WO2021190084A1 - 仓储装置、系统和控制方法 - Google Patents

仓储装置、系统和控制方法 Download PDF

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Publication number
WO2021190084A1
WO2021190084A1 PCT/CN2021/070888 CN2021070888W WO2021190084A1 WO 2021190084 A1 WO2021190084 A1 WO 2021190084A1 CN 2021070888 W CN2021070888 W CN 2021070888W WO 2021190084 A1 WO2021190084 A1 WO 2021190084A1
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WO
WIPO (PCT)
Prior art keywords
robot
temporary storage
target
storage location
slope
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/070888
Other languages
English (en)
French (fr)
Inventor
王馨浩
唐丹
邹扬威
何云迪
杨威
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Quicktron Intelligent Technology Co Ltd
Original Assignee
Shanghai Quicktron Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010231545.9A external-priority patent/CN111361908B/zh
Priority claimed from CN202010232310.1A external-priority patent/CN111453275B/zh
Priority claimed from CN202010231552.9A external-priority patent/CN111232530A/zh
Priority claimed from CN202022292766.5U external-priority patent/CN213651054U/zh
Application filed by Shanghai Quicktron Intelligent Technology Co Ltd filed Critical Shanghai Quicktron Intelligent Technology Co Ltd
Priority to JP2022530248A priority Critical patent/JP7499856B2/ja
Priority to AU2021240487A priority patent/AU2021240487B2/en
Priority to MX2022012003A priority patent/MX2022012003A/es
Priority to CA3172646A priority patent/CA3172646C/en
Priority to KR1020227031800A priority patent/KR102946203B1/ko
Priority to BR112022019363A priority patent/BR112022019363A2/pt
Priority to EP21776624.5A priority patent/EP4074627B1/en
Publication of WO2021190084A1 publication Critical patent/WO2021190084A1/zh
Priority to US17/878,577 priority patent/US11702288B2/en
Priority to SA522440686A priority patent/SA522440686B1/ar
Anticipated expiration legal-status Critical
Priority to IL296873A priority patent/IL296873B1/en
Priority to US18/295,508 priority patent/US12221282B2/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0471—Storage devices mechanical with access from beneath
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]

Definitions

  • This application relates to the field of storage technology, in particular to a storage device, system and control method.
  • the existing warehousing industry mostly uses robots that integrate automatic climbing and movement capabilities to store and move goods.
  • the robot has many storage actions when storing and unloading goods, this results in low efficiency of the goods in and out of the warehouse.
  • the embodiments of the present application provide a storage device, system, and control method to solve or alleviate one or more technical problems in related technologies.
  • the embodiments of the present application provide a storage device, including:
  • the shelf includes at least one temporary storage layer, at least one storage layer, and a plurality of vertical columns spaced in the horizontal direction; the storage layer is spaced from the temporary storage layer in the vertical direction through the vertical columns, wherein, The temporary storage shelf is used to provide multiple temporary storage locations, and the storage shelf is used to provide multiple storage locations;
  • the first robot channel for the first robot to travel, the first robot is used to access the goods on the temporary storage layer;
  • the second robot channel for the second robot to travel.
  • the second robot is used to transport goods between the temporary storage layer and the storage layer.
  • the embodiments of the present application provide a storage control method, including:
  • the second robot In the case of receiving the transfer completion signal sent by the first robot, the second robot is instructed to transfer the target goods from the target temporary storage location to the target storage location.
  • the embodiments of the present application provide a method for outbound control, including:
  • the embodiments of the present application provide a storage system, including:
  • the control device includes a processor and a memory, and instructions are stored in the memory, and the instructions are loaded and executed by the processor, so as to implement the method of any one of the foregoing implementation manners;
  • the first robot traveling in the first robot channel
  • the second robot travels on the second robot channel.
  • One of the above technical solutions has the following advantages or beneficial effects: By making the first robot directly access the goods on the temporary storage layer, the operation of extending the robot arm to the shelf layer is eliminated, and the storage and retrieval of goods is improved. Efficiency;
  • the temporary storage layer can temporarily store the goods, and the storage space provided by the storage layer can store the goods for a longer period of time, which is convenient for the temporary storage layer and the storage layer to cooperate to improve the goods in and out of the warehouse.
  • the first robot channel and the second robot channel are formed separately, which can prevent the first robot and the second robot from sharing the driving channel, and can improve the driving efficiency of the first robot and the second robot, thereby increasing the efficiency of warehouse access.
  • FIG. 1 shows a schematic diagram of a three-dimensional structure of a storage device according to Embodiment 1 of the present application
  • Figure 2 shows a schematic side view of a storage device according to Embodiment 1 of the present application
  • Figure 3 shows a schematic structural diagram of a storage device according to Embodiment 2 of the present application.
  • FIG. 4 shows a schematic diagram of the structure of a shelf according to Embodiment 1 of the present application
  • FIG. 5 shows a schematic diagram of the structure of a shelf according to Embodiment 1 of the present application
  • Fig. 6 shows a schematic structural diagram of a first robot according to Embodiment 1 of the present application
  • FIG. 7 shows a schematic diagram of the cooperation between the fork arm of the first robot and the fork groove of the shelf according to Embodiment 1 of the present application;
  • Fig. 8 shows a schematic structural diagram of a second robot according to Embodiment 1 of the present application.
  • Fig. 9 shows a schematic diagram of an application scenario according to an embodiment of the present application.
  • FIG. 10 shows a schematic flow chart of a storage control method according to Embodiment 2 of the present application.
  • FIG. 11 shows a schematic flowchart of step S1001 in FIG. 10;
  • FIG. 12 shows a schematic diagram of an application scenario of warehouse access control according to an embodiment of the present application
  • FIG. 13 shows a schematic flowchart of a method for outbound control according to Embodiment 3 of the present application
  • FIG. 14 shows a schematic flowchart of step S1302 in FIG. 13;
  • FIG. 15 shows a schematic structural diagram of a storage system according to Embodiment 4 of the present application.
  • FIG. 16 shows a schematic structural diagram of a control device according to Embodiment 4 of the present application.
  • Figure 17 shows a schematic diagram of the layout of the steering wheel and the driving wheel of the first robot
  • Figure 18 shows a schematic diagram of the position between the chassis and the slope when the first robot is climbing
  • FIG. 19A shows a first structural diagram of a docking platform according to Embodiment 5 of the present application.
  • FIG. 19B shows a top view of the first structural schematic diagram of a docking platform according to Embodiment 5 of the present application.
  • 19C shows a side view of a schematic structural diagram 1 of a docking platform according to Embodiment 5 of the present application.
  • 20A shows a schematic diagram 1 of the state where the first robot according to the fifth embodiment of the present application travels along the ramp to the platform body;
  • FIG. 20B shows the second schematic diagram of the state where the first robot according to the fifth embodiment of the present application is traveling along the ramp to the platform body;
  • FIG. 20C shows the third schematic diagram of the state where the first robot according to the fifth embodiment of the present application travels along the ramp to the platform body;
  • FIG. 20D shows a fourth schematic diagram of a state in which the first robot according to Embodiment 5 of the present application travels along the ramp to the platform body;
  • FIG. 20E shows a schematic diagram 5 of the state where the first robot according to the fifth embodiment of the present application travels along the ramp to the platform body;
  • FIG. 21 shows a second structural diagram of a docking platform according to Embodiment 5 of the present application.
  • FIG. 22 shows a third structural diagram of a connection platform according to Embodiment 5 of the present application.
  • FIG. 23 shows a schematic structural diagram of a workstation according to Embodiment 5 of the present application.
  • Fig. 1 shows a schematic diagram of a three-dimensional structure of a storage device according to an embodiment of the present application.
  • the storage device 1000 may include at least one temporary storage layer 120, the temporary storage layer 120 is used to provide at least one temporary storage location; a plurality of shelves 100, the shelf 100 may include at least one storage The layer plate 130 and a plurality of columns 110 arranged at intervals in the horizontal direction; the storage layer plate 130 is used to provide at least one storage place.
  • the temporary storage layer 120 is provided with a fork groove 121 which is used to cooperate with the fork arm 210 of the first robot 200; the storage layer 130 is vertically spaced from the temporary storage layer 120 through the column 110.
  • the multiple shelves 100 may be single-row shelves, double-row shelves or multiple-row shelves; the number of the multiple shelves 100 includes two or more; the multiple shelves 100 can be arranged in columns (refer to Figure 1 And Figure 2), arranged in rows (refer to Figure 3) or arranged in a matrix.
  • the number of rows, the number, and the arrangement of the multiple shelves 100 can be selected and adjusted according to actual needs.
  • the embodiment of the present application does not limit the number and arrangement of the multiple shelves 100.
  • the plurality of uprights 110 may enclose a rectangular area where the temporary storage layer 120 and the storage shelf 130 are installed, so that the temporary storage layer 120 and the storage layer 130 are spaced apart in the vertical direction by the uprights 110.
  • the position of the column 110 is not limited in this embodiment, as long as the temporary storage layer 120 and the storage layer 130 can be spaced apart in the vertical direction.
  • the column 110 may also be inserted between the temporary storage layer 120 and the storage layer 130 in the vertical direction instead of the edge.
  • the long side of the temporary storage plate 120 is set as the side of the temporary storage plate 120, and the short side of the temporary storage plate 120 is set as the end of the temporary storage plate 120.
  • the multiple temporary storage locations provided on the temporary storage layer 120 include two temporary storage locations and more than two temporary storage locations; each temporary storage location is provided with a fork groove 121, and the shape of the fork groove 121 can be It is U-shaped, C-shaped, I-shaped, or V-shaped.
  • the shape of the fork groove 121 can be selected and adjusted according to actual needs, as long as it can be matched with the fork arm 210 of the first robot 200. The shape is not limited.
  • the temporary storage layer 120 can be located on any layer of the shelf 100, and the embodiment of the present application does not limit the position of the temporary storage layer 120.
  • the storage layer 130 is located above and below the temporary storage layer 120, which can shorten the distance between the temporary storage layer 120 and the storage layer 130 and improve the cargo Transport efficiency between the temporary storage layer 120 and the storage layer 130.
  • the goods may be boxes containing materials, products, etc.
  • the box may be a carton or a material box. This application does not limit the type of the box and the articles it contains.
  • the width of the temporary storage layer 120 is less than half of the width of the storage layer 130.
  • the shelf 100 may be a double-row shelf, and the temporary storage layer 120 may be located in one row of the double-row shelf.
  • the width of the storage layer board 120 is less than half of the storage layer board 130.
  • the width of the goods channel will be greater than the width of the first robot 200
  • the width of the temporary storage layer 120 by setting the width of the temporary storage layer 120 to be less than half of the width of the storage layer 130, the width of the first travel channel 141 can be made larger than that of the storage layer 130
  • the width of the first robot 200 provides a wide enough channel to carry goods; and, because the width of the storage layer 130 is greater than twice the width of the temporary storage layer 120, the storage layer 130 can be stored slightly larger than the temporary storage Bits of cargo.
  • the storage device 1000 may include: a first robot passage for the first robot 200 to travel.
  • the first robot 200 is used to cooperate with the fork groove 121 through its fork arm 210 to access the goods on the temporary storage layer 120;
  • the second robot passage where the second robot 300 travels.
  • the second robot 300 is used to transport goods between the temporary storage layer 120 and the storage layer 130.
  • the first robot aisle may be defined by the structure of the shelf 100, and may also be located on a side outside the shelf 100.
  • the second robot channel may be located on the other side of the shelf 100 to separate the first robot channel and the second robot channel to avoid occupation of the channel.
  • the first robot 200 may be an AGV (Automated Guided Vehicle, AGV for short) with a fork arm 210, and the fork arm 210 may be installed in the first robot 200.
  • AGV Automated Guided Vehicle
  • the top of the can also be arranged on the side of the first robot 200, and the embodiment of the present application does not limit the arrangement of the fork arm 210 of the first robot 200.
  • the second robot 300 can be an AGV vehicle with a lifting mechanism 320 and an access mechanism 330, or a stacker, etc.
  • the embodiment of the present application does not limit the type of the second robot 300, as long as it has a storage The function of fetching goods and moving goods is sufficient.
  • the storage device 1000 of the embodiment of the present application since the temporary storage layer board 120 provides the fork groove 121 for cooperating with the fork arm 210 of the first robot 200, the fork arm 210 of the first robot 200 can directly fork into the temporary storage layer.
  • the fork groove 121 of the plate 120, and the first robot 200 can directly access the goods on the temporary storage layer 120, eliminating the need to extend the robot arm onto the shelf 100, and improving the efficiency of accessing the goods; in addition, the temporary storage layer
  • the board 120 can temporarily store goods, and the storage space provided by the storage deck 130 can store the goods for a longer period of time, which is convenient for the temporary storage deck 120 and the storage deck 130 to cooperate to improve the efficiency of goods in and out of the warehouse;
  • forming the first robot passage and the second robot passage separately can also prevent the first robot 200 and the second robot 300 from sharing the traveling passage, and can improve the driving efficiency of the first robot 200 and the second robot 300, thereby improving the efficiency of warehouse entry and exit.
  • the first robot channel may include a cargo access channel 140, which is located below the temporary storage layer 120.
  • the fork groove 121 is connected to the The fork arms 210 on the first robot 200 cooperate to deposit and withdraw goods.
  • the first robot 200 aligns the fork arm 210 with the fork groove 121 from the fork groove side of the temporary storage layer board 120 and travels to deposit and withdraw the goods.
