CN114516506A

Movatterモバイル変換

Info

Publication number: CN114516506A
Application number: CN202111335614.1A
Authority: CN
Inventors: 赵虎; 艾鑫; 喻润方
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2022-05-20
Also published as: CN112407723A; CN114516505A; WO2022105762A1; CN112407723B

Abstract

Translated fromChinese

本申请提供一种货物整理方法、设备、仓储系统及存储介质，货物整理方法包括：确定可执行理库任务的目标机器人；根据目标机器人的状态属性确定目标机器人执行理库操作的第一目标货架；控制目标机器人对第一目标货架执行理库操作。针对采用动态库位机制的货架，本申请首先确定执行理库任务的目标机器人，然后基于目标机器人的状态属性为目标机器人分配相应的第一目标货架，并控制目标机器人对第一目标货架进行理库操作，从而，通过仓库管理设备控制机器人进行理库，可以实现仓储系统的自动理库，理库效率高、准确度高，进而有助于提高仓储系统的仓储效率。

The present application provides a cargo sorting method, equipment, storage system and storage medium. The cargo sorting method includes: determining a target robot that can perform a warehouse sorting task; ; Control the target robot to perform the library operation on the first target shelf. For the racks using the dynamic storage location mechanism, the present application firstly determines the target robot that performs the storage task, then allocates the corresponding first target rack to the target robot based on the state attributes of the target robot, and controls the target robot to organize the first target rack. Therefore, by controlling the robot to manage the warehouse through the warehouse management equipment, the automatic warehouse management of the warehousing system can be realized.

Description

Translated fromChinese

货物整理方法、设备、仓储系统及存储介质Goods arrangement method, equipment, storage system and storage medium

技术领域technical field

本申请涉及智能仓储技术领域，尤其涉及一种货物整理方法、设备、仓储系统及存储介质。The present application relates to the technical field of intelligent storage, and in particular, to a method, equipment, storage system and storage medium for sorting goods.

背景技术Background technique

基于仓储机器人的智能仓储系统采用智能操作系统，通过系统指令实现货物的自动取出和存放，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛的应用和青睐。The intelligent warehousing system based on warehousing robots adopts an intelligent operating system, which realizes the automatic removal and storage of goods through system instructions, and can run 24 hours a day without interruption, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favor.

为了提高仓储系统的仓储效率，需要对仓储系统的货架上存放的货物进行整理，即对仓储系统进行理库，对于动态库位而言，为保证货架上货物存放的合理有序，理库显得尤其重要。In order to improve the storage efficiency of the storage system, it is necessary to organize the goods stored on the shelves of the storage system, that is, to organize the storage system. For the dynamic storage location, in order to ensure the reasonable and orderly storage of the goods on the shelves, it is necessary to organize the storage system. Especially important.

现有的理库策略的制定，大多依赖于人的参与，需要专业理库人员，根据仓储系统的货架的存放情况确定相应的理库策略，理库效率低，从而导致仓储系统的空间利用率不合理，仓储效率低。The formulation of the existing warehouse management strategies mostly relies on the participation of people, and requires professional warehouse personnel to determine the corresponding warehouse management strategies according to the storage conditions of the shelves in the storage system. Unreasonable and low storage efficiency.

发明内容SUMMARY OF THE INVENTION

本申请提供一种货物整理方法、设备、仓储系统及存储介质，实现了仓储系统的自动理库，理库效率高、准确度高，提高了仓储系统的仓储效率。The present application provides a cargo arrangement method, equipment, storage system and storage medium, which realizes the automatic storage of the storage system, has high storage efficiency and accuracy, and improves the storage efficiency of the storage system.

第一方面，本申请提供一种货物整理方法，应用于仓库管理设备，包括：In a first aspect, the present application provides a method for organizing goods, which is applied to warehouse management equipment, including:

确定可执行理库任务的目标机器人；Determine the target robot that can perform the library task;

根据所述目标机器人的状态属性确定所述目标机器人执行理库操作的第一目标货架，其中，所述第一目标货架上每个货物的存放空间为根据所述货物的尺寸信息以及货架上的动态货物存放空间确定的；The first target rack for the target robot to perform the library operation is determined according to the state attribute of the target robot, wherein the storage space of each item on the first target rack is determined according to the size information of the item and the storage space on the rack. The dynamic cargo storage space is determined;

控制所述目标机器人对所述第一目标货架执行理库操作。The target robot is controlled to perform a library operation on the first target shelf.

在一些实施例中，所述确定可执行理库任务的目标机器人，包括：In some embodiments, the determining of a target robot that can perform a library task includes:

确定当前处于空闲状态的第一机器人为所述目标机器人；和/或，determining that the first robot currently in an idle state is the target robot; and/or,

确定当前正在执行取放货任务、且取放货任务执行时长短于分配时长的第二机器人为所述目标机器人。It is determined that a second robot that is currently performing a picking and placing task and whose execution duration of the picking and placing task is shorter than the assigned duration is the target robot.

在一些实施例中，所述目标机器人为所述第二机器人，所述根据所述目标机器人的状态属性确定所述目标机器人执行理库操作的第一目标货架，包括：In some embodiments, the target robot is the second robot, and the determining of the first target rack for the target robot to perform the library operation according to the state attribute of the target robot includes:

确定取放货任务对应的货架为所述目标机器人执行理库操作的第一目标货架。It is determined that the shelf corresponding to the picking and placing task is the first target shelf on which the target robot performs the warehouse sorting operation.

在一些实施例中，所述目标机器人为所述第一机器人或所述第二机器人，所述根据所述目标机器人的状态属性确定所述目标机器人执行理库操作的第一目标货架，包括：In some embodiments, the target robot is the first robot or the second robot, and the determining a first target rack on which the target robot performs a library operation according to a state attribute of the target robot includes:

根据货架理库优先级，从多个货架中确定所述第一目标货架；或，Determine the first target rack from the plurality of racks according to the rack inventory priority; or,

根据所述目标机器人与货架的距离，从所述多个货架中确定所述第一目标货架；或，According to the distance between the target robot and the shelf, the first target shelf is determined from the plurality of shelves; or,

根据货架理库优先级和所述目标机器人与货架的距离，从所述多个货架中确定所述第一目标货架。The first target rack is determined from the plurality of racks according to the rack storage priority and the distance between the target robot and the rack.

在一些实施例中，还包括：In some embodiments, it also includes:

根据货架区域优先级、货架占有率以及货架理库间隔中的一种或多种，确定所述多个货架中各货架对应的货架理库优先级；According to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval, determine a shelf storage priority corresponding to each of the multiple shelves;

其中，所述货架区域优先级为货架所在区域的优先级，所述货架区域优先级与货架所在区域的热度成正比例关系，所述货架所在区域的热度与货架的整理频率成正比例关系；Wherein, the priority of the shelf area is the priority of the area where the shelf is located, the priority of the shelf area is proportional to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is proportional to the sorting frequency of the shelf;

所述货架占有率为货架的碎片空间总长度与货物总长度的比值，所述碎片空间总长度为货架上的碎片空间长度的总和，所述碎片空间长度为相邻的第一货物与第二货物之间的间隔长度，且所述间隔长度小于预设值，所述货物总长度为货架上已存放的货物的长度之和，其中，所述货架占有率与所述货架理库优先级成正比例关系；The shelf occupancy is the ratio of the total length of the debris space on the shelf to the total length of the goods, the total length of the debris space is the sum of the length of the debris space on the shelf, and the length of the debris space is the adjacent first goods and second goods. The interval length between goods, and the interval length is less than the preset value, the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy rate is related to the shelf storage priority. proportional relationship;

所述货架理库间隔为最近一次对货架进行理库操作的时间节点与当前时刻的时间间隔。The shelf storage interval is the time interval between the time node when the last storage management operation is performed on the shelf and the current moment.

在一些实施例中，所述根据货架区域优先级、货架占有率以及货架理库间隔中的一种或多种，确定所述多个货架中各货架对应的货架理库优先级，包括：In some embodiments, the determining, according to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval, determines a shelf storage priority corresponding to each of the multiple shelves, including:

根据所述货架区域优先级、所述货架占有率以及所述货架理库间隔，通过以下公式计算各货架对应的货架理库优先级：According to the shelf area priority, the shelf occupancy rate and the shelf storage interval, the shelf storage priority corresponding to each shelf is calculated by the following formula:

Q_i＝O_i×a+P_i×b+T_i×cQ_i =O_i ×a+P_i ×b+T_i ×c

其中，Q_i为第i个货架的货架理库优先级，i＝1，2，3…N，N为货架的总数量；O_i为第i个货架的货架占有率；P_i为第i个货架的货架区域优先级；T_i为第i个货架的货架理库间隔；a为货架占有率对应的权重系数，b为货架区域优先级对应的权重系数，c为货架理库间隔对应的权重系数。Among them, Qi is the shelf storage priority of the_ith shelf, i=1, 2, 3...N, N is the total number of shelves; O_i is the shelf occupancy rate of the_ith shelf; Pi is the ith shelf The shelf area priority of each shelf; T_i is the shelf storage interval of the ith shelf; a is the weight coefficient corresponding to the shelf occupancy rate, b is the weight coefficient corresponding to the shelf area priority, and c is the shelf storage interval corresponding to weight factor.

在一些实施例中，所述根据所述目标机器人与货架的距离，从所述多个货架中确定所述第一目标货架，包括：In some embodiments, the determining the first target rack from the plurality of racks according to the distance between the target robot and the rack includes:

确定与所述目标机器人之间的距离小于第一预设距离阈值、且不存在除目标机器人之外的其他机器人执行操作的货架为所述第一目标货架。It is determined that a shelf whose distance from the target robot is less than a first preset distance threshold and there is no robot other than the target robot performing operations is the first target shelf.

在一些实施例中，所述根据货架理库优先级和所述目标机器人与货架的距离，从所述多个货架中确定所述第一目标货架，包括：In some embodiments, the determining the first target rack from the plurality of racks according to a racking priority and a distance between the target robot and the rack includes:

确定与所述目标机器人之间的距离小于第二预设距离阈值、且货架理库优先级大于预设优先级阈值，以及不存在除目标机器人之外的其他机器人执行操作的货架为所述第一目标货架。It is determined that the distance from the target robot is less than the second preset distance threshold, and the shelf storage priority is greater than the preset priority threshold, and there is no shelf other than the target robot to perform operations. A target shelf.

在一些实施例中，所述控制所述目标机器人对所述第一目标货架执行理库操作，包括：In some embodiments, the controlling the target robot to perform a library operation on the first target shelf includes:

基于所述第一目标货架上的已存放货物，确定所述第一目标货架对应的理库策略；Based on the stored goods on the first target shelf, determine a warehouse management strategy corresponding to the first target shelf;

根据所述理库策略，控制所述目标机器人执行理库操作。According to the library management strategy, the target robot is controlled to perform library management operations.

在一些实施例中，所述基于所述第一目标货架上的已存放货物，确定所述第一目标货架对应的理库策略，包括：In some embodiments, the determining, based on the stored goods on the first target rack, the inventory management strategy corresponding to the first target rack includes:

根据所述第一目标货架上已存放货物的货物热度、货物间隔以及预设安全间距中的一项或多项，确定对所述第一目标货架上的已存放货物进行整理的理库策略，其中，所述货物热度表征所述已存放货物被取出的频率。According to one or more of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf, determine a warehouse management strategy for sorting the stored goods on the first target shelf, Wherein, the heat of the goods represents the frequency with which the stored goods are taken out.

在一些实施例中，所述第一目标货架为按照一维配置方式存放的货架，所述基于所述第一目标货架上的已存放货物，确定所述第一目标货架对应的理库策略，包括：In some embodiments, the first target rack is a rack that is stored in a one-dimensional configuration, and the inventory management strategy corresponding to the first target rack is determined based on the stored goods on the first target rack, include:

根据所述第一目标货架上已存放货物的货物间距以及预设安全间距，确定所述第一目标货架对应的理库策略。A warehouse management strategy corresponding to the first target rack is determined according to the distance between the goods stored on the first target rack and the preset safety distance.

在一些实施例中，所述第一目标货架为按照二维配置方式存放的货架，所述基于所述第一目标货架上的已存放货物，确定所述第一目标货架对应的理库策略，包括：In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the inventory management strategy corresponding to the first target shelf is determined based on the stored goods on the first target shelf, include:

根据所述第一目标货架上已存放货物的货物热度，确定所述第一目标货架对应的理库策略，以使货物热度高于预设热度的货物放置于所述第一目标货架每层的第一排。According to the goods heat of the stored goods on the first target shelf, determine the warehouse management strategy corresponding to the first target shelf, so that the goods with the goods heat higher than the preset heat are placed on each floor of the first target shelf. first row.

在一些实施例中，所述理库策略包括以下至少一种：In some embodiments, the library management strategy includes at least one of the following:

调整所述已存放货物的存放位置，以使得货物之间的距离为预设安全间距；Adjust the storage position of the stored goods so that the distance between the goods is a preset safety distance;

调整所述已存放货物的存放位置，以使得尺寸相同或者尺寸差值在预设范围内的货物的存放位置相邻；Adjusting the storage positions of the stored goods, so that the storage positions of the goods with the same size or the size difference within a preset range are adjacent to each other;

在调整所述已存放货物的存放位置的过程中，货物的位置调整优先级与货物的尺寸大小成反比例关系。In the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods.

在一些实施例中，当所述目标机器人为单货叉机器人时，所述目标机器人包括至少一组单货叉机器人，每组单货叉机器人包括至少两个单货叉机器人；In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots;

当所述目标机器人为多存储单元机器人时，所述目标机器人包括至少一个多存储单元机器人。When the target robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

在一些实施例中，还包括：In some embodiments, it also includes:

检测是否满足理库条件；Check whether the library conditions are met;

在确定满足理库条件时，开始执行所述确定可执行理库任务的目标机器人的步骤。When it is determined that the library management condition is satisfied, the step of determining the target robot that can perform the library management task is started.

在一些实施例中，还包括：In some embodiments, it also includes:

分配取放货任务给正在执行理库操作的目标机器人，控制所述目标机器人停止执行理库操作，并执行所述取放货任务。Allocate the picking and placing task to the target robot that is performing the warehouse sorting operation, control the target robot to stop performing the warehouse sorting operation, and execute the picking and placing task.

在一些实施例中，还包括：In some embodiments, it also includes:

在检测到所述目标机器人对所述第一目标货架执行理库操作的区域，与第二机器人执行取放货任务的区域存在交叠区域时，确定与所述第一目标货架不同的第二目标货架，控制所述目标机器人对所述第二目标货架执行理库操作。When it is detected that the area where the target robot performs the warehouse-arranging operation on the first target rack has an overlapping area with the area where the second robot performs the picking and placing task, determine a second target rack different from the first target rack A target shelf, controlling the target robot to perform a library operation on the second target shelf.

第二方面，本申请提供一种货物整理方法，应用于机器人，包括：In a second aspect, the present application provides a method for sorting goods, which is applied to a robot, including:

接收仓库管理设备发送的第一控制指令，所述第一控制指令为所述仓库管理设备在确定可执行理库任务的目标机器人、根据所述目标机器人的状态属性确定所述目标机器人执行理库操作的第一目标货架之后，向所述目标机器人发送的，其中，所述第一目标货架上每个货物的存放空间为根据所述货物的尺寸信息以及货架上的动态货物存放空间确定的；Receive a first control instruction sent by the warehouse management device, where the first control instruction is that the warehouse management device is determining a target robot that can perform a library management task, and determining that the target robot can perform a library management task according to the state attribute of the target robot. After the first target shelf is operated, it is sent to the target robot, wherein the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf;

根据所述第一控制指令，对所述第一目标货架执行理库操作。According to the first control instruction, a library operation is performed on the first target rack.

在一些实施例中，所述第一控制指令包含仓库管理设备基于所述第一目标货架上的已存放货物所确定的所述第一目标货架对应的理库策略；In some embodiments, the first control instruction includes a warehouse management device that determines a warehouse management strategy corresponding to the first target rack based on the stored goods on the first target rack;

根据所述第一控制指令，对所述第一目标货架执行理库操作，包括：According to the first control instruction, performing a library management operation on the first target shelf includes:

根据所述第一控制指令中所述第一目标货架对应的理库策略，对所述第一目标货架执行理库操作。According to the inventory management strategy corresponding to the first target shelf in the first control instruction, the inventory management operation is performed on the first target shelf.

在一些实施例中，所述根据所述第一控制指令，对所述第一目标货架执行理库操作，包括：In some embodiments, performing a library management operation on the first target shelf according to the first control instruction includes:

根据所述第一目标货架对应的理库策略，对所述第一目标货架执行理库操作。According to the inventory management strategy corresponding to the first target shelf, the inventory management operation is performed on the first target shelf.

