WO2023077937A1 - 货物储位的确定方法、装置、设备、系统及介质 - Google Patents

货物储位的确定方法、装置、设备、系统及介质 Download PDF

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Publication number
WO2023077937A1
WO2023077937A1 PCT/CN2022/116681 CN2022116681W WO2023077937A1 WO 2023077937 A1 WO2023077937 A1 WO 2023077937A1 CN 2022116681 W CN2022116681 W CN 2022116681W WO 2023077937 A1 WO2023077937 A1 WO 2023077937A1
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WO
WIPO (PCT)
Prior art keywords
goods
storage
weight
cargo
storage location
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/CN2022/116681
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English (en)
French (fr)
Inventor
刘旭
张训栋
宋国库
王显旺
吴明福
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.)
Beijing Jingdong Qianshi Technology Co Ltd
Original Assignee
Beijing Jingdong Qianshi 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
Application filed by Beijing Jingdong Qianshi Technology Co Ltd filed Critical Beijing Jingdong Qianshi Technology Co Ltd
Priority to US18/706,337 priority Critical patent/US20250005514A1/en
Priority to JP2024522402A priority patent/JP7752241B2/ja
Priority to KR1020247013982A priority patent/KR20240089112A/ko
Priority to EP22888968.9A priority patent/EP4428788A4/en
Publication of WO2023077937A1 publication Critical patent/WO2023077937A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • 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
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/40—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight
    • G01G19/413—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means
    • G01G19/414—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means using electronic computing means only
    • G01G19/4144—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means using electronic computing means only for controlling weight of goods in commercial establishments, e.g. supermarket, P.O.S. systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/10—Office automation; Time management

Definitions

  • the present disclosure relates to the technical field of logistics, and in particular to a method, device, equipment, system and medium for determining a cargo storage location.
  • the upper computer plans the goods with high access frequency to be close to the lifting car according to the access frequency of the goods, and the goods with low access frequency are planned to be far away from the lifting car. In this way, the round-trip distance when the shuttle car accesses the goods is reduced.
  • the movement of the shuttle car and the action of picking and placing goods will cause vibration to the shelf, and the vibration of the shelf will cause a slight displacement of the goods in the storage position. As time goes by, the slight displacement will gradually accumulate to the shuttle car.
  • the unboxing action has an effect.
  • the existing planning method of cargo storage only considers the distance, and does not take into account the failure of picking up cargo that may be caused by displacement and other issues.
  • Embodiments of the present disclosure provide a method, device, equipment, system, and medium for determining cargo storage locations, and provide a technical solution for storage location planning that can integrate various factors that affect cargo offset.
  • an embodiment of the present disclosure provides a method for determining a cargo storage location, which is applied to a host computer.
  • the method includes: obtaining the weight of the cargo to be put into storage; according to the weight of the cargo and the previously obtained mapping relationship, obtaining The target storage location information determined for the goods to be put into the warehouse; wherein, the mapping relationship is the offset information of each cargo, the corresponding relationship between weight and storage location information, and the offset information includes offset distance and / or offset angle.
  • the method further includes: obtaining the access frequency of the goods to be stored; correspondingly, according to the weight of the goods and the pre-acquired mapping relationship, acquiring the The target storage location information determined for the goods includes: acquiring the target storage location information determined for the goods to be put into storage according to the weight of the goods, the access frequency and the mapping relationship.
  • the method further includes: according to the target storage position information, sending a storage order to the shuttle car, the storage order is used to instruct the shuttle car to place the goods to be stored at the location indicated by the target storage location information.
  • the acquiring the target storage position information determined for the goods to be put into storage according to the weight of the goods and the mapping relationship obtained in advance includes: according to the weight of the goods and the mapping relationship, Determining the storage location with the smallest offset information corresponding to the weight of the goods in the shelf as the target storage location of the goods to be put into storage, and obtaining the target storage location information.
  • the acquiring target storage location information determined for the goods to be put into storage according to the weight of the goods, the access frequency and the mapping relationship includes: according to the For the access frequency of the goods, the target goods partition that satisfies the preset frequency optimization strategy is determined from the shelf, wherein the frequency optimization strategy indicates that the higher the access frequency of the goods, the closer the distance to the elevator, and the goods in the shelf Including a plurality of cargo partitions assigned in advance according to the distance between the column and the guide rail; according to the weight of the cargo and the mapping relationship, the offset information corresponding to the weight of the cargo in the target cargo partition The smallest storage location is determined as the target storage location of the goods to be put into storage, and the target storage location information is obtained.
  • the acquiring target storage location information determined for the goods to be put into storage according to the weight of the goods, the access frequency and the mapping relationship includes: according to the weight of the goods and the According to the mapping relationship, a plurality of storage positions whose offset information corresponding to the weight of the goods is less than a preset threshold is determined from the shelf; Determine the target storage location that satisfies the preset frequency optimization strategy, and obtain the target storage location information, wherein the frequency optimization strategy indicates that the higher the access frequency of the goods, the closer the distance to the elevator.
  • the method before obtaining the target storage location information determined for the goods to be put into storage according to the weight of the goods and the pre-acquired mapping relationship, the method further includes: receiving the shuttle machine inspection process The offset information of the goods on each storage location reported in ; store the offset information of the goods on each storage location.
  • the method further includes: when each item is put into storage, receiving the weight of the item reported on the weighing conveyor line; after each item is put into storage, calculating the weight of each item and The storage location information of each cargo is stored.
  • the method further includes: performing statistical analysis on the weights, storage location information, and offset information of all goods stored in the storage space to obtain the mapping relationship.
  • the acquiring the weight of the goods to be put into storage includes: receiving the weight of the goods to be put into storage reported by the weighing conveying line.
  • the obtaining the access frequency of the goods to be put into storage includes: obtaining the frequency of access to the goods to be put into storage according to the configuration information of the goods to be put into storage input by the user or obtained in advance.
  • the access frequency is a specific implementation of the goods to be put into storage.
  • an embodiment of the present disclosure provides a device for determining a cargo storage location, including:
  • the obtaining module is used to obtain the weight and access frequency of the goods to be stored;
  • the processing module is used to obtain the target storage location information determined for the goods to be stored according to the weight of the goods and the pre-acquired mapping relationship;
  • the mapping relationship is the correspondence between the offset information of each cargo, the weight and the storage position information, and the offset information includes the offset distance and/or the offset angle.
  • the acquisition module is further configured to: acquire the access frequency of the goods to be put into storage; correspondingly, the processing module is specifically configured to: according to the weight of the goods, the access frequency and the mapping relationship, acquiring the target storage location information determined for the goods to be put into storage.
  • the device further includes: a sending module, configured to send a warehousing command to the shuttle car according to the target storage information, and the warehousing command is used to instruct the shuttle car to send the The goods to be put into storage are placed at the position indicated by the target storage position information.
  • a sending module configured to send a warehousing command to the shuttle car according to the target storage information, and the warehousing command is used to instruct the shuttle car to send the The goods to be put into storage are placed at the position indicated by the target storage position information.
  • the processing module is specifically configured to: according to the weight of the goods and the mapping relationship, determine the storage position with the smallest offset information corresponding to the weight of the goods in the shelf storage position as the storage position to be The target storage location of the inbound goods, and the target storage location information is obtained.
  • the processing module is specifically configured to: according to the access frequency of the goods to be put into the warehouse, determine the target goods partition that satisfies the preset frequency optimization strategy from the shelf, wherein the The frequency optimization strategy indicates that the higher the access frequency of the goods, the closer the distance to the elevator, and the shelves include a plurality of goods partitions allocated in advance according to the distance between the column and the guide rail; according to the weight of the goods According to the mapping relationship, the storage location with the smallest offset information corresponding to the cargo weight in the target cargo partition is determined as the target storage location of the cargo to be put into storage, and the target storage location information is obtained.