  • the channel 140 makes the fork arm 210 directly fork into the fork groove 121, and then the goods are placed on the temporary storage layer 120, and then the fork arm 210 is lowered so that the cargo box remains on the temporary storage layer 120; in the case of picking up the goods, the first A robot 200 travels under the cargo access channel 140, aligns the fork arm 210 with the fork groove 121 from below the temporary storage layer 120 and raises the fork arm 210 to lift the cargo box, and then moves along the distance away from the temporary storage layer 120 Drive in the direction of the fork slot side to leave the cargo access channel 140 to take away the cargo box.
  • the first robot 200 can directly fork and pick up the goods without stopping or temporarily stopping, eliminating the need to control the robot arm to extend to the floor, which can improve the efficiency of loading and unloading the cargo box.
  • the access and access below the temporary storage layer 120 can effectively use the space of the shelf 100.
  • the cargo access channel can also be used for the first robot to travel when it is empty.
  • the first robot 200 when the first robot 200 is unloaded (that is, the first robot 200 is not loaded with goods), the first robot 200 can directly travel in the cargo access channel 140, which can improve the efficiency of cargo handling.
  • the column 110 is arranged on the outer periphery of the storage layer 130, and the first robot channel includes a first travel channel 141, and the first travel channel 141 is located on the temporary storage floor 120 and located in the temporary storage. Between the uprights 110 on the side of the fork groove of the layer board 120.
  • the temporary storage layer 120 when the temporary storage layer 120 is located at the bottom of the column 110, the temporary storage layer 120 may form a first travel channel for the first robot 200 to travel with the column 110 on the side of the fork slot of the temporary storage layer 120 and the ground. 141.
  • the temporary storage layer 120 when the temporary storage layer 120 is located on a layer other than the bottom layer of the column 110, the temporary storage layer 120 may be in contact with the column 110 on the side of the fork groove of the temporary storage layer 120 and the temporary storage layer 120.
  • the storage layer 130 on the next layer forms the first travel channel 141 for the first robot 200 to travel.
  • the first traveling channel 141 for the first robot 200 to travel is formed between the temporary storage layer 120 and the column 110 on the side of the fork groove of the temporary storage layer 120, so that the first robot 200 can be on the shelf. Traveling in any layer of 100 is convenient for the first robot 200 to cooperate with the temporary storage layer 120 and avoid occupying the aisle outside the shelf 100.
  • the shelf 100 may further include a cross beam 150 arranged in a horizontal direction for fixing the short sides of the temporary storage layer 120 and the storage layer 130 to the column 110.
  • Fig. 5 shows a schematic structural diagram of a shelf 100 according to another embodiment of the present application.
  • the structure of the shelf 100 is similar to the structure of the shelf 100 in FIG. 1, and the difference is that, as shown in FIG.
  • the shelf 100 may further include a support column 160, which is provided at the first end of the temporary storage layer 120 for support.
  • the temporary storage board 120 includes a plurality of temporary storage boards, each of the temporary storage boards is provided with a fork groove 121, and at least two temporary storage boards are formed between The third travel path for the first robot 200 to travel (refer to 143 in FIG. 9). In this way, the first robot 200 can pass through the shelf 100 between any two of the temporary storage boards 120, which can shorten the travel distance of the first robot 200 and improve the efficiency of cargo handling.
  • the second robot channel 310 is formed between adjacent shelves 100, so that the second robot 300 can travel in the second robot channel 310, so that the temporary storage layer 120 and Carry goods between the storage decks 130, transport the goods temporarily stored on the temporary storage deck 120 to the storage deck 130 for in-stock storage, or transport the goods stored on the storage deck 130 to the temporary storage deck 120 for outgoing Temporary storage of the warehouse can improve the efficiency of access and storage of goods; and, because the second robot channel 310 does not overlap with the driving channel of the first robot 200, it can avoid the first robot 200 and the second robot 300 from sharing the driving channel. The coordination efficiency between the first robot 200 and the second robot 300 can be improved, thereby improving the efficiency of warehouse entry and exit.
  • the second robot 300 integrated with the lifting mechanism 320 and the access mechanism 330 is usually used to transport and retrieve the goods.
  • the cost of the second robot 300 is relatively high, and the distance between the connection port 400 of the goods and the temporary storage positions and storage positions in the shelf 100 is relatively long, this makes the cost of goods in and out of the warehouse per unit time higher. And the efficiency is low.
  • a second robot channel 310 is formed between adjacent shelves 100, and the second robot 300 can be configured to transport goods between the temporary storage layer 120 and the storage layer 130, and the first The robot 200 is used to transport and retrieve goods on the temporary storage layer 120.
  • the first robot 200 may not have a lifting mechanism, and its cost is much lower than that of the second robot 300. In this way, it is possible to equip one second robot 300 with multiple first robots 200 to coordinate the storage and retrieval of goods, which can reduce the cost of goods in and out of the warehouse per unit time and improve the efficiency of goods in and out of the warehouse.
  • the first robot 200 may be a robot that accesses and transports one box of goods in a single time
  • the second robot 300 may be a robot that accesses and transports multiple boxes of goods in a single time.
  • the configuration of the first robot 200 for transporting and retrieving goods on the temporary storage deck 120 can reduce the outgoing of goods per unit time. And storage cost, and can improve the efficiency of goods out and storage.
  • the temporary storage layer includes a plurality of temporary storage boards, and each temporary storage board is provided with a fork groove.
  • the first robot channel includes a third travel channel 143, and the third travel channel is located at 143 between at least two temporary storage boards.
  • the width of the third travel channel 143 may be the width of one, two, three or more temporary storage boards, which is not limited in this application.
  • a part of the temporary storage board can be disassembled to form the third travel channel 143. In this way, the first robot 200 can pass through the shelf through the third travel aisle 143 to improve travel efficiency.
  • the first robot aisle includes a fourth travel aisle 144.
  • the fourth travel aisle 144 is located between two adjacent shelves 100 and connects two third travel aisles 143 or two.
  • a second driving channel 142 In this way, the first robot 200 can pass through the shelf 100 through the third travel channel 143 and then travel along the fourth travel channel 144 to the adjacent shelf 100, thereby shortening the travel distance of the first robot 200 and improving the efficiency of cargo handling.
  • the storage device 1000 further includes a docking platform 400 (the docking platform 400 may also be referred to as a docking port), between the temporary storage layer 120 and the column 110 located at the first end of the temporary storage layer 120
  • a second travel channel 142 for the first robot 200 to travel is formed, and a fifth travel channel 145 for the first robot 200 to travel is formed between the docking platform 400 and the shelf 100.
  • a fifth travel channel 145 for the first robot 200 to travel is formed between the docking platform 400 and the column 110 located at the second end of the temporary storage layer 120.
  • the first robot 200 can directly travel from the docking platform 400 along the fifth travel channel 145 to the first travel channel 141 of the first robot 200 in the rack 100, which can quickly reach the temporary storage layer 120 and improve coordination efficiency.
  • the fifth travel channel 145, the first travel channel 141, the second travel channel 142, the third travel channel 143, and the fourth travel channel 144 may form a first travel loop for the first robot 200 to travel (FIG. 9 Circle line with arrow in the middle).
  • the cargo access channel 140 under the temporary storage layer 120 can form a second travel loop (the dotted line with an arrow in FIG. 9) for the first robot 200 to travel, so that the first robot 200 can travel when it is empty. .
  • the second robot passage 310 of the second robot 300 may form a loop line for the second robot 300 to travel (the dotted line with an arrow in FIG. 9).
  • first travel loop line By setting the first travel loop line, the second travel loop line, and the loop line traveled by the second robot 300 in the above example, it is possible to prevent the first robot 200 and the second robot 300 from occupying the travel channel with each other, and improve the coordination efficiency between the two.
  • a plurality of first robots 200 and a plurality of second robots 300 may be provided to realize the in and out of the goods and improve the efficiency of in and out of the warehouse.
  • Fig. 10 shows a schematic flow chart of a storage control method according to Embodiment 2 of the present application.
  • the warehousing control method is suitable for being applied to the storage device of the first embodiment described above.
  • the warehousing control method may include:
  • S1001 Determine the target temporary storage location according to the target storage location of the target cargo
  • the temporary storage location can be set on the temporary storage layer 120 of the shelf 100, and the storage location can be set on the storage layer 130 of the shelf.
  • the temporary storage location and the storage location can be different in the same shelf 100.
  • the layer setting can also be arranged in different layers on adjacent shelves.
  • the temporary storage position and the storage position can be adjusted and selected according to actual needs.
  • the embodiment of the present application does not limit the setting of the temporary storage position and the storage position.
  • the target storage location of the target cargo can be determined according to the type of the target cargo.
  • the storage space with the shortest time-consuming transportation can be allocated from the shelf as the target storage space for the target goods.
  • the temporary storage location is set on the bottom layer of the shelf, the storage location closest to the connection platform and located on the upper layer of the temporary storage location is the storage location that takes the shortest time to move.
  • the time-consuming storage location can be determined as the target storage location according to the degree of popularity of the target goods.
  • the second robot upon receiving the transfer completion signal sent by the first robot, the second robot can be instructed immediately to transport the target goods from the target temporary storage location to The target storage position may also be instructed by the second robot to carry the target goods from the target temporary storage position to the target storage position after the second robot has performed other operations.
  • the first robot and the second robot can use the temporary storage position to independently carry the target goods, and the first robot and the second robot do not need to directly perform the transfer cooperation of the target goods, and can travel efficiently and improve the efficiency of goods storage.
  • the warehousing control method may determine target temporary storage locations for the target storage locations of multiple target goods, and instruct multiple first robots to transport multiple target goods to the corresponding target temporary storage locations. In the case of receiving the transfer completion signal sent by multiple first robots, the second robot is instructed to transfer multiple target goods from the corresponding target temporary storage location to the corresponding target storage location.
  • the target temporary storage location is determined by the target storage location of the target cargo, and the first robot is respectively instructed to transport the target cargo to the target temporary storage location for temporary storage, and the second robot to carry the target cargo to the temporary storage location.
  • the first robot is respectively instructed to transport the target cargo to the target temporary storage location for temporary storage
  • the second robot to carry the target cargo to the temporary storage location. From the target temporary storage position to the target storage position, in order to separate the ground transportation of the target goods and the transportation of the target goods between the temporary storage position and the storage position, so that the first robot can independently complete the ground transportation of the target goods, and the second The robot can independently complete the transportation of the target goods between the temporary storage position and the storage position. There is no need for the first robot and the second robot to directly dock the target goods, avoiding the phenomenon of the first robot and the second robot waiting for each other, which is beneficial to improve The efficiency of the warehousing of goods.
  • the first robot can be a robot that accesses and transports a box of goods in a single time, with a faster travel speed and lower cost;
  • the second robot can be a robot that can access and transport multiple boxes of goods in a single time , Its driving speed is slower and the cost is higher. If the first robot is directly instructed to transport the target cargo from the docking platform to the target storage location, and/or the second robot is instructed to transport the target cargo from the docking platform to the target storage location, the first robot will interact with the second robot Because of the long transportation distance, the transportation efficiency is low and the transportation cost is high.
  • the first robot can transport goods between the docking platform and the temporary storage location
  • the second robot can transport the goods between the temporary storage location and the storage location. It is beneficial to shorten the travel distance of the first robot and the second robot, so as to improve the efficiency of cargo storage through the efficient cooperation of the first robot and the second robot.
  • step S1001 determining the target temporary storage location according to the target storage location of the target cargo may include:
  • S1101 Determine the first free temporary storage location closest to the target storage location
  • S1103 During the driving process of the first robot, update the occupancy status of each temporary storage position according to a preset time interval;
  • S1105 In a case where there is a second idle temporary storage bit, determine the second idle temporary storage bit as a target temporary storage bit.
  • the temporary storage in the adjacent row of the target storage board 131 can be determined
  • the temporary storage location provided by the board 123 or the temporary storage location provided by the temporary storage board 124 is the first idle temporary storage location, and instructs the first robot to drive to the first idle temporary storage location; if the first robot is traveling in the process ,
  • the temporary storage location provided by the temporary storage location 122 is updated to an idle state, and the time for the first robot to travel to the first idle temporary storage location is greater than the travel to the first preset time threshold, then the temporary storage location provided by the temporary storage location 122 is determined It is the second free temporary storage bit and set it as the target temporary storage bit.
  • the target temporary storage location can be dynamically adjusted during the driving of the first robot, so that the transport distance between the target temporary storage location and the target storage location is smaller than the transport between the first idle temporary storage location and the target temporary storage location. Distance can reduce the transportation distance of the target cargo and improve the efficiency of cargo storage.
  • the storage positions on both sides of the aisle between adjacent shelves can share a set of temporary storage spaces, that is, the target storage space and the target temporary storage space can be respectively located on two adjacent shelves, for example, As shown in FIG. 12, when the target storage location is located above or below the fifth temporary storage location 415 of the first shelf 410, the first free temporary storage location may be the fifth temporary storage location 415 of the first shelf 410. It may also be the fifth temporary storage position 425 of the second shelf 420. In this way, the storage spaces located on both sides of the second robot travel aisle 440 can share the temporary storage spaces on the first shelf 410.
  • the temporary storage location below the target storage location is updated to an idle state, which can be triggered by the second robot removing the goods temporarily stored in the temporary storage location.