在一些实施例中，所述第一目标货架对应的理库策略的确定过程，包括以下步骤：In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps:

在一些实施例中，所述第一目标货架为按照一维配置方式存放的货架，所述第一目标货架对应的理库策略的确定过程，包括以下步骤：In some embodiments, the first target shelf is a shelf that is stored in a one-dimensional configuration, and the process of determining a library management strategy corresponding to the first target shelf includes the following steps:

在一些实施例中，所述第一目标货架为按照二维配置方式存放的货架，所述第一目标货架对应的理库策略的确定过程，包括以下步骤：In some embodiments, the first target rack is a rack that is stored in a two-dimensional configuration, and the process of determining a library management strategy corresponding to the first target rack includes the following steps:

调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距；Adjust the storage position of the stored goods so that the distance between the goods is the preset safe distance;

在一些实施例中，所述调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距，包括：In some embodiments, the adjusting the storage position of the stored goods so that the distance between the goods is a preset safety distance, including:

确定所述已存放货物的基准点信息；determining datum point information for said stored goods;

根据所述基准点信息调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距。The storage position of the stored goods is adjusted according to the reference point information, so that the distance between the goods is a preset safety distance.

在一些实施例中，所述基准点包括以下一种或多种：第一目标货架的立柱，第一目标货架的标记点，放置于所述已存放货物的相邻位置上的一个或者多个货物。In some embodiments, the reference points include one or more of the following: uprights of the first target rack, marking points of the first target rack, one or more of the adjacent positions of the stored goods goods.

在一些实施例中，还包括：In some embodiments, it also includes:

接收仓库管理设备发送的第二控制指令，所述第二控制指令包括取放货任务；receiving a second control instruction sent by the warehouse management device, where the second control instruction includes a task of picking and placing goods;

根据所述第二控制指令停止执行理库操作，并执行所述取放货任务。According to the second control instruction, the execution of the warehouse sorting operation is stopped, and the picking and placing task is executed.

在一些实施例中，还包括：In some embodiments, it also includes:

接收仓库管理设备发送的第三控制指令，所述第三控制指令为所述仓库管理设备在检测到所述目标机器人对所述第一目标货架执行理库操作的区域与第二机器人执行取放货任务的区域存在交叠区域时、确定与所述第一目标货架不同的第二目标货架之后，向所述目标机器人发送的，所述第三控制指令包括所述第二目标货架的信息；Receive a third control command sent by the warehouse management device, where the third control command is that the warehouse management device performs pick and place with the second robot in the area where the warehouse management device detects that the target robot performs a library operation on the first target shelf When there is an overlapping area in the area of the cargo task, after determining a second target rack different from the first target rack, and sent to the target robot, the third control instruction includes the information of the second target rack;

根据所述第三控制指令，对所述第二目标货架执行理库操作。According to the third control instruction, a library operation is performed on the second target shelf.

第三方面，本申请提供一种仓库管理设备，包括：存储器和至少一个处理器；In a third aspect, the present application provides a warehouse management device, comprising: a memory and at least one processor;

所述存储器存储计算机执行指令；the memory stores computer-executable instructions;

所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行上述的货物整理方法。The at least one processor executes the computer-executable instructions stored in the memory to cause the at least one processor to perform the above-described cargo sorting method.

第四方面，本申请提供一种机器人，包括：存储器和至少一个处理器；In a fourth aspect, the present application provides a robot, including: a memory and at least one processor;

在一些实施例中，所述机器人包括移动底盘，搬运装置，存储货架和升降组件；所述存储货架、所述搬运装置以及所述升降组件安装于所述移动底盘。In some embodiments, the robot includes a mobile chassis, a handling device, a storage rack and a lifting assembly; the storage rack, the handling device and the lifting assembly are mounted on the mobile chassis.

在一些实施例中，所述搬运装置包括以下一种或多种：伸缩臂组件、吸盘与机械臂。In some embodiments, the handling device includes one or more of the following: a telescopic arm assembly, a suction cup, and a robotic arm.

在一些实施例中，所述搬运装置包括托板与转向结构，所述转向结构用于改变放置于所述托板上的货物的朝向。In some embodiments, the handling device includes a pallet and a diverting structure for changing the orientation of the goods placed on the pallet.

第五方面，本申请提供一种仓储系统，包括：上述的仓库管理设备以及上述的机器人。In a fifth aspect, the present application provides a storage system, including: the above warehouse management equipment and the above robot.

第六方面，本申请提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现上述的货物整理方法。In a sixth aspect, the present application provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, the above-mentioned cargo sorting method is implemented.

在一些实施例中，本申请还提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述的货物整理方法。In some embodiments, the present application also provides a computer program product, including a computer program, which implements the above-mentioned method for sorting goods when the computer program is executed by a processor.

本申请提供的货物整理方法、设备、仓储系统及存储介质，货物整理方法包括：确定可执行理库任务的目标机器人；根据目标机器人的状态属性确定目标机器人执行理库操作的第一目标货架，其中，第一目标货架上每个货物的存放空间为根据货物的尺寸信息以及货架上的动态货物存放空间确定的；控制目标机器人对第一目标货架执行理库操作。针对采用动态库位机制的货架，本申请首先确定执行理库任务的目标机器人，然后基于目标机器人的状态属性为目标机器人分配相应的第一目标货架，并控制目标机器人对第一目标货架进行理库操作，从而，通过仓库管理设备控制机器人进行理库，可以实现仓储系统的自动理库，理库效率高、准确度高，进而有助于提高仓储系统的仓储效率。The cargo sorting method, equipment, storage system and storage medium provided by the present application, the cargo sorting method includes: determining a target robot that can perform a warehouse storage task; Wherein, the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf; the target robot is controlled to perform a library operation on the first target shelf. For the racks using the dynamic storage location mechanism, the present application firstly determines the target robot that performs the storage task, then allocates the corresponding first target rack to the target robot based on the state attributes of the target robot, and controls the target robot to organize the first target rack. Therefore, by controlling the robot to manage the warehouse through the warehouse management equipment, the automatic warehouse management of the warehousing system can be realized.

附图说明Description of drawings

此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

图1A为本申请一个实施例提供的一维配置方式下存放情况的示意图；1A is a schematic diagram of a storage situation in a one-dimensional configuration mode provided by an embodiment of the present application;

图1B为本申请图1A所示实施例提供的放置货物之后的存放情况的示意图；FIG. 1B is a schematic diagram of the storage situation after placing the goods provided by the embodiment shown in FIG. 1A of the application;

图1C为本申请图一个实施例提供的二维配置方式下存放情况的示意图；1C is a schematic diagram of a storage situation in a two-dimensional configuration provided by an embodiment of FIG. 1 of this application;

图1D为本申请图1C对应的实施例在放置货物之后的存放情况的示意图；1D is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the application after placing the goods;

图1E为本申请图1C对应的实施例在放置货物之后的存放情况的示意图；FIG. 1E is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the application after placing the goods;

图1F为本申请一个实施例提供的机器人的结构示意图；FIG. 1F is a schematic structural diagram of a robot provided by an embodiment of the application;

图1G为本申请图1F所示实施例中一种搬运装置的结构示意图；FIG. 1G is a schematic structural diagram of a handling device in the embodiment shown in FIG. 1F of the application;

图1H为本申请图1F所示实施例中的一种机器人及其搬运装置的结构；FIG. 1H is the structure of a robot and its handling device in the embodiment shown in FIG. 1F of the application;

图1I为本申请图1F所示实施例中的一种搬运装置的结构示意图；FIG. 1I is a schematic structural diagram of a handling device in the embodiment shown in FIG. 1F of the application;

图1J为本申请图1I所示实施例中另一种搬运装置的结构示意图；FIG. 1J is a schematic structural diagram of another conveying device in the embodiment shown in FIG. 1I of the application;

图1K为本申请图1F所示实施例的另一种搬运装置的结构示意图；FIG. 1K is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the application;

图1L为本申请图1F所示实施例的另一种搬运装置的结构示意图；FIG. 1L is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the application;

图2A为本申请实施例提供的货物存放方法的应用场景图；2A is an application scenario diagram of the cargo storage method provided by the embodiment of the present application;

图2B为本申请实施例提供的货物存放方法的另一应用场景图；FIG. 2B is another application scenario diagram of the cargo storage method provided by the embodiment of the present application;

图3为本申请一个实施例提供的货物整理方法的流程图；FIG. 3 is a flowchart of a method for arranging goods according to an embodiment of the present application;

图4为本申请实施例中货架上货物存放的示例图；FIG. 4 is an example diagram of the storage of goods on the shelf in the embodiment of the application;

图5为本申请一个实施例提供的另一种货物整理方法的流程图；FIG. 5 is a flowchart of another cargo arrangement method provided by an embodiment of the present application;

图6为本申请实施例中一种问题货物的存放情况的示意图；6 is a schematic diagram of a storage situation of a problem cargo in an embodiment of the application;

图7为本申请实施例中另一种问题货物的存放情况的示意图；FIG. 7 is a schematic diagram of the storage situation of another problem goods in the embodiment of the application;

图8为本申请实施例的货物存放情况的示意图；8 is a schematic diagram of a storage situation of goods according to an embodiment of the application;

图9为本申请一个实施例提供的货物整理装置的结构示意图；FIG. 9 is a schematic structural diagram of a cargo sorting device provided by an embodiment of the present application;

图10为本申请一个实施例提供的另一种货物整理装置的结构示意图；FIG. 10 is a schematic structural diagram of another cargo sorting device provided by an embodiment of the application;

图11为本申请一个实施例提供的机器人的结构示意图；11 is a schematic structural diagram of a robot provided by an embodiment of the application;

图12为本申请一个实施例提供的仓库管理设备的结构示意图；12 is a schematic structural diagram of a warehouse management device provided by an embodiment of the present application;

图13为本申请一个实施例提供的仓储系统的结构示意图。FIG. 13 is a schematic structural diagram of a storage system according to an embodiment of the present application.

通过上述附图，已示出本申请明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本申请构思的范围，而是通过参考特定实施例为本领域技术人员说明本申请的概念。Specific embodiments of the present application have been shown by the above-mentioned drawings, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the concepts of the present application in any way, but to illustrate the concepts of the present application to those skilled in the art by referring to specific embodiments.

具体实施方式Detailed ways

这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numerals in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。The technical solutions of the present application and how the technical solutions of the present application solve the above-mentioned technical problems will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

下面对本申请实施例的应用场景进行解释：The application scenarios of the embodiments of the present application are explained below:

本申请应用于动态配置货物存放空间的场景，本申请提供不同于固定库位的一种动态配置货物存放空间的货物置放方法。The present application is applied to the scenario of dynamically configuring the cargo storage space, and the present application provides a cargo placing method for dynamically configuring the cargo storage space, which is different from the fixed storage location.

动态配置货物存放空间是指：在系统确定待存放的货物之后，根据货物的尺寸，从现有的未被占用的空间中分配一个与所述货物尺寸适配的第一存储空间，其中，未被占用空间可以是任意大小的空间，所述未被占用的空间中不包括已划分好的固定库位；其中，所述第一存储空间可容纳所述待存放的货物，所述固定库位是指在仓库中预置好的库位，固定库位的位置固定且大小确定。Dynamically configuring the cargo storage space refers to: after the system determines the cargo to be stored, according to the size of the cargo, a first storage space that is adapted to the size of the cargo is allocated from the existing unoccupied space, wherein the unoccupied The occupied space can be any size of space, and the unoccupied space does not include the fixed storage space that has been divided; wherein, the first storage space can accommodate the goods to be stored, and the fixed storage space It refers to the pre-set storage location in the warehouse, and the fixed location is fixed and the size is determined.

动态货物存放空间可以为通过动态配置货物存放空间的空间。The dynamic cargo storage space may be a space for dynamically configuring the cargo storage space.

示例性的，动态配置货物存放空间至少包括一维和/或二维配置方式。Exemplarily, dynamically configuring the cargo storage space includes at least one-dimensional and/or two-dimensional configuration.

示例性的，图1A为本申请一个实施例提供的一维配置方式下存放情况的示意图，配合X-Y坐标系理解，一维配置方式是指货物存放空间中的每一层的货物在深度Y方向，仅可以呈一排放置，其中，在一维配置方式下，货物的存放空间包括第一未被占用空间和/或第一被占用的空间，具体的，第一被占用空间为在货物进出方向上已放置有货物的空间。Exemplarily, FIG. 1A is a schematic diagram of the storage situation in a one-dimensional configuration mode provided by an embodiment of the application. With the understanding of the X-Y coordinate system, the one-dimensional configuration mode refers to the depth Y direction of the cargo on each layer in the cargo storage space. , can only be placed in a row, wherein, in the one-dimensional configuration, the storage space of the goods includes the first unoccupied space and/or the first occupied space. Specifically, the first occupied space is when the goods enter and exit. The space in which the cargo has been placed in the direction.

示例性的，图1C为本申请一个实施例提供的二维配置方式下存放情况的示意图，配合X-Y坐标系理解，二维配置方式是指货物存放空间中的每一层的货物在深度Y方向可以呈一排放置、多排放置或者一排多排混合放置。即二维配置方式下允许货物存放空间中的货物在深度Y方向上呈多排放置，其中，在二维配置方式下，货物的存放空间包括第二未被占用空间和/或第二被占用空间，具体的，第二未被占用空间包括在货物进出方向上未被货物占用的空间。Exemplarily, FIG. 1C is a schematic diagram of the storage situation in a two-dimensional configuration mode provided by an embodiment of the application. With the understanding of the X-Y coordinate system, the two-dimensional configuration mode refers to the depth Y direction of the goods on each layer in the cargo storage space. It can be placed in one row, multiple rows, or a combination of multiple rows. That is, in the two-dimensional configuration mode, the goods in the cargo storage space are allowed to be placed in multiple rows in the depth Y direction, wherein, in the two-dimensional configuration mode, the storage space of the goods includes the second unoccupied space and/or the second occupied space. The space, specifically, the second unoccupied space includes the space not occupied by the goods in the direction in which the goods enter and exit.

举例而言，图1A为本申请一个实施例提供的一维配置方式下存放情况的示意图，在一维配置方式下，如图1A所示，针对上述动态配置货物存放空间中未被占用空间，即如同图1A中的空间101a、101b与101c。在系统确认待存放货物，货物100a之后，便会从未被占用空间中，即空间101a、101b与101c中，找出最适配货物100a的第一存储空间，例如空间101c。For example, FIG. 1A is a schematic diagram of a storage situation in a one-dimensional configuration provided by an embodiment of the present application. In a one-dimensional configuration, as shown in FIG. 1A , for the above-mentioned dynamically configured cargo storage space, the unoccupied space, That is, thespaces 101a, 101b and 101c in FIG. 1A are the same. After the system confirms the goods to be stored, thegoods 100a, it will find the first storage space that is most suitable for thegoods 100a, such asspace 101c, from the unoccupied spaces, that is, thespaces 101a, 101b and 101c.

图1B为本申请图1A所示实施例提供的放置货物之后的存放情况的示意图，如图1B所示，在置放货物100a之后，当前的未被占用空间为空间101a、101b与101d，其中，空间101d为空间101c在被货物100a部分占用后，新界定的被未占用空间。FIG. 1B is a schematic diagram of the storage situation after placing the goods according to the embodiment shown in FIG. 1A of the application. As shown in FIG. 1B , after thegoods 100a are placed, the current unoccupied spaces arespaces 101a, 101b and 101d, wherein , thespace 101d is the newly defined unoccupied space after thespace 101c is partially occupied by thecargo 100a.

图1C为本申请图一个实施例提供的二维配置方式下存放情况的示意图，如图1C所示，二维配置方式的考量上，货架上所指的未被占用的空间，即如同图1C中的空间101e与空间101f。在系统确认待存放货物，货物100b之后，即会从未被占用空间中，即空间101e与空间101f中，找出最适配货物100b的第一存储空间，例如空间101e。FIG. 1C is a schematic diagram of a storage situation in a two-dimensional configuration provided by an embodiment of FIG. 1C . As shown in FIG. 1C , considering the two-dimensional configuration, the unoccupied space on the shelf is the same as that in FIG.1C space 101e andspace 101f in . After the system confirms the goods to be stored, thegoods 100b, it will find the first storage space that is most suitable for thegoods 100b, such asspace 101e, in the unoccupied space, that is, thespace 101e and thespace 101f.

图1D为本申请图1C对应的实施例在放置货物之后的存放情况的示意图，如图1D，在置放货物100b之后，当前的未被占用空间为空间101f、空间101g。其中，空间101g为空间101e在被货物100b部分占用后，新界定的被未占用空间。1D is a schematic diagram of the storage situation after placing the goods in the embodiment corresponding to FIG. 1C of the application. As shown in FIG. 1D , after thegoods 100b are placed, the current unoccupied spaces arespace 101f andspace 101g. Thespace 101g is a newly defined unoccupied space after thespace 101e is partially occupied by thegoods 100b.

图1E为本申请图1C对应的实施例在放置货物之后的存放情况的示意图，参考图1C、1D和图1E可知，图1D和图1E中货物100b放置时的朝向不同，即货物100b在放置时可被转向，即在放置时可以改变待存放货物的朝向，在放置货物100b之后，当前的未被占用空间为空间101f、101h。其中,空间101h为空间101e在被货物100b部分占用后，新界定的被未占用空间。1E is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the application after placing the goods. Referring to FIGS. 1C , 1D and 1E, it can be seen that the orientations of thegoods 100b in FIGS. 1D and 1E are different when they are placed, that is, when thegoods 100b are placed It can be turned when placed, that is, the orientation of the goods to be stored can be changed when placing the goods. After thegoods 100b are placed, the current unoccupied spaces arespaces 101f and 101h. Thespace 101h is the newly defined unoccupied space after thespace 101e is partially occupied by thegoods 100b.