  • the processing module is specifically configured to: according to the weight of the goods and the mapping relationship, determine from the shelf a plurality of storage positions whose offset information corresponding to the weight of the goods is less than a preset threshold ; According to the access frequency of the goods to be put into the warehouse, determine the target storage position that meets the preset frequency optimization strategy from the plurality of storage positions, and obtain the target storage position information, wherein the frequency The optimization strategy indicates that the higher the access frequency of goods, the closer to the hoist.
  • the device further includes: a receiving module, used to receive the offset information of the goods on each storage location reported during the shuttle inspection process; a storage module, used to store each storage location Store the offset information of the goods on the
  • the receiving module is also used to receive the weight of the goods reported on the weighing conveyor line when each goods enters the warehouse;
  • the storage module is also used to receive each goods after entering the warehouse , to store the weight of each cargo and the storage location information of each cargo.
  • the processing module is further configured to: perform statistical analysis on the weights, storage location information, and offset information of all goods stored in the storage space to obtain a mapping relationship.
  • the acquisition module is specifically configured to: receive the weight of the goods to be put into storage reported by the weighing conveyor line.
  • the acquiring module is specifically configured to: acquire the access frequency of the goods to be put into storage according to the configuration information of the goods to be put into storage input by a user or obtained in advance.
  • an embodiment of the present disclosure provides a host computer, including: a processor, a memory, and a communication interface; the memory is used to store executable instructions of the processor; wherein, the processor is configured to execute the The above-mentioned executable instructions are used to execute the method for determining the cargo storage location described in any one of the first aspect.
  • an embodiment of the present disclosure provides a shuttle system, including: the upper computer described in the third aspect, a shuttle that communicates with the upper computer, a hoist, and a weighing conveyor line; , the shuttle car is used to store goods in, out of the warehouse, and inspect according to the instructions of the host computer, and the hoist is used to cooperate with the shuttle car to lift the goods according to the instructions of the host computer, The weighing conveyor line is used to determine the weight of each item.
  • an embodiment of the present disclosure provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for determining the storage location of goods described in any one of the first aspect is implemented.
  • an embodiment of the present disclosure provides a computer program product, including a computer program, and when the computer program is executed by a processor, it is used to implement the method for determining a cargo storage location according to any one of the first aspect.
  • the method, device, equipment, system and medium for determining the storage location of the goods provided by the embodiments of the present disclosure.
  • the upper computer obtains the weight of the goods to be put into the warehouse, and then according to the weight of the goods, the frequency of access and
  • the pre-acquired mapping relationship is to obtain the target storage location information determined for the goods to be put into the warehouse, wherein the mapping relationship is the offset information of each cargo, the correspondence between the weight and the storage location information, and the offset
  • the offset information includes offset distance and/or offset angle.
  • the position and weight of the goods are considered Influenced by offset information, comprehensively plan the storage location of goods, reduce the offset of goods under the influence of shuttle vehicles, and avoid problems such as failure to pick up goods caused by excessive offset of goods.
  • FIG. 1 is a schematic structural diagram of a shuttle car provided by the present disclosure
  • Fig. 2 is a schematic diagram of the inspection of the shuttle car provided by the present disclosure
  • FIG. 3 is a schematic diagram of the offset obtained by the patrol of the shuttle car provided by the present disclosure.
  • Fig. 4 is a structural schematic diagram of a shelf, a hoist and a shuttle car provided by the present disclosure
  • FIG. 5 is a schematic diagram of cargo storage of the shuttle system provided by the present disclosure.
  • FIG. 6 is a schematic diagram of a shuttle system provided by the present disclosure.
  • FIG. 7 is a flow chart of Embodiment 1 of the method for determining a cargo storage location provided by the present disclosure
  • FIG. 8 is a flow chart of Embodiment 2 of the method for determining a cargo storage location provided by the present disclosure
  • FIG. 9 is a functional schematic diagram of the shuttle system provided by the present disclosure.
  • FIG. 10 is a schematic structural diagram of Embodiment 1 of a device for determining a cargo storage location provided by the present disclosure
  • Fig. 11 is a schematic structural diagram of Embodiment 2 of the device for determining the storage location of goods provided by the present disclosure
  • Fig. 12 is a schematic structural diagram of Embodiment 3 of the device for determining the storage location of goods provided by the present disclosure
  • FIG. 13 is a schematic structural diagram of an embodiment of a host computer provided by the present disclosure.
  • the present disclosure provides a method for automatically optimizing the storage position of goods in the three-dimensional garage of the shuttle car, which comprehensively considers the weight of the goods and the possible deviation and vibration of different storage positions on the shelf, and utilizes the upper-level The machine allocates suitable storage positions for different goods to reduce the impact of vibration on the displacement of goods.
  • cargo refers to the cargo itself as well as the container.
  • the container here can be a material box, a turnover box, a pallet, etc., which is not limited in this solution. If the goods themselves do not require additional containers, refer to the goods themselves.
  • the weight of the cargo refers to the sum of the weight of the cargo itself and the weight of the container.
  • the container here can be a material box, a turnover box, a pallet, etc., which is not limited in this solution. If the goods themselves do not require additional containers, the weight of the goods refers to the weight of the goods themselves.
  • Fig. 1 is a schematic structural diagram of the shuttle car provided by the present disclosure.
  • a laser ranging module 2 is installed on both sides of the head or tail of the shuttle car 1 .
  • the shuttle car can obtain the offset and offset angle data of the goods at each position on the shelf, And upload to the host computer.
  • FIG. 2 is a schematic diagram of the patrol inspection of the shuttle car provided by the present disclosure.
  • the shuttle car 1 walks along the roadway direction (X direction), and the laser ranging module 2 emits laser signals in the direction of the cargo A1.
  • the laser signal irradiates the cargo A1, it will receive the laser signal reflected by the cargo A1, and then measure the distance between it and the cargo A1.
  • the processor receives the distance value and compares it with the system preset value. If the error value Within the range of the preset error E1, the shuttle 1 continues to run until the laser ranging module 2 cannot receive the reflected signal or the reflected signal exceeds the range of the preset error E1.
  • the distances ⁇ y1 and ⁇ y2 between the laser ranging module 2 and the cargo A1 can be obtained, and can also be The distance traveled by the shuttle car 1 is calculated by the displacement sensor, that is, the distance ⁇ x between the leftmost side and the rightmost side of the side of the cargo A1 close to the shuttle car 1 (Fig.
  • the position and angle of the cargo A1 may be normal, or it may be parallel offset, or rotational offset, or both parallel offset and rotational offset), combined with positioning sensor 3
  • the status of the sensor and the value of the displacement sensor can determine the offset distance and offset angle of the cargo A1. If the offset distance and offset angle are within the allowable range of error, the shuttle 1 can continue to inspect the next cargo location. If the offset distance and/or offset angle exceeds the allowable error range, the cargo A1 can be picked up by adjusting the position of the shuttle car 1, and then the shuttle car 1 is positioned at the correct position, and the cargo A1 is placed in the cargo space. The repositioning of the goods A1 can be realized by the shuttle car 1 picking up and putting away the goods A1.
  • the depth direction If there are two goods A1 and A2 in the depth direction, it can also be based on the distance value measured by the laser ranging module 2, the distance between the goods A1 and the leftmost and rightmost distances of the shuttle car 1, and the status of the positioning sensor 3 Determine the offset distance and offset angle of the box A1.
  • the offset distance and offset angle of cargo A1 are greater than the corresponding values of A2, therefore, if the offset distance and offset angle of A1 are within the allowable range of error, neither cargo A1 nor A2 needs to be repositioned ; If the offset distance and offset angle of A1 exceed the allowable range of error, you can first adjust the shuttle car 1 to take out the cargo A1, put it on the car for temporary storage, and then use the shuttle car 1 to adjust the offset distance and offset of the cargo A2 If the offset distance and offset angle of the cargo A2 are within the allowable range of error, there is no need to reposition, and the cargo A1 is directly placed on its cargo space to achieve repositioning.