  • the first idle temporary storage bit is determined as the target temporary storage bit. In this way, the target temporary storage location can be directly determined according to the target storage location.
  • instructing the first robot to transport the target cargo to the target temporary storage location includes:
  • the first transport route is determined from the preset first robot channel.
  • a driving channel, and the first driving channel is located in the vertical projection area of the storage shelf where the target storage location is located;
  • FIG. 12 shows a schematic diagram of a scene of a warehouse access control method according to an embodiment of the present application, wherein the line segment with an arrow represents the first one located on the side of the temporary storage board where the target temporary storage location is located.
  • Travel aisle 430 (refer to the first travel aisle 141 in Figure 4).
  • the first transport is determined from the first travel aisle 430 Line 431, and instruct the first robot 200 to travel along the first transport line 431 to below the fifth temporary storage location 415.
  • the first robot 200 can be driven in the preset first travel channel 430, which prevents the first robot 200 from occupying the travel channel of the second robot 300, and improves the driving efficiency between the first robot 200 and the second robot 300. In turn, the efficiency of warehousing is improved.
  • instructing the second robot to transport the target goods from the target temporary storage location to the target storage location includes:
  • the second robot passage is located outside the vertical projection area
  • the second robot aisle 440 (dotted line with an arrow) may be located outside the vertical projection area of the shelf, when the second robot 300 is located at the second temporary storage position in the first shelf 410
  • the side of the second temporary storage location 412 and the fifth temporary storage location are determined
  • a second travel channel is formed at one end of the temporary storage layer.
  • the temporary storage layer includes a plurality of temporary storage boards for providing temporary storage locations, a third travel channel is formed between at least two temporary storage boards, and the first robot channel includes a second travel channel and a third travel channel.
  • a second travel channel 142 is formed at an end of the first shelf 410 away from the docking platform 400.
  • a third travel channel (not shown in the figure). Marked), and then the first robot 200 can determine the driving route from the third driving channel, plan a shorter driving route for the first robot 200, and improve the driving efficiency of the first robot 200.
  • the first robot channel includes a cargo access channel located below the temporary storage layer; the method further includes:
  • the first robot channel includes a cargo access channel 450 located below the temporary storage layer (refer to the cargo access channel 140 of the shelf 100 in Figure 4), that is, with an arrow in Figure 4 Dotted line.
  • the first robot can travel in the first travel channel 430, the second travel channel, and the cargo access channel 450.
  • FIG. 13 shows a schematic flow chart of a method for outbound control according to Embodiment 3 of the present application.
  • the outbound control method is suitable for being applied to the storage device of the first embodiment described above.
  • the outbound control method may include:
  • S1302 Determine the target temporary storage location according to the position of the second robot, where the current storage location and the target temporary storage location are set in different layers;
  • the setting method of the temporary storage position and the storage position in the outbound control method can be the same as the setting method in the storage control method, and the setting method of the temporary storage position and the storage position will not be repeated here.
  • the current storage position of the target goods can be determined according to the identification information of the target goods in the outbound list.
  • the relationship mapping table between the current storage position of the target goods and the target goods identification information can be pre-stored, and when obtained from the outbound list
  • the current storage location of the target cargo can be queried from the relational mapping table.
  • the current storage location of the target cargo may also be determined in other ways, and the embodiment of the present application does not limit the method of determining the current storage location of the target cargo.
  • the first robot upon receiving the transfer completion signal sent by the second robot, the first robot can be instructed to move the target goods away from the target temporary storage position immediately , Or after the first robot has performed other operations, the first robot can be instructed to carry the target goods away from the target temporary storage location.
  • the first robot and the second robot can use the temporary storage position to independently carry the target cargo, and the first robot and the second robot do not need to directly perform the transfer cooperation of the target cargo, and can travel efficiently and improve the efficiency of cargo delivery.
  • the outbound control method may instruct the second robot to move the multiple target goods away from the current storage location of the multiple target goods, and respectively determine the corresponding target temporary storage location according to the position of the second robot, and indicate The second robot transports the target goods to the corresponding target temporary storage location, so that multiple target goods can be transported to the corresponding target temporary storage location.
  • the target temporary storage location is determined by the position of the second robot, and the second robot is instructed to transport the target cargo to the target temporary storage location, and the first robot removes the target cargo from the target temporary storage location.
  • the second robot In order to separate the transportation of the target cargo between the temporary storage location and the storage location and the ground transportation of the target cargo, so that the second robot can independently complete the transportation of the target cargo between the temporary storage locations.
  • the first robot can Moving the target goods away from the target temporary storage location is completed independently, without the first robot and the second robot directly docking the target goods, avoiding the phenomenon that the first robot and the second robot wait for each other, which is beneficial to improve the efficiency of goods delivery.
  • a robot integrated with a lifting mechanism and an access mechanism is usually used to transport and retrieve the goods; however, due to the high cost of such robots, and the goods connection platform and the shelf are separate The distance between the temporary storage location and the storage location is relatively long, which makes the cost of goods in and out of the warehouse per unit time high and low efficiency.
  • the warehousing control method of the embodiment of the present application separates the ground transportation of the target goods and the transportation of the target goods between the temporary storage position and the storage position, so that the first robot can collectively complete the ground transportation of the target goods, and the second robot can concentrate. Complete the transportation of the target goods between the temporary storage location and the storage location.
  • the first robot does not have a lifting mechanism, and its cost is much lower than that of the second robot.
  • one second robot and multiple first robots can be used indirectly Cooperating with the control of the entry and exit of the target goods, the cost of entry and exit of the target goods per unit time can be reduced and the efficiency of the entry and exit of the goods and the capacity of the entry and exit can be improved.
  • the traveling speed of the first robot is greater than the traveling speed of the second robot.
  • the first robot usually transports the target goods from the target temporary storage position of the shelf to the docking platform
  • the second robot usually transports the target goods from the current storage position to the target temporary storage on one side of the shelf.
  • the distance between the docking platform and the shelf is much longer than the length of the shelf. Therefore, by making the traveling speed of the first robot greater than that of the second robot, the second robot can transport the target goods to the target temporary storage position.
  • the quantity is adapted to the quantity of the target goods that the first robot moves away from the target temporary storage location, so that the handling efficiency of the second robot is adapted to the handling efficiency of the first machine, and the efficiency of outgoing target goods is improved.
  • the warehousing control method may further provide multiple first robots to cooperate with the second robots to match the outgoing temporary storage flow rate of the target goods with the outgoing storage flow rate.
  • step S1302 determining the target temporary storage location according to the position of the second robot, may include:
  • the fifth temporary storage location 415 of the first shelf 410 is The first free temporary storage position of the second robot 300; if the occupancy status of the fourth temporary storage position 414 of the first shelf 410 is updated to be idle while the second robot 300 is traveling to the first free temporary storage position, Then, when the time for the second robot 300 to travel to the fifth temporary storage location 415 is greater than the second preset time threshold, the fourth temporary storage location 414 is determined to be the second idle temporary storage location closest to the second robot 300 , And determine it as the target temporary storage location. In this way, it is possible to dynamically adjust the target temporary storage position while the second robot 300 is carrying the target goods, reduce the transportation distance of the second robot 300, and improve the efficiency of goods delivery.
  • the temporary storage location below the target storage location is updated to an idle state, which can be triggered by the first robot removing the goods temporarily stored in the temporary storage location.
  • the first idle temporary storage bit is determined as the target temporary storage bit to directly determine the target temporary storage bit.
  • instructing the first robot to move the target goods away from the target temporary storage location includes:
  • the removal route is determined from the preset first robot passage.
  • the first robot passage includes the first robot on the side of the temporary storage shelf where the target temporary storage position is located.
  • the driving channel, and the first driving channel is located in the vertical projection area of the storage shelf where the target storage location is located;
  • the target temporary storage position is the second
  • the fifth temporary storage position 425 of the shelf 420 according to the position information between the first robot 200 and the target temporary storage position (that is, the fifth temporary storage position 425 of the second shelf), it is determined that the first robot 200 and The removal line 432 between the fifth temporary storage position 425 of the second shelf 420 and the second shelf 420, and instructs the first robot 200 to travel along the removal line 432 to the target temporary storage position (that is, the fifth temporary storage position of the second shelf) A temporary storage location 425) to remove the target goods from the target temporary storage location.
  • Fig. 15 shows a structural block diagram of a storage system according to Embodiment 4 of the present application.
  • the storage system 1500 includes: the storage device 1000 of any of the above embodiments; the control device 1510 includes a processor 1512 and a memory 1511.
  • the memory 1511 stores instructions, and the instructions are loaded by the processor 1512. And execute it to implement the method of any one of the above embodiments; the first robot 200 travels in the first robot channel and has a fork arm matched with the fork groove; the second robot 300 travels in the second robot channel.
  • the traveling speed of the first robot 200 is greater than the traveling speed of the second robot 300.
  • Fig. 16 shows a structural block diagram of a control device according to Embodiment 4 of the present invention.
  • the control device 1510 includes a memory 1511 and a processor 1512, and the memory 1511 stores a computer program that can run on the processor 1512.
  • the processor 1512 implements the warehouse-in control method and the warehouse-out control method in the foregoing embodiment when the computer program is executed.
  • the number of the memory 1511 and the processor 1512 may be one or more.
  • the control device also includes a communication interface 1513, which is used to communicate with external devices and perform data interactive transmission.
  • the bus may be an Industry Standard Architecture (ISA) bus, Peripheral Component Interconnect (PCI) bus, or Extended Industry Standard Architecture (EISA) bus, etc.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 16, but it does not mean that there is only one bus or one type of bus.
  • the memory 1511, the processor 1512, and the communication interface 1513 may communicate with each other through internal interfaces.
  • the above-mentioned processor can be a central processing unit (CPU), other general-purpose processors, digital signal processors (Digital Dignal Processing, DSP), application specific integrated circuits (Application Specific Sntegrated Circuit, ASIC), and other general-purpose processors. Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor. It is worth noting that the processor may be a processor that supports an advanced reduced instruction set machine (advanced RISC machines, ARM) architecture.
  • the above-mentioned memory may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the control device, etc. .
  • the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory may optionally include a memory remotely arranged with respect to the processor, and these remote memories may be connected to the control device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • Embodiment 5 of the present application also provides a docking platform, which is suitable for the storage device of any of the above embodiments.
  • the connection platform will be described below with reference to the drawings.
  • the chassis 910 of the first robot (the first robot may be referred to as a handling robot) is usually provided with front steering wheels 911, rear steering wheels 912, and driving wheels 913, among which the front steering wheels 911 and the rear steering wheels 912 are respectively arranged at the front and rear positions of the chassis 910 to change the driving direction of the first robot; the driving wheels 913 are arranged on both sides of the chassis 910 and are connected to the chassis 910 through a suspension mechanism (not shown in the drawings), which are the first The driving of the robot is provided.
  • the driving wheel 913 can stretch the suspension mechanism; when the first robot travels to a convex ground, the driving wheel 913 can compress the suspension mechanism to cushion the body of the first robot due to uneven ground The impact caused. It should be noted that, in order to simplify the drawings, the embodiment of the present application uses the front steering wheel 911, the rear steering wheel 912, the driving wheel 913, and the chassis 910 of the first robot to show the driving of the first robot.
  • the driving wheel 913 of the first robot since the slope 1121 of the ramp 1120 of the docking platform 1100 is flat, and the driving wheel 913 of the first robot has a small stretch or compression range relative to the chassis 910, the driving wheel 913 and the front steering wheel 911 and the rear steering wheels 912 are basically coplanar.
  • the front steering wheel 911 of the first robot travels to the slope surface 1121, and the rear steering wheel 912 travels on the ground 1130.
  • the slope of the slope 1120 is large, the front side of the chassis 910 is relative to the ground Raising a higher height can easily cause the drive wheel 913 to hang in the air and fail to apply grip to the slope surface 1121 or the drive wheel 913 can contact the slope surface 1121 but cannot apply sufficient grip to the slope surface 1121 due to insufficient pressure, which results in The driving wheel 913 of the first robot slips, so that the first robot cannot travel along the slope 1120 to the platform body 1110.
  • the slope of the slope 1120 is usually reduced by increasing the length of the slope, which will consume more materials and take up more materials.
  • the large space causes the connection platform 1100 to have the problems of high production cost and large space occupation.
  • Embodiment 2 of the present application provides a connection platform.
  • the slope surface of the slope platform By setting the slope surface of the slope platform into a smoothly connected concave slope surface and a convex slope surface along the slope bottom to the slope top direction, it is beneficial to shorten the length of the slope platform. Can save production costs and reduce space occupation.
  • FIG. 19A shows a schematic diagram 1 of the structure of the docking platform according to Embodiment 5 of the present application
  • FIG. 19B shows a top view of the schematic diagram 1 of the structure of the docking platform according to Embodiment 5 of the present application
  • FIG. 19C shows a schematic diagram of Embodiment 5 according to the present application
  • the schematic diagram of the structure of the docking platform is a side view.
  • the docking platform 1200 may include: a platform body 1210 and a slope platform 1220.
  • the slope surface 1220A of the slope platform 1220 includes a concave slope surface 1221 and a convex slope surface 1222 arranged along the slope bottom to the slope top direction.
  • the top side of the concave slope surface 1221 and the bottom side of the convex slope surface 1222 are smoothly connected; the slope platform 1220 is arranged on one side of the platform body 1210 so that the slope surface 1220A and the top surface 1211 of the platform body 1210 are smoothly connected.