示例性的，图1F为本申请一个实施例提供的机器人的结构示意图；如图1F所示，所述搬运机器人80包括移动底盘83，存储货架82，搬运装置84，升降组件81。其中，存储货架82、搬运装置84以及升降组件81均安装于所述移动底盘83，以及在存储货架82上设置若干存储单元。升降组件81用于驱动搬运装置84进行升降移动，使搬运装置84对准存储货架82上的任意一个存储单元，或者对准货架和/或货物。搬运装置84能以竖直方向为轴进行旋转而调整朝向，以对准至存储单元，或者对准货架和/或货物。搬运装置84用于执行货物的装载或卸除，以在货架与存储单元之间进行货物的搬运。Exemplarily, FIG. 1F is a schematic structural diagram of a robot provided by an embodiment of the present application; as shown in FIG. Among them, thestorage rack 82 , the conveyingdevice 84 and the liftingassembly 81 are all installed on themobile chassis 83 , and several storage units are arranged on thestorage rack 82 . Thelift assembly 81 is used to drive thetransport device 84 to move up and down, so that thetransport device 84 is aligned with any storage unit on thestorage rack 82, or aligned with the rack and/or the goods. The handlingdevice 84 can be rotated about a vertical axis to adjust its orientation for alignment to a storage unit, or to a shelf and/or cargo. The handlingdevice 84 is used to carry out the loading or unloading of goods to carry the goods between the racks and the storage unit.

示例性的，存储货架82可以选择性的配置或不配置，在不配置存储货架82时，机器人80在搬运货物期间，货物是存放在搬运装置84的容置空间内。Exemplarily, the storage racks 82 may be selectively configured or not configured. When the storage racks 82 are not configured, the goods are stored in the accommodating space of the handlingdevice 84 when therobot 80 transports the goods.

上述实施例中的机器人80可以执行本申请所示的货物存放方法，以实现货架、操作平台之间的货物搬运。Therobot 80 in the above embodiment can execute the cargo storage method shown in the present application, so as to realize the cargo handling between the shelves and the operation platform.

在机器人80执行存放货物任务的过程中，机器人80移动至货物被指定的存放空间的位置，通过升降组件81配合搬运装置84，将货物从存储货架82的存储单元搬运至货架上。When therobot 80 performs the task of storing the goods, therobot 80 moves to the position of the designated storage space for the goods, and the liftingassembly 81 cooperates with thetransport device 84 to transport the goods from the storage unit of thestorage rack 82 to the rack.

示例性的，图1G为本申请图1F所示实施例中的一种搬运装置的结构示意图。Exemplarily, FIG. 1G is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the present application.

示例性的，搬运装置84通过旋转机构85安装于托架86，旋转机构85用于带动搬运装置84相对于托架86绕一竖直轴线旋转，以对准存储单元，或者对准货架和/或货物。搬运装置84用于在存储单元与货架之间搬运货物。若搬运装置84未对准货架和/或货物，可通过旋转机构85带动搬运装置84相对于托架86旋转，以保证搬运装置84对准货架和/或货物。Illustratively, the carryingdevice 84 is mounted on thebracket 86 through arotating mechanism 85, which is used to drive the carryingdevice 84 to rotate about a vertical axis relative to thebracket 86 to align the storage unit, or to align the racks and/or racks. or goods. The handlingdevice 84 is used to transport goods between the storage units and the racks. If thehandling device 84 is not aligned with the shelf and/or the goods, the handlingdevice 84 can be driven to rotate relative to thebracket 86 by the rotatingmechanism 85 to ensure that the handlingdevice 84 is aligned with the shelf and/or the goods.

图1H为本申请图1F所示实施例中的一种机器人及其搬运装置的结构。配合图1F与图1G可以理解的是，根据实际情况，旋转机构85可以省略，例如，搬运机器人80以固定的轨道移动，在移动至货架附近后，搬运装置84始终对准货架和/或货物，而货物配置在搬运装置84的取放货方向上即可。FIG. 1H is the structure of a robot and its handling device in the embodiment shown in FIG. 1F of the application. It can be understood with reference to FIG. 1F and FIG. 1G that therotating mechanism 85 may be omitted according to the actual situation. For example, the handlingrobot 80 moves on a fixed track, and after moving to the vicinity of the shelf, the handlingdevice 84 is always aligned with the shelf and/or the goods , and the goods can be arranged in the picking and placing direction of the handlingdevice 84 .

示例性的，图1I为本申请图1F所示实施例中的一种搬运装置的结构示意图，请配合图1G利于理解。如图1I所示，搬运装置84包括托板841、伸缩臂组件。托板841用于放置货物，可以为一水平设置的平板。伸缩臂组件用于将托板841所放置的货物推出托板841或者将货物拉至托板841。伸缩臂组件包括伸缩臂843、固定推杆842以及活动推杆844。伸缩臂843包括左伸缩臂与右伸缩臂，伸缩臂843可水平地伸出，在垂直于伸缩臂843的伸出方向且平行于托板841的方向上，伸缩臂843位于托板841的一侧。伸缩臂843由电机提供动力，由链轮机构传递动力，根据实际情况，链轮机构可以替换成带轮机构，丝杠机构等传动机构驱动。固定推杆842及活动推杆844皆安装于伸缩臂843，固定推杆842及活动推杆844可随伸缩臂843一并伸出。固定推杆842与托板841位于伸缩臂843的同一侧，在伸缩臂843伸出时，所述固定推杆842用于将货物从托板841上推出。活动推杆844可收入伸缩臂843，当活动推杆844未收入伸缩臂843时，活动推杆844、固定推杆842以及托板841三者皆位于伸缩臂843的同一侧，并且活动推杆844位于固定推杆842沿伸缩臂843的伸出方向上。活动推杆844可直接由电机驱动，根据实际情况，也可通过如齿轮组，连杆机构等传动机构传递动力。当活动推杆844未收入伸缩臂，并且伸缩臂843缩回时，活动推杆844用于将货物拉至托板841。Exemplarily, FIG. 1I is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the present application. Please refer to FIG. 1G to facilitate understanding. As shown in FIG. 1I, the conveyingdevice 84 includes apallet 841 and a telescopic arm assembly. Thepallet 841 is used for placing goods and can be a horizontally arranged flat plate. The telescopic arm assembly is used to push the goods placed on thepallet 841 out of thepallet 841 or pull the goods to thepallet 841 . The telescopic arm assembly includes atelescopic arm 843 , a fixedpush rod 842 and amovable push rod 844 . Thetelescopic arm 843 includes a left telescopic arm and a right telescopic arm, and thetelescopic arm 843 can be extended horizontally. side. Thetelescopic arm 843 is powered by a motor, and the power is transmitted by a sprocket mechanism. According to the actual situation, the sprocket mechanism can be replaced with a pulley mechanism, a screw mechanism and other transmission mechanisms to drive. Both the fixedpush rod 842 and themovable push rod 844 are installed on thetelescopic arm 843 , and the fixedpush rod 842 and themovable push rod 844 can extend together with thetelescopic arm 843 . The fixedpush rod 842 and thepallet 841 are located on the same side of thetelescopic arm 843 . When thetelescopic arm 843 is extended, the fixedpush rod 842 is used to push out the goods from thepallet 841 . Themovable push rod 844 can be retracted into thetelescopic arm 843. When themovable push rod 844 is not retracted into thetelescopic arm 843, themovable push rod 844, the fixedpush rod 842 and thesupport plate 841 are all located on the same side of thetelescopic arm 843, and themovable push rod 844 is located in the extending direction of the fixedpush rod 842 along thetelescopic arm 843 . Themovable push rod 844 can be directly driven by a motor, and can also transmit power through a transmission mechanism such as a gear set and a link mechanism according to actual conditions. When themovable push rod 844 is not retracted into the telescopic arm and thetelescopic arm 843 is retracted, themovable push rod 844 is used to pull the goods to thepallet 841 .

示例性的，搬运装置84的固定推杆842，可以设计如同活动推杆844的指杆结构。Exemplarily, the fixedpush rod 842 of the carryingdevice 84 can be designed as a finger structure like themovable push rod 844 .

示例性的，搬运装置84可以设计为伸缩臂组件的间距宽度为可调的结构。在存/取货物的时候，可因应着货物尺寸调整伸缩臂组件的间距宽度。Exemplarily, the carryingdevice 84 can be designed as a structure in which the spacing width of the telescopic arm assembly is adjustable. When storing/retrieving goods, the spacing width of the telescopic boom assembly can be adjusted according to the size of the goods.

示例性的，该搬运装置84还可以包括转向结构，如转盘，该转向结构可以用于改变放置于其托板841上的货物的朝向。图1J为本申请图1I所示实施例中另一种搬运装置的结构示意图，结合图1J和图1I可知，搬运装置84还可以包括一个转向结构，即图1I中的转盘845，以改变放置于其托板841上的货物的朝向。Exemplarily, the handlingdevice 84 may further include a turning structure, such as a turntable, which may be used to change the orientation of the goods placed on thepallet 841 thereof. FIG. 1J is a schematic structural diagram of another handling device in the embodiment shown in FIG. 1I of the present application. It can be seen from FIG. 1J and FIG. 1I that the handlingdevice 84 may further include a steering structure, that is, theturntable 845 in FIG. 1I to change the placement the orientation of the goods on itspallet 841.

示例性的，图1K为本申请图1F所示实施例的另一种搬运装置的结构示意图，搬运装置84a包括一个或多个吸盘846，其配置在固定推杆842上，固定推杆842可为杆状或板状。在存/取货物的时候，固定推杆842可被驱动而就朝向货物和/或货架方向，作往/返方向的位移。通过吸盘846吸附货物，配合固定推杆842的位移以搬运货物至货架上，或搬运货物至托板841上。Exemplarily, FIG. 1K is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the application. The conveyingdevice 84a includes one ormore suction cups 846, which are arranged on the fixedpush rod 842, and the fixedpush rod 842 can be Rod-shaped or plate-shaped. When storing/retrieving goods, the fixedpush rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction. The goods are sucked by thesuction cups 846 , and the displacement of the fixedpush rod 842 is matched to carry the goods to the shelf, or to carry the goods to thepallet 841 .

示例性的，图1L为本申请图1F所示实施例的另一种搬运装置的结构，搬运装置84b包括一个或多个机械臂847，其配置在固定推杆842和/或搬运装置84b上的适当位置。在存/取货物的时候，固定推杆842可被驱动而就朝向货物和/或货架方向，作往/返方向的位移。通过机械臂847抓取/钩取货物，配合固定推杆842的位移以搬运货物至货架上，或搬运货物至托板841上。Exemplarily, FIG. 1L shows the structure of another handling device according to the embodiment shown in FIG. 1F of the application. Thehandling device 84b includes one or moremechanical arms 847, which are configured on the fixedpush rod 842 and/or thehandling device 84b. appropriate location. When storing/retrieving goods, the fixedpush rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction. Therobot arm 847 grabs/hooks the goods, and cooperates with the displacement of the fixedpush rod 842 to carry the goods to the rack, or to carry the goods to thepallet 841 .

示例性的，搬运装置(84a、84b)还可以包括一个转向结构，如图1J、图1K中的转盘845，以改变放置于其托板841上的货物的朝向。Exemplarily, the handling device (84a, 84b) may further include a turning structure, such as theturntable 845 in Figs. 1J and 1K, to change the orientation of the goods placed on thepallet 841 thereof.

本申请所示实施例的搬运装置结构，可包括上述示例中，一个或多个的组合。The structure of the handling device of the embodiment shown in the present application may include a combination of one or more of the above examples.

有益效果在于，相对于伸缩臂而言，采用吸盘、机械臂等结构，可缩小货物之间的安全间距，进而提升仓储系统的货架上的货物密度，提高空间利用率，降低仓储成本。The beneficial effect is that, compared with the telescopic arm, the use of suction cups, mechanical arms and other structures can reduce the safe distance between goods, thereby increasing the density of goods on the shelves of the storage system, improving space utilization, and reducing storage costs.

图2A以及图2B为本申请实施例提供的货物整理方法的应用场景图，如图2A以及图2B所示，本申请实施例提供的货物整理方法可以由仓储系统200的仓库管理设备230或者机器人210执行。仓储系统200采用机器人210进行货架220上的货物的提取和/或存放、以及货物存放位置的调整从而实现达到对货架220进行理库的目的，采用仓库管理设备230对机器人210进行路径规划、状态监控和调度等，以使机器人210移动至设定位置，从而进行相应的货物的提取和/或存放、以及货物存放位置的调整，仓库管理设备230中还存储有货架220的各个存放空间的存放信息以及各个货物的基本信息，以便于进行仓库管理。2A and FIG. 2B are application scenario diagrams of the cargo sorting method provided by the embodiment of the present application. As shown in FIG. 2A and FIG. 2B , the cargo sorting method provided by the embodiment of the present application can be implemented by thewarehouse management device 230 of the storage system 200 or the robot. 210 is executed. The storage system 200 uses therobot 210 to extract and/or store the goods on theshelf 220 and adjust the storage position of the goods to achieve the purpose of organizing theshelves 220, and uses thewarehouse management device 230 to carry out the path planning and status of therobot 210. Monitoring and scheduling, etc., so that therobot 210 moves to the set position, so as to carry out the corresponding extraction and/or storage of the goods, and the adjustment of the storage position of the goods, and thewarehouse management device 230 also stores the storage space of theracks 220. information and the basic information of each item to facilitate warehouse management.

参考图2A，为了将待存放货物221放置于目标位置222，通常，首先将待存放货物221放置于机器人210的存储单元中或者搬运装置211上，当机器人210接收到仓库管理设备230的存放指令时，机器人210根据存放指令移动至相应的位置P1，进而将待存放货物221放置于存放指令对应的货架220的目标位置222上，从而完成待存放货物221的存放或入库。Referring to FIG. 2A , in order to place thegoods 221 to be stored at thetarget position 222 , usually, thegoods 221 to be stored are firstly placed in the storage unit of therobot 210 or on thehandling device 211 , when therobot 210 receives the storage instruction from thewarehouse management device 230 , therobot 210 moves to the corresponding position P1 according to the storage instruction, and then places thegoods 221 to be stored on thetarget position 222 of theshelf 220 corresponding to the storage instruction, thereby completing the storage or storage of thegoods 221 to be stored.

参考图2B，在仓库管理设备230控制机器人210进行理库操作时，仓库管理设备230可以向机器人210发送理库指令，当机器人210接收到仓库管理设备230的理库指令时，机器人210根据理库指令移动至相应的位置P2，然后机器人210根据理库指令对货架220上需要进行理库的货架进行理库操作，具体的，货架220上的货物存放位置是根据上述动态配置货物存放空间的方法确定的。Referring to FIG. 2B , when thewarehouse management device 230 controls therobot 210 to perform a warehouse management operation, thewarehouse management device 230 can send a warehouse management instruction to therobot 210 , and when therobot 210 receives thewarehouse management device 230 , When thewarehouse management device 230 receives the warehouse management command, therobot 210 executes the warehouse management operation according to the reason. The library instruction is moved to the corresponding position P2, and then therobot 210 performs the library sorting operation on the shelf that needs to be sorted out on theshelf 220 according to the library sorting instruction. Specifically, the storage position of the goods on theshelf 220 is based on the above-mentioned dynamic configuration of the goods storage space. method determined.

现有技术中，理库策略的制定，大多依赖于人的参与，需要专业理库人员，根据仓储系统的货架的存放情况确定相应的理库策略，理库效率低，从而导致仓储系统的空间利用率不合理，仓储效率低。In the prior art, the formulation of warehouse management strategies mostly relies on the participation of people, requiring professional warehouse management personnel to determine the corresponding warehouse management strategies according to the storage conditions of the shelves in the storage system. The utilization rate is unreasonable and the storage efficiency is low.

为了提高理库效率，本申请实施例提供了一种货物整理方法，针对采用动态库位机制的货架，本申请首先确定执行理库任务的目标机器人，然后基于目标机器人的状态属性为目标机器人分配相应的第一目标货架，并控制目标机器人对第一目标货架进行理库操作，从而，通过仓库管理设备控制机器人进行理库，可以实现仓储系统的自动理库，理库效率高、准确度高，进而有助于提高仓储系统的仓储效率。In order to improve the efficiency of inventory management, an embodiment of the present application provides a method for sorting goods. For a shelf that adopts a dynamic storage location mechanism, the application first determines a target robot that performs the inventory management task, and then assigns the target robot to the target robot based on the state attributes of the target robot. The corresponding first target shelf is controlled, and the target robot is controlled to perform warehouse management operations on the first target shelf. Therefore, by controlling the robot to perform warehouse management through the warehouse management equipment, the automatic warehouse management of the storage system can be realized, and the warehouse management efficiency and accuracy are high. , which in turn helps to improve the storage efficiency of the storage system.