  • the shuttle vehicle 1 will first place the cargo A1 in another empty storage space for temporary storage, and then reposition the cargo A2. Finally, the cargo A1 is retrieved and placed in its original location to realize repositioning. In this process, the goods on the opposite side of the roadway are inspected by the laser ranging module on the other side of the shuttle car 1. The process and principle are the same. So far, the inspection of this row of goods is completed, and the next inspection can be carried out.
  • the shuttle car During the continuous inspection process of the shuttle car using the above method, it will report the offset information (offset distance and/or offset angle) of each cargo to the host computer, and the host computer can report the shuttle car during the inspection process.
  • the reported offset information is stored for data analysis.
  • Fig. 4 is the schematic structural diagram of the shelf, elevator and shuttle car provided by the present disclosure.
  • a conveying line 4 with a weighing function is adopted, and the warehouse-in
  • the host computer can obtain the weight of the goods, and then the goods pass through the hoist 5, the buffer position 6 and the shuttle car 1 in sequence and are placed on a certain storage position.
  • Fig. 5 is a schematic diagram of the goods entering the warehouse of the shuttle car system provided by the present disclosure.
  • the shuttle car calculated the offset distance and The offset angle is uploaded to the host computer for storage.
  • the upper computer combines the weight information obtained when each cargo enters the warehouse, and the position information of each cargo, and can calculate the relationship between the offset distance and/or offset angle of each cargo, the position of the cargo, and the weight of the cargo.
  • a cargo compartment composed of cargo spaces in the dotted line in Figure 5 is taken as an example.
  • the cargo spaces in each cargo grid can be divided into A1, A2, and B1.
  • the four partitions of B2 and B2 can also be called classification, (such classification does not conflict with the strategy of picking and placing frequency of goods in the previous technology, because the classification of goods in each compartment is basically the same, and the distance between each compartment and the distance of the hoist The distance is different, the strategy optimized by weight and offset and the strategy optimized by pick-and-place frequency do not interfere with each other).
  • the upper computer formulates the best storage strategy according to the statistical correspondence. In subsequent inbound and outbound operations, each item can be reassigned to a new storage location.
  • Fig. 6 is a schematic diagram of the shuttle car system provided by the present disclosure.
  • the shuttle car system includes at least a host computer, a shuttle car, a hoist, and a weighing conveyor line that communicate with the host computer respectively;
  • the shuttle car is used to store goods in, out of the warehouse, and inspect according to the instructions of the host computer
  • the hoist is used to cooperate with the shuttle car to lift the goods according to the instructions of the host computer.
  • the weighing conveying line is used to determine the weight of each cargo
  • the upper computer is used to analyze the data in the storage system, and to control other equipment to perform tasks such as storage, storage, and inspection of goods.
  • the system control scheme is mainly executed by the host computer.
  • the scheme for determining the cargo storage position by the host computer will be specifically described below through several embodiments.
  • FIG. 7 is a flow chart of Embodiment 1 of the method for determining the storage location of goods provided by the present disclosure. As shown in FIG. 7 , the specific steps of the method for determining the storage location of goods include:
  • the host computer determines that the goods need to be put into the warehouse, it needs to obtain the weight of the goods to be put into the warehouse. Specifically, if it is a re-stocked goods, it can directly read the weighing and conveying of the goods when entering the warehouse from the stored data. The line is the weight of the Hang Pao. If it is new goods, the goods to be stored can be weighed through the weighing conveyor line to obtain the weight of the goods.
  • mapping relationship is the offset information of each cargo, the correspondence between the weight and the storage location information, and the offset
  • the offset information includes offset distance and/or offset angle.
  • the offset information of each cargo can be collected, and the offset information includes at least the offset distance and/or the offset angle .
  • the host computer can obtain offset information, weight and storage location information Mapping relationship, the mapping relationship can reflect the actual impact of weight and storage location information on the offset situation.
  • the upper computer can determine the storage position with the smallest offset information corresponding to the weight of the goods in the shelf as the storage position of the goods to be put into the warehouse according to the above mapping relationship and the obtained weight of the goods.
  • the target storage location is used to obtain the target storage location information.
  • the storage location with the smallest offset corresponding to the weight of the cargo among all the storage locations is selected from the acquisition, and the cargo is subsequently stored in the storage location, thereby avoiding excessive displacement of the cargo due to vibration and the like.
  • the upper computer can only plan the storage location according to the weight of the goods and the aforementioned mapping relationship. In order to further optimize the storage location planning, it can also consider the influence of access frequency and offset information to plan the storage location. .
  • the host computer can also obtain the access frequency of the goods. Specifically, for the access frequency of the goods to be put into storage, the staff can manually configure them according to the conditions of the items in the goods, and the host computer can also directly obtain them from the pre-configured parameter data of the goods, or access them according to the history of the goods The data is obtained, and there is no limit to this scheme.
  • the influence of the access frequency needs to be considered comprehensively in this plan, that is, when planning the storage location, it is still necessary to meet the principle that the more frequently accessed goods are closer to the elevator, and at the same time
  • the storage location with the smallest offset can be selected to place the goods.
  • the upper computer can determine the target storage location information of the goods to be stored in at least the following two ways:
  • the shelf compartment includes a plurality of cargo partitions pre-allocated according to the distance from the column and the distance from the guide rail.
  • the storage location with the smallest offset information corresponding to the cargo weight in the target cargo partition is determined as the target storage location of the cargo to be put into the warehouse, and the target storage location is obtained. Storage information.
  • the area inside the shelf is pre-allocated into multiple cargo partitions according to the distance from the column of the shelf and the distance from the guide rail.
  • Each cargo partition can include one or more storage slots.
  • the upper computer first determines the frequency optimization strategy that satisfies the preset frequency from the cargo compartment according to the access frequency, that is, according to the rule that the higher the access frequency of the goods, the closer the distance to the hoist, the optimal one is selected from the shelf compartment.
  • Partition as the target cargo partition. There can be one or several target cargo partitions.
  • a plurality of storage positions whose offset information corresponding to the weight of the goods is smaller than a preset threshold is determined from the shelf.
  • the access frequency of the goods to be put into the warehouse determine the target storage position satisfying the preset frequency optimization strategy from the plurality of storage positions, and obtain the target storage position information, wherein the The frequency optimization strategy indicates that the higher the access frequency of goods, the closer to the hoist.
  • the upper computer first determines a plurality of storage positions with relatively small offset information corresponding to the weight of the goods from all shelves according to the weight of the goods to be put into the warehouse and the mapping relationship obtained above.
  • two or more storage positions with the smallest offset information can be obtained directly, or a threshold value of offset information can be set in advance, which can be judged in the actual implementation to obtain the storage location corresponding to the weight of the cargo.
  • a threshold value of offset information can be set in advance, which can be judged in the actual implementation to obtain the storage location corresponding to the weight of the cargo.
  • the upper computer After the upper computer determines the multiple storage locations whose offset information meets the conditions, it then optimizes the strategy based on the frequency of access to the goods to be stored in accordance with the strategy of optimizing the frequency of the goods with the higher the frequency of access to the hoist. Select the most suitable target storage location among multiple storage locations as the storage location for the goods to be put into storage, and finally obtain the target storage location information.
  • the position, weight and corresponding Analyze the offset information of the goods and obtain the above mapping relationship.
  • the position, weight and corresponding Analyze the offset information of the goods and obtain the above mapping relationship.
  • the host computer completes the storage location planning, that is, after determining the target storage location information, it needs to store the goods to be stored according to the target storage location information. Specifically, the host computer sends a warehousing command to the shuttle car according to the target storage location information, and the warehousing command is used to instruct the shuttle car to place the goods to be stored in the position indicated by the target storage location information.
  • the host computer issues instructions to the shuttle machine, and the shuttle vehicle transports the goods to be stored to the location indicated by the target storage location information according to the command of the host computer, and completes the storage process.
  • Fig. 8 is a flow chart of the second embodiment of the method for determining the storage location of goods provided by the present disclosure. As shown in Fig. 8, before the specific application of any of the above-mentioned embodiments, the specific steps of the method for determining the storage location of the goods include:
  • the goods need to be weighed through the weighing conveying line, and the weighing conveying line can report the weight of the goods to the host computer.