  • the platform body 1210 may be three-dimensional, such as a three-dimensional rectangle and a three-dimensional square, and the top surface 1211 of the platform body 1210 may form a travel channel of the first robot.
  • the travel channel may be distributed along the length of the platform body 1210. . Because the platform body 1210 has a certain height, when the first robot travels to the top surface 1211, it is convenient for the user to transfer the carried goods. The height of the platform body 1210 can be selected and adjusted according to actual needs, which is not limited in the embodiment of the present application.
  • the slope surface 1220A of the slope platform 1220 includes a concave slope surface 1221 and a convex slope surface 1222 that are sequentially arranged from the bottom of the slope to the slope top.
  • the top side of the concave slope surface 1221 is opposite to the bottom side of the convex slope surface 1222. Cut to make a smooth connection.
  • the bottom edge of the concave slope surface 1221 can be tangent to the ground, so that the slope of the concave slope surface 1221 can gradually increase from 0°; the top edge of the convex slope surface 1222 can be connected to the platform body The top surface 1211 of 1210 is tangent, so that the slope of the convex slope surface 1222 can be gradually reduced to 0°.
  • the concave slope surface 1221 is located on the bottom side of the slope platform 1220 and is recessed toward the bottom surface 1220B of the slope platform 1220.
  • the slope of the concave slope surface 1221 gradually increases from 0 along the slope bottom to the slope top direction, and is on the concave slope surface 1221 The top of the increase to the preset slope value.
  • the tangent value of the concave slope surface 1221 gradually increases along the vertical height direction of the concave slope surface 1221. In this way, the slope of the slope platform 1220 near the bottom side of the slope can be increased gently, which is beneficial to shorten the length of the slope platform 1220 on the bottom side of the slope and save manufacturing costs.
  • the convex slope surface 1222 is located on the slope top side of the slope platform 1220 and is convex toward the direction away from the bottom surface 1220B of the slope platform 1220.
  • the top of the slope surface 1222 and the top surface 1211 of the slope platform 1220 are smoothly connected.
  • the tangent value of the convex slope surface 1222 gradually decreases along the vertical height direction of the convex slope surface 1222.
  • the concave slope surface 1221, the convex slope surface 1222 and the platform body 1210 can be smoothly transitioned, so that the first robot can travel smoothly on the slope platform 1220 and the platform body 1210; and the slope platform 1220 on the slope top side can also be shortened. Length to save production costs.
  • the concave slope surface 1221 can reduce the lifting height of the front side of the chassis 910 relative to the ground 410, avoiding excessive lifting of the driving wheels 913, so that the driving wheels 913 can apply driving force to the concave slope surface 1221 and prevent the driving wheels 913 from slipping .
  • the driving wheel 913 slightly stretches the suspension mechanism so that the center of the driving wheel 913 is opposite to each other.
  • the chassis 910 moves slightly downwards, and the driving wheels 913 can apply sufficient driving force to the concave slope surface 1221 to drive the first robot to travel to the convex slope surface 1222.
  • the projection of the concave slope surface 1221 in the vertical direction is the first arc (refer to the concave slope surface 1221 in FIG. 19C), and the projection of the convex slope surface 1222 in the vertical direction It is the second arc (refer to the convex slope 1222 in FIG. 19C);
  • the arc radius of the first arc is greater than or equal to the arc radius of the second arc.
  • the arc radius of the first arc can be between 8000mm and 10700mm
  • the arc radius of the second arc can be between 500mm and 2832mm
  • the arc radius of the first arc and the second arc can be based on actual conditions. It needs to be selected and adjusted, which is not limited in the embodiment of the present application.
  • the slope of the concave slope 1221 can be made the same as the slope of the convex slope 1222 or the concave slope 1221
  • the slope of is more gentle than the slope of the convex slope 1222, which is beneficial for the first robot to travel smoothly along the concave slope 1221 and the convex slope 1222.
  • the length of the first arc is equal to or greater than the length of the second arc.
  • the length of the first arc and the second arc can be selected and adjusted according to actual needs, which is not limited in the embodiment of the present application.
  • the docking platform 1200 may further include a plurality of support pads 1230, and the plurality of support pads 1230 are arranged at the bottom of the ramp platform 1220 at intervals along the length direction of the ramp platform 1220.
  • the slope platform 1220 and the plurality of support pads 1230 can be a single piece or a separate piece; if the slope platform 1220 and the multiple support pads 1230 are separated pieces, the slope platform 1220 and the multiple support pads 1230 Can be combined into one piece.
  • the supporting pad 1230 may include three, and the three supporting pads 1230 are respectively disposed on the front side, the middle position and the rear side of the bottom of the slope platform 1220.
  • the slope platform 1220 can be raised up and an arch is formed between adjacent support pads 1230.
  • the bottom of the support pad 1230 can be contacted with the ground to reduce the contact area between the bottom of the slope platform 1220 and the ground, and prevent the slope platform 1220 from shaking due to uneven ground, so that the slope platform 1220 can be placed on the ground smoothly.
  • the docking platform 1200 may further include a baffle 1240.
  • the baffle 1240 is disposed on the top of the platform body 1210 and is located on the side of the platform body 1210 away from the slope platform 1220.
  • the baffle 1240 can be disposed on the top surface 1211 of the platform body 1210 away from the side of the slope platform 1220.
  • the baffle 1240 and the platform body 1210 can be an integral piece or a separate piece.
  • a card slot 1410 is provided on the side wall of the platform body 1210 opposite to the slope platform 1220, and a clip strip is provided on the side wall of the slope platform 1220 opposite to the platform body 1210 (FIG. (Not shown in the figure), the card bar is clamped in the card slot 1410, so that the ramp platform 1220 and the platform body 1210 are clamped.
  • the platform body 1210 is provided with a card slot 1410 and a clip strip is provided on the slope platform 1220, so that the platform body 1210 and the slope platform 1220 can be snapped and combined into an integrated piece, which is convenient for assembly, disassembly, transportation and storage. Wait. It is understandable that the platform body 1210 and the slope platform 1220 can also be arranged as an integral piece according to actual needs. The embodiment of the present application does not limit the installation form of the platform body 1210 and the slope platform 1220.
  • the clamping slot 1410 is arranged along the length direction of the platform body 1210, and the clamping strips are arranged along the width direction of the slope platform 1220; the slope platform 1220 includes at least two, and the clamping strips of the two slope platforms 1220 can be along the clamping groove. 1410 Slide to adjust the pitch.
  • the card slot 1410 is arranged along the length direction of the platform body 1210 and is located on the side wall opposite to the slope platform 1220; the clip strip is arranged along the width direction of the slope platform 1220 and is located on the side wall opposite to the platform body 1210. On; the clip can slide along the slot 1410, the position of the ramp 1220 on the platform body 1210 can be adjusted, and the flexibility of the assembly position of the ramp 1220 can be improved.
  • the driving track label of the first robot can be set on the ground.
  • the ramp platform 1220 can be adjusted by sliding the clip strip of the ramp platform 1220 along the slot 1410 of the platform body 1210.
  • the first robot can travel to the slope platform 1220 along the travel trajectory label.
  • the distance between the ramps 1220 can also be adjusted according to the size of the goods carried by the first robot, so that the distance between the ramps 1220 is adapted to the size of the goods. It should be noted that the number of slope platforms 1220 can be selected and adjusted according to actual needs, and this application does not limit the number of slope platforms 1220.
  • the top surface 1211 of the platform body 1210 forms a travel channel
  • the slope surfaces 1220A of the two ramp platforms 1220 form an entrance channel and an exit channel, respectively.
  • the top of the exit channel is respectively connected with the travel channel (the line segment with arrows in the figure shows the driving direction of the entrance channel, the travel channel and the exit channel).
  • the first robot can travel along the entry channel to the travel channel on the platform body 1210, travel along the travel channel to the exit channel, and then exit through the exit channel, which can improve the efficiency of cargo carrying and transfer.
  • slope platforms 1220 there are three slope platforms 1220, and the slope 1220A of two slope platforms 1220 can be set as two entry channels, and the slope 1220A of the other slope platform 1220 can be set as exit channels, and the entrance channel and The tops of the exit passages are respectively connected with the driving passages.
  • the number of entry channels and exit channels can be selected and adjusted according to actual needs, which is not limited in the embodiment of the present application.
  • the width of the platform body 1210 is greater than the width of the ramp platform 1220, so that the first robot transfers larger-sized goods on the platform body 1210.
  • the platform body 1210 is provided with a platform support 1511 that is shaped to fit the platform body 1210
  • the slope platform 1220 is provided with a platform support 1511 that is shaped to fit the slope platform 1220.
  • the slope bracket 1521 is provided.
  • a platform support plate 1512 is provided on the platform support 1511 to form a platform body 1210; a slope support plate 1522 is provided on the slope support 1521 to form a slope platform 1220.
  • FIG. 23 shows a schematic structural diagram of a workstation according to Embodiment 5 of the present application.
  • the workstation 1600 may include: a plurality of docking platforms 1200 of any of the foregoing embodiments, and the plurality of docking platforms 1200 are arranged along the length direction of the platform body 1210, so that the top of the plurality of platform bodies 1210 Surface 1211 is connected. In this way, it is convenient for the first robot to travel along the top surface 1211 of the plurality of platform bodies 1210, and it is also possible to flexibly configure the entry channel and the exit channel.
  • the slope surface 1220A of the slope platform 1220 is set into a concave slope surface 1221 and a convex slope surface 1222 along the slope bottom to the slope top direction, and the concave slope surface 1221 and the convex slope surface
  • the smooth connection of 1222 and the smooth connection of the slope surface 1220A with the top surface 1211 of the platform body 1210 are beneficial to shorten the length of the slope platform 1220, reduce production costs and reduce space occupation.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present application, “multiple” means two or more than two, unless otherwise specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, it can be an electrical connection, it can also be communication; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components .
  • installed can be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection, it can be an electrical connection, it can also be communication; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components .
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • the "above”, “above” and “above” of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature.
  • the “below”, “below” and “below” of the first feature of the second feature include the first feature directly above and diagonally above the second feature, or it simply means that the level of the first feature is smaller than the second feature.