图3为本申请一个实施例提供的货物整理方法的流程图，如图3所示，该货物整理方法可以由仓储系统的仓库管理设备执行。本实施例提供的货物整理方法包括以下步骤：FIG. 3 is a flowchart of a method for sorting goods provided by an embodiment of the present application. As shown in FIG. 3 , the method for sorting goods may be executed by a warehouse management device of a storage system. The cargo arrangement method provided by this embodiment includes the following steps:

S110、确定可执行理库任务的目标机器人。S110. Determine a target robot that can perform the library task.

其中，目标机器人为仓储系统内的机器人，在需要进行货物整理时，仓库管理设备从仓储系统中的多个机器人中确认可以执行理库任务的机器人，并将该机器人确定为目标机器人。The target robot is a robot in the warehousing system. When goods need to be sorted, the warehouse management device confirms the robot that can perform the warehousing task from a plurality of robots in the warehousing system, and determines the robot as the target robot.

S120、根据目标机器人的状态属性确定目标机器人执行理库操作的第一目标货架，其中，第一目标货架上每个货物的存放空间为根据货物的尺寸信息以及货架上的动态货物存放空间确定的。S120: Determine a first target shelf on which the target robot performs the library operation according to the state attribute of the target robot, wherein the storage space of each item on the first target rack is determined according to the size information of the goods and the dynamic storage space of the goods on the shelf .

其中，状态属性为表示目标机器人的状态的属性信息，第一目标货架上每个货物的存放空间为根据货物的尺寸信息以及货架上的动态货物存放空间确定的，即执行理库操作的第一目标货架为基于上述动态配置货物存放空间规则存放货物的货架。Among them, the state attribute is attribute information representing the state of the target robot, and the storage space of each item on the first target shelf is determined according to the size information of the item and the dynamic storage space of the goods on the shelf, that is, the first object to perform the warehouse management operation. The target shelf is a shelf that stores goods based on the above dynamic configuration of the goods storage space rules.

仓库管理设备在确定目标机器人时，目标机器人可能处于不同的状态，例如，处于未执行任务的空闲状态，或者，处于正在执行取放货任务的工作状态等。当机器人的状态属性不同时，其执行理库操作的目标货架也可能不同，从而，仓库管理设备根据目标机器人的状态属性，确定目标机器人执行理库操作的第一目标货架。When the warehouse management device determines the target robot, the target robot may be in different states, for example, in an idle state without performing tasks, or in a working state in which a pick-and-place task is being performed. When the state attributes of the robots are different, the target racks on which the robot performs the warehouse management operation may also be different. Therefore, the warehouse management device determines the first target shelf on which the target robot performs the warehouse management operation according to the state attributes of the target robot.

S130、控制目标机器人对第一目标货架执行理库操作。S130: Control the target robot to perform a library operation on the first target shelf.

仓库管理设备在确定目标机器人对应的第一目标货架之后，可以向目标机器人发送理库指令，从而控制目标机器人对第一目标货架执行理库操作。当机器人接收到仓库管理设备的理库指令时，机器人根据理库指令移动至第一目标货架所在的位置，然后机器人根据理库指令对第一目标货架进行理库操作，从而实现自动理库。After determining the first target rack corresponding to the target robot, the warehouse management device may send a library ordering instruction to the target robot, thereby controlling the target robot to perform a library order operation on the first target rack. When the robot receives the library ordering instruction from the warehouse management device, the robot moves to the position of the first target shelf according to the library ordering instruction, and then the robot performs the library ordering operation on the first target rack according to the library ordering instruction, thereby realizing automatic warehouse ordering.

具体的，理库指令的内容可以是多种多样的，例如可以是，理库指令包括第一目标货架的标识和位置，当机器人根据理库指令移动到第一目标货架之后，机器人通过传感器检测第一目标货架上的已存放货物的放置位姿以及和相邻货物之间的间距，进而确定需要执行理库操作的货物，并对其执行理库操作；或者可以是，理库指令包括第一目标货架上的任一需要整理货物的取出指令，和/或该货物的放置指令，放置指令中可以包括该需要整理货物的放置位置，机器人根据取出指令和/或放置指令对任一货物进行理库操作。其中，所述传感器包括激光传感器、2D相机和3D相机中的至少一项。Specifically, the content of the library management instruction may be various. For example, the library management instruction may include the identification and position of the first target rack. After the robot moves to the first target rack according to the library management instruction, the robot detects the first target rack through the sensor. The placement posture of the stored goods on the first target shelf and the distance between them and the adjacent goods, so as to determine the goods that need to perform the warehouse management operation, and perform the warehouse management operation on them; or, the warehouse management instruction includes the first A take-out instruction for any goods to be sorted on a target shelf, and/or a placement instruction for the goods, the placement instruction may include the placement position of the goods to be sorted, and the robot performs any goods according to the take-out instruction and/or the placement instruction. library operations. Wherein, the sensor includes at least one of a laser sensor, a 2D camera and a 3D camera.

本实施例提供一种货物整理方法，针对采用动态库位机制的货架，仓库管理设备首先确定执行理库任务的目标机器人，然后基于目标机器人的状态属性为目标机器人分配相应的第一目标货架，并控制目标机器人对第一目标货架进行理库操作，从而，通过仓库管理设备控制机器人进行理库，可以实现仓储系统的自动理库，理库效率高、准确度高，进而有助于提高仓储系统的仓储效率。This embodiment provides a method for arranging goods. For a shelf that adopts a dynamic storage location mechanism, the warehouse management device first determines a target robot that performs a warehouse-arranging task, and then allocates a corresponding first target shelf to the target robot based on the state attribute of the target robot. And control the target robot to carry out the warehouse sorting operation on the first target shelf, so that the warehouse management equipment controls the robot to carry out the warehouse sorting, which can realize the automatic warehouse sorting of the warehousing system. Warehousing efficiency of the system.

在一些实施例中，确定可执行理库任务的目标机器人，包括：确定当前处于空闲状态的第一机器人为目标机器人；和/或，确定当前正在执行取放货任务、且取放货任务执行时长短于分配时长的第二机器人为目标机器人。In some embodiments, determining a target robot that can perform a library task includes: determining a first robot that is currently in an idle state as a target robot; and/or, determining that a pick-and-place task is currently being performed, and the pick-and-place task is executed The second robot whose duration is shorter than the assigned duration is the target robot.

具体的，仓库管理设备在确定目标机器人时，可以将处于不同状态的机器人作为目标机器人。其中，处于空闲状态的第一机器人，具体可以是指当前未执行任何任务的机器人，由于第一机器人当前未执行任何任务，因此，仓库管理设备可以控制第一机器人执行理库任务。Specifically, when the warehouse management device determines the target robot, the robot in different states can be used as the target robot. The first robot in an idle state may specifically refer to a robot that does not currently perform any tasks. Since the first robot does not currently perform any tasks, the warehouse management device can control the first robot to perform a library task.

另外，在确定正在执行取放货任务的第二机器人为目标机器人时，该第二机器人需要满足取放货任务执行时长短于分配时长的条件，其中，取放货任务执行时长是指该第二机器人执行取放货任务的实际时长，分配时长是指仓库管理设备根据取放货任务对应的任务优先级，和/或取放货任务对应的订单的时效等情况分配给第二机器人用于执行取放货任务的时长。当取放货任务执行时长短于分配时长时，第二机器人可以在分配时长内执行取放货任务和理库任务，且两者执行时长的总和不超过该取放货任务的分配时长。In addition, when it is determined that the second robot that is performing the picking and placing task is the target robot, the second robot needs to satisfy the condition that the execution time of the picking and placing task is shorter than the allocated time, wherein the execution time of the picking and placing task refers to the The actual time for the second robot to perform the task of picking and placing goods. The allocated time refers to the time that the warehouse management equipment allocates to the second robot according to the task priority corresponding to the task of picking and placing goods, and/or the timeliness of the order corresponding to the task of picking and placing goods. The duration of the pick-and-place task. When the execution time of the picking and placing task is shorter than the allotted time, the second robot can execute the picking and placing task and the warehouse sorting task within the allotted time, and the sum of the two execution times does not exceed the allotted time of the picking and placing task.

例如，某第二机器人当前正在执行取放货任务，其对应的取放货任务执行时长为3分钟，分配时长为5分钟，则剩余时长为2分钟，该第二机器人可以利用剩余时长来执行理库任务。For example, if a second robot is currently performing a pick-and-place task, its corresponding pick-and-place task takes 3 minutes to execute, and the allocated time is 5 minutes, then the remaining time is 2 minutes, and the second robot can use the remaining time to execute library tasks.

可以理解，本实施例中，仓库管理设备可以仅确定第一机器人为目标机器人，也可以仅确定第二机器人为目标机器人，还可以是同时将第一机器人和第二机器人都确定为目标机器人。It can be understood that, in this embodiment, the warehouse management device may only determine the first robot as the target robot, or only the second robot as the target robot, or both the first robot and the second robot may be determined as the target robot at the same time.

本实施例中，仓库管理设备确定当前处于空闲状态的第一机器人为目标机器人，和/或，确定当前正在执行取放货任务、且取放货任务执行时长短于分配时长的第二机器人为目标机器人，目标机器人具备进行理库的条件，从而实现仓储系统的自动理库。In this embodiment, the warehouse management device determines that the first robot that is currently in an idle state is the target robot, and/or determines that the second robot that is currently performing a pick-and-place task and whose execution time of the pick-and-place task is shorter than the assigned duration is The target robot, the target robot has the conditions to manage the warehouse, so as to realize the automatic warehouse management of the storage system.

在一些实施例中，目标机器人为第二机器人，根据目标机器人的状态属性确定目标机器人执行理库操作的第一目标货架，包括：确定取放货任务对应的货架为目标机器人执行理库操作的第一目标货架。In some embodiments, the target robot is the second robot, and determining the first target rack on which the target robot performs the warehouse storage operation according to the state attribute of the target robot includes: determining the shelf corresponding to the picking and placing task as the target robot performing the warehouse storage operation. First Target Shelf.

具体的，在目标机器人为当前正在执行取放货任务、且取放货任务执行时长短于分配时长的第二机器人时，仓库管理设备可以将该第二机器人执行取放货任务对应的货架作为该第二机器人对应的第一目标货架，从而，目标机器人在完成取放货任务后，可以直接在该货架上进行理库操作，从而，可以大大减少目标机器人移动至对应的第一目标货架的时间，提高理库效率。Specifically, when the target robot is the second robot that is currently performing the picking and placing task and the execution time of the picking and placing task is shorter than the allocated time, the warehouse management device may use the shelf corresponding to the second robot to perform the picking and placing task as the second robot. The second robot corresponds to the first target shelf. Therefore, after the target robot completes the task of picking and placing goods, the target robot can directly perform warehouse operations on the shelf, thereby greatly reducing the time required for the target robot to move to the corresponding first target shelf. time and improve the efficiency of library management.

在一些实施例中，目标机器人为第一机器人或第二机器人，根据目标机器人的状态属性确定目标机器人执行理库操作的第一目标货架，包括：根据货架理库优先级，从多个货架中确定第一目标货架；或，根据目标机器人与货架的距离，从多个货架中确定第一目标货架；或，根据货架理库优先级和目标机器人与货架的距离，从多个货架中确定第一目标货架。In some embodiments, the target robot is the first robot or the second robot, and determining the first target rack on which the target robot performs the library operation according to the state attribute of the target robot includes: according to the rack storage priority, selecting from a plurality of racks Determine the first target rack; or, according to the distance between the target robot and the rack, determine the first target rack from multiple racks; or, determine the first target rack from multiple racks according to the priority of rack management and the distance between the target robot and the rack. A target shelf.

其中，货架理库优先级表征对货架进行理库操作的优先级，货架的货架理库优先级越高，优先将该货架确定为目标机器人执行理库操作的第一目标货架。Among them, the shelf management priority represents the priority of the shelf management operation. The higher the shelf management priority of the shelf, the priority is to determine the shelf as the first target shelf for the target robot to perform the storage operation.

另外，也可以根据目标机器人与货架的距离来确定第一目标货架，具体可以是货架与目标机器人的距离越近，优先将该货架确定为目标机器人执行理库操作的第一目标货架。In addition, the first target shelf can also be determined according to the distance between the target robot and the shelf. Specifically, the closer the distance between the shelf and the target robot is, the priority is to determine the shelf as the first target shelf for the target robot to perform the library operation.

可选的，也可以是同时结合货架理库优先级和目标机器人与货架的距离来确定第一目标货架。Optionally, the first target shelf can also be determined by combining the priority of the shelf storage and the distance between the target robot and the shelf at the same time.

具体的，同时结合货架理库优先级和目标机器人与货架的距离来确定第一目标货架的实现方式可以是多种多样的，例如可以是，可以选择优先级高的参考货架，例如优先级在第一优先级范围内的多个参考货架，然后根据多个参考货架与目标机器人之间的距离，选择距离目标机器人最近的参考货架为第一目标货架；或者可以是先确定目标机器人预设范围内的多个参考货架，然后确定多个参考货架中优先级最高的货架为上述第一目标货架等方式，在此不做限定。Specifically, the implementation of determining the first target shelf in combination with the priority of the shelf management library and the distance between the target robot and the shelf can be various. For example, a reference shelf with a high priority can be selected. For example, the priority is in Multiple reference racks within the first priority range, and then select the reference rack closest to the target robot as the first target rack according to the distance between the multiple reference racks and the target robot; or the preset range of the target robot may be determined first multiple reference racks in the multiple reference racks, and then determine the rack with the highest priority among the multiple reference racks as the above-mentioned first target rack, etc., which is not limited here.

本实施例中，仓库管理设备在根据目标机器人的状态属性确定目标机器人执行理库操作的第一目标货架时，可以根据货架理库优先级和/或目标机器人与货架的距离，从仓储系统的多个货架中确定该目标机器人对应的第一目标货架，有利于提升机器人执行理库操作的有效性和合理性。In this embodiment, when the warehouse management device determines the first target rack on which the target robot performs the warehouse management operation according to the state attribute of the target robot, the warehouse management device may, according to the priority of the shelf management and/or the distance between the target robot and the shelf, from the storage system Determining the first target rack corresponding to the target robot among the multiple racks is beneficial to improve the effectiveness and rationality of the robot performing the library operation.

在一些实施例中，还包括：根据货架区域优先级、货架占有率以及货架理库间隔中的一种或多种，确定多个货架中各货架对应的货架理库优先级。In some embodiments, the method further includes: determining a shelf storage priority corresponding to each of the multiple shelves according to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval.

其中，货架区域优先级为货架所在区域的优先级，货架区域优先级与货架所在区域的热度成正比例关系，货架所在区域的热度与货架的整理频率成正比例关系；Among them, the priority of the shelf area is the priority of the area where the shelf is located, the priority of the shelf area is proportional to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is proportional to the sorting frequency of the shelf;

货架占有率为货架的碎片空间总长度与货物总长度的比值，碎片空间总长度为货架上的碎片空间长度的总和，碎片空间长度为相邻的第一货物与第二货物之间的间隔长度，且间隔长度小于预设值，货物总长度为货架上已存放的货物的长度之和，其中，货架占有率与货架理库优先级成正比例关系；Shelf occupancy is the ratio of the total length of the debris space on the shelf to the total length of the goods, the total length of the debris space is the sum of the length of the debris space on the shelf, and the length of the debris space is the length of the interval between the adjacent first and second goods , and the interval length is less than the preset value, the total length of the goods is the sum of the lengths of the goods stored on the shelf, and the shelf occupancy rate is proportional to the shelf storage priority;

货架理库间隔为最近一次对货架进行理库操作的时间节点与当前时刻的时间间隔。The shelf storage interval is the time interval between the time node of the last storage management operation on the shelf and the current moment.

具体的，不同的货架区域的热度不同，进而针对货架所在区域的不同，货架的理库需求不同，区域热度高的货架，理库频率会高，区域热度低的货架，理库频率较低。Specifically, the heat of different shelf areas is different, and according to the different areas where the shelves are located, the needs of the shelves are different. The shelf with high regional heat will have a high frequency of storage, and the shelf with low regional heat will have a lower frequency of storage.

具体的，所述预设值可以是货架上所有货物的总长度的平均值，或者可以是仓库内所有货物的总长度的平均值，或者可以是第一货物和第二货物所在的单层货架上所有已存放货物的总长度平均值等，在此不做限定。Specifically, the preset value may be the average of the total lengths of all the goods on the shelf, or may be the average of the total lengths of all the goods in the warehouse, or may be the single-layer shelf where the first goods and the second goods are located The average total length of all the stored goods above, etc., are not limited here.