  • the host computer needs to store the weight of the goods after receiving the weight of the goods.
  • the host computer needs to store the weight of the goods after receiving the weight of the goods.
  • the weight and storage location information of the goods can be stored in the storage system of the whole system.
  • the storage system can be the storage system in the host computer or an external storage system, which can be accessed by the host computer. There is no limit to this program.
  • S203 Receive the offset information of the goods on each storage location reported during the patrol inspection of the shuttle.
  • S204 Store the offset information of the goods on each storage location.
  • the shuttle vehicle detects the offset information of each cargo, it needs to report the offset information to the host computer, and the host computer receives the information of each cargo reported by the shuttle vehicle. Offset information, and store the offset information according to the identification of the goods.
  • S205 Statistically analyze the weights, storage location information, and offset information of all goods stored in the storage space to obtain a mapping relationship.
  • certain rules or rules can be determined based on big data analysis.
  • the data can be statistically analyzed, and the relationship between the offset distance and/or offset angle of each cargo and the position and weight of the cargo can be calculated, that is, the above-mentioned mapping relationship.
  • the upper computer can determine the most suitable storage location for the goods according to the strategy of optimizing the weight and offset information of the goods, and the strategy of optimizing the frequency of pick-and-place according to the statistical relationship.
  • Fig. 9 is a functional schematic diagram of the shuttle system provided by the present disclosure.
  • the hoist is mainly used to cooperate with the command of the host computer
  • the shuttle car completes the work of warehousing, warehousing, picking, and repositioning of goods.
  • the weighing conveyor line can not only obtain the weight of the goods in storage, but also transport the goods according to the command of the host computer.
  • the shuttle car obtains the offset distance and/or offset angle of the goods in each storage position according to the method described above, and reports it to the host computer.
  • the upper computer stores the acquired data and information in the storage system, and can analyze based on the relevant information in the storage system, calculate the mapping relationship, and allocate the best storage space for the subsequent warehousing goods.
  • the cargo storage position determination scheme provided by this disclosure is based on the laser ranging module installed on the shuttle car, which is used to measure the distance of the cargo close to the side of the vehicle body.
  • the laser ranging module can be calculated by combining the existing displacement sensor and positioning sensor.
  • the offset distance and offset angle of the goods are reported to the host computer to provide data for subsequent optimization of the storage location.
  • the upper computer can obtain the weight of each incoming goods through the added weighing function of the incoming conveying line, and further provide data for subsequent optimized storage strategies.
  • the upper computer performs statistical analysis on the weight of the cargo and the cargo offset information and cargo storage position obtained from the previous inspection to obtain the mapping relationship.
  • the existing rules and the mapping relationship are combined to match the best storage locations for goods.
  • the goods can also be re-stored in subsequent inbound and outbound operations. Minimize the offset caused by the weight and position of the cargo, avoid excessive offset of the cargo due to vibration, and further avoid the problem that the cargo cannot be taken out accurately.
  • Fig. 10 is a schematic structural diagram of Embodiment 1 of a device for determining a storage location of goods provided by the present disclosure; as shown in Fig. 10 , the device 10 for determining a storage location of goods includes:
  • the processing module 12 is used to obtain the target storage position information determined for the goods to be put into storage according to the weight of the goods and the mapping relationship obtained in advance; wherein, the mapping relationship is the offset information of each goods, and the weight and Correspondence between storage location information, where the offset information includes offset distance and/or offset angle.
  • the acquisition module 11 is also used for:
  • processing module 12 is specifically used for:
  • the target storage location information determined for the goods to be put into storage is acquired.
  • the device for determining the storage location of goods provided in this embodiment is used to implement the technical solution of the upper computer in any of the aforementioned method embodiments. Its realization principle and technical effect are similar.
  • Fig. 11 is a schematic structural diagram of the second embodiment of the device for determining the storage position of goods provided by the present disclosure; as shown in Fig. 11 , on the basis of the first embodiment above, the device 10 for determining the storage position of goods also includes:
  • the sending module 13 is configured to send a warehousing command to the shuttle car according to the target storage location information, and the warehousing command is used to instruct the shuttle car to place the goods to be stored in the target storage location information indication s position.
  • processing module 12 is specifically configured to:
  • the storage position corresponding to the weight of the goods in the shelf storage space with the smallest offset information is determined as the target storage position of the goods to be put into storage, and the target storage position information is obtained.
  • processing module 12 is specifically configured to:
  • the access frequency of the goods to be put into the warehouse determine the target goods partition that satisfies the preset frequency optimization strategy from the shelf compartment, wherein the frequency optimization strategy indicates that the higher the access frequency of the goods, the higher the distance increase
  • the shelf compartment includes multiple cargo partitions that are pre-allocated according to the distance between the column and the guide rail;
  • the cargo weight and the mapping relationship determine the storage location with the smallest offset information corresponding to the cargo weight in the target cargo partition as the target storage location of the cargo to be put into storage, and obtain the target storage location information.
  • processing module 12 is specifically configured to:
  • the weight of the goods and the mapping relationship determine a plurality of storage positions whose offset information corresponding to the weight of the goods is less than a preset threshold value from the shelves;
  • a target storage position that satisfies a preset frequency optimization strategy is determined from the plurality of storage positions, and the target storage position information is obtained, wherein the frequency optimization The strategy indicates that the higher the access frequency of goods, the closer to the elevator.
  • Fig. 12 is a schematic structural diagram of the third embodiment of the device for determining the storage position of goods provided by the present disclosure; as shown in Fig. 12 , on the basis of the above-mentioned embodiment 1 or example 2, the device 10 for determining the storage position of goods also includes:
  • the receiving module 14 is used to receive the offset information of the goods on each storage position reported during the shuttle inspection process
  • the storage module 15 is configured to store the offset information of the goods on each storage location.
  • the receiving module 14 is also used to receive the weight of the goods reported on the weighing conveyor line when each goods enters the warehouse;
  • the storage module 15 is also used to store the weight of each item and the storage location information of each item after each item is stored.
  • processing module 12 is also used for:
  • the acquisition module 11 is specifically configured to:
  • the acquisition module 11 is specifically configured to:
  • the access frequency of the goods to be put into storage is obtained according to the configuration information of the goods to be put into storage input by the user or obtained in advance.
  • the device for determining the storage location of goods provided by any of the aforementioned implementation methods is used to execute the technical solution of the host computer in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 13 is a schematic structural diagram of an embodiment of a host computer provided by the present disclosure. As shown in FIG. 13 , the host computer 100 includes:
  • Processor 111 memory 112, communication interface 113;
  • the memory 112 is used to store executable instructions of the processor 111;
  • the processor 111 is configured to execute the technical solution of the method for determining the cargo storage location provided in any one of the foregoing method embodiments by executing the executable instructions.
  • the memory 112 can be independent or integrated with the processor 111 .
  • the host computer 100 may further include: a bus for connecting the above devices.
  • the host computer is used to implement the technical solution of any one of the foregoing method embodiments, and its implementation principle and technical effect are similar, and will not be repeated here.
  • the embodiments of the present disclosure further provide a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the technical solution provided by any one of the foregoing method embodiments is implemented.