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Abstract

一种仓储装置、系统和控制方法。其中，仓储装置（1000）包括：暂存层板（120），暂存层板（120）用于提供暂存位；多个货架（100），货架（100）包括至少一个储存层板（130）以及在水平方向上间隔设置的多个立柱（110）；储存层板（130）通过立柱（110）在竖直方向上与暂存层板（120）间隔设置，储存层板（130）用于提供储存位；供第一机器人（200）行驶的第一机器人通道，第一机器人（200）用于存取暂存层板（120）上的货物；供第二机器人（300）行驶的第二机器人通道，第二机器人（300）用于在暂存层板（120）与储存层板（130）之间搬运货物。该仓储装置、系统和控制方法可以提高货物的出入库效率。

Description

仓储装置、系统和控制方法
本申请要求于2020年03月27日提交中国专利局、申请号为202010231552.9、发明名称为“货架和仓储装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。本申请要求于2020年09月02日提交中国专利局、申请号为202021892576.0、实用新型名称为“货架和仓储装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。本申请要求于2020年03月27日提交中国专利局、申请号为202010231545.9、发明名称为“仓储装置、系统、控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。本申请要求于2020年03月27日提交中国专利局、申请号为202010232310.1、发明名称为“出入库控制方法、装置、设备、可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。以及本申请要求于2020年10月15日提交中国专利局、申请号为202022292766.5、实用新型名称为“接驳平台和工作站”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储技术领域，尤其涉及一种仓储装置、系统和控制方法。
背景技术
现有仓储行业多采用集成有自动爬升能力和移动能力的机器人来存取货物和搬运货物。然而，由于机器人在存取货物时存放动作较多，这就导致货物的入库和出库的效率低。
发明内容
本申请实施例提供一种仓储装置、系统和控制方法，以解决或缓解相关技术中的一项或更多项技术问题。
为实现上述目的，本申请采取以下技术方案：
作为本申请实施例的第一方面，本申请实施例提供一种仓储装置，包括：
多个货架，货架包括至少一个暂存层板、至少一个储存层板以及在水平方向上间隔设置的多个立柱；储存层板通过立柱在竖直方向上与暂存层板间隔设置，其中，暂存层板用于提供多个暂存位，储存层板用于提供多个储存位；
供第一机器人行驶的第一机器人通道，第一机器人用于存取暂存层板上的货物；
供第二机器人行驶的第二机器人通道，第二机器人用于在暂存层板与储存层板之间搬运货物。
作为本申请实施例的第二方面，本申请实施例提供一种入库控制方法，包括：
根据目标货物的目标储存位确定目标暂存位；
指示第一机器人将目标货物搬运至目标暂存位；
在接收到第一机器人发送的搬运完成信号的情况下，指示第二机器人将目标货物从目标暂存位搬运至目标储存位。
作为本申请实施例的第三方面，本申请实施例提供一种出库控制方法，包括：
指示第二机器人将目标货物搬离当前储存位；
根据第二机器人的位置确定目标暂存位；
指示第二机器人将目标货物搬运至目标暂存位；
在接收到第二机器人发送的搬运完成信号的情况下，指示第一机器人将目标货物搬离目标暂存位。
作为本申请实施例的第四方面，本申请实施例提供一种仓储系统，包括：
上述任一种实施方式的仓储装置；
控制设备，包括处理器和存储器，存储器中存储指令，指令由处理器加载并执行，以实现上述任一种实施方式的方法；
第一机器人，行驶于第一机器人通道；
第二机器人，行驶于第二机器人通道。
上述技术方案中的一个技术方案具有如下优点或有益效果：通过使第一机器人直接在暂存层板上存取货物，免去将机械臂伸至货架层板上的操作，提高存取货物的效率；此外，暂存层板可对货物进行暂时存放，储存层板提供的储存位可以对货物进行较长时间的储存，便于将暂存层板和储存层板进行配合来提高货物的出入库效率；再者，分别形成第一机器人通道和第二机器人通道，能避免第一机器人和第二机器人共用行驶通道，可提高第一机器人与第二机器人的行驶效率，进而提高出入库效率。
附图说明
为了更清楚地说明本发明实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明实施例中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1示出根据本申请实施例1的仓储装置的立体结构示意图；
图2示出根据本申请实施例1的仓储装置的侧视示意图；
图3示出根据本申请实施例2的仓储装置的结构示意图；
图4示出根据本申请实施例1中货架的结构示意图；
图5示出根据本申请实施例1中货架的结构示意图；
图6示出根据本申请实施例1的第一机器人的结构示意图；
图7示出根据本申请实施例1的第一机器人的叉臂与货架的叉槽的配合示意图；
图8示出根据本申请实施例1第二机器人的结构示意图；
图9示出根据本申请实施例的应用场景示意图；
图10示出根据本申请实施例2的入库控制方法的流程示意图；
图11示出图10中步骤S1001的流程示意图；
图12示出根据本申请实施例的出入库控制应用场景示意图；
图13示出根据本申请实施例3的出库控制方法的流程示意图；
图14示出图13中步骤S1302的流程示意图；
图15示出根据本申请实施例4的仓储系统的结构示意图；
图16示出根据本申请实施例4的控制设备的结构示意图；
图17示出第一机器人的转向轮和驱动轮的布设示意图；
图18示出第一机器人爬坡时底盘与斜坡之间的位置示意图；
图19A示出根据本申请实施例5的接驳平台的结构示意图一；
图19B示出根据本申请实施例5的接驳平台的结构示意图一的俯视图；
图19C示出根据本申请实施例5的接驳平台的结构示意图一的侧视图；
图20A示出根据本申请实施例5的第一机器人沿斜坡台行驶至平台本体的状态示意图一；
图20B示出根据本申请实施例5的第一机器人沿斜坡台行驶至平台本体的状态示意图二；
图20C示出根据本申请实施例5的第一机器人沿斜坡台行驶至平台本体的状态示意图三；
图20D示出根据本申请实施例5的第一机器人沿斜坡台行驶至平台本体的状态示意图四；
图20E示出根据本申请实施例5的第一机器人沿斜坡台行驶至平台本体的状态示意图五；
图21示出根据本申请实施例5的接驳平台的结构示意图二；
图22示出根据本申请实施例5的接驳平台的结构示意图三；
图23示出根据本申请实施例5的工作站的结构示意图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
实施例1
图1示出根据本申请一个实施例的仓储装置的立体结构示意图。
如图1至图4所示，该仓储装置1000可以包括至少一个暂存层板120，暂存层板120用于提供至少一个个暂存位；多个货架100，货架100可以包括至少一个储存层板130以及在水平方向上间隔设置的多个立柱110；储存层板130用于提供至少一个储存位。暂存层板120上设置有叉槽121，叉槽121用于与第一机器人200的叉臂210配合；储存层板130通过立柱110在竖直方向上与暂存层板120间隔设置。
在一个示例中，多个货架100可以是单排货架、双排货架或多排货架；多个货架100的数量包括两个或两个以上；多个货架100可按列排列(可参考图1和图2)、按行排列(可参考图3)或呈矩阵排列。多个货架100的排数、数量和排列方式可以根据实际的需要进行选择和调整，本申请实施例对多个货架100的数量和排列方式均不作限制。
在一个示例中，该多个立柱110可以围成安装暂存层板120和储存层板130的矩形区域，使得暂存层板120和储存层板130通过立柱110在竖直方向上间隔设置。但是，立柱110的设置位置本实施例不作限制，只要可以使得暂存层板120和储存层板130在竖直方向上间隔设置即可。例如，立柱110也可以在竖直方向上穿设在暂存层板120和储存层板130中间，而不是边缘。
为了便于说明，以下在实施例中，将暂存层板120的长边设定为暂存层板120的侧，将暂存层板120的短边设定为暂存层板120的端。
在一个示例中，暂存层板120上提供的多个暂存位包括两个暂存位和两个以上的暂存位；每个暂存位下设置叉槽121，叉槽121的形状可以呈U形、C形、I形或V形等，叉槽121的形状可以根据实际需要进行选择和调整，只要能与第一机器人200的叉臂210配合即可，本申请对叉槽121的形状不作限制。
其中，暂存层板120可以位于货架100的任一层，本申请实施例对暂存层板120的位置不作限制。其中，当暂存层板120位于货架100的中间层时，储存层板130位于暂存层板120的上方和下方，可以缩短暂存层板120与储存层板130之间的距离，提高货物在暂存层板120与储存层板130之间的搬运效率。其中，货物可以是装有物料、产品等物品的箱体，该箱体可以是纸箱，也可以是料箱，本申请对箱体的类型及其容置的物品不作限制。
在一个示例中，暂存层板120的宽度小于储存层板130的宽度的一半。例如，货架100可以是双排货架，暂存层板120可位于双排货架的其中一排，储存层板130从沿水平方向从双排货架的其中一排延伸至另一排，并设置暂存层板120的宽度小于储存层板130的一半。由于货物的宽度通道会大于第一机器人200的宽度，通过将暂存层板120的宽度设置为小于储存层板130的宽度的一半，则可以使第一行驶通道141的宽度大于储存层板130的宽度，为第一机器人200提供足够宽的通道来搬运货物；并且，因储存层板130的宽度大于暂存层板120的宽度的两倍，使得储存层板130可以储存尺寸略大于暂存位的货物。
该仓储装置1000可以包括：供第一机器人200行驶的第一机器人通道，第一机器人200用于通过其叉臂210与叉槽121配合，以存取暂存层板120上的货物；供第二机器人300行驶的第二机器人通道，第二机器人300用于在暂存层板120与储存层板130之间搬运货物。
在一个示例中，第一机器人通道可以由货架100的结构限定出，也可以位于货架100外的一侧。第二机器人通道可以位于货架100外的另一侧，以将第一机器人通道和第二机器人通道分离设置，避免通道占用。
其中，如图6和图7所示，第一机器人200可以是具有叉臂210的AGV(Automated Guided Vehicle，自动导引运输车，简称AGV)车，其叉臂210可以设置于第一机器人200的顶部，也可以设置于第一机器人200的侧边，本申请实施例对第一机器人200的叉臂210的设置方式不作限制。
如图8所示，第二机器人300可以是具有升降机构320和存取机构330的AGV车，也可以是堆垛机等，本申请实施例对第二机器人300的类型不作限制，只要具备存取货物和搬运货物的功能即可。根据本申请实施例的仓储装置1000，由于暂存层板120提供用于与第一机器人200的叉臂210配合的叉槽121，使得第一机器人200的叉臂210可以直接叉入暂存层板120的叉槽121，进而第一机器人200 可直接在暂存层板120上存取货物，免去将机械臂伸至货架100上的操作，提高存取货物的效率；此外，暂存层板120可对货物进行暂时存放，储存层板130提供的储存位可以对货物进行较长时间的储存，便于将暂存层板120和储存层板130进行配合来提高货物的出入库效率；再者，分别形成第一机器人通道和第二机器人通道还能避免第一机器人200和第二机器人300共用行驶通道，可提高第一机器人200与第二机器人300的行驶效率，进而提高出入库效率。
在一种实施方式中，第一机器人通道可以包括存取货通道140，存取货通道140位于暂存层板120的下方，当第一机器人200位于存取货通道140时，叉槽121与第一机器人200上的叉臂210配合，以存取货物。
在一个示例中，如图4和图7所示，在存货物的情况下，第一机器人200从暂存层板120的叉槽侧将叉臂210对准叉槽121并行驶至存取货通道140，使得叉臂210直接叉入叉槽121，进而货物位于暂存层板120上，再将叉臂210下降使得货箱留在暂存层板120上；在取货的情况下，第一机器人200行驶至存取货通道140下，从暂存层板120的下方将叉臂210对准叉槽121并将叉臂210上升来顶起货箱，再沿远离暂存层板120的叉槽侧的方向行驶来离开存取货通道140以取走货箱。如此，第一机器人200可在不停止行驶或短暂停止行驶的情况下直接进行货物的叉取，省去控制机械臂伸出至层板上的操作，可以提高存取货箱的效率，并且在暂存层板120下方存取获取，可以有效利用货架100的空间。
在一种实施方式中，存取货通道还可用于供第一机器人空载时行驶。
在一个示例中，在第一机器人200空载(即第一机器人200不装载货物)时，第一机器人200可直接在存取货通道140中行驶，可以提高货物的搬运效率。
在一种实施方式中，如图4所示，立柱110设置于储存层板130的外周，第一机器人通道包括第一行驶通道141，第一行驶通道141位于暂存层板120与位于暂存层板120叉槽侧的立柱110之间。
在一个示例中，当暂存层板120位于立柱110的底层时，暂存层板120可与位于暂存层板120叉槽侧的立柱110以及地面形成第一机器人200行驶的第一行驶通道141。
在一个示例中，当暂存层板120位于除立柱110的底层之外的其他层时，暂存层板120可与位于暂存层板120叉槽侧的立柱110以及位于暂存层板120所在层的下一层的储存层板130形成第一机器人200行驶的第一行驶通道141。
在本实施方式中，通过在暂存层板120与位于暂存层板120叉槽侧的立柱110之间形成供第一机器人200行驶的第一行驶通道141，使得第一机器人200可在货架100的任一层中行驶，便于第一机器人200与暂存层板120进行配合，避免占用货架100外的通道。
在一个示例中，如图4所示，货架100还可以包括：横梁150，横梁150沿水平方向设置，用于将暂存层板120和储存层板130的短边固定于立柱110上。