例如，图4为本申请实施例中货架上存放货物的示例图，如图4所示，货架220上放置有4个货物，各货物的长度分别为a1、a2、a3和a4，相邻两个货物之间的碎片空间长度分别为b1、b2和b3，这里预设值指4个货物的总长度的平均值，从图4中可以看出，b1、b2和b3均小于预设值，这就表示b1、b2和b3均没有办法放置货物，这三个空间被浪费掉了，因此需要将这写空间整理出来，以D表示货物总长度，d表示碎片空间总长度，P表示货架占有率，则货架占有率P可以通过以下公式计算得到：For example, FIG. 4 is an example diagram of goods stored on a shelf in an embodiment of the present application. As shown in FIG. 4 , four goods are placed on theshelf 220, and the lengths of each goods are a1, a2, a3, and a4, respectively. The lengths of the debris space between the cargoes are b1, b2 and b3 respectively. The preset value here refers to the average value of the total length of the four cargoes. It can be seen from Figure 4 that b1, b2 and b3 are all smaller than the preset value. This means that b1, b2 and b3 have no way to place the goods, and these three spaces are wasted. Therefore, the writing space needs to be sorted out. D represents the total length of the goods, d represents the total length of the debris space, and P represents the shelf occupied. rate, the shelf occupancy rate P can be calculated by the following formula:

P＝d/D＝(b1+b2+b3)/(a1+a2+a3+a4)P=d/D=(b1+b2+b3)/(a1+a2+a3+a4)

具体的，货架占有率越高，则说明该货架上的箱子分布较分散，那么该货架对应的理库优先级就越高。Specifically, the higher the shelf occupancy rate, the more scattered the boxes on the shelf, and the higher the priority of the warehouse corresponding to the shelf.

具体的，货架理库间隔越大，表明货架已经长时间没有进行理库操作，那么该货架对应的理库优先级越高。Specifically, the larger the rack storage interval, the higher the storage priority corresponding to the shelf, which indicates that the rack has not been operated for a long time.

具体的，仓库管理设备在确定多个货架中各货架对应的货架理库优先级时，可以仅根据货架区域优先级、货架占有率以及货架理库间隔中的任一种来确定货架理库优先级。例如，仅根据货架区域优先级确定多个货架中各货架对应的货架理库优先级，或者仅根据货架占有率确定多个货架中各货架对应的货架理库优先级，或者仅根据货架理库间隔确定多个货架中各货架对应的货架理库优先级。Specifically, when the warehouse management device determines the shelf storage priority corresponding to each shelf in the multiple shelves, it can determine the shelf storage priority only according to any one of the shelf area priority, the shelf occupancy rate, and the shelf storage interval. class. For example, only determine the shelf storage priority corresponding to each shelf in the multiple shelves according to the priority of the shelf area, or only determine the shelf storage priority corresponding to each shelf in the multiple shelves according to the rack occupancy rate, or only determine the shelf storage priority according to the shelf storage. The interval determines the shelf storage priority corresponding to each shelf in the multiple shelves.

可选的，也可以是根据货架区域优先级、货架占有率以及货架理库间隔中的任意两种的组合来确定货架理库优先级，例如，根据货架区域优先级以及货架理库间隔确定多个货架中各货架对应的货架理库优先级。Optionally, the shelf arrangement priority can also be determined according to a combination of any two of the shelf area priority, the shelf occupancy rate, and the shelf arrangement interval. The shelf management priority corresponding to each shelf in each shelf.

示例性的，根据货架区域优先级以及货架占有率确定多个货架中各货架对应的货架理库优先级，例如可以优先选择区域热度较高的货架，选择该区域内占有率较高的货架，进行理库操作。Exemplarily, the shelf storage priority corresponding to each shelf in the multiple shelves is determined according to the shelf area priority and the shelf occupancy rate. For example, a shelf with a high regional heat can be preferentially selected, and a shelf with a high occupancy rate in the area can be selected. Perform library operations.

示例性的，根据货架区域优先级以及货架理库间隔确定多个货架中各货架对应的货架理库优先级，例如，优先选择长时间未被理库的货架，系统记录每个货架上次被整理的时间，如果某一个货架长时间未被整理，则优先整理该货架，如果多个货架未被整理的时间相同则优先整理货架所在区域热度较高的货架。Exemplarily, the shelf storage priority corresponding to each shelf in the multiple shelves is determined according to the priority of the shelf area and the shelf storage interval. Sorting time, if a shelf has not been sorted for a long time, the shelf will be sorted first. If multiple shelves have not been sorted for the same time, the shelf with high heat in the area where the shelf is located will be sorted first.

可选的，也可以是同时根据货架区域优先级、货架占有率以及货架理库间隔来确定货架理库优先级。Optionally, the shelf arrangement priority may also be determined according to the shelf area priority, the shelf occupancy rate, and the shelf arrangement interval.

本实施例中，仓库管理设备根据货架区域优先级、货架占有率以及货架理库间隔中的一种或多种，确定多个货架中各货架对应的货架理库优先级，从而，使得各货架对应的货架理库优先级更加科学合理。In this embodiment, the warehouse management device determines the shelf storage priority corresponding to each shelf in the multiple shelves according to one or more of the shelf area priority, the shelf occupancy rate, and the shelf storage interval, so that each shelf is The priority of the corresponding shelf storage library is more scientific and reasonable.

在一些实施例中，根据货架区域优先级、货架占有率以及货架理库间隔中的一种或多种，确定多个货架中各货架对应的货架理库优先级，包括：In some embodiments, according to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval, determining a shelf storage priority corresponding to each of the multiple shelves, including:

根据货架区域优先级、货架占有率以及货架理库间隔，通过以下公式计算各货架对应的货架理库优先级：According to the priority of the shelf area, the occupancy rate of the shelf and the shelf storage interval, the shelf storage priority corresponding to each shelf is calculated by the following formula:

Q_i＝O_i×a+P_i×b+T_i×cQ_i =O_i ×a+P_i ×b+T_i ×c

具体的，权重系数a、b、c为动态系数，不做唯一限定，仓库管理设备可以根据当前的订单数量和机器人的数量来动态调整权重系数a、b、c的值。Specifically, the weight coefficients a, b, and c are dynamic coefficients, which are not uniquely limited. The warehouse management equipment can dynamically adjust the values of the weight coefficients a, b, and c according to the current order quantity and the number of robots.

另外，仓库管理设备可以通过调整权重系数a、b、c的取值，来调整确定多个货架中各货架对应的货架理库优先级时所使用的影响因素的种类。例如，当权重系数a、b、c中仅有一个值为非零值时，表示仅根据货架区域优先级、货架占有率以及货架理库间隔中的一种来确定货架理库优先级；当权重系数a、b、c中三个值都为非零值时，表示同时根据货架区域优先级、货架占有率以及货架理库间隔来确定货架理库优先级。In addition, the warehouse management device can adjust the types of influencing factors used in determining the shelf arrangement priority corresponding to each shelf in the plurality of shelves by adjusting the values of the weight coefficients a, b, and c. For example, when only one of the weight coefficients a, b, and c has a non-zero value, it means that the priority of rack storage is determined only according to one of shelf area priority, rack occupancy rate, and rack storage interval; when When the three values of the weight coefficients a, b, and c are all non-zero values, it means that the shelf storage priority is determined according to the shelf area priority, the shelf occupancy rate, and the shelf storage interval.

本实施例中，仓库管理设备根据货架区域优先级、货架占有率以及货架理库间隔，通过相应的公式来计算各货架对应的货架理库优先级，使得各货架对应的货架理库优先级更加科学合理。In this embodiment, the warehouse management device calculates the shelf management priority corresponding to each shelf according to the priority of the shelf area, the shelf occupancy rate, and the shelf storage interval, so as to make the shelf management priority corresponding to each shelf more efficient. scientifically sound.

在一些实施例中，根据目标机器人与货架的距离，从多个货架中确定第一目标货架，包括：确定与目标机器人之间的距离小于第一预设距离阈值、且不存在除目标机器人之外的其他机器人执行操作的货架为第一目标货架。In some embodiments, determining the first target shelf from the plurality of shelves according to the distance between the target robot and the shelf includes: determining that the distance from the target robot is less than a first preset distance threshold, and there is no other than the target robot. The shelf where other robots perform operations is the first target shelf.

其中，不存在除目标机器人之外的其他机器人执行操作的货架，具体可以是不存在其他机器人执行理库操作的货架，也可以是不存在其他机器人执行取放货操作的货架，即每个货架同时只存在一个机器人执行操作，从而可以避免机器人的操作互相冲突。Among them, there is no shelf on which other robots except the target robot perform operations, specifically, there is no shelf on which other robots perform warehouse operations, or there is no shelf on which other robots perform pick-and-place operations, that is, each shelf. There is only one robot to perform the operation at the same time, so that the operations of the robots can be prevented from conflicting with each other.

本实施例中，仓库管理设备在根据目标机器人与货架的距离确定第一目标货架时，可以将与目标机器人之间的距离小于第一预设距离阈值、且不存在除目标机器人之外的其他机器人执行操作的货架为第一目标货架，从而，通过限定距离小于第一预设距离阈值，可以避免目标机器人前往第一目标货架的路径过长的问题，以缩短目标机器人的移动时间，提高理库效率。In this embodiment, when the warehouse management device determines the first target shelf according to the distance between the target robot and the shelf, the distance between the warehouse management device and the target robot may be smaller than the first preset distance threshold, and there is no other than the target robot. The shelf on which the robot performs operations is the first target shelf. Therefore, by limiting the distance to less than the first preset distance threshold, the problem that the target robot takes too long to go to the first target shelf can be avoided, so as to shorten the moving time of the target robot and improve the rationale. library efficiency.

另外，每个货架同时只存在一个机器人执行操作，也可以避免不同机器人的工作区域存在重叠的情况，从而可以避免机器人的操作互相冲突影响。In addition, there is only one robot in each shelf to perform operations at the same time, which can also avoid the overlapping of the working areas of different robots, so as to avoid the conflicting effects of the robots' operations.

在一些实施例中，根据货架理库优先级和目标机器人与货架的距离，从多个货架中确定第一目标货架，包括：确定与目标机器人之间的距离小于第二预设距离阈值、且货架理库优先级大于预设优先级阈值，以及不存在除目标机器人之外的其他机器人执行操作的货架为第一目标货架。In some embodiments, determining the first target rack from the plurality of racks according to the priority of the racking library and the distance between the target robot and the rack includes: determining that the distance to the target robot is less than a second preset distance threshold, and A shelf where the priority of the shelf management library is greater than the preset priority threshold value and there is no other robot except the target robot to perform operations is the first target shelf.

本实施例中，仓库管理设备在确定第一目标货架时，可以同时结合货架与目标机器人的距离、货架理库优先级以及其他机器人的货架操作情况来确定第一目标货架，使得第一目标货架的确定结果更加科学合理。In this embodiment, when the warehouse management device determines the first target rack, it can simultaneously determine the first target rack in combination with the distance between the rack and the target robot, the priority of rack management, and the rack operations of other robots, so that the first target rack is The determination result is more scientific and reasonable.

在一些实施例中，控制目标机器人对第一目标货架执行理库操作，包括：In some embodiments, controlling the target robot to perform a library operation on the first target shelf includes:

基于第一目标货架上的已存放货物，确定第一目标货架对应的理库策略；Based on the stored goods on the first target shelf, determine the warehouse management strategy corresponding to the first target shelf;

根据理库策略，控制目标机器人执行理库操作。According to the library strategy, control the target robot to perform library operations.

具体的，基于第一目标货架上的已存放货物，确定第一目标货架对应的理库策略的具体实现方式可以是多种多样的，例如可以是针对机器人回传的针对第一目标货架上已存放货物的检测信息确定需要整理的货物，进而确定理库策略，同下述机器人确定理库策略的原理相同，在此不再赘述，或者可以是根据存储的已存放货物的位置确定整理上述碎片空间的理库策略，或者可以是，针对已存放货物的热度和存放区域之间是否对应确定理库策略，或者可以是根据已存放货物的尺寸确定如何将已存放货物中尺寸相同的货物放置在一起的理库策略等，在此不做限定。Specifically, based on the stored goods on the first target shelf, the specific implementation manner of determining the warehouse management strategy corresponding to the first target shelf can be various, for example, it can be returned by the robot for the stored goods on the first target shelf. The detection information of the stored goods determines the goods that need to be sorted, and then determines the warehouse management strategy. The warehouse management strategy of the space, or it can be determined according to the correspondence between the heat of the stored goods and the storage area, or it can be determined according to the size of the stored goods. How to place goods with the same size in the stored goods. There are no restrictions on the management strategy, etc., together.

具体的，仓库管理设备在控制目标机器人对第一目标货架执行理库操作时，可以首先获取第一目标货架上的已存放货物的信息，并确定第一目标货架对应的理库策略，然后根据理库策略控制目标机器人执行理库操作，从而，有助于提高理库效率。Specifically, when the warehouse management device controls the target robot to perform the warehouse sorting operation on the first target shelf, it can first obtain the information of the stored goods on the first target shelf, and determine the warehouse sorting strategy corresponding to the first target shelf, and then according to The library management strategy controls the target robot to perform the library management operation, thereby helping to improve the library management efficiency.

在一些实施例中，基于第一目标货架上的已存放货物，确定第一目标货架对应的理库策略，包括：根据第一目标货架上已存放货物的货物热度、货物间隔以及预设安全间距中的一项或多项，确定对第一目标货架上的已存放货物进行整理的理库策略，其中，货物热度表征已存放货物被取出的频率。In some embodiments, determining a warehouse management strategy corresponding to the first target rack based on the stored goods on the first target rack includes: according to the goods heat, goods interval and preset safety distance of the stored goods on the first target rack One or more of the items, determine a library strategy for sorting the stored goods on the first target shelf, wherein the goods heat represents the frequency with which the stored goods are taken out.

其中，预设安全间距可以是根据机器人的搬运装置的类型或尺寸确定的，对于包括吸盘的搬运装置来说，该预设安全间距可以十分小，如3cm，甚至忽略不计；对于包括左右两个伸缩臂的搬运装置来说，预设安全间距应至少为该伸缩臂的宽度；对于包括机械手臂或机械臂的搬运装置来说，预设安全间距应至少为该机械臂的抓取或钩取部分的宽度。The preset safety distance may be determined according to the type or size of the handling device of the robot. For a handling device including suction cups, the preset safety distance may be very small, such as 3 cm, or even ignored; For a handling device with a telescopic arm, the preset safety distance should be at least the width of the telescopic arm; for a handling device including a robotic arm or a robotic arm, the preset safety distance should be at least the grasping or hooking of the robotic arm. section width.

具体的，可以将货物热度高的从第一目标货架整理至热度高的区域中的货架，或者整理至方便机器人取出的位置，例如，在二维配置方式下，将热度高的货物放置在每一层货架的最外层，最外层没有其他货物的遮挡，方便取出。Specifically, the goods with high heat can be arranged from the first target shelf to the shelves in the area with high heat, or to the position that is convenient for the robot to take out. For example, in the two-dimensional configuration, the goods with high heat can be placed on each shelf The outermost layer of the first layer of shelves, the outermost layer is not blocked by other goods, so it is easy to take out.

具体的，仓库管理设备在基于第一目标货架上的已存放货物确定第一目标货架对应的理库策略时，可以根据第一目标货架上已存放货物的货物热度、货物间隔以及预设安全间距中的一项或多项来确定理库策略，例如，可以仅根据已存放货物的货物热度、货物间隔以及预设安全间距中的任一种，或者至少两种的组合来确定理库策略，从而可以使得理库策略更加科学合理，有助于提高理库效率。Specifically, when the warehouse management device determines the warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf, it can be based on the goods heat, goods interval and preset safety distance of the stored goods on the first target shelf. One or more of the warehouse management strategy is determined. For example, the warehouse management strategy can be determined only according to any one of the cargo heat of the stored goods, the cargo interval, and the preset safety distance, or at least a combination of the two. Therefore, the library management strategy can be made more scientific and reasonable, which is helpful to improve the efficiency of the library management.

在一些实施例中，第一目标货架为按照一维配置方式存放的货架，基于第一目标货架上的已存放货物，确定第一目标货架对应的理库策略，包括：根据第一目标货架上已存放货物的货物间距以及预设安全间距，确定第一目标货架对应的理库策略。In some embodiments, the first target shelf is a shelf that is stored in a one-dimensional configuration, and based on the stored goods on the first target shelf, determining a warehouse management strategy corresponding to the first target shelf includes: The cargo spacing of the stored goods and the preset safety spacing determine the warehouse management strategy corresponding to the first target shelf.

具体的，在第一目标货架为按照一维配置方式存放的货架时，仓库管理设备可以根据第一目标货架上已存放货物的货物间距以及预设安全间距，确定第一目标货架对应的理库策略。Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration, the warehouse management device can determine the warehouse corresponding to the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance Strategy.

其中，已存放货物的货物间距即相邻两个货物之间的间距。Among them, the cargo spacing of the stored cargo is the spacing between two adjacent cargoes.

本实施例中，仓库管理设备可以根据第一目标货架上已存放货物的货物间距以及预设安全间距，确定第一目标货架对应的理库策略，从而可以使得理库策略更加科学合理，有助于提高理库效率。In this embodiment, the warehouse management device can determine the warehouse management strategy corresponding to the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance, so that the warehouse management strategy can be made more scientific and reasonable, which is helpful for To improve library efficiency.

在一些实施例中，第一目标货架为按照二维配置方式存放的货架，基于第一目标货架上的已存放货物，确定第一目标货架对应的理库策略，包括：根据第一目标货架上已存放货物的货物热度，确定第一目标货架对应的理库策略，以使货物热度高于预设热度的货物放置于第一目标货架每层的第一排。In some embodiments, the first target shelf is a shelf that is stored in a two-dimensional configuration, and based on the stored goods on the first target shelf, determining a warehouse management strategy corresponding to the first target shelf includes: The goods heat of the stored goods is used to determine the warehouse management strategy corresponding to the first target shelf, so that the goods with the goods heat higher than the preset heat are placed in the first row of each floor of the first target shelf.