  • An embodiment of the present disclosure further provides a computer program product, including a computer program, and when the computer program is executed by a processor, it is used to implement the technical solution provided by any one of the foregoing method embodiments.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

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Abstract

一种货物储位的确定方法、装置、设备、系统及介质。在方法中，上位机获取待入库货物的货物重量，然后根据货物重量和预先获取的映射关系，获取为待入库货物确定的目标储位信息，其中，映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，偏移信息包括偏移距离和/或偏移角度。在对货物进行储位规划时，考虑货物的位置对偏移信息的影响，综合规划货物的储位，降低货物在穿梭车的影响下的偏移，避免货物偏移过大导致取货物失败的问题。

Description

货物储位的确定方法、装置、设备、系统及介质
本申请要求于2021年11月04日提交中国专利局、申请号为202111302323.2、申请名称为“货物储位的确定方法、装置、设备、系统及介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及物流技术领域，尤其涉及一种货物储位的确定方法、装置、设备、系统及介质。
背景技术
随着计算机以及互联网技术的发展，物流领域中应用计算机技术的场景也越来越多，在目前的仓储系统中，通过智能的穿梭车等设备对仓储中的货物进行存取的应用比较普遍。
现有技术中，在对货物进行存取的过程中，上位机根据货物的存取频次将存取频次高的货物规划在靠近提升车的位置，存取频次低的货物规划在远离提升车的位置，通过这种方式减小穿梭车存取货物时的往返距离。实际使用中，穿梭车的行走和取放货物动作会对货架产生振动，货架振动会使储位的货物产生轻微的位移，随着时间的增长，轻微的位移会逐渐累积到对穿梭车的取放箱动作产生影响。
综上所述，现有的货物储位的规划方式，只考虑了距离，并未考虑到位移等问题可能导致的取货物失败等问题。目前还没有一种能够综合对货物偏移影响的多方面因素的储位规划方法。
发明内容
本公开实施例提供一种货物储位的确定方法、装置、设备、系统及介质，提供一种能够综合对货物偏移影响的多方面因素的储位规划的技术方案。
第一方面，本公开实施例提供一种货物储位的确定方法，应用于上位机，所述方法包括：获取待入库货物的货物重量；根据所述货物重量和预先获取 的映射关系，获取为所述待入库货物确定的目标储位信息；其中，所述映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，所述偏移信息包括偏移距离和/或偏移角度。
在一种具体实施方式中，所述方法还包括：获取所述待入库货物的存取频次；相应的，所述根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息，包括：根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的所述目标储位信息。
在一种具体实施方式中，所述方法还包括：根据所述目标储位信息，向穿梭车发送入库命令，所述入库命令用于指示所述穿梭车将所述待入库货物放置于所述目标储位信息指示的位置。
在一种具体实施方式中，所述根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息，包括：根据所述货物重量和所述映射关系，将货架内所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
在一种具体实施方式中，所述根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的目标储位信息，包括：根据所述待入库货物的所述存取频次，从货架内确定出满足预设的频次优化策略的目标货物分区，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近，所述货架中包括预先根据与立柱之间的距离，与导轨之间的距离分配的多个货物分区；根据所述货物重量和所述映射关系，将所述目标货物分区中所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
在一种具体实施方式中，所述根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的目标储位信息，包括：根据所述货物重量和所述映射关系，从货架中确定出所述货物重量对应的偏移信息小于预设阈值的多个储位；根据所述待入库货物的所述存取频次，从所述多个储位中确定出满足预设的频次优化策略的目标储位，得到所述目标储位信息，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近。
在一种具体实施方式中，所述根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息之前，所述方法还包括：接收穿 梭机巡检过程中上报的每个储位上的货物的偏移信息；将每个储位上的货物的偏移信息进行存储。
在一种具体实施方式中，所述方法还包括：在每个货物入库时候，接收称重输送线上报的所述货物的重量；在每个货物入库后，将每个货物的重量以及每个货物的储位信息进行存储。
在一种具体实施方式中，所述方法还包括：对存储空间中存储的所有货物的重量，储位信息，以及偏移信息进行统计分析，得到所述映射关系。
在另一种具体实施方式中，所述获取待入库货物的货物重量，包括：接收称重输送线上报的所述待入库货物的所述货物重量。
在另一种具体实施方式中，所述获取所述待入库货物的存取频次，包括：根据用户输入或者预先获取的所述待入库货物的配置信息，获取所述待入库货物的所述存取频次。
第二方面，本公开实施例提供一种货物储位的确定装置，包括：
获取模块，用于获取待入库货物的货物重量和存取频次；处理模块，用于根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息；其中，所述映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，所述偏移信息包括偏移距离和/或偏移角度。
在一种具体实现方式中，所述获取模块还用于：获取所述待入库货物的存取频次；相应的，所述处理模块具体用于：根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的所述目标储位信息。
在一种具体实现方式中，所述装置还包括：发送模块，用于根据所述目标储位信息，向穿梭车发送入库命令，所述入库命令用于指示所述穿梭车将所述待入库货物放置于所述目标储位信息指示的位置。
在一种具体实现方式中，所述处理模块具体用于：根据所述货物重量和所述映射关系，将货架储位内所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
在一种具体实现方式中，所述处理模块具体用于：根据所述待入库货物的所述存取频次，从货架内确定出满足预设的频次优化策略的目标货物分区，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近，所述货架中包括预先根据与立柱之间的距离，与导轨之间的距离分配的多个货物分 区；根据所述货物重量和所述映射关系，将所述目标货物分区中所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
在一种具体实现方式中，所述处理模块具体用于：根据所述货物重量和所述映射关系，从货架中确定出所述货物重量对应的偏移信息小于预设阈值的多个储位；根据所述待入库货物的所述存取频次，从所述多个储位中确定出满足预设的频次优化策略的目标储位，得到所述目标储位信息，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近。
在一种具体实现方式中，所述装置还包括：接收模块，用于接收穿梭机巡检过程中上报的每个储位上的货物的偏移信息；存储模块，用于将每个储位上的货物的偏移信息进行存储。
在一种具体实现方式中，所述接收模块还用于在每个货物入库时候，接收称重输送线上报的所述货物的重量；所述存储模块还用于在每个货物入库后，将每个货物的重量以及每个货物的储位信息进行存储。
在另一种具体实施方式中，所述处理模块还用于：对存储空间中存储的所有货物的重量，储位信息，以及偏移信息进行统计分析，得到映射关系。
在另一种具体实施方式中，所述获取模块具体用于：接收称重输送线上报的所述待入库货物的所述货物重量。
在另一种具体实施方式中，所述获取模块具体用于：根据用户输入或者预先获取的所述待入库货物的配置信息，获取所述待入库货物的存取频次。
第三方面，本公开实施例提供一种上位机，包括：处理器，存储器，通信接口；所述存储器用于存储所述处理器的可执行指令；其中，所述处理器配置为经由执行所述可执行指令来执行第一方面任一项所述的货物储位的确定方法。