图5示出根据本申请另一个实施例的货架100的结构示意图。该货架100的结构与图1中货架100的结构相似，其不同之处在于，如图5所示，暂存层板120与位于暂存层板120第一端的立柱110之间形成有供第一机器人200行驶的第二行驶通道142。如此，第一机器人200可从第二行驶通道142穿过货架100，可缩短第一机器人200的行驶距离，提高货箱的搬运效率。
在一个示例中，货架100还可以包括：支撑柱160，设置于暂存层板120的第一端以进行支撑。
在一种实施方式中，如图1至图4所示，暂存层板120包括多个暂存板，各暂存板均设置有叉槽121，并且至少两个暂存板之间形成有供第一机器人200行驶的第三行驶通道(可参考图9中的143)。如此，第一机器人200可从暂存层板120中的任意两个暂存板之间穿过货架100，可缩短第一机器人200的行驶距离，提高货箱的搬运效率。
在本实施例中，如图9所示，通过在相邻货架100之间形成第二机器人通道310，使得第二机器人300可以在第二机器人通道310中行驶，以在暂存层板120与储存层板130之间搬运货物，将暂存于暂存层板120的货物搬运至储存层板130进行入库储存，或者将储存于储存层板130的货物搬运至暂存层板120进行出库暂存，可提高货物的存取效率和出入库效率；并且，由于第二机器人通道310不与第一机器人200的行驶通道重合，可避免第一机器人200和第二机器人300共用行驶通道，可提高第一机器人200与第二机器人300之间的配合效率，进而提高出入库效率。
需要说明的是，仓储装置1000中，通常采用集成有升降机构320和存取机构330的第二机器人300来搬运和存取货物。但是，由于第二机器人300的成本较高，并且货物的接驳口400与货架100中各暂存位和存储位之间的距离较远，这就使得单位时间内货物的出入库成本较高且效率低。本申请实施例的仓储装置1000通过在相邻货架100之间形成第二机器人通道310，可配置第二机器人300用于在暂存层板120与储存层板130之间搬运货物，配置第一机器人200用于在暂存层板120搬运和存取货物，其中，第一机器人200可不具有升降机构，其成本远远低于第二机器人300。如此，可以为一台第二机器人300配备多台第一机器人200来配合进行货物的存取，可降低单位时间内货物的出入库成本且可提高货物的出入库效率。
在一种应用场景中，第一机器人200可以是单次存取和搬运一箱货物的机器人，第二机器人300可以是单次存取和搬运多箱货物的机器人。通过配置第二机器人300在暂存层板120与储存层板130之间搬运货物，配置第一机器人200用于在暂存层板120搬运和存取货物，可降低单位时间内货物的出库和入库成本且可提高货物的出库和入库效率。
在一种实施方式中，如图9所示，暂存层板包括多个暂存板，各暂存板均设置有叉槽，第一机器人通道包括第三行驶通道143，第三行驶通道位于143至少两个暂存板之间。其中，第三行驶通道143的宽度可以为一个、两个、三个或更多个暂存板的宽度，本申请对此不作限制。例如，可以拆卸部分暂存板来形成第三行驶通道143。如此，第一机器人200可从第三行驶通道143穿过货架，提高行驶效率。
在一种实施方式中，如图9所示，第一机器人通道包括第四行驶通道144，第四行驶通道144位于相邻两个货架100之间，并连接两个第三行驶通道143或两个第二行驶通道142。如此，可以使第一机器人200经第三行驶通道143穿过货架100后沿第四行驶通道144行驶至相邻货架100，缩短第一机器人200的行驶距离，提高货物的搬运效率。
在一种实施方式中，仓储装置1000还包括接驳平台400(接驳平台400也可以称作接驳口)，暂存层板120与位于暂存层板120第一端的立柱110之间形成有供第一机器人200行驶的第二行驶通道142，接驳平台400与货架100之间形成有供第一机器人200行驶的第五行驶通道145。例如，接驳平台400与位于暂存层板120第二端的立柱110之间形成有供第一机器人200行驶的第五行驶通道145。如此，第一机器人200可以由接驳平台400沿第五行驶通道145直接行驶至货架100中第一机器人200的第一行驶通道141中，能够快速达到暂存层板120，提高配合效率。
在一个示例中，第五行驶通道145、第一行驶通道141、第二行驶通道142、第三行驶通道143和第四行驶通道144可形成供第一机器人200行驶的第一行驶环线(图9中带箭头的线段环线)。
在一个示例中，暂存层板120下方的存取货通道140可形成供第一机器人200行驶的第二行驶环线(图9中带箭头的虚线)，以便第一机器人200在空载时行驶。
在一个示例中，第二机器人300的第二机器人通道310可形成供第二机器人300行驶的环线(图9中带箭头的点线)。
通过设置上述示例的第一行驶环线、第二行驶环线和第二机器人300行驶的环线，可以避免第一机器人200和第二机器人300相互占用行驶通道，提高两者之间的配合效率。如此，可以设置多个第一机器人200和多个第二机器人300来实现货物的出入库，提高出入库效率。
上述实施例的仓储装置1000的其他构成可以采用于本领域普通技术人员现在和未来知悉的各种技术方案，这里不再详细描述。
实施例2
图10示出根据本申请实施例2的入库控制方法的流程示意图。该入库控制方法适于应用于上述实施例1的仓储装置。如图10所示，该入库控制方法可以包括：
S1001、根据目标货物的目标储存位确定目标暂存位；
S1002、指示第一机器人将目标货物搬运至目标暂存位；
S1003、在接收到第一机器人发送的搬运完成信号的情况下，指示第二机器人将目标货物从目标暂存位搬运至目标储存位，其中，目标储存位与目标暂存位异层设置。
其中，如图4所示，暂存位可设置在货架100的暂存层板120上，储存位可设置在货架的储存层板 130上，暂存位和储存位可在同一货架100中异层设置，也可以在相邻货架上异层设置，暂存位和储存位可根据实际需要进行调整和选择，本申请实施例对暂存位和储存位的设置方式不作限制。
目标货物的目标储存位可以根据目标货物的种类进行确定。示例性地，在目标货物的种类为最热销货物类型的情况下，可以从货架中为该目标货物分配搬运耗时最短的储存位作为目标储存位。例如，在暂存位设置于货架的底层时，则距离接驳平台最近且位于暂存位所在层的上一层的储存位为搬运耗时最短的储存位。如此，可以根据目标货物的热销程度来确定对应耗时的储存位作为目标储存位。
在一个示例中，由于目标暂存位可以对目标货物进行暂存，则在接收到第一机器人发送的搬运完成信号的情况下，可立即指示第二机器人将目标货物从目标暂存位搬运至目标储存位，也可待第二机器人执行完其他操作之后，再指示第二机器人执行将目标货物从目标暂存位搬运至目标储存位。如此，第一机器人和第二机器人可利用暂存位独立地进行目标货物的搬运，第一机器人和第二机器人无需直接进行目标货物的转移配合，能够高效地行驶，提高货物的入库效率。
在一个示例中，该入库控制方法可以对多个目标货物的目标储存位分别确定目标暂存位，并指示多个第一机器人分别将多个目标货物搬运至对应的目标暂存位，在接收到多个第一机器人发送到搬运完成信号的情况下，指示第二机器人分别将多个目标货物从对应的目标暂存位搬运至对应的目标储存位。
根据本申请实施例的入库控制方法，通过目标货物的目标储存位来确定目标暂存位，并分别指示第一机器人将目标货物搬运至目标暂存位进行暂存、第二机器人将目标货物从目标暂存位搬运至目标储存位，以便将目标货物的地面搬运以及目标货物在暂存位与储存位之间的搬运进行分离，使得第一机器人可独立完成目标货物的地面搬运，第二机器人可独立完成目标货物在暂存位和储存位之间的搬运，无需第一机器人和第二机器人对目标货物进行直接对接，避免出现第一机器人和第二机器人相互等待的现象，有利于提高货物的入库效率。
在一种应用场景中，第一机器人可以是单次存取和搬运一箱货物的机器人，其行驶速度较快，成本较低；第二机器人可以是单次存取和搬运多箱货物的机器人，其行驶速度较慢，成本较高。如果直接指示第一机器人将目标货物从接驳平台处搬运至目标储存位，和/或指示第二机器人将目标货物从接驳平台处搬运至目标储存位，则第一机器人会和第二机器人均因搬运距离较长而导致搬运效率较低且搬运成本较高。然而，采用本申请实施例的入库控制方法，可以使第一机器人在接驳平台与暂存位之间搬运货物，以及使第二机器人在暂存位和储存位之间的搬运搬运货物，有利于缩短第一机器人和第二机器人的行驶距离，以便通过第一机器人和第二机器人的高效配合来提升货物的入库效率。
示例性地，如图11所示，步骤S1001、根据目标货物的目标储存位确定目标暂存位可以包括：
S1101、确定距离目标储存位最近的第一空闲暂存位；
S1102、指示第一机器人向第一空闲暂存位行驶；
S1103、在第一机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；
S1104、在第一机器人行驶至第一空闲暂存位的时间大于第一预设时间阈值的情况下，根据更新后的各暂存位的占用状态，确定是否存在距离目标储存位最近的第二空闲暂存位；
S1105、在存在第二空闲暂存位的情况下，将第二空闲暂存位确定为目标暂存位。
在一个示例中，如图4所示，当储存板131所提供的目标储存位下方由暂存板122提供的暂存位为占用状态时，则可确定目标储存板131相邻列的暂存板123所提供的暂存位或暂存板124所提供的暂存位为第一空闲暂存位，并指示第一机器人向第一空闲暂存位行驶；若在第一机器人行驶的过程中，暂存位122提供的暂存位更新为空闲状态，且第一机器人行驶至第一空闲暂存位的时间大于行驶至第一预设时间阈值，则确定暂存位122提供的暂存位为第二空闲暂存位，并将其设定为目标暂存位。如此，可以在第一机器人行驶的过程中，可动态调整目标暂存位，使得目标暂存位与目标储存位之间的搬运距离小于第一空闲暂存位与目标暂存位之间的搬运距离，可以减少目标货物的搬运距离，提高货物的入库效率。
需要说明的是，相邻货架之间的通道两侧的储存位可以共用一组暂存位，也就是说，目标储存位和目标暂存位可以分别位于相邻的两个货架上，例如，如图12所示，当目标储存位位于第一货架410的第五个暂存位415的上方或下方时，第一空闲暂存位可以是第一货架410的第五个暂存位415，也可以是第二货架420的第五个暂存位425。如此，位于第二机器人行驶通道440两侧的储存位可以共用第一 货架410上的暂存位。
其中，目标储存位下方的暂存位更新为空闲状态可由第二机器人将暂存于该暂存位上的货物搬离而触发产生。
在一种实施方式中，在不存在第二空闲暂存位的情况下，将第一空闲暂存位确定为目标暂存位。如此，可以根据目标储存位直接确定出目标暂存位。
在一种实施方式中，指示第一机器人将目标货物搬运至目标暂存位，包括：
根据第一机器人与目标暂存位之间的位置信息，从预设的第一机器人通道中确定第一搬运线路，第一机器人通道包括位于目标暂存位所在的暂存层板一侧的第一行驶通道，且第一行驶通道位于目标储存位所在的储存层板的竖直投影区内；
指示第一机器人沿第一搬运线路行驶至目标暂存位的下方。
在一个示例中，如图12所示，示出根据本申请实施例的出入库控制方法的场景示意图，其中，带箭头的线段表示位于目标暂存位所在的暂存层板一侧的第一行驶通道430(可参考图4中第一行驶通道141)，当目标暂存位为第一货架410中的第五个暂存位415时，则从第一行驶通道430中确定出第一搬运线路431，并指示第一机器人200沿第一搬运线路431行驶至该第五个暂存位415的下方。如此，可以使第一机器人200在预设的第一行驶通道430中行驶，避免第一机器人200占用第二机器人300的行驶通道，提高第一机器人200和第二机器人300之间的行驶效率，进而提升入库效率。
在一种实施方式中，指示第二机器人将目标货物从目标暂存位搬运至目标储存位，包括：
根据第二机器人与目标暂存位之间的位置信息，从预设的第二机器人通道中确定第二搬运线路，第二机器人通道位于竖直投影区外侧；
指示第二机器人沿第二搬运线路行驶至目标暂存位的侧面。
在一个示例中，如图12所示，第二机器人通道440(带箭头的点线)可位于货架的竖直投影区外侧，当第二机器人300位于第一货架410中第二个暂存位412的侧面时，则根据第二机器人300与目标暂存位(即第五个暂存位415)之间的位置信息，确定出第二个暂存位412的侧面与第五个暂存位415的侧面之间的第二搬运线路441，并指示第二机器人300沿该第二搬运线路441行驶至第五个暂存位415的侧面，以从第五个暂存位415取出目标货物。
在一种实施方式中，暂存层板的一端形成有第二行驶通道。暂存层板包括多个用于提供暂存位的暂存板，至少两个暂存板之间形成有第三行驶通道，第一机器人通道包括第二行驶通道和第三行驶通道。
在一个示例中，如图12所示，第一货架410的远离接驳平台400的一端形成有第二行驶通道142。第一货架410的第五个暂存位415与第六个暂存位416之间，以及第八个暂存位418与第九个暂存位419之间具有第三行驶通道(图中未标出)，进而第一机器人200可从第三行驶通道中确定行驶线路，为第一机器人200规划较短的行驶线路，提高第一机器人200的行驶效率。
在一种实施方式中，第一机器人通道包括位于暂存层板下方的存取货通道；方法还包括：
在第一机器人空载的情况下，从第一机器人通道中确定空载行驶线路；
指示第一机器人沿空载行驶线路行驶。
在一个示例中，如图12所示，第一机器人通道包括位于暂存层板下方的存取货通道450(可参考图4中货架100的存取货通道140)，即图4中带箭头的虚线。在第一机器人空载(即第一机器人不带载货物)的情况下，第一机器人可在第一行驶通道430、第二行驶通道和存取货通道450中行驶。
实施例3
图13示出根据本申请实施例3的出库控制方法的流程示意图。该出库控制方法适于应用于上述实施例1的仓储装置。如图13所示，该出库控制方法可以包括：
S1301、指示第二机器人将目标货物搬离当前储存位；
S1302、根据第二机器人的位置确定目标暂存位，其中，当前储存位与目标暂存位异层设置；
S1303、指示第二机器人将目标货物搬运至目标暂存位；
S1304、在接收到第二机器人发送的搬运完成信号的情况下，指示第一机器人将目标货物搬离目标暂存位。
其中，出库控制方法中暂存位和储存位的设置方式可与入库控制方法中的设置方式相同，在此对暂存位和储存位的设置方式不再赘述。
目标货物的当前储存位可以根据出库清单中目标货物的标识信息来确定，例如，可以预先储存目标货物的当前储存位与目标货物标识信息之间的关系映射表，当从出库清单中获取到目标货物的标识信息时，可以从关系映射表中查询到目标货物的当前储存位。目标货物的当前储存位还可以通过其他方式来确定，本申请实施例对目标货物的当前储存位的确定方式不作限制。