具体的，在第一目标货架为按照二维配置方式存放的货架时，仓库管理设备可以根据第一目标货架上已存放货物的货物热度，确定第一目标货架对应的理库策略，以使货物热度高于预设热度的货物放置于第一目标货架每层的最外排。Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration, the warehouse management device can determine the warehouse management strategy corresponding to the first target shelf according to the heat of the goods stored on the first target shelf, so that the goods Goods whose heat is higher than the preset heat are placed in the outermost row of each layer of the first target rack.

其中，货物热度表征已存放货物被取出的频率，货物热度高于预设热度，表示该货物被取出的频率较高，因此，该货物可以认为是热门货物，因此可以将该货物放在第一目标货架每层的最外排，从而，使得机器人可以更方便地进行取货。Among them, the heat of the goods represents the frequency that the stored goods are taken out, and the heat of the goods is higher than the preset heat, which means that the goods are taken out more frequently. Therefore, the goods can be considered as hot goods, so the goods can be placed in the first place. The outermost row of each layer of the target shelf, thus making it easier for the robot to pick up the goods.

在一些实施例中，理库策略包括：调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距。从而，可以在保证机器人能够正常取货的前提下，尽量缩短货物间距，从而可以放置更多的货物。In some embodiments, the warehouse management strategy includes: adjusting the storage positions of the stored goods, so that the distance between the goods is a preset safe distance. Therefore, on the premise that the robot can pick up the goods normally, the distance between the goods can be shortened as much as possible, so that more goods can be placed.

在一些实施例中，理库策略包括：调整已存放货物的存放位置，以使得尺寸相同或者尺寸差值在预设范围内的货物的存放位置相邻。从而，通过将尺寸相同或者接近的货物相邻放置，可以更合理地进行货物整理，使得货物放置位置更加规范合理。In some embodiments, the inventory management strategy includes: adjusting the storage positions of the stored goods, so that the storage positions of the goods with the same size or the size difference within a preset range are adjacent to each other. Therefore, by arranging the goods with the same or similar size adjacent to each other, the goods can be arranged more reasonably, so that the positions of the goods are more standardized and reasonable.

在一些实施例中，理库策略包括：在调整已存放货物的存放位置的过程中，货物的位置调整优先级与货物的尺寸大小成反比例关系。具体的，在进行理库时，优先调整小尺寸的货物的位置，对于尺寸较大的货物，尽量不调整位置或者尽量少地调整位置，从而可以减少机器人的理库工作量，提高理库效率。In some embodiments, the inventory management strategy includes: in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is inversely proportional to the size of the goods. Specifically, when sorting out the warehouse, firstly adjust the position of the small-sized goods. For the larger-sized goods, try not to adjust the position or adjust the position as little as possible, so as to reduce the workload of the robot and improve the efficiency of the warehouse. .

在一些实施例中，当目标机器人为单货叉机器人时，目标机器人包括至少一组单货叉机器人，每组单货叉机器人包括至少两个单货叉机器人；当目标机器人为多存储单元机器人时，目标机器人包括至少一个多存储单元机器人。In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots; when the target robot is a multi-storage unit robot , the target robot includes at least one multi-storage unit robot.

具体的，如果目标机器人是单货叉机器人，则分配至少两个单货叉机器人为一组，目标机器人包括至少一组单货叉机器人，各组内的单货叉机器人互相配合已完成理库工作。Specifically, if the target robot is a single-fork robot, at least two single-fork robots are allocated as a group, the target robot includes at least one group of single-fork robots, and the single-fork robots in each group cooperate with each other to complete the library. Work.

举例而言，待整理的货物处于货架的内存，有障碍物的阻挡，那么便需要单货叉机器人A将障碍物移出，单货叉机器人B将待整理货物取出进行货物的理库。For example, if the goods to be sorted are in the memory of the shelf and are blocked by obstacles, the single-fork robot A needs to remove the obstacles, and the single-fork robot B takes out the goods to be sorted for the sorting of the goods.

如果目标机器人是多存储单元机器人(例如多背篓机器人)，由于单个多存储单元机器人可以单独完成理库工作，因此，无需进行机器人分组，直接分配单个多存储单元机器人进行理库即可。If the target robot is a multi-storage-unit robot (for example, a multi-storage-unit robot), since a single multi-storage-unit robot can complete the library work alone, there is no need to group robots, and a single multi-storage-unit robot can be directly assigned to handle the library.

在一些实施例中，还包括：In some embodiments, it also includes:

检测是否满足理库条件；Check whether the library conditions are met;

在确定满足理库条件时，开始执行确定可执行理库任务的目标机器人的步骤。When it is determined that the library condition is satisfied, the step of determining the target robot that can perform the library task is started.

具体的，可以预先设定执行理库操作的理库条件，当仓库管理设备检测当前满足理库条件时，开始执行货物整理方法的步骤，从而进行理库。Specifically, the warehouse sorting conditions for performing the warehouse sorting operation can be preset, and when the warehouse management device detects that the current warehouse sorting conditions are satisfied, it starts to execute the steps of the goods sorting method, thereby performing the warehouse sorting.

例如，可以设定每隔时间T进行理库任务，在第一次完成理库任务后，仓库管理设备开始计时，当累计时长达到时间T时，仓库管理设备开始执行下一次理库任务，以此类推。For example, it is possible to set the warehouse management task to be performed every time T. After the warehouse management task is completed for the first time, the warehouse management device starts timing. When the accumulated time reaches the time T, the warehouse management device starts to execute the next database management task. And so on.

本实施例中，通过设定理库条件，在仓库管理设备确定满足理库条件时，自动开始执行理库任务，可以实现仓储系统的自动理库。In this embodiment, by setting the warehouse management condition, when the warehouse management device determines that the warehouse management condition is satisfied, it automatically starts to execute the warehouse management task, so that the automatic warehouse management of the storage system can be realized.

在一些实施例中，还包括：分配取放货任务给正在执行理库操作的目标机器人，控制目标机器人停止执行理库操作，并执行取放货任务。In some embodiments, the method further includes: assigning a picking and placing task to the target robot that is performing the warehouse handling operation, and controlling the target robot to stop performing the warehouse handling operation, and perform the picking and placing task.

具体的，若仓库管理设备当前接收到新的取放货任务，且当前不存在空闲的机器人，即当前所有机器人均在执行任务，此时，仓库管理设备可以分配取放货任务给正在执行理库操作的目标机器人，控制目标机器人停止执行理库操作，并执行取放货任务，从而，保证取放货任务的正常进行。Specifically, if the warehouse management device currently receives a new task of picking and placing goods, and there is no idle robot, that is, all robots are currently performing tasks. At this time, the warehouse management device can assign the task of picking and placing goods to those currently executing the task. The target robot of the warehouse operation controls the target robot to stop performing the warehouse operation and perform the task of picking and placing goods, thereby ensuring the normal progress of the task of picking and placing goods.

在一些实施例中，还包括：在检测到目标机器人对第一目标货架执行理库操作的区域，与第二机器人执行取放货任务的区域存在交叠区域时，确定与第一目标货架不同的第二目标货架，控制目标机器人对第二目标货架执行理库操作。In some embodiments, the method further includes: when it is detected that the area where the target robot performs the stocking operation on the first target rack has an overlapping area with the area where the second robot performs the picking and placing task, determining that it is different from the first target rack the second target shelf, and control the target robot to perform the library operation on the second target shelf.

具体的，若仓库管理设备检测到目标机器人对第一目标货架执行理库操作的区域，与第二机器人执行取放货任务的区域存在交叠区域，例如，目标机器人执行理库操作的区域与第二机器人执行取放货任务的区域相同，或者第二机器人执行取放货任务时需要经过目标机器人执行理库操作的区域，那么说明目标机器人与第二机器人的工作区域存在冲突，目标机器人在进行理库操作时，可能对第二机器人执行取放货任务造成影响，例如，阻挡其行进路线等。Specifically, if the warehouse management device detects the area where the target robot performs the warehouse-arranging operation on the first target shelf, there is an overlapping area with the area where the second robot performs the picking and placing task. For example, the area where the target robot performs the warehouse-arranging operation is the same as The area where the second robot performs the task of picking and placing goods is the same, or the second robot needs to pass through the area where the target robot performs the warehouse operation when performing the task of picking and placing goods, then it means that the target robot and the second robot have conflicting work areas, and the target robot is in When performing a warehouse operation, it may affect the second robot's task of picking up and placing goods, for example, blocking its travel route.

本实施例中，若检测到目标机器人对第一目标货架执行理库操作的区域与第二机器人执行取放货任务的区域存在交叠区域，仓库管理设备重新为目标机器人分配新的第二目标货架，控制该目标机器人对第二目标货架执行理库操作，从而可以避免目标机器人对第二机器人执行取放货任务造成影响，从而提高仓储系统的取放货效率。In this embodiment, if it is detected that the area where the target robot performs warehouse operations on the first target rack and the area where the second robot performs picking and placing tasks has an overlapping area, the warehouse management device re-assigns a new second target to the target robot Shelf, and control the target robot to perform warehouse operations on the second target shelf, so as to prevent the target robot from affecting the second robot's picking and placing tasks, thereby improving the picking and placing efficiency of the storage system.

图5为本申请一个实施例提供的货物整理方法的流程图，如图5所示，该货物整理方法可以由仓储系统的机器人执行。本实施例提供的货物整理方法包括以下步骤：FIG. 5 is a flowchart of a method for sorting goods provided by an embodiment of the present application. As shown in FIG. 5 , the method for sorting goods may be executed by a robot of a storage system. The cargo arrangement method provided by this embodiment includes the following steps:

S210、接收仓库管理设备发送的第一控制指令，第一控制指令为仓库管理设备在确定可执行理库任务的目标机器人、根据目标机器人的状态属性确定目标机器人执行理库操作的第一目标货架之后，向目标机器人发送的，其中，第一目标货架上每个货物的存放空间为根据货物的尺寸信息以及货架上的动态货物存放空间确定的；S210. Receive a first control instruction sent by the warehouse management device, where the first control instruction is that the warehouse management device determines the target robot that can perform the warehouse management task, and determines the first target rack of the target robot to perform the warehouse management operation according to the state attribute of the target robot. After that, send it to the target robot, wherein the storage space of each item on the first target shelf is determined according to the size information of the item and the dynamic item storage space on the shelf;

S220、根据第一控制指令，对第一目标货架执行理库操作。S220. According to the first control instruction, perform a library management operation on the first target shelf.

本实施例提供一种货物整理方法，针对采用动态库位机制的货架，仓库管理设备首先确定执行理库任务的目标机器人，然后基于目标机器人的状态属性为目标机器人分配相应的第一目标货架，并控制目标机器人对第一目标货架进行理库操作，从而，通过仓库管理设备控制机器人进行理库，可以实现仓储系统的自动理库，理库效率高、准确度高，进而有助于提高仓储系统的仓储效率。This embodiment provides a method for arranging goods. For a shelf that adopts a dynamic storage location mechanism, the warehouse management device first determines a target robot that performs a warehouse-arranging task, and then allocates a corresponding first target shelf to the target robot based on the state attribute of the target robot. And control the target robot to carry out the warehouse sorting operation on the first target rack, so that the warehouse management equipment controls the robot to carry out the warehouse sorting operation, which can realize the automatic warehouse sorting of the storage system. Warehousing efficiency of the system.

在一些实施例中，第一控制指令包含仓库管理设备基于第一目标货架上的已存放货物所确定的第一目标货架对应的理库策略。In some embodiments, the first control instruction includes an inventory management strategy corresponding to the first target rack determined by the warehouse management device based on the stored goods on the first target rack.

根据第一控制指令，对第一目标货架执行理库操作，包括：根据第一控制指令中第一目标货架对应的理库策略，对第一目标货架执行理库操作。According to the first control instruction, performing a library management operation on the first target rack includes: performing a library management operation on the first target rack according to a library management strategy corresponding to the first target rack in the first control instruction.

在一些实施例中，根据第一控制指令，对第一目标货架执行理库操作，包括：In some embodiments, according to the first control instruction, performing a library operation on the first target shelf includes:

根据第一目标货架对应的理库策略，对第一目标货架执行理库操作。According to the inventory management strategy corresponding to the first target shelf, the inventory management operation is performed on the first target shelf.

具体的，第一控制指令也可以只包含第一目标货架的相关信息，例如位置信息等，机器人在根据第一控制指令移动至第一目标货架的对应位置后，可以由机器人自行制定理库策略，从而，有助于减轻仓库管理设备的工作压力。Specifically, the first control instruction may also only contain relevant information of the first target rack, such as position information, etc. After the robot moves to the corresponding position of the first target rack according to the first control instruction, the robot may formulate a library management strategy by itself , thereby helping to reduce the work pressure of warehouse management equipment.

可以理解，机器人自身可以搭载有处理器，处理器可以根据货架上的已存放货物来确定理库策略。具体的，机器人可以通过传感器(例如，激光传感器、超声传感器、红外传感器、2D相机、3D相机等)获取已存放货物的检查信息，例如尺寸大小以及位置等信息，然后根据货物的检查信息，判断货架上的已存放货物中是否存在问题货物。其中，问题货物的间距信息可以大于其对应的预设安全间距。针对每个邻近货物，若至少一个邻近货物的间距信息大于相应的预设安全间距，则确定该邻近货物为问题货物，根据问题货物的情况确定理库策略。It can be understood that the robot itself can be equipped with a processor, and the processor can determine the warehouse management strategy according to the stored goods on the shelf. Specifically, the robot can obtain inspection information of the stored goods, such as size and location, through sensors (for example, laser sensors, ultrasonic sensors, infrared sensors, 2D cameras, 3D cameras, etc.), and then judge according to the inspection information of the goods. Whether there is a problem item among the stocked items on the shelf. Wherein, the distance information of the problem cargo may be greater than its corresponding preset safety distance. For each adjacent cargo, if the distance information of at least one adjacent cargo is greater than the corresponding preset safety distance, the adjacent cargo is determined to be a problem cargo, and a warehouse management strategy is determined according to the situation of the problem cargo.

可选地，检查信息包括邻近货物的间距信息和货物位姿，根据至少一个邻近货物的检查信息，判断至少一个邻近货物中是否存在问题货物，包括：获取各个邻近货物的预设安全间距和预设位姿；针对每个邻近货物，当邻近货物的检查信息满足下述条件的任一项时，确定邻近货物为问题货物：邻近货物的间距信息大于邻近货物的预设安全间距；邻近货物的货物位姿与预设位姿不一致，进而根据问题货物的情况确定理库策略。Optionally, the inspection information includes the distance information and the posture of the adjacent goods, and according to the inspection information of the at least one adjacent goods, judging whether there is a problem goods in the at least one adjacent goods, including: obtaining the preset safety distance and the pre-set safety distance of each adjacent goods. Set the pose; for each adjacent cargo, when the inspection information of the adjacent cargo satisfies any of the following conditions, determine the adjacent cargo as the problem cargo: the distance information of the adjacent cargo is greater than the preset safety distance of the adjacent cargo; The cargo pose is inconsistent with the preset pose, and then the library strategy is determined according to the situation of the problem cargo.

示例性的，图6为本申请实施例中一种问题货物的存放情况的示意图，如图6所示，货架50上存放有货物51、货物52、货物53和货物54。然而由于货物53的左邻近货物52存放的位姿有误，即货物52发生了偏转，从而该问题货物即为货物52，那么确定的理库策略为调整52的放置位姿，然后根据调整后的位姿以及货物51、货物52、货物53和货物54之间的间距，调整货物51、货物52、货物53、货物54之间的碎片空间。Exemplarily, FIG. 6 is a schematic diagram of a storage situation of a problem goods in the embodiment of the application. As shown in FIG. 6 ,goods 51 ,goods 52 ,goods 53 andgoods 54 are stored on theshelf 50 . However, since the position and posture of thecargo 52 adjacent to the left of thecargo 53 is wrong, that is, thecargo 52 is deflected, so the problem cargo is thecargo 52, so the determined warehouse management strategy is to adjust the placement posture of thecargo 52, and then according to the adjusted and the space between thecargo 51, thecargo 52, thecargo 53 and thecargo 54, adjust the debris space between thecargo 51, thecargo 52, thecargo 53, and thecargo 54.