第四方面，本公开实施例提供一种穿梭车系统，包括：第三方面所述的上位机，与所述上位机之间分别进行通信连接的穿梭车，提升机以及称重输送线；其中，所述穿梭车用于根据所述上位机的指令对货物进行入库，出库，以及巡检，所述提升机用于根据所述上位机的指令配合所述穿梭车对货物进行提升，所述称重输送线用于确定每个货物的重量。
第五方面，本公开实施例提供一种可读存储介质，其上存储有计算机程 序，所述计算机程序被处理器执行时实现第一方面任一项所述的货物储位的确定方法。
第六方面，本公开实施例提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时用于实现第一方面任一项所述的货物储位的确定方法。
本公开实施例提供的货物储位的确定方法、装置、设备、系统及介质，在该方法中，上位机获取待入库货物的货物重量，然后根据所述货物重量，所述存取频次以及预先获取的映射关系，获取为所述待入库货物确定的目标储位信息，其中，所述映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，所述偏移信息包括偏移距离和/或偏移角度。在需要对货物规划储位时，预先对货物的位置和重量以及对应的货物的偏移信息进行分析，得到上述映射关系，在具体的货物入库确定储位时，考虑货物的位置和重量对偏移信息的影响，综合规划货物的储位，降低货物在穿梭车的影响下的偏移，避免货物偏移过大导致取货物失败等问题。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开提供的穿梭车的结构示意图；
图2为本公开提供的穿梭车的巡检示意图；
图3为本公开提供的穿梭车的巡检获取偏移量的示意图；
图4为本公开提供的货架、提升机以及穿梭车的结构示意图；
图5为本公开提供的穿梭车系统的货物入库示意图；
图6为本公开提供的穿梭车系统的示意图；
图7为本公开提供的货物储位的确定方法实施例一的流程图；
图8为本公开提供的货物储位的确定方法实施例二的流程图；
图9为本公开提供的穿梭车系统功能示意图；
图10为本公开提供的货物储位的确定装置实施例一的结构示意图；
图11为本公开提供的货物储位的确定装置实施例二的结构示意图；
图12为本公开提供的货物储位的确定装置实施例三的结构示意图；
图13为本公开提供的上位机实施例的结构示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在根据本实施例的启示下作出的所有其他实施例，都属于本公开保护的范围。
本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
在目前的穿梭车系统中，穿梭车在入库和出库的过程中的移动，会产生振动，货架的振动长时间会导致货物产生位移，累计时间较长之后位移增加，容易导致在后续的出库过程中，穿梭车不能准确的根据指令取到货物等问题。目前的货物储位的分配只遵循存取频次高的靠近提升机的原则，并未考虑到偏移等因素，目前还没有一种能够综合对偏移影响，距离等多方便因素的储位规划方案。
针对现有技术中存在的问题，本公开提供一种穿梭车立体车库对货物存储位置自动优化的方法，综合考虑货物重量和货架不同储位上可能出现的偏移情况，振动情况等，利用上位机为不同货物分配合适的储位，减小振动对货物位移的影响。
在本公开的所有具体实现中，应理解，货物指的是货物本身以及容器。这里的容器可以是料箱，周转箱，托盘等，对此本方案不做限制。如果货物 本身不需要额外的容器，则指代货物本身。
货物重量指的是货物本身的重量以及容器的重量之和。这里的容器可以是料箱，周转箱，托盘等，对此本方案不做限制。如果货物本身不需要额外的容器，则该货物重量指货物本身的重量。
图1为本公开提供的穿梭车的结构示意图，如图1所示，在设备层面，穿梭车1头部或尾部两侧各加装一个激光测距模组2。配合穿梭车上原有的定位传感器3、位移传感器和处理器，在正常出入库作业间隙对货架上的货物进行巡检，穿梭车可以得到货架上各位置货物的偏移量和偏移角数据，并上传上位机。
图2为本公开提供的穿梭车的巡检示意图，如图2所示，穿梭车1沿着巷道方向(X方向)行走，激光测距模组2向货物A1所在方向发射激光信号。当激光信号照射到货物A1后，会接收货物A1反射回来的激光信号，进而测得其与货物A1之间的距离，处理器接收此距离值，并与系统预设值进行比较，如果误差值在预设误差E1范围内，穿梭车1继续行走，直至激光测距模组2接收不到反射回来的信号或者反射回来的信号超出预设误差E1范围。
在激光测距模组2从开始接收预设误差E1范围内的反射的激光信号到停止接收信号的过程中，可得激光测距模组2与货物A1之间的距离Δy1、Δy2，还可通过位移传感器计算出穿梭车1行驶的距离，也即货物A1靠近穿梭车1的一面的最左侧和最右侧之间的距离Δx(图3为本公开提供的穿梭车的巡检获取偏移量的示意图，如图3所示，此时货物A1可能是位置和角度正常，也可能是平行偏移，或旋转偏移，或平行偏移和旋转偏移都有)，结合定位传感器3的状态和位移传感器的数值，可判断出货物A1的偏移距离和偏移角度，如果偏移距离和偏移角度在误差允许范围内，穿梭车1可继续进行下一个货位货物的检查。如果偏移距离和/或偏移角超过允许的误差范围，可通过调整穿梭车1的位置将货物A1取至车上，再将穿梭车1定位至正确位置，将货物A1放至货位，穿梭车1对货物A1的一取一放动作即可实现对其重新定位。
如果是深度方向具有两个货物A1和A2的情况，也可根据激光测距模组2测得的距离值、货物A1靠近穿梭车1最左侧和最右侧的距离、定位传感器3的状态判断出箱子A1的偏移距离、偏移角度。根据实测的工程数据，货物 A1的偏移距离和偏移角度大于A2的相应值，因此，如果A1的偏移距离和偏移角度在误差允许范围内，则货物A1和A2均不需要重新定位；如果A1的偏移距离和偏移角度超出误差允许范围，则可先调整穿梭车1将货物A1取出，放置于车上暂存，再由穿梭车1对货物A2的偏移距离和偏移角度进行检测，货物A2的偏移距离和偏移角度在误差允许范围内，则不需要重新定位，直接将货物A1放置在其货位上实现重新定位。如果A2的偏移距离和偏移角度超出误差允许范围，则穿梭车1先将货物A1放置于其他的空货位暂存，再对货物A2进行重新定位。最后将货物A1取回放置于其原来的货位实现重新定位。此过程中，巷道对面的货物利用穿梭车1另一侧的激光测距模组进行巡检，过程和原理相同，至此，此列货物巡检工作完成，可进行下一列巡检。
穿梭车在不断的采用上述的方式进行巡检的过程中，将每个货物的偏移信息(偏移距离和/或偏移角度)上报给上位机，上位机可以将穿梭车巡检过程中上报的偏移信息进行存储，以便进行数据分析。
图4为本公开提供的货架、提升机以及穿梭车的结构示意图，如图4所示，在货架的出入口(或只在入口)处，采用带有称重功能的输送线4，入库的货物经过输送线4时，上位机可得到货物的重量，然后货物依次经过提升机5、缓存位6和穿梭车1被放置在某储位上。
图5为本公开提供的穿梭车系统的货物入库示意图，如图5所示，从整个系统和控制层面来说，穿梭车在之前的巡检过程中，将每个货物的偏移距离和偏移角度上传至了上位机中进行存储。上位机结合每个货物入库时获取的重量信息，每个货物的位置信息，可统计出每个货物的偏移距离和/或偏移角角度与货物位置，以及货物重量的关系。如图5虚线中的货位组成的一个货格为例，根据货物与立柱7的距离、货物与导轨8的距离为区别，可将每个货格内的货位区分为A1、A2、B1、B2四个分区，也可以称为分类，(这样分类与之前技术中的根据货物取放频次策略并不冲突，因为每个货格的货物区分基本相同，而每个货格距离提升机的距离不同，按重量与偏移量优化的策略和按取放频次优化的策略互不干扰)。最终，上位机根据统计出来的对应关系，制订最佳的存放策略。在后续的出入库操作中可以将每个货物重新分配新的储位。
下面通过几个具体实施例对本公开提供的货物储位的确定方案进行具体说明。
图6为本公开提供的穿梭车系统的示意图，如图6所示，该穿梭车系统中至少包括上位机，与上位机之间分别进行通信连接的穿梭车，提升机以及称重输送线；
其中，所述穿梭车用于根据所述上位机的指令对货物进行入库，出库，以及巡检，所述提升机用于根据所述上位机的指令配合所述穿梭车对货物进行提升，所述称重输送线用于确定每个货物的重量，上位机用于根据存储系统中的数据进行分析，用于控制其他各个设备进行货物的入库，出库，巡检等任务。
在本公开技术方案的技术实现中，系统控制方案主要由上位机执行，下面通过几个实施例对上位机对货物储位的确定方案进行具体说明。
图7为本公开提供的货物储位的确定方法实施例一的流程图，如图7所示，该货物储位的确定方法的具体步骤包括：
S101：获取待入库货物的货物重量。
在本步骤中，上位机在接收到新的货物需要入库，或者是被取出需要重新进行入库，也就是需要对货物重新确定储位时，可以将这些需要确定储位的货物统称为待入库货物。
上位机在确定需要对货物进行入库时，需要获取该待入库货物的货物重量，具体的如果是重新入库的货物那么可以从存储的数据中直接读取该货物入库时称重输送线是杭报的重量。如果是新的货物则可以通过称重输送线对该待入库货物进行称重，得到货物重量。
S102：根据货物重量和预先获取的映射关系，获取为待入库货物确定的目标储位信息；其中，映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，偏移信息包括偏移距离和/或偏移角度。
