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WO2022095835A1 - 仓储管理系统及方法 - Google Patents

仓储管理系统及方法 Download PDF

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Publication number
WO2022095835A1
WO2022095835A1 PCT/CN2021/128013 CN2021128013W WO2022095835A1 WO 2022095835 A1 WO2022095835 A1 WO 2022095835A1 CN 2021128013 W CN2021128013 W CN 2021128013W WO 2022095835 A1 WO2022095835 A1 WO 2022095835A1
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WO
WIPO (PCT)
Prior art keywords
target
container
autonomous mobile
storage
mobile robot
Prior art date
Application number
PCT/CN2021/128013
Other languages
English (en)
French (fr)
Inventor
卢泓翰
李考准
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2022095835A1 publication Critical patent/WO2022095835A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • 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
    • 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
    • B65G1/14—Stack holders or separators
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the field of warehousing technology, in particular to a warehousing management system and method.
  • AS/RS Automateval System
  • AS/RS Automateval System
  • AS/RS Automateval System
  • AS/RS Automateval System
  • the warehouse-end conveying system is used to realize the whole pallet or online whole box unpacking and out-of-warehouse operation;
  • the horizontal movement of the Y-axis is affected by the efficiency of horizontal transplanting.
  • the handling capacity at the inflection point is only about 40 torr/hour, and the conveying capacity of the straight section can reach 200 torr/hour.
  • a very small amount of the whole box is dismantled and shipped out of the warehouse.
  • the embodiments of the present application provide a warehouse management system and method to solve the technical defects existing in the prior art.
  • a warehouse management system comprising: one or more control servers, one or more automatic access systems, multiple autonomous mobile robots, multiple workstations and multiple a temporary storage area;
  • the automatic access system includes a high-level shelf and a pallet-type access device running on the high-level shelf, the pallet-type access device and the autonomous mobile robot are respectively connected in communication with the control server ;
  • the control server is configured to determine, according to the first order, one or more target storage containers hit by the first order, the storage positions of the one or more target storage containers in the high-bay shelf, and the target connection. a transfer location and at least one of a target workstation and a target temporary storage area, sending a container retrieval instruction to one or more target tray access devices of the plurality of tray access devices and to a plurality of autonomous mobile robots One or more target autonomous mobile robots send container handling instructions;
  • the target palletized access device is configured to operate to a storage location of the target storage container in the high bay in response to the container removal instruction, remove the target storage container from the storage location and carry the target storage container to said target docking location;
  • the target autonomous mobile robot is configured to operate to the target docking position to dock the target storage container in response to the container handling instruction, and to transport the target storage container from the target docking position to The target workstation completes at least one of the order picking task and the target temporary storage area for buffering.
  • the first order comes from an order group combined according to a predetermined rule.
  • control server is further configured to send a container handling instruction to the target autonomous mobile robot after determining that the picking task of the first order is completed at the target workstation;
  • the target autonomous mobile robot is further configured to move the target storage container from the workstation to the target temporary storage area in response to the container handling instruction.
  • the control server is further configured to send a container handling instruction to the target autonomous mobile robot when it is determined that the picking task of the first order is about to be executed at the target workstation;
  • the target autonomous mobile robot is further configured to transport the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the autonomous mobile robot leaves the target temporary storage area after transporting the target storage container to the target temporary storage area for buffering; wherein,
  • the control server is further configured to send a container handling instruction to another autonomous mobile robot in the plurality of autonomous mobile robots when it is determined that the picking task of the first order is about to be executed at the target workstation;
  • the other autonomous mobile robot is configured to carry the target storage container from the target temporary storage area to the target workstation in response to the container carrying instruction.
  • control server further configured to send a container handling instruction to one or more other autonomous mobile robots in the plurality of autonomous mobile robots in response to a second order in the order combination;
  • the other autonomous mobile robot is configured to transport the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the control server is further configured to, after determining that the picking task of all the orders in the order group is completed, determine the storage position of the target storage container in the high-bay rack and the target connection position, and report to the multiple other autonomous mobile robots of the plurality of autonomous mobile robots send container handling instructions and send container depositing instructions to other palletized access devices of the plurality of palletized access devices;
  • the other autonomous mobile robot further configured to transport the target storage container from the target workstation to the target docking location in response to the container handling instruction;
  • the other tray-type access device configured to operate to the target docking location to dock the target storage container and deposit the target storage container into the storage location in response to the container deposit instruction .
  • a workstation is bound to at least one temporary storage area.
  • the distance between the temporary storage area and the workstation to which it is bound is less than or equal to a preset threshold.
  • the target autonomous mobile robot is further configured to move to the target docking position in advance in response to the container handling instruction to wait for the target storage container to be transported to the target docking position.
  • the other tray-type access device is further configured to, in response to the container depositing instruction, move to the target docking position in advance to wait for the target storage container to be transported to the