示例性的，图7为本申请实施例中另一种问题货物的存放情况的示意图，如图7所示，货架60上存放有货物61、货物62、货物63和货物64。然而由于货物63的左邻近货物62存放的位置有误，即货物62发生了平移，偏离了原本的位置66，从而导致货物62与货物61之间的间距过大，而与货物63的间距过小，从而该问题货物即为货物62，那么确定的理库策略可以是多种多样的，例如可以是调整问题货物62，进而根据调整后的62，以及货物61、货物62、货物63和货物64之间的具体，调整货物61、货物62、货物63和货物64之间的碎片空间，或者可以是直接调整货物61，减小问题货物62的放置问题带来的较大的碎片空间。Exemplarily, FIG. 7 is a schematic diagram of another storage situation of problematic goods in the embodiment of the application. As shown in FIG. 7 ,goods 61 ,goods 62 ,goods 63 , andgoods 64 are stored on theshelf 60 . However, due to the wrong storage position of the left side of thegoods 63 adjacent to thegoods 62, that is, thegoods 62 have shifted in translation and deviate from theoriginal position 66, resulting in an excessively large distance between thegoods 62 and thegoods 61, while the distance with thegoods 63 is too large. Therefore, the problem goods aregoods 62, so the determined inventory management strategy can be various, for example, it can be to adjust theproblem goods 62, and then according to the adjustedgoods 62, andgoods 61,goods 62,goods 63 and goods Specifically, adjust the debris space between thecargo 61 , thecargo 62 , thecargo 63 and thecargo 64 , or directly adjust thecargo 61 to reduce the large debris space caused by the placement problem of theproblematic cargo 62 .

在确定问题货物后，机器人可以针对问题货物进行货物存放位置的调整，例如具体可以是对货物进行位姿的调整，以使得货物位姿与预设位姿一致；或者，也可以是货物进行存放位置的调整，以使得货物的存放位置更加科学合理；或者，机器人也可以是同时对货物进行位姿以及存放位置的调整，以得到更大的未被占用空间。After determining the problem goods, the robot can adjust the storage position of the goods according to the problem goods. For example, it can adjust the posture of the goods so that the posture of the goods is consistent with the preset posture; or, the goods can also be stored. Adjust the position to make the storage position of the goods more scientific and reasonable; alternatively, the robot can adjust the pose and storage position of the goods at the same time to obtain a larger unoccupied space.

示例性的，图8为本申请实施例进行理库后货架的货物存放情况的示意图，如图8所示，货架510上包括货物511～521，通过对货架进行理库操作，使得货架上可以得到较大的未被占用空间522，然后，在后续的机器人执行取放货任务时，未被占用空间522可以得到合理的利用。Exemplarily, FIG. 8 is a schematic diagram of the storage situation of goods on the shelf after the warehouse is sorted according to the embodiment of the application. As shown in FIG. 8 , theshelf 510 includesgoods 511 to 521. A largerunoccupied space 522 is obtained, and then, when the subsequent robot performs picking and placing tasks, theunoccupied space 522 can be reasonably utilized.

在一些实施例中，第一目标货架对应的理库策略的确定过程，包括以下步骤：根据第一目标货架上已存放货物的货物热度、货物间隔以及预设安全间距中的一项或多项，确定对第一目标货架上的已存放货物进行整理的理库策略，其中，货物热度表征已存放货物被取出的频率。In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: according to one or more of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf , and determine a warehouse-arranging strategy for sorting the stored goods on the first target shelf, wherein the goods heat represents the frequency of taking out the stored goods.

具体的，仓库管理设备或者机器人在基于第一目标货架上的已存放货物确定第一目标货架对应的理库策略时，可以根据第一目标货架上已存放货物的货物热度、货物间隔以及预设安全间距中的一项或多项来确定理库策略，例如，可以仅根据已存放货物的货物热度、货物间隔以及预设安全间距中的任一种，或者至少两种的组合来确定理库策略，从而可以使得理库策略更加科学合理，有助于提高理库效率。Specifically, when the warehouse management device or robot determines the warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf, it can determine the warehouse management strategy corresponding to the first target shelf according to the goods heat, goods interval and preset value of the stored goods on the first target shelf. One or more of the safety distances are used to determine the warehouse management strategy. For example, the warehouse management can be determined only according to any one of the cargo heat of the stored goods, the cargo spacing, and the preset safety distance, or at least a combination of the two. Therefore, the library management strategy can be made more scientific and reasonable, which helps to improve the efficiency of the library management.

在一些实施例中，第一目标货架为按照一维配置方式存放的货架，第一目标货架对应的理库策略的确定过程，包括以下步骤：根据第一目标货架上已存放货物的货物间距以及预设安全间距，确定第一目标货架对应的理库策略。In some embodiments, the first target rack is a rack that is stored in a one-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target rack includes the following steps: according to the distance between goods stored on the first target rack and the Preset the safety distance, and determine the warehouse management strategy corresponding to the first target shelf.

具体的，在第一目标货架为按照一维配置方式存放的货架时，仓库管理设备或者机器人可以根据第一目标货架上已存放货物的货物间距以及预设安全间距，确定第一目标货架对应的理库策略。Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration, the warehouse management device or robot can determine the corresponding shelf of the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance. Library strategy.

预设安全间距可以是根据机器人的搬运装置的类型或尺寸确定的，对于包括吸盘的搬运装置来说，该预设安全间距可以十分小，如3cm，甚至忽略不计；对于包括左右两个伸缩臂的搬运装置来说，预设安全间距应至少为该伸缩臂的宽度；对于包括机械手臂或机械臂的搬运装置来说，预设安全间距应至少为该机械臂的抓取或钩取部分的宽度。The preset safety distance can be determined according to the type or size of the handling device of the robot. For a handling device including suction cups, the preset safety distance can be very small, such as 3cm, or even negligible; for a handling device including the left and right telescopic arms For a handling device, the preset safety distance should be at least the width of the telescopic arm; for a handling device including a robotic arm or a robotic arm, the preset safety distance should be at least the grasping or hooking part of the robotic arm. width.

本实施例中，仓库管理设备或者机器人可以根据第一目标货架上已存放货物的货物间距以及预设安全间距，确定第一目标货架对应的理库策略，从而可以使得理库策略更加科学合理，有助于提高理库效率。In this embodiment, the warehouse management device or robot can determine the warehouse management strategy corresponding to the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance, so that the warehouse management strategy can be more scientific and reasonable. Helps improve library efficiency.

在一些实施例中，第一目标货架为按照二维配置方式存放的货架，第一目标货架对应的理库策略的确定过程，包括以下步骤：根据第一目标货架上已存放货物的货物热度，确定第一目标货架对应的理库策略，以使货物热度高于预设热度的货物放置于第一目标货架每层的第一排。In some embodiments, the first target shelf is a shelf that is stored in a two-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: according to the heat of goods stored on the first target shelf, A warehouse management strategy corresponding to the first target shelf is determined, so that the goods with the heat of the goods higher than the preset heat are placed in the first row of each layer of the first target shelf.

具体的，在第一目标货架为按照二维配置方式存放的货架时，仓库管理设备或者机器人可以根据第一目标货架上已存放货物的货物热度，确定第一目标货架对应的理库策略，以使货物热度高于预设热度的货物放置于第一目标货架每层的最外排。Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration, the warehouse management device or robot may determine the warehouse management strategy corresponding to the first target shelf according to the heat of the goods stored on the first target shelf, so as to The goods whose temperature is higher than the preset temperature are placed in the outermost row of each layer of the first target rack.

在一些实施例中，调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距，包括：确定已存放货物的基准点信息；根据基准点信息调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距。In some embodiments, adjusting the storage positions of the stored goods so that the distance between the goods is a preset safe distance includes: determining reference point information of the stored goods; adjusting the storage positions of the stored goods according to the reference point information, Make the distance between the goods the preset safety distance.

在一些实施例中，基准点包括以下一种或多种：第一目标货架的立柱，第一目标货架的标记点，放置于已存放货物的相邻位置上的一个或者多个货物。In some embodiments, the reference points include one or more of the following: uprights of the first target rack, marking points of the first target rack, one or more items placed adjacent to the stored items.

其中，基准点为货架上位置已知的设定点。基准点的数量可以是一个也可以是多个，具体需要根据已存放货物所在的位置确定。标记点可以是贴有预设标记物的位置点，该预设标记物可以是二维码、圆形码、条形码、RFID(Radio Frequency Identification，射频识别)标签等，还可以是磁钉。where the reference point is a set point with a known position on the shelf. The number of reference points can be one or more, which needs to be determined according to the location of the stored goods. The marking point may be a position point on which a preset marker is attached, and the preset marker may be a two-dimensional code, a circular code, a barcode, an RFID (Radio Frequency Identification, radio frequency identification) label, etc., or a magnetic nail.

示例性的，可以通过机器人的视觉传感器拍摄各个基准点的图像，进而基于图像识别算法对图像进行识别，从而根据识别结果确定基准点对应的位置信息。Exemplarily, an image of each reference point may be captured by a vision sensor of the robot, and then the image may be recognized based on an image recognition algorithm, so as to determine the position information corresponding to the reference point according to the recognition result.

具体的，根据基准点信息调整已存放货物的存放位置，调整后的位置相对于调整前的位置更靠近基准点。Specifically, the storage position of the stored goods is adjusted according to the reference point information, and the adjusted position is closer to the reference point than the position before adjustment.

示例性的，为了提高货架的空间利用率，可以将已存放货物调整至空间靠近基准点的位置，如货架立柱，的一端，从而使得远离基准点的一端可以预留出更多的空间来存其他的货物。Exemplarily, in order to improve the space utilization rate of the shelf, the stored goods can be adjusted to the end of the space close to the reference point, such as the end of the shelf column, so that the end away from the reference point can reserve more space for storage. other goods.

具体的，机器人在对已存放货物进行存放位置调整时，首先通过对已存放货物进行识别，确定已存放货物的基准点信息，然后根据基准点信息调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距，从而可以在保证机器人能够正常取货的前提下，尽量缩短货物间距，从而可以放置更多的货物。Specifically, when the robot adjusts the storage position of the stored goods, it first identifies the stored goods to determine the reference point information of the stored goods, and then adjusts the storage position of the stored goods according to the reference point information, so that the goods are The distance between them is a preset safe distance, so that the distance between the goods can be shortened as much as possible on the premise that the robot can pick up the goods normally, so that more goods can be placed.

在一些实施例中，还包括：In some embodiments, it also includes:

接收仓库管理设备发送的第二控制指令，第二控制指令包括取放货任务；receiving a second control instruction sent by the warehouse management device, where the second control instruction includes a task of picking and placing goods;

根据第二控制指令停止执行理库操作，并执行取放货任务。According to the second control instruction, the execution of the warehouse sorting operation is stopped, and the task of picking and placing goods is executed.

在一些实施例中，还包括：In some embodiments, it also includes:

接收仓库管理设备发送的第三控制指令，第三控制指令为仓库管理设备在检测到目标机器人对第一目标货架执行理库操作的区域与第二机器人执行取放货任务的区域存在交叠区域时、确定与第一目标货架不同的第二目标货架之后，向目标机器人发送的，第三控制指令包括第二目标货架的信息；Receive a third control command sent by the warehouse management device, where the third control command is that the warehouse management device detects that there is an overlapping area in the area where the target robot performs the warehouse operation on the first target shelf and the area where the second robot performs the picking and placing task. After determining the second target rack different from the first target rack, the third control instruction sent to the target robot includes the information of the second target rack;

根据第三控制指令，对第二目标货架执行理库操作。According to the third control instruction, the library management operation is performed on the second target rack.

具体的，若仓库管理设备检测到目标机器人对第一目标货架执行理库操作的区域，与第二机器人执行取放货任务的区域存在交叠区域，说明目标机器人与第二机器人的工作区域存在冲突，目标机器人在进行理库操作时，可能对第二机器人执行取放货任务造成影响，例如，阻挡其行进路线等。Specifically, if the warehouse management device detects that the area where the target robot performs warehouse operations on the first target rack has an overlapping area with the area where the second robot performs picking and placing tasks, it means that the target robot and the second robot have working areas. Conflict, when the target robot performs warehouse operations, it may affect the second robot's execution of the task of picking up and placing goods, for example, blocking its travel route.

在一些实施例中，提供一种货物整理装置，该货物整理装置可以应用于仓库管理设备，图9为本申请一个实施例提供的货物整理装置的结构示意图，如图9所示，该货物整理装置包括：In some embodiments, a cargo sorting device is provided, and the cargo sorting device can be applied to warehouse management equipment. FIG. 9 is a schematic structural diagram of the cargo sorting device provided by an embodiment of the application. As shown in FIG. 9 , the cargo sorting device The device includes:

机器人确定模块910，用于确定可执行理库任务的目标机器人；arobot determination module 910, configured to determine a target robot that can perform the library task;

货架确定模块920，用于根据所述目标机器人的状态属性确定所述目标机器人执行理库操作的第一目标货架，其中，所述第一目标货架上每个货物的存放空间为根据所述货物的尺寸信息以及货架上的动态货物存放空间确定的；Therack determination module 920 is configured to determine, according to the state attribute of the target robot, a first target rack on which the target robot performs the warehouse management operation, wherein the storage space of each item on the first target rack is determined according to the item The size information and dynamic cargo storage space on the shelf are determined;

理库控制模块930，用于控制所述目标机器人对所述第一目标货架执行理库操作。Thelibrary control module 930 is configured to control the target robot to perform a library operation on the first target rack.

在一些实施例中，机器人确定模块910具体用于：确定当前处于空闲状态的第一机器人为所述目标机器人；和/或，确定当前正在执行取放货任务、且取放货任务执行时长短于分配时长的第二机器人为所述目标机器人。In some embodiments, therobot determination module 910 is specifically configured to: determine that the first robot currently in an idle state is the target robot; and/or determine that a picking and placing task is currently being performed and the duration of the picking and placing task is performed. The second robot in the allocated time period is the target robot.

在一些实施例中，所述目标机器人为所述第二机器人，货架确定模块920在所述根据所述目标机器人的状态属性确定所述目标机器人执行理库操作的第一目标货架方面，具体用于：确定取放货任务对应的货架为所述目标机器人执行理库操作的第一目标货架。In some embodiments, the target robot is the second robot, and theshelf determination module 920 specifically uses the first target shelf for the target robot to perform the library operation according to the state attribute of the target robot. In: determining that the shelf corresponding to the picking and placing task is the first target shelf on which the target robot performs the warehouse sorting operation.

在一些实施例中，所述目标机器人为所述第一机器人或所述第二机器人，货架确定模块920具体用于：根据货架理库优先级，从多个货架中确定所述第一目标货架；或，根据所述目标机器人与货架的距离，从所述多个货架中确定所述第一目标货架；或，根据货架理库优先级和所述目标机器人与货架的距离，从所述多个货架中确定所述第一目标货架。In some embodiments, the target robot is the first robot or the second robot, and therack determination module 920 is specifically configured to: determine the first target rack from a plurality of racks according to a rack storage priority ; or, according to the distance between the target robot and the shelf, determine the first target shelf from the plurality of shelves; or, according to the shelf management priority and the distance between the target robot and the shelf, from the multiple shelves The first target rack is determined from among the racks.

在一些实施例中，货架确定模块920还用于：根据货架区域优先级、货架占有率以及货架理库间隔中的一种或多种，确定所述多个货架中各货架对应的货架理库优先级；其中，所述货架区域优先级为货架所在区域的优先级，所述货架区域优先级与货架所在区域的热度成正比例关系，所述货架所在区域的热度与货架的整理频率成正比例关系；所述货架占有率为货架的碎片空间总长度与货物总长度的比值，所述碎片空间总长度为货架上的碎片空间长度的总和，所述碎片空间长度为相邻的第一货物与第二货物之间的间隔长度，且所述间隔长度小于预设值，所述货物总长度为货架上已存放的货物的长度之和，其中，所述货架占有率与所述货架理库优先级成正比例关系；所述货架理库间隔为最近一次对货架进行理库操作的时间节点与当前时刻的时间间隔。In some embodiments, therack determination module 920 is further configured to: determine the rack storage corresponding to each of the multiple racks according to one or more of the priority of the rack area, the rack occupancy rate, and the rack storage interval Priority; wherein, the priority of the shelf area is the priority of the area where the shelf is located, the priority of the shelf area is proportional to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is proportional to the sorting frequency of the shelf. ; the shelf occupancy is the ratio of the total length of the debris space on the shelf to the total length of the goods, the total length of the debris space is the sum of the length of the debris space on the shelf, and the length of the debris space is the adjacent first goods and the first The interval length between two goods, and the interval length is less than the preset value, the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy rate and the shelf storage priority A proportional relationship; the shelf storage interval is the time interval between the time node when the last storage management operation is performed on the shelf and the current moment.

在一些实施例中，货架确定模块920具体用于：根据所述货架区域优先级、所述货架占有率以及所述货架理库间隔，通过以下公式计算各货架对应的货架理库优先级：In some embodiments, therack determination module 920 is specifically configured to: calculate the rack storage priority corresponding to each shelf by the following formula according to the rack area priority, the rack occupancy rate, and the rack storage interval:

Q_i＝O_i×a+P_i×b+T_i×cQ_i =O_i ×a+P_i ×b+T_i ×c

在一些实施例中，货架确定模块920具体用于：确定与所述目标机器人之间的距离小于第一预设距离阈值、且不存在除目标机器人之外的其他机器人执行操作的货架为所述第一目标货架。In some embodiments, therack determination module 920 is specifically configured to: determine that the rack whose distance from the target robot is less than a first preset distance threshold and there is no robot other than the target robot performing operations is the said rack First Target Shelf.