在本步骤中，在实际的货物的存取过程中，穿梭车巡检的过程中，可以采集到每个货物的偏移信息，该偏移信息中至少包括偏移距离和/或偏移角度。上位机通过对每个货物的重量，储位信息(具体的储位，距离提升机的距离等)以及该货物的偏移信息进行分析，能够得到偏移信息，重量和储位信息之间的映射关系，该映射关系能够体现出重量和储位信息对偏移情况的实际 影响。
在需要安排货物的储位时，上位机可以根据上述的映射关系，以及获取到的货物重量，将货架内所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
也就是说，从获取中选取所有储位中该货物重量对应的偏移量最小的储位，在后续将货物存储在该储位中，避免了货物由于振动等导致过大的偏移。
在本方案具体实现中，上位机可以只根据货物重量和前述映射关系进行储位规划，为了更进一步的优化储位规划，还可以同时考虑存取频次以及偏移信息等影响对储位进行规划。
具体的，在该种实现中，上位机还可以通获取到货物的存取频次。具体的对于待入库货物的存取频次，工作人员可以根据货物中的物品的情况进行手动配置，上位机也可以从预先配置的货物的参数数据中直接获取，也可以根据货物的历史存取数据中获取，对此本方案不做限制。
在需要对待入库货物确定储位信息时，在本方案中需要综合考虑存取频次的影响，即规划储位的时候依然要满足存取频次越多的货物距离提升机更近的原则，同时可以基于上位机统计出的前述映射关系，基于待入库货物的货物重量，选择偏移最小的储位放置该货物。
在本方案的具体实现中，上位机至少可以通过以下两种实现方式确定待入库货物的目标储位信息：
第一种实现方式，根据所述待入库货物的所述存取频次，从货架内确定出满足预设的频次优化策略的目标货物分区，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近，所述货架货格中包括预先根据与立柱之间的距离，与导轨之间的距离分配的多个货物分区。
然后再根据所述货物重量和所述映射关系，将所述目标货物分区中所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
在本方案中，货架内部的区域预先被按照与货架的立柱之间的距离，以及与导轨之间的距离被分配成了多个货物分区。每个货物分区中可以包括一个或者多个储位。上位机首先根据存取频次，从货格内确定出满足预设的频次优化策略，也就是按照货物的存取频次越高距离提升机越近的规律，从货 架货格中选择出最优的分区，作为目标货物分区。该目标货物分区可以有一个或者几个。然后再依据该待入库货物的货物重量和前述的映射关系，从目标获取分区中，选择出该货物重量对应的偏移信息最小的储位，作为该待入库货物的储位，从而得到最终的目标储位信息。
第二种实现方式，根据所述货物重量和所述映射关系，从货架中确定出所述货物重量对应的偏移信息小于预设阈值的多个储位。
然后再根据所述待入库货物的所述存取频次，从所述多个储位中确定出满足预设的频次优化策略的目标储位，得到所述目标储位信息，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近。
本方案中，上位机首先根据该待入库货物的货物重量和前述获取的映射关系，从所有货架中确定出该货物重量对应的偏移信息比较小的多个储位。在该方案的具体实现中，可以直接获取偏移信息最小的两个或者两个以上的储位，也可以预先设置一个偏移信息的阈值，在具体实现中进行判断，获取出货物重量对应的偏移信息小于该预设阈值的所有储位，还可以直接设置获取的储位数量，直接获取货物重量对应的偏移信息最小的该储位数量个储位，对此本方案不做限制。
上位机在确定出偏移信息满足条件的多个储位之后，再根据该待入库货物的存取频次，按照频次优化策略，按照货物的存取频次越高距离提升机越近的策略从多个储位中选择最合适的目标储位作为待入库货物的储位，最终得到目标储位信息。
本实施例提供的货物储位的确定方法，上位机在需要为待入库货物进行储位规划时，在基于现有的存取频次的规则的基础上，预先对货物的位置和重量以及对应的货物的偏移信息进行分析，得到上述映射关系，在具体的货物入库确定储位时，考虑货物的位置和重量对偏移信息的影响，综合规划货物的储位，降低货物在穿梭车的影响下的偏移，避免货物偏移过大导致取货物失败等问题。进一步的，还可以综合考虑存取频次，以及货物的位置和重量对偏移信息的影响，进一步优化对储位的规划，尽量避免货物偏移过大，导致的后果。
在上述实施例的基础上，上位机完成了储位规划，即确定出了目标储位信息之后，还需要按照该目标储位信息对待入库货物进行入库。具体的，上 位机根据目标储位信息，向穿梭车发送入库命令，所述入库命令用于指示所述穿梭车将所述待入库货物放置于所述目标储位信息指示的位置。
上位机根据确定出的目标储位信息，向穿梭机下达指令，穿梭车根据上位机的命令，将该待入库货物运至目标储位信息指示的位置，完成入库过程。
图8为本公开提供的货物储位的确定方法实施例二的流程图，如图8所示，在上述任一实施例具体应用之前，该货物储位的确定方法的具体步骤包括：
S201：在每个货物入库时候，接收称重输送线上报的货物的重量。
在本步骤中，在每个货物入库的过程中，货物需要经过称重输送线进行称重，称重输送线可以将货物的重量上报至上位机中。
S202：在每个货物入库后，将每个货物的重量以及每个货物的储位信息进行存储。
在本步骤中，上位机在接收到货物的重量之后需要将货物的重量进行存储。同时在为货物分配了储位，并完成货物入库之，需要将货物的储位信息也进行存储。
货物的重量和储位信息都可以存储在整个系统的存储系统中，该存储系统可以是上位机中的存储系统，也可以是外部存储系统，上位机可以进行访问。对此本方案不做限制。
S203：接收穿梭机巡检过程中上报的每个储位上的货物的偏移信息。
S204：将每个储位上的货物的偏移信息进行存储。
在上述两个步骤中，在穿梭车巡检过程中，穿梭车在检测到每个货物的偏移信息之后，需要将偏移信息上报至上位机，上位机接收穿梭车上报的每个货物的偏移信息，并根据货物的标识将该偏移信息也进行存储。
S205：对存储空间中存储的所有货物的重量，储位信息，以及偏移信息进行统计分析，得到映射关系。
对于上位机来说，在获取了足够的数据之后，则可以根据大数据分析确定出一定的规律或者规则，在本方案中，上位机在获取了足够多的货物的重量，储位信息以及偏移信息之后，可以对数据进行统计分析，可统计出每个货物的偏移距离和/或偏移角度与货物的位置和重量的关系，也就是上述映射关系。
后续在货物的入库过程中，上位机可以按照货物重量与偏移信息优化的策略，以及按取放频次优化的策略，根据统计出来的关系，为货物确定出最适合的储位进行存储。
图9为本公开提供的穿梭车系统功能示意图，如图9所示，以及前述的实施例中的描述，在整个货物储位的确定方案中，提升机主要用来根据上位机的命令，配合穿梭车完成货物的入库，出库，拣选，重新定位等工作。称重输送线不但可以获取入库货物的重量，还可以根据上位机的命令对货物进行运输。穿梭车在巡检过程中，根据前述介绍的方式，获取每个储位上的货物的偏移距离和/或偏移角度，并上报给上位机。上位机将获取到的数据和信息等存储至存储系统，并且可以基于存储系统中的相关信息进行分析，统计出映射关系，并为后续入库的货物分配最佳的储位。
本公开提供的货物储位的确定方案，基于安装在穿梭车的激光测距模组，用来测量货物靠近车体一面的距离，激光测距模组结合现有位移传感器和定位传感器可计算出货物的偏移距离和偏移角度，将偏移距离和偏移角度上报上位机，为后续优化存放位置提供数据。上位机可以通过入库输送线增加的称重功能，获取到每个入库货物重量，进一步为后续优化存放策略提供数据。最终，上位机将货物重量与之前巡检得到的货物偏移信息，货物储位进行统计分析得到映射关系。在后续为货物分配储位过程中，结合现有的规则以及该映射关系为货物匹配最佳存放位置。也可以在在后续的出入库操作中将货物重新存放。尽量减少货物重量和位置影响的偏移，避免货物由于振动导致过大的偏移，进一步避免无法准确取出货物的问题。
图10为本公开提供的货物储位的确定装置实施例一的结构示意图；如图10所示，该货物储位的确定装置10包括：
获取模块11，用于获取待入库货物的货物重量；
处理模块12，用于根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息；其中，所述映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，所述偏移信息包括偏移距离和/或偏移角度。
可选的，在该货物储位的确定装置10的一种具体实现中，所述获取模块11还用于：
获取所述待入库货物的存取频次；
相应的，所述处理模块12具体用于：
根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的所述目标储位信息。
本实施例提供的货物储位的确定装置，用于执行前述任一方法实施例中上位机的技术方案，其实现原理和技术效果类似，上位机在接收到有货物需要入库后，在基于现有的存取频次的规则的基础上，预先对货物的位置和重量以及对应的货物的偏移信息进行分析，得到上述映射关系，在具体的货物入库确定储位时，考虑货物的位置和重量对偏移信息的影响，综合规划货物的储位，降低货物在穿梭车的影响下的偏移，避免货物偏移过大导致取货物失败等问题。
图11为本公开提供的货物储位的确定装置实施例二的结构示意图；如图11所示，在上述实施例一的基础上，该货物储位的确定装置10还包括：