在一个示例中，由于目标暂存位可以对目标货物进行暂存，则在接收到第二机器人发送的搬运完成信号的情况下，可立即指示第一机器人将目标货物从目标暂存位搬离，也可待第一机器人执行完其他操作之后，再指示第一机器人执行将目标货物从目标暂存位搬运离。如此，第一机器人和第二机器人可利用暂存位独立地进行目标货物的搬运，第一机器人和第二机器人无需直接进行目标货物的转移配合，能够高效地行驶，提高货物的出库效率。
在一个示例中，该出库控制方法可以指示第二机器人将多个目标货物分别搬离多个目标货物的当前储存位，并根据第二机器人的位置分别确定对应的目标暂存位，并指示第二机器人将目标货物搬运至对应的目标暂存位，如此，可以将多个目标货物搬运至对应的目标暂存位。
根据本申请实施例的出库控制方法，通过第二机器人的位置确定目标暂存位，并分别指示第二机器人将目标货物搬运至目标暂存位、第一机器人将目标货物搬离目标暂存位，以便将目标货物在暂存位与储存位之间的搬运以及目标货物的地面搬运进行分离，使得第二机器人可独立完成目标货物在储存位于暂存位之间的搬运，第一机器人可独立完成将目标货物搬离目标暂存位，无需第一机器人和第二机器人对目标货物进行直接对接，避免出现第一机器人和第二机器人相互等待的现象，有利于提高货物的出库效率。
需要说明的是，出入库控制方法中通常采用集成有升降机构和存取机构的机器人来搬运和存取货物；但是，由于这种机器人的成本较高，并且货物的接驳平台与货架中各暂存位和存储位之间的距离较远，这就使得单位时间内货物的出入库成本较高且效率低。
本申请实施例的出入库控制方法通过将目标货物的地面搬运以及目标货物在暂存位与储存位之间的搬运分离，使得第一机器人可集中完成目标货物的地面搬运，第二机器人可集中完成目标货物在暂存位和储存位之间的搬运，其中，第一机器人可不具有升降机构，其成本远远低于第二机器人，如此可以利用一台第二机器人与多台第一机器人间接配合进行目标货物的出入库控制，可降低单位时间内目标货物的出入库成本且可提高货物的出入库效率和出入库产能。
在一种实施方式中，第一机器人的行驶速度大于第二机器人的行驶速度。
由于在出库控制中，第一机器人通常是将目标货物从货架的目标暂存位搬运至接驳平台，第二机器人通常是在货架的一侧将目标货物从当前储存位搬运至目标暂存位，并且接驳平台与货架之间的距离远远大于货架的长度，因而通过使第一机器人的行驶速度大于第二机器人的行驶速度，可以让第二机器人搬运至目标暂存位的目标货物数量与第一机器人搬离目标暂存位的目标货物数量适配，使得第二机器人的搬运效率与第一机器的搬运效率适配，提高目标货物的出库效率。
在一个示例中，该入库控制方法还可以设置多个第一机器人与第二机器人进行配合，以将目标货物的出库暂存流量与出库储存流量进行匹配。
示例性地，如图14所示，步骤S1302、根据第二机器人的位置确定目标暂存位，可以包括：
S1401、确定距离第二机器人最近的第一空闲暂存位；
S1402、指示第二机器人向第一空闲暂存位行驶；
S1403、在第二机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；
S1404、在第二机器人行驶至第一空闲暂存位的时间大于第二预设时间阈值的情况下，根据更新后的各暂存位的占用状态，确定是否存在距离第二机器人最近的第二空闲暂存位；
S1405、在存在第二空闲暂存位的情况下，将第二空闲暂存位确定为目标暂存位。
在一个示例中，如图12所示，当第二机器人300位于第一货架410的第二个暂存位412的一侧时，则可确定第一货架410的第五个暂存位415为第二机器人300的第一空闲暂存位；若在第二机器300 人向第一空闲暂存位行驶的过程中，第一货架410的第四个暂存位414的占用状态更新为空闲，则在第二机器人300行驶至第五个暂存位415的时间大于第二预设时间阈值的情况下，确定第四个暂存位414为距离第二机器人300最近的第二空闲暂存位，并将其确定为目标暂存位。如此，可以在第二机器人300搬运目标货物的过程中，可动态调整目标暂存位，减少第二机器人300的搬运距离，提高货物的出库效率。
其中，目标储存位下方的暂存位更新为空闲状态可由第一机器人将暂存于该暂存位上的货物搬离而触发产生。
在一种实施方式中，在不存在第二空闲暂存位的情况下，将第一空闲暂存位确定为目标暂存位，以直接确定出目标暂存位。
在一种实施方式中，指示第一机器人将目标货物搬离目标暂存位，包括：
根据第一机器人与目标暂存位之间的位置信息，从预设的第一机器人通道中确定搬离线路，第一机器人通道包括位于目标暂存位所在的暂存层板一侧的第一行驶通道，且第一行驶通道位于目标储存位所在的储存层板的竖直投影区内；
指示第一机器人沿搬离线路行驶至目标暂存位的下方。
在一个示例中，如图12所示，当第一机器人200位于第二货架420第二货架420的第一行驶通道中靠近第八个暂存位428的位置，且目标暂存位为第二货架420的第五个暂存位425时，则根据第一机器人200与目标暂存位(即第二货架的第五个暂存位425)之间的位置信息，确定出第一机器人200与第二货架420第二货架420的第五个暂存位425之间的搬离线路432，并指示第一机器人200沿该搬离线路432行驶至目标暂存位(即第二货架的第五个暂存位425)的下方以将目标货物从目标暂存位上搬离。
实施例4
图15示出根据本申请实施例4的仓储系统的结构框图。如图15和图16所示，该仓储系统1500包括：上述任一种实施方式的仓储装置1000；控制设备1510，包括处理器1512和存储器1511，存储器1511中存储指令，指令由处理器1512加载并执行，以实现上述任一实施方式的方法；第一机器人200，行驶于第一机器人通道，并具有与叉槽配合的叉臂；第二机器人300，行驶于第二机器人通道。
在一种实施方式中，第一机器人200的行驶速度大于第二机器人300的行驶速度。
图16示出根据本发明实施例4的控制设备的结构框图。如图16所示，该控制设备1510包括：存储器1511和处理器1512，存储器1511内存储有可在处理器1512上运行的计算机程序。处理器1512执行该计算机程序时实现上述实施例中的入库控制方法和出库控制方法。存储器1511和处理器1512的数量可以为一个或多个。
该控制设备还包括：通信接口1513，用于与外界设备进行通信，进行数据交互传输。
如果存储器1511、处理器1512和通信接口1513独立实现，则存储器1511、处理器1512和通信接口1513可以通过总线相互连接并完成相互间的通信。该总线可以是工业标准体系结构(Industry Standard Architecture，ISA)总线、外部设备互连(Peripheral Component Interconnect，PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，EISA)总线等。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图16中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器1511、处理器1512及通信接口1513集成在一块芯片上，则存储器1511、处理器1512及通信接口1513可以通过内部接口完成相互间的通信。
上述处理器可以是中央处理器(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Dignal Processing，DSP)、专用集成电路(Application Specific Sntegrated Circuit，ASIC)、现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者是任何常规的处理器等。值得说明的是，处理器可以是支持进阶精简指令集机器(advanced RISC machines，ARM)架构的处理器。
可选的，上述存储器可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少 一个功能所需要的应用程序；存储数据区可存储根据控制设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非瞬时存储器，例如至少一个磁盘存储器件、闪存器件、或其他非瞬时固态存储器件。在一些实施例中，存储器可选包括相对于处理器远程设置的存储器，这些远程存储器可以通过网络连接至控制设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
实施例5
本申请实施例5还提供一种接驳平台，适用于上述任一种实施方式的仓储装置。下面结合附图对该接驳平台进行说明。
如图17所示，第一机器人(第一机器人可以称作搬运机器人)的底盘910上通常设置有前转向轮911、后转向轮912和驱动轮913，其中，前转向轮911和后转向轮912分别设置于底盘910的前后位置，用于改变第一机器人的行驶方向；驱动轮913设置于底盘910的两侧并通过悬挂机构(附图中未示出)与底盘910连接，为第一机器人的行驶提供驱动力。当第一机器人行驶至坑洼地面时，驱动轮913可拉伸悬挂机构；当第一机器人行驶至凸起地面时，驱动轮913可压缩悬挂机构，以缓冲因地面不平对第一机器人的机体造成的冲击。需要说明的是，为了简化附图，本申请实施例利用第一机器人的前转向轮911、后转向轮912、驱动轮913和底盘910来示出第一机器人的行驶。
如图18所示，由于接驳平台1100的斜坡1120的坡面1121为平面，并且第一机器人的驱动轮913相对底盘910拉伸或压缩的范围较小，因此驱动轮913的与前转向轮911、后转向轮912基本共平面。当第一机器人开始爬坡时，第一机器人的前转向轮911行驶至坡面1121上，后转向轮912行驶于地面1130上，若斜坡1120的坡度较大，则底盘910的前侧相对地面抬升较高的高度，容易使驱动轮913悬空而无法对坡面1121施加抓地力或者驱动轮913能够与坡面1121接触但因压力不足而无法对坡面1121施加足够的抓地力，这就导致第一机器人的驱动轮913打滑，进而第一机器人无法沿斜坡1120行驶至到平台本体1110上。为了使第一机器人的驱动轮913能够对斜坡1120的坡面1121施加足够的抓地力，通常采用增加斜坡长度的方式来减小斜坡1120的坡度，这就会耗费较多的制作材料和占用较大的空间，使得接驳平台1100存在制作成本高且空间占用大的问题。
基于此，本申请实施例2提供一种接驳平台，通过将斜坡台的坡面沿坡底至坡顶方向设置成平滑连接的凹坡面和凸坡面，有利于缩短斜坡台的长度，可节省制作成本和减小空间占用。
图19A示出根据本申请实施例5的接驳平台的结构示意图一，图19B示出根据本申请实施例5的接驳平台的结构示意图一的俯视图，图19C示出根据本申请实施例5的接驳平台的结构示意图一的侧视图。
如图15A至图15C所示，该接驳平台1200可以包括：平台本体1210和斜坡台1220。其中，斜坡台1220的坡面1220A包括沿坡底至坡顶方向设置的凹坡面1221和凸坡面1222。凹坡面1221的顶边与凸坡面1222的底边平滑连接；斜坡台1220设置于平台本体1210的一侧，以使坡面1220A与平台本体1210的顶面1211平滑衔接。
示例性地，平台本体1210可呈立体状，例如呈立体矩形和呈立体正方形等，平台本体1210的顶面1211可形成第一机器人的行驶通道，例如行驶通道可沿平台本体1210的长度方向分布。因为平台本体1210具有一定高度，所以当第一机器人行驶至顶面1211上时，方便用户对运载的货物进行中转操作。其中，平台本体1210的高度可根据实际需要进行选择和调整，本申请实施例对此不作限制。
在一个示例中，斜坡台1220的坡面1220A包括沿坡底至坡顶方向顺次设置的凹坡面1221和凸坡面1222，凹坡面1221的顶边与凸坡面1222的底边相切以进行平滑连接。
可选地，可一并参考图20A，凹坡面1221的底边可与地面相切，可使凹坡面1221的坡度从0°开始渐增；凸坡面1222的顶边可与平台本体1210的顶面1211相切，可使凸坡面1222的坡度渐减至0°。
具体地，凹坡面1221位于斜坡台1220的坡底侧并朝向斜坡台1220的底面1220B凹陷，凹坡面1221的坡度沿坡底至坡顶方向从0开始渐增，并在凹坡面1221的顶部增加至预设坡度值。也就是说，凹坡面1221的正切值沿凹坡面1221的垂直高度方向渐增。如此，可使斜坡台1220上靠近坡底侧的坡度平缓增加，有利于缩短斜坡台1220位于坡底侧的长度和节省制作成本。
凸坡面1222位于斜坡台1220的坡顶侧并朝向远离斜坡台1220底面1220B的方向凸起，凸坡面1222的坡度沿坡底至坡顶方向从预设坡度值开始渐减，并在凸坡面1222的顶部与斜坡台1220的顶面1211平滑衔接。也就是说，凸坡面1222的正切值沿凸坡面1222的垂直高度方向渐减。如此，可使凹坡面1221、凸坡面1222和平台本体1210顺滑过渡，以便第一机器人在斜坡台1220和平台本体1210上平顺行驶；并且，也可以缩短斜坡台1220位于坡顶侧的长度以节省制作成本。
请一并参考图19C和图20A，在第一机器人沿斜坡台1220行驶至平台本体1210的过程中，当第一机器人的前转向轮911行驶至凹坡面1221上，且后转向轮912仍然行驶于地面410上时，凹坡面1221可降低底盘910前侧相对地面410的抬升高度，避免驱动轮913过度抬升，使得驱动轮913能够对凹坡面1221施加驱动力，防止驱动轮913打滑。
请一并参考图19C和图20B，当第一机器人的前转向轮911和后转向轮912均行驶于凹坡面1221上时，驱动轮913略微拉伸悬挂机构，使得驱动轮913的中心相对底盘910略微向下移动，驱动轮913能对凹坡面1221施加足够的驱动力，进而驱动第一机器人向凸坡面1222行驶。
请一并参考图19C、图20C和图20D，当第一机器人的驱动轮913驱动前转向轮911行驶于凸坡面1222上，并带动后转向轮912从凹坡面1221行驶至凸坡面1222上时，驱动轮913的中心逐渐朝向靠近底盘910的方向移动，并开始压缩悬挂机构；当第一机器人的前转向轮911和后转向轮912均行驶于凸坡面1222上时，则驱动轮913略微压缩悬挂机构，驱动轮913能对凸坡面1222施加足够的驱动力，进而驱动第一机器人向平台本体1210行驶。