在一些实施例中，货架确定模块920具体用于：确定与所述目标机器人之间的距离小于第二预设距离阈值、且货架理库优先级大于预设优先级阈值，以及不存在除目标机器人之外的其他机器人执行操作的货架为所述第一目标货架。In some embodiments, therack determination module 920 is specifically configured to: determine that the distance to the target robot is less than a second preset distance threshold, and the priority of rack storage is greater than a preset priority threshold, and there is no removal of the target The rack on which the robot other than the robot performs operations is the first target rack.

在一些实施例中，理库控制模块930具体用于：基于所述第一目标货架上的已存放货物，确定所述第一目标货架对应的理库策略；根据所述理库策略，控制所述目标机器人执行理库操作。In some embodiments, the warehousemanagement control module 930 is specifically configured to: determine the warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf; and control all the warehouse management strategies according to the warehouse management strategy. Describe the target robot to perform the library operation.

在一些实施例中，理库控制模块930具体用于：根据所述第一目标货架上已存放货物的货物热度、货物间隔以及预设安全间距中的一项或多项，确定对所述第一目标货架上的已存放货物进行整理的理库策略，其中，所述货物热度表征所述已存放货物被取出的频率。In some embodiments, thelibrary control module 930 is specifically configured to: determine whether the first target shelf is to be stored according to one or more of the goods heat, the goods interval and the preset safety distance of the goods stored on the first target shelf. A strategy for sorting out the stored goods on the target shelf, wherein the goods heat represents the frequency of the stored goods being taken out.

在一些实施例中，所述第一目标货架为按照一维配置方式存放的货架，理库控制模块930具体用于：根据所述第一目标货架上已存放货物的货物间距以及预设安全间距，确定所述第一目标货架对应的理库策略。In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and thelibrary control module 930 is specifically configured to: according to the distance between goods stored on the first target shelf and the preset safety distance , and determine the library strategy corresponding to the first target shelf.

在一些实施例中，所述第一目标货架为按照二维配置方式存放的货架，理库控制模块930具体用于：根据所述第一目标货架上已存放货物的货物热度，确定所述第一目标货架对应的理库策略，以使货物热度高于预设热度的货物放置于所述第一目标货架每层的第一排。In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and thelibrary control module 930 is specifically configured to: determine the first target shelf according to the goods heat of the goods stored on the first target shelf A stock-arranging strategy corresponding to a target rack, so that goods with a temperature higher than a preset temperature are placed in the first row of each layer of the first target rack.

在一些实施例中，所述理库策略包括以下至少一种：调整所述已存放货物的存放位置，以使得货物之间的距离为预设安全间距；调整所述已存放货物的存放位置，以使得尺寸相同或者尺寸差值在预设范围内的货物的存放位置相邻；在调整所述已存放货物的存放位置的过程中，货物的位置调整优先级与货物的尺寸大小成反比例关系。In some embodiments, the warehouse management strategy includes at least one of the following: adjusting the storage positions of the stored goods so that the distance between the goods is a preset safe distance; adjusting the storage positions of the stored goods, In order to make the storage positions of the goods with the same size or the size difference within a preset range adjacent to each other; in the process of adjusting the storage positions of the stored goods, the position adjustment priority of the goods is inversely proportional to the size of the goods.

在一些实施例中，当所述目标机器人为单货叉机器人时，所述目标机器人包括至少一组单货叉机器人，每组单货叉机器人包括至少两个单货叉机器人；当所述目标机器人为多存储单元机器人时，所述目标机器人包括至少一个多存储单元机器人。In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots; when the target robot When the robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

在一些实施例中，还包括：处理模块，用于检测是否满足理库条件；在确定满足理库条件时，开始执行所述确定可执行理库任务的目标机器人的步骤。In some embodiments, the method further includes: a processing module configured to detect whether the library management condition is satisfied; when it is determined that the library management condition is satisfied, start executing the step of determining the target robot that can perform the library management task.

在一些实施例中，处理模块还用于分配取放货任务给正在执行理库操作的目标机器人，控制所述目标机器人停止执行理库操作，并执行所述取放货任务。In some embodiments, the processing module is further configured to assign a picking and placing task to a target robot that is performing a warehouse handling operation, control the target robot to stop performing the warehouse handling operation, and execute the picking and placing task.

在一些实施例中，处理模块还用于：在检测到所述目标机器人对所述第一目标货架执行理库操作的区域，与第二机器人执行取放货任务的区域存在交叠区域时，确定与所述第一目标货架不同的第二目标货架，控制所述目标机器人对所述第二目标货架执行理库操作。In some embodiments, the processing module is further configured to: when it is detected that the area where the target robot performs the warehouse sorting operation on the first target shelf has an overlapping area with the area where the second robot performs the picking and placing task, A second target rack different from the first target rack is determined, and the target robot is controlled to perform a library operation on the second target rack.

关于货物整理装置的具体限定可以参见上文中对于应用于仓库管理设备的货物整理方法的限定，具备执行方法相应的功能模块和有益效果在此不再赘述。上述货物整理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计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。For the specific limitation of the cargo sorting device, please refer to the above definition of the cargo sorting method applied to the warehouse management equipment, and the corresponding functional modules and beneficial effects of the execution method will not be repeated here. Each module in the above-mentioned cargo sorting device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

在一些实施例中，提供一种货物整理装置，该货物整理装置可以应用于机器人，图10为本申请一个实施例提供的货物整理装置的结构示意图，如图10所示，该货物整理装置包括：In some embodiments, a cargo sorting device is provided, and the cargo sorting device can be applied to a robot. FIG. 10 is a schematic structural diagram of the cargo sorting device provided in an embodiment of the application. As shown in FIG. 10 , the cargo sorting device includes :

接收模块1010，用于接收仓库管理设备发送的第一控制指令，所述第一控制指令为所述仓库管理设备在确定可执行理库任务的目标机器人、根据所述目标机器人的状态属性确定所述目标机器人执行理库操作的第一目标货架之后，向所述目标机器人发送的，其中，所述第一目标货架上每个货物的存放空间为根据所述货物的尺寸信息以及货架上的动态货物存放空间确定的；Thereceiving module 1010 is configured to receive a first control instruction sent by the warehouse management equipment, where the first control instruction is that the warehouse management equipment determines the target robot that can perform the library task, and determines the target robot according to the state attribute of the target robot. It is sent to the target robot after the target robot executes the first target rack of the warehouse operation, wherein the storage space of each item on the first target rack is based on the size information of the goods and the dynamics on the rack. The cargo storage space is determined;

理库模块1020，用于根据所述第一控制指令，对所述第一目标货架执行理库操作。Thelibrary management module 1020 is configured to perform a library management operation on the first target shelf according to the first control instruction.

理库模块1020具体用于：根据所述第一控制指令中所述第一目标货架对应的理库策略，对所述第一目标货架执行理库操作。Thelibrary management module 1020 is specifically configured to: perform a library management operation on the first target rack according to the library management strategy corresponding to the first target rack in the first control instruction.

在一些实施例中，理库模块1020具体用于：基于所述第一目标货架上的已存放货物，确定所述第一目标货架对应的理库策略；根据所述第一目标货架对应的理库策略，对所述第一目标货架执行理库操作。In some embodiments, thewarehouse management module 1020 is specifically configured to: determine a warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf; The library strategy is to perform a library management operation on the first target shelf.

在一些实施例中，所述第一目标货架对应的理库策略的确定过程，包括以下步骤：根据所述第一目标货架上已存放货物的货物热度、货物间隔以及预设安全间距中的一项或多项，确定对所述第一目标货架上的已存放货物进行整理的理库策略，其中，所述货物热度表征所述已存放货物被取出的频率。In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: according to one of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf Item or items, determine a library strategy for sorting the stored goods on the first target shelf, wherein the goods heat represents the frequency with which the stored goods are taken out.

在一些实施例中，所述第一目标货架为按照一维配置方式存放的货架，所述第一目标货架对应的理库策略的确定过程，包括以下步骤：根据所述第一目标货架上已存放货物的货物间距以及预设安全间距，确定所述第一目标货架对应的理库策略。In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the process of determining a library strategy corresponding to the first target shelf includes the following steps: The distance between the goods for storing the goods and the preset safety distance are used to determine the warehouse management strategy corresponding to the first target rack.

在一些实施例中，所述第一目标货架为按照二维配置方式存放的货架，所述第一目标货架对应的理库策略的确定过程，包括以下步骤：根据所述第一目标货架上已存放货物的货物热度，确定所述第一目标货架对应的理库策略，以使货物热度高于预设热度的货物放置于所述第一目标货架每层的第一排。In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: The goods heat of the stored goods is determined, and the warehouse management strategy corresponding to the first target shelf is determined, so that the goods with the goods heat higher than the preset heat are placed in the first row of each floor of the first target shelf.

在一些实施例中，所述理库策略包括以下至少一种：调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距；调整所述已存放货物的存放位置，以使得尺寸相同或者尺寸差值在预设范围内的货物的存放位置相邻；在调整所述已存放货物的存放位置的过程中，货物的位置调整优先级与货物的尺寸大小成反比例关系。In some embodiments, the warehouse management strategy includes at least one of the following: adjusting the storage positions of the stored goods so that the distance between the goods is a preset safe distance; adjusting the storage positions of the stored goods so that The storage positions of the goods with the same size or the size difference within the preset range are adjacent to each other; in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is inversely proportional to the size of the goods.

在一些实施例中，理库模块1020具体用于：确定所述已存放货物的基准点信息；根据所述基准点信息调整已存放货物的存放位置，以使得货物之间的距离为预设安全间距。In some embodiments, thelibrary management module 1020 is specifically configured to: determine the reference point information of the stored goods; adjust the storage position of the stored goods according to the reference point information, so that the distance between the goods is a preset safe distance spacing.

在一些实施例中，还包括：接收模块，用于接收仓库管理设备发送的第二控制指令，所述第二控制指令包括取放货任务；根据所述第二控制指令停止执行理库操作，并执行所述取放货任务。In some embodiments, the method further includes: a receiving module, configured to receive a second control instruction sent by the warehouse management device, where the second control instruction includes a task of picking and placing goods; stopping the execution of the warehouse management operation according to the second control instruction, and execute the pick-and-place task.

在一些实施例中，接收模块还用于：接收仓库管理设备发送的第三控制指令，所述第三控制指令为所述仓库管理设备在检测到所述目标机器人对所述第一目标货架执行理库操作的区域与第二机器人执行取放货任务的区域存在交叠区域时、确定与所述第一目标货架不同的第二目标货架之后，向所述目标机器人发送的，所述第三控制指令包括所述第二目标货架的信息；根据所述第三控制指令，对所述第二目标货架执行理库操作。In some embodiments, the receiving module is further configured to: receive a third control instruction sent by the warehouse management device, where the third control instruction is that the warehouse management device detects that the target robot executes on the first target shelf When there is an overlapping area between the area where the warehouse is operated and the area where the second robot performs the pick-and-place task, after determining the second target shelf different from the first target shelf, it is sent to the target robot, and the third target shelf is sent to the target robot. The control instruction includes the information of the second target rack; according to the third control instruction, a library management operation is performed on the second target rack.

关于货物整理装置的具体限定可以参见上文中对于应用于机器人的货物整理方法的限定，具备执行方法相应的功能模块和有益效果在此不再赘述。上述货物整理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计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。For the specific limitations of the cargo sorting device, please refer to the above definition of the cargo sorting method applied to the robot, and the corresponding functional modules and beneficial effects of the execution method will not be repeated here. Each module in the above-mentioned cargo sorting device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

图11为本申请一个实施例提供的机器人的结构示意图，如图11所示，该机器人包括：存储器1110，处理器1120以及计算机程序。FIG. 11 is a schematic structural diagram of a robot provided by an embodiment of the present application. As shown in FIG. 11 , the robot includes: amemory 1110 , aprocessor 1120 and a computer program.

其中，计算机程序存储在存储器1110中，并被配置为由处理器1120执行以实现本申请任一实施例提供的应用于机器人的货物整理方法。The computer program is stored in thememory 1110 and is configured to be executed by theprocessor 1120 to implement the method for sorting goods applied to a robot provided by any embodiment of the present application.

其中，存储器1110和处理器1120通过总线1130连接。Thememory 1110 and theprocessor 1120 are connected through abus 1130 .

当然，该机器人还包括搬运装置、传感器和移动装置。该搬运装置可以是货叉、机械手臂等装置，用于提取和/或存放货物。传感器可以设置于机器人的机器人主体上，还可以设置于搬运装置上，传感器可以包括激光传感器、超声传感器、红外传感器、2D相机、3D相机等中的一项或多项。Of course, the robot also includes handling devices, sensors and moving devices. The handling device may be a fork, a robotic arm, etc., for picking up and/or storing goods. The sensor can be disposed on the robot body of the robot, and can also be disposed on the conveying device, and the sensor can include one or more of a laser sensor, an ultrasonic sensor, an infrared sensor, a 2D camera, a 3D camera, and the like.

进一步地，机器人还可以包括存储单元，用于存放货物。Further, the robot may further include a storage unit for storing goods.

可选地，所述机器人包括移动底盘，搬运装置，存储货架和升降组件；所述存储货架、所述搬运装置以及所述升降组件安装于所述移动底盘。Optionally, the robot includes a mobile chassis, a handling device, a storage shelf and a lifting assembly; the storage shelf, the handling device and the lifting assembly are mounted on the mobile chassis.

可选地，所述搬运装置包括以下一种或多种：伸缩臂组件、吸盘与机械臂。Optionally, the handling device includes one or more of the following: a telescopic arm assembly, a suction cup and a mechanical arm.

可选地，所述搬运装置包括托板与转向结构，所述转向结构用于改变放置于所述托板上的货物的朝向。Optionally, the handling device includes a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.

图12为本申请一个实施例提供的仓库管理设备的结构示意图，如图12所示，该机器人包括：存储器1210，处理器1220以及计算机程序。FIG. 12 is a schematic structural diagram of a warehouse management device provided by an embodiment of the present application. As shown in FIG. 12 , the robot includes: amemory 1210 , aprocessor 1220 and a computer program.

其中，计算机程序存储在存储器1210中，并被配置为由处理器1220执行以实现本申请任一实施例提供的应用于仓库管理设备的货物整理方法。Wherein, the computer program is stored in thememory 1210 and configured to be executed by theprocessor 1220 to implement the method for sorting goods provided in any embodiment of the present application and applied to a warehouse management device.

图13为本申请一个实施例提供的仓储系统的结构示意图，如图9示，该仓储系统包括：机器人1310、仓库管理设备1320和货架1330。FIG. 13 is a schematic structural diagram of a storage system provided by an embodiment of the application. As shown in FIG. 9 , the storage system includes arobot 1310 , awarehouse management device 1320 and ashelf 1330 .

其中，机器人1310为本申请图11所示实施例提供的机器人，货架1330用于存放货物；仓库管理设备1320用于生成取放指令以及理库指令，以使机器人1310基于该取放指令以及理库指令执行相应的操作。Among them, therobot 1310 is the robot provided by the embodiment shown in FIG. 11 of the application, theshelf 1330 is used to store goods; thewarehouse management device 1320 is used to generate a pick-and-place instruction and a warehouse-arranging instruction, so that therobot 1310 is based on the pick-and-place instruction and the management instruction. The library instructions perform the corresponding operations.

在一些实施例中，提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机执行指令，当处理器执行计算机执行指令时，实现上述的货物整理方法。In some embodiments, a computer-readable storage medium is provided, and computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the above-mentioned cargo sorting method is implemented.

在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

另外，在本申请各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。In addition, each functional module in each embodiment of the present application may be integrated in one processing unit, or each module may exist physically alone, or two or more modules may be integrated in one unit. The units formed by the above modules can be implemented in the form of hardware, or can be implemented in the form of hardware plus software functional units.

上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本申请各个实施例所述方法的部分步骤。The above-mentioned integrated modules implemented in the form of software functional modules may be stored in a computer-readable storage medium. The above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the various embodiments of the present application. part of the method.

应理解，上述处理器可以是中央处理单元(Central Processing Unit，简称CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合发明所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, CPU for short), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, Referred to as ASIC) and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the invention can be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

存储器可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。The memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one magnetic disk memory, and may also be a U disk, a removable hard disk, a read-only memory, a magnetic disk or an optical disk, and the like.

总线可以是工业标准体系结构(Industry Standard Architecture，简称ISA)总线、外部设备互连(Peripheral Component，简称PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，本申请附图中的总线并不限定仅有一根总线或一种类型的总线。The bus may be an Industry Standard Architecture (ISA for short) bus, a Peripheral Component (PCI for short) bus, an Extended Industry Standard Architecture (EISA for short) bus, or the like. The bus can be divided into address bus, data bus, control bus and so on. For convenience of representation, the buses in the drawings of the present application are not limited to only one bus or one type of bus.

上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储介质可以是通用或专用计算机能够存取的任何可用介质。The above-mentioned storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Except programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. A storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于专用集成电路(Application Specific Integrated Circuits，简称ASIC)中。当然，处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium may be located in application specific integrated circuits (Application Specific Integrated Circuits, ASIC for short). Of course, the processor and the storage medium may also exist in the electronic device or the host device as discrete components.

本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.