发送模块13，用于根据所述目标储位信息，向穿梭车发送入库命令，所述入库命令用于指示所述穿梭车将所述待入库货物放置于所述目标储位信息指示的位置。
在一种具体实现方式中，所述处理模块12具体用于：
根据所述货物重量和所述映射关系，将货架储位内所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
在一种具体实现方式中，所述处理模块12具体用于：
根据所述待入库货物的所述存取频次，从货架货格内确定出满足预设的频次优化策略的目标货物分区，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近，所述货架货格中包括预先根据与立柱之间的距离，与导轨之间的距离分配的多个货物分区；
根据所述货物重量和所述映射关系，将所述目标货物分区中所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
在一种具体实现方式中，所述处理模块12具体用于：
根据所述货物重量和所述映射关系，从货架货格中确定出所述货物重量 对应的偏移信息小于预设阈值的多个储位；
根据所述待入库货物的所述存取频次，从所述多个储位中确定出满足预设的频次优化策略的目标储位，得到所述目标储位信息，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近。
图12为本公开提供的货物储位的确定装置实施例三的结构示意图；如图12所示，在上述实施例一或实例二的基础上，该货物储位的确定装置10还包括：
接收模块14，用于接收穿梭机巡检过程中上报的每个储位上的货物的偏移信息；
存储模块15，用于将每个储位上的货物的偏移信息进行存储。
在一种具体实现方式中，所述接收模块14还用于在每个货物入库时候，接收称重输送线上报的所述货物的重量；
所述存储模块15还用于在每个货物入库后，将每个货物的重量以及每个货物的储位信息进行存储。
在另一种具体实施方式中，所述处理模块12还用于：
对存储空间中存储的所有货物的重量，储位信息，以及偏移信息进行统计分析，得到所述映射关系。
在另一种具体实施方式中，所述获取模块11具体用于：
接收称重输送线上报的所述待入库货物的所述货物重量。
在另一种具体实施方式中，所述获取模块11具体用于：
根据用户输入或者预先获取的所述待入库货物的配置信息，获取所述待入库货物的所述存取频次。
前述任一实现方式提供的货物储位的确定装置，用于执行前述任一方法实施例中上位机的技术方案，其实现原理和技术效果类似，在此不再赘述。
图13为本公开提供的上位机实施例的结构示意图，如图13所示，该上位机100包括：
处理器111，存储器112，通信接口113；
所述存储器112用于存储所述处理器111的可执行指令；
其中，所述处理器111配置为经由执行所述可执行指令来执行前述任一方法实施例提供的货物储位的确定方法的技术方案。
可选的，存储器112既可以是独立的，也可以跟处理器111集成在一起。
可选的，当所述存储器112是独立于处理器111之外的器件时，所述上位机100还可以包括：总线，用于将上述器件连接起来。
该上位机用于执行前述任一方法实施例的技术方案，其实现原理和技术效果类似，在此不再赘述。
本公开实施例还提供一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现前述任一方法实施例提供的技术方案。
本公开实施例还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时用于实现前述任一方法实施例提供的技术方案。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或对其中部分或全部技术特征进行等同替换；而这些修改或替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (16)

  1. 一种货物储位的确定方法，其特征在于，所述方法包括：
    获取待入库货物的货物重量；
    根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息；其中，所述映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，所述偏移信息包括偏移距离和/或偏移角度。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述待入库货物的存取频次；
    相应的，所述根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息，包括：
    根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的所述目标储位信息。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的目标储位信息，包括：
    根据所述待入库货物的所述存取频次，从货架内确定出满足预设的频次优化策略的目标货物分区，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近，所述货架中包括预先根据与立柱之间的距离，与导轨之间的距离分配的多个货物分区；
    根据所述货物重量和所述映射关系，将所述目标货物分区中所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
  4. 根据权利要求2所述的方法，其特征在于，所述根据所述货物重量，所述存取频次以及所述映射关系，获取为所述待入库货物确定的目标储位信息，包括：
    根据所述货物重量和所述映射关系，从货架中确定出所述货物重量对应的偏移信息小于预设阈值的多个储位；
    根据所述待入库货物的所述存取频次，从所述多个储位中确定出满足预设的频次优化策略的目标储位，得到所述目标储位信息，其中，所述频次优化策略指示货物的存取频次越高距离提升机越近。
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息，包括：
    根据所述货物重量和所述映射关系，将货架储位内所述货物重量对应的偏移信息最小的储位确定为所述待入库货物的目标储位，得到所述目标储位信息。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    根据所述目标储位信息，向穿梭车发送入库命令，所述入库命令用于指示所述穿梭车将所述待入库货物放置于所述目标储位信息指示的位置。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述根据所述货物重量和预先获取的映射关系，获取为所述待入库货物确定的目标储位信息之前，所述方法还包括：
    接收穿梭机巡检过程中上报的每个储位上的货物的偏移信息；
    将每个储位上的货物的偏移信息进行存储。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    在每个货物入库时候，接收称重输送线上报的所述货物的重量；
    在每个货物入库后，将每个货物的重量以及每个货物的储位信息进行存储。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    对存储空间中存储的所有货物的重量，储位信息，以及偏移信息进行统计分析，得到所述映射关系。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述获取待入库货物的货物重量，包括：
    接收称重输送线上报的所述待入库货物的所述货物重量。
  11. 根据权利要求2-4任一项所述的方法，其特征在于，所述获取所述待入库货物的存取频次，包括：
    根据用户输入或者预先获取的所述待入库货物的配置信息，获取所述待入库货物的所述存取频次。
  12. 一种货物储位的确定装置，其特征在于，包括：
    获取模块，用于获取待入库货物的货物重量和存取频次；
    处理模块，用于根据所述货物重量和预先获取的映射关系，获取为所述 待入库货物确定的目标储位信息；其中，所述映射关系为每个货物的偏移信息，重量与储位信息之间的对应关系，所述偏移信息包括偏移距离和/或偏移角度。
  13. 一种上位机，其特征在于，包括：
    处理器，存储器，通信接口；
    所述存储器用于存储所述处理器的可执行指令；
    其中，所述处理器配置为经由执行所述可执行指令来执行权利要求1至11任一项所述的货物储位的确定方法。
  14. 一种穿梭车系统，其特征在于，包括：
    权利要求13所述的上位机，与所述上位机之间分别进行通信连接的穿梭车，提升机以及称重输送线；
    其中，所述穿梭车用于根据所述上位机的指令对货物进行入库，出库，以及巡检，所述提升机用于根据所述上位机的指令配合所述穿梭车对货物进行提升，所述称重输送线用于确定每个货物的重量。
  15. 一种可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至11任一项所述的货物储位的确定方法。
  16. 一种计算机程序产品，其特征在于，包括计算机程序，所述计算机程序被处理器执行时用于实现权利要求1至11任一项所述的货物储位的确定方法。
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