请一并参考图19C和图20E，当第一机器人的驱动轮913驱动前转向轮911行驶于平台本体1210上，并带动后转向轮912从凸坡面1222行驶至平台本体1210上时，驱动轮913的中心在悬挂机构的弹力作用下，逐渐朝向靠近底盘910的方向移动，由于凸坡面1222与平台本体1210的顶面1211平滑衔接，因而可避免因悬挂机构被过度压缩而导致驱动轮913无法对凸坡面1222施加足够的驱动力。
在一种实施方式中，可参考图19C，凹坡面1221在垂直方向上的投影为第一弧线(可参考图19C中的凹坡面1221)，凸坡面1222在垂直方向上的投影为第二弧线(可参考图19C中的凸坡面1222)；第一弧线的圆弧半径大于或等于第二弧线的圆弧半径。例如，第一弧线的圆弧半径可位于8000mm～10700mm之间，第二弧线的圆弧半径可位于500mm～2832mm之间，第一弧线和第二弧线的圆弧半径可根据实际需要进行选择和调整，本申请实施例对此不作限制。
在本实施方式中，通过设置第一弧线的圆弧半径大于或等于第二弧线的圆弧半径，可使凹坡面1221的坡度与凸坡面1222的坡度相同或使凹坡面1221的坡度比凸坡面1222的坡度更加平缓，有利于第一机器人沿凹坡面1221和凸坡面1222平顺行驶。
在一种实施方式中，第一弧线的长度等于或大于第二弧线的长度。第一弧线和第二弧线的长度可根据实际需要进行选择和调整，本申请实施例对此不作限制。
在一种实施方式中，如图19A和图19C所示，接驳平台1200还可以包括多个支撑垫1230，多个支撑垫1230沿斜坡台1220的长度方向间隔设置于斜坡台1220的底部。
在一个示例中，斜坡台1220和多个支撑垫1230可为一体件也可为分体件；若斜坡台1220与多个支撑垫1230为分体件，则斜坡台1220与多个支撑垫1230可组合成一体件。
在一个示例中，支撑垫1230可以包括三个，三个支撑垫1230分别设置于斜坡台1220的底部的前侧、中间位置和后侧。
在本实施方式中，通过将多个支撑垫1230沿斜坡台1220的长度方向间隔设置于斜坡台1220的底部，可将斜坡台1220垫高并在相邻支撑垫1230之间形成拱部，这样可依靠支撑垫1230的底部与地面接触，减小斜坡台1220的底部与地面的接触面积，防止因地面不平而造成斜坡台1220晃动，使得斜坡台1220能平稳放置于地面上。
在一种实施方式中，如图19A至图19C所示，接驳平台1200还可包括挡板1240，挡板1240设置于平台本体1210的顶部，并位于平台本体1210远离斜坡台1220的一侧。例如，挡板1240可设置于平台本体1210的顶面1211上远离斜坡台1220的一侧。挡板1240与平台本体1210可为一体件，也可为分体件。通过设置挡板1240可对第一机器人进行防护，避免第一机器人从平台本体1210上远离斜坡台 1220的一侧跌落。
在一种实施方式中，如图21所示，平台本体1210与斜坡台1220相对的侧壁上设置有卡槽1410，斜坡台1220与平台本体1210相对的侧壁上设置有卡条(附图中未示出)，卡条卡设于卡槽1410内，以使斜坡台1220与平台本体1210卡接。
在本实施方式中，通过在平台本体1210上设置卡槽1410以及在斜坡台1220上设置卡条，使得平台本体1210和斜坡台1220可卡接组合成一体件，方便组装、拆卸、运输和储存等。可以理解的，平台本体1210和斜坡台1220也可以根据实际需要设置成一体件，本申请实施例对平台本体1210和斜坡台1220的设置形式不作限制。
在一种实施方式中，卡槽1410沿平台本体1210的长度方向设置，卡条沿斜坡台1220的宽度方向设置；斜坡台1220包括至少两个，两个斜坡台1220的卡条可沿卡槽1410滑动以调节间距。
在一个示例中，卡槽1410沿平台本体1210的长度方向设置，并位于与斜坡台1220相对的侧壁上；卡条沿斜坡台1220的宽度方向设置，并位于与平台本体1210相对的侧壁上；卡条可沿卡槽1410滑动，可调节斜坡台1220在平台本体1210上的位置，提高斜坡台1220组装位置的灵活性。
在一个示例中，地面上可设置第一机器人的行驶轨迹标签，当斜坡台1220为至少两个时，通过将斜坡台1220的卡条沿平台本体1210的卡槽1410滑动，可调节斜坡台1220之间的间距，以便将斜坡台1220对准行驶轨迹标签，使得第一机器人能够沿行驶轨迹标签行驶至斜坡台1220上。此外，也可以根据第一机器人运载的货物尺寸来调节斜坡台1220之间的间距，以使斜坡台1220之间的间距与货物的尺寸相适配。需要说明的是，斜坡台1220的数量可以根据实际需要进行选择和调整，本申请对斜坡台1220的数量不作限制。
在一种实施方式中，如图19B和图19C所示，平台本体1210的顶面1211形成行驶通道，两个斜坡台1220的坡面1220A分别形成驶入通道和驶出通道，驶入通道和驶出通道的顶部分别与行驶通道连通(图中带箭头的线段示出驶入通道、行驶通道和驶出通道的行驶方向)。如此，第一机器人可沿驶入通道行驶至平台本体1210上的行驶通道，并沿行驶通道行驶至驶出通道，再经驶出通道驶出，能提高货物运载和中转的效率。
在一个示例中，斜坡台1220为三个，可设置其中两个斜坡台1220的坡面1220A为两个驶入通道，设置另一个斜坡台1220的坡面1220A为驶出通道，驶入通道和驶出通道的顶部分别与行驶通道连通。其中，驶入通道和驶出通道的数量可以根据实际需要进行选择和调整，本申请实施例对此不作限制。
在一种实施方式中，平台本体1210的宽度大于斜坡台1220的宽度，以便第一机器人在平台本体1210上中转尺寸较大的货物。
在一种实施方式中，如图19A至图19C和图22所示，平台本体1210内设置有与平台本体1210形状适配的平台支架1511，斜坡台1220内设置有与斜坡台1220形状适配的斜坡支架1521。
在一个示例中，平台支架1511上设置有平台支撑板1512，形成平台本体1210；斜坡支架1521上设置有斜坡支撑板1522，形成斜坡台1220。
图23示出根据本申请实施例5的工作站的结构示意图。如图23所示，工作站1600可以包括：多个上述任一种实施方式的接驳平台1200，多个接驳平台1200沿平台本体1210的长度方向排布，以使多个平台本体1210的顶面1211衔接。如此，可便于第一机器人沿多个平台本体1210的顶面1211行驶，还可灵活配置驶入通道和驶出通道。
上述实施例的接驳平台1200和工作站1600的其他构成可以采用于本领域普通技术人员现在和未来知悉的各种技术方案，这里不再详细描述。
根据本申请的接驳平台1200和工作站1600，通过将斜坡台1220的坡面1220A沿坡底至坡顶方向设置成凹坡面1221和凸坡面1222，并将凹坡面1221和凸坡面1222平滑连接，以及将坡面1220A与平台本体1210的顶面1211平滑衔接，有利于缩短斜坡台1220的长度，可降低制作成本和减少空间占用。
在本说明书的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为 了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接，还可以是通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到其各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (21)

  1. 一种仓储装置，其特征在于，包括：
    暂存层板，所述暂存层板用于提供暂存位；
    多个货架，所述货架包括至少一个储存层板以及在水平方向上间隔设置的多个立柱，所述储存层板用于提供储存位；所述储存层板通过所述立柱在竖直方向上与所述暂存层板间隔设置；
    供第一机器人行驶的第一机器人通道，所述第一机器人用于存取所述暂存层板上的货物；
    供第二机器人行驶的第二机器人通道，所述第二机器人用于在所述暂存层板与所述储存层板之间搬运货物。
  2. 根据权利要求1所述的仓储装置，其特征在于，所述第一机器人通道包括存取货通道，所述存取货通道位于所述暂存层板的下方。
  3. 根据权利要求2所述的仓储装置，其特征在于，所述存取货通道还用于供所述第一机器人空载时行驶。
  4. 根据权利要求1所述的仓储装置，其特征在于，所述立柱设置于所述储存层板的外周，所述第一机器人通道包括第一行驶通道，所述第一行驶通道位于所述暂存层板与所述立柱之间。
  5. 根据权利要求1所述的仓储装置，其特征在于，所述第一机器人通道包括第二行驶通道，所述第二行驶通道位于所述暂存层板与位于所述暂存层板第一端的立柱之间。
  6. 根据权利要求5所述的仓储装置，其特征在于，所述暂存层板包括多个用于提供所述暂存位的暂存板，所述第一机器人通道包括第三行驶通道，所述第三行驶通道位于至少两个所述暂存板之间。
  7. 根据权利要求6所述的仓储装置，其特征在于，所述第一机器人通道包括第四行驶通道，所述第四行驶通道位于相邻两个所述货架之间，并连接两个所述第三行驶通道或两个所述第二行驶通道。
  8. 根据权利要求1至7中任一项所述的仓储装置，其特征在于，所述第二机器人通道位于所述货架的外周且包括相邻所述货架之间的通道。
  9. 根据权利要求1至7所述的仓储装置，其特征在于，所述暂存层板设置于所述货架。
  10. 根据权利要求9所述的仓储装置，其特征在于，还包括接驳平台，所述第一机器人通道包括第五行驶通道，所述第五行驶通道位于所述接驳平台与所述货架之间，所述接驳平台包括：
    平台本体；
    斜坡台，所述斜坡台的坡面包括沿坡底至坡顶方向设置的凹坡面和凸坡面，所述凹坡面的顶边与所述凸坡面的底边平滑连接；
    其中，所述斜坡台设置于所述平台本体的一侧，以使所述坡面与所述平台本体的顶面平滑衔接。
  11. 根据权利要求10所述的仓储装置，其特征在于，所述凹坡面在垂直方向上的投影为第一弧线，所述凸坡面在垂直方向上的投影为第二弧线；所述第一弧线的圆弧半径大于或等于所述第二弧线的圆弧半径。
  12. 根据权利要求10所述的仓储装置，其特征在于，所述平台本体与所述斜坡台相对的侧壁上设置有卡槽，所述斜坡台与所述平台本体相对的侧壁上设置有卡条，所述卡条卡设于所述卡槽内，以使所述斜坡台与所述平台本体卡接；所述卡槽沿所述平台本体的长度方向设置，所述卡条沿所述斜坡台的宽度方向设置；所述斜坡台包括至少两个，两个所述斜坡台的卡条可沿所述卡槽滑动以调节间距。
  13. 一种入库控制方法，其特征在于，包括：
    根据目标货物的目标储存位确定目标暂存位；
    指示第一机器人将所述目标货物搬运至所述目标暂存位；
    在接收到所述第一机器人发送的搬运完成信号的情况下，指示第二机器人将所述目标货物从所述目标暂存位搬运至所述目标储存位。
  14. 根据权利要求13所述的方法，其特征在于，根据目标货物的目标储存位确定目标暂存位，包括：
    确定距离所述目标储存位最近的第一空闲暂存位；
    指示所述第一机器人向所述第一空闲暂存位行驶；
    在所述第一机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；
    在所述第一机器人行驶至所述第一空闲暂存位的时间大于第一预设时间阈值的情况下，根据更新后的各暂存位的占用状态，确定是否存在距离所述目标储存位最近的第二空闲暂存位；
    在存在所述第二空闲暂存位的情况下，将所述第二空闲暂存位确定为所述目标暂存位。
  15. 根据权利要求13所述的方法，其特征在于，指示第一机器人将所述目标货物搬运至所述目标暂存位，包括：
    根据所述第一机器人与所述目标暂存位之间的位置信息，从所述第一机器人通道中确定第一搬运线路；
    指示所述第一机器人沿所述第一搬运线路行驶至所述目标暂存位的下方。
  16. 根据权利要求15所述的方法，其特征在于，所述第一机器人通道包括位于所述暂存层板下方的存取货通道；所述方法还包括：
    在所述第一机器人空载的情况下，从所述第一机器人通道中确定空载行驶线路；
    指示所述第一机器人沿所述空载行驶线路行驶。
  17. 根据权利要求13所述的方法，其特征在于，指示第二机器人将所述目标货物从所述目标暂存位搬运至所述目标储存位，包括：
    根据所述第二机器人与所述目标暂存位之间的位置信息，从所述第二机器人通道中确定第二搬运线路；
    指示所述第二机器人沿所述第二搬运线路行驶至所述目标暂存位的侧面。
  18. 一种出库控制方法，其特征在于，包括：
    指示第二机器人将目标货物搬离当前储存位；
    根据所述第二机器人的位置确定目标暂存位；
    指示所述第二机器人将所述目标货物搬运至所述目标暂存位；
    在接收到所述第二机器人发送的搬运完成信号的情况下，指示第一机器人将所述目标货物搬离所述目标暂存位。
  19. 根据权利要求18所述的方法，其特征在于，根据所述第二机器人的位置确定目标暂存位，包括：
    确定距离所述第二机器人最近的第一空闲暂存位；
    指示所述第二机器人向所述第一空闲暂存位行驶；
    在所述第二机器人的行驶过程中，按照预设的时间间隔更新各暂存位的占用状态；
    在所述第二机器人行驶至所述第一空闲暂存位的时间大于第二预设时间阈值的情况下，根据更新后的各暂存位的占用状态，确定是否存在距离所述第二机器人最近的第二空闲暂存位；
    在存在所述第二空闲暂存位的情况下，将所述第二空闲暂存位确定为所述目标暂存位。
  20. 根据权利要求18所述的方法，其特征在于，指示第一机器人将所述目标货物搬离所述目标暂存位，包括：
    根据所述第一机器人与所述目标暂存位之间的位置信息，从所述第一机器人通道中确定第一搬运线路；
    指示所述第一机器人沿所述第一搬运线路行驶至所述目标暂存位的下方。
  21. 一种仓储系统，其特征在于，包括：
    如权利要求1至12任一项所述的仓储装置；
    控制设备，包括处理器和存储器，所述存储器中存储指令，所述指令由所述处理器加载并执行，以实现如权利要求13至20任一项所述的方法；
    所述第一机器人，行驶于所述第一机器人通道；
    所述第二机器人，行驶于所述第二机器人通道。
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