以使所述第三机器人在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二货架搬运至所述工作站中的第二工作平台或者所述混检工作平台；所述第二工作平台为对所述第三机器人搬运的所述目标货物进行拣选的平台。
  29. 根据权利要求28所述的方法，其中，所述第二货架包括第一子货架和第二子货架；所述第一子货架设置于所述第二子货架的上方，所述第一子货架的结构与所述第二子货架的结构不同，并且所述第一子货架的格口 与所述第一货架的格口尺寸相同；所述第二货架两两之间还包括所述第一机器人运行的第四运行区域；所述方法还包括：
    若所述目标货架为所述第一子货架的情况下，将所述第一机器人作为所述目标机器人，并向所述第一机器人发送出库调度任务，以使所述第一机器人在接收到所述出库搬运任务后，运行于所述第四运行区域和所述第一运行区域，将所述第一子货架的所述目标货物的料箱搬运至第二目标货物缓存位，或者，以使所述第一机器人运行于所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第二子货架的目标格口；
    在所述第一机器人将所述目标货物的料箱搬运至所述第二目标货物缓存位时，将所述第二机器人确定为所述目标机器人，并向所述第二机器人发送所述出库调度任务，以使所述第二机器人运行于第二运行区域，将所述目标货物的料箱搬运至所述工作站；
    若所述目标货架为所述第二子货架的情况下，且所述目标货物的料箱位于所述目标格口时，将所述第三机器人确定为所述目标机器人，向所述第三机器人发送出库调度任务，以使所述第三机器人在接收到所述出库搬运任务后，运行于所述第三运行区域，将所述目标货物对应的所述第二货架搬运至所述工作站。
  30. 根据权利要求29所述的方法，其中，所述第二区域中还包括：第三货架；所述第三货架与所述第一货架的结构相同；各所述第三货架分别位于各所述第二货架的一侧；各所述第三货架两两之间设置有所述第一机器人运行的第五运行区域，所述第三货架底部设置有所述第二机器人运行的第六运行区域；所述方法还包括：
    若所述目标货架为所述第一子货架的情况下，将所述第一机器人确定为目标机器人，并向所述第一机器人发送所述出库搬运任务，以使所述第一机器运行于所述第五运行区域和所述第四运行区域，将所述第一子货架的所述目标货物的料箱搬运至所述第三货架的第三目标货物缓存位；所述第三目标货物缓存位位于所述第三货架的最下层；
    在所述第一机器人将所述目标货物的料箱搬运至所述第三目标货物缓存位时，将所述第二机器人作为所述目标机器人，并向所述第二机器人发送所述出库搬运任务，以使所述第二机器人将所述第三目标货物缓存位的所述目标货物的料箱搬运至所述工作站。
  31. 根据权利要求27-30任一项所述的方法，其中，所述方法还包括：
    所述控制装置获取目标货物的入库调度任务；
    基于所述入库调度任务，获取各个待上架商品的商品信息；所述商品信息包括商品规格和历史时间段内所述待上架商品的出库频率；
    根据各所述待上架商品的商品信息，确定各所述待上架商品对应的目标上架货架，并控制各所述目标上架货架对应的目标机器人执行所述入库调度任务，将各所述待上架商品入库至各个对应的目标上架货架中。
  32. 根据权利要求31所述的方法，其中，所述根据各所述待上架商品的商品信息，确定各所述待上架商品对应的目标上架货架，并控制各所述目标上架货架对应的目标机器人执行所述入库调度任务，将各所述待上架商品入库至各个对应的目标上架货架中，包括：
    若所述待上架商品的商品规格大于预设的尺寸，将所述第二货架作为所述目标上架货架，控制所述第三机器人将所述第二货架搬运至工作站的第一上架工作平台，并在所述待上架商品入库至所述目标上架货架后，控制所述第三机器人将所述目标上架货架搬运回原始位置；
    若所述待上架商品的商品规格小于等于预设的尺寸，则根据所述待上架商品的出库频率，确定各所述待上架商品对应的目标上架货架，并控制各所述目标上架货架对应的目标机器人执行所述入库调度任务，将各所述待上架商品入库至各个对应的目标上架货架中。
  33. 根据权利要求32所述的方法，其中，所述根据所述待上架商品的出库频率，确定各所述待上架商品对应的目标上架货架，并控制各所述目标上架货架对应的目标机器人执行所述入库调度任务，将各所述待上架商品入库至各个对应的目标上架货架中，包括：
    若所述待上架商品的出库频率大于预设频率阈值，则将所述第二货架作为所述目标上架货架，控制所述第三机器人将所述待上架商品对应的第二货架搬运至所述工作站的第一上架工作平台，并在所述待上架商品入库至所述目标上架货架时，控制所述第三机器人将所述目标上架货架搬运回原始位置；
    若所述待上架商品的出库频率不大于预设频率阈值，将所述第一货架作为所述目标上架货架，控制所述第二机器人在所述第二运行区域运行，并将所述第一货架中的第一目标料箱搬运至所述工作站的第二上架工作平台，在所述待上架商品入库至所述第一目标料箱时，控制所述第二机器人将所述第一目标上架料箱搬运回第一货架，或者，将第三货架作为所述目标上架货架，控制所述第二机器人在第六运行区域运行，并将所述待上架商品对应的第二目标料箱搬运至所述工作站的第二上架工作平台，并在所述待上架商品入库至所述第二目标料箱时，控制所述第二机器人将所述第二目标料箱搬运回所述第三货架。
  34. 根据权利要求33所述的方法，其中，所述若所述待上架商品的出库频率大于预设频率阈值，则将所述第二货架作为所述目标上架货架，控制所述第三机器人将所述待上架商品对应的第二货架搬运至所述工作站的第一上架工作平台，并在所述待上架商品入库至所述目标上架货架时，控制所述第三机器人将所述目标上架货架搬运回原始位置，包括：
    若所述待上架商品的出库频率大于预设频率阈值，获取所述第二货架中各个货位的载物状态；
    在所述第二货架中存在未载物的货位的情况下，将所述第二货架作为所述目标上架货架，控制所述第三机器人将所述待上架商品对应的第二货架搬运至所述工作站的第一上架工作平台，并在所述待上架商品入库至所述目标上架货架时，控制所述第三机器人将所述目标上架货架搬运回原始位置。
  35. 根据权利要求27-30任一项所述的方法，其中，所述方法还包括：
    获取各个工作站的工作状态以及下一波次的多个出库订单；
    在所述各个工作站的工作状态为工作中的情况下，则触发所述仓储系统的自动理货模式，控制所述第一机器人基于所述下一波次各个出库订单的订单信息在所第一运行区域或者第四运行区域运行，将各个待理货货物的料箱从当前货位搬运至目标货位；
    在所述各个工作站的工作状态均为空闲的情况下，控制所述第一机器人将所述待理货货物对应的当前料箱和目标理货货箱搬运至所述工作站，在获取到理货完成指令后，控制所述第一机器人基于所述下一波次各个出库订单的订单信息在所第一运行区域运行将各所述当前料箱和目标理货货箱从第一理货工作平台搬运至初始位置；
    在所述各个工作站的工作状态均为空闲的情况下，控制所述第三机器人，将所述待理货货物对应的当前货架和目标理货货架搬运至所述工作站，在获取到理货完成指令后，控制所述第三机器人基于所述下一波次各个出库订单的订单信息在所第三运行区域运行将各所述当前货架和目标理货货架从所述第一理货工作平台搬运至初始位置。
  36. 根据权利要求27-30任一项所述的方法，其中，所述方法还包括：
    获取多个目标出库订单；所述目标出库订单中包括至少一种需要出库的目标商品；
    获取各所述目标商品对应的仓库存储区；
    在获取的所述仓储存储区包括第一区域和第二区域时，确定第一订单数量和第二订单数量，所述第一订单数量为各所述目标出库订单仅命中所述第一区域中第一货架的订单数量；所述第二订单数量为各所述目标出库订单仅命中所述第二区域中第二货架的第二订单数量；
    根据所述第一订单数量和所述第二订单数量分别占所有所述目标出库订单的比例，确定工作站中混检工作平台的数量；所述混检工作平台为拣选所述第二机器人搬运的所述目标货物或者所述第三机器人搬运的所述目标货物的工作平台。
  37. 一种仓储系统调度装置，包括：
    获取模块，被配置为获取订单，订单命中第一类货物和第二类货物；
    控制模块，被配置为基于所述订单同时或排序呼叫第一类搬运设备和第二类搬运设备，并控制所述第一类搬运设备和所述第二类搬运设备将存放有订单命中第一类货物的第一类载具、存储有订单命中的第二类货物的料箱搬运至工作站区，以进行拣选处理。
  38. 一种电子设备，包括存储器和处理器，所述存储器存储有计算机程序，其中，所述处理器执行所述计算机程序时实现权利要求15至20、27至36中任一项所述的方法的步骤。
  39. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现权利要求15至20、27至36中任一项所述的方法的步骤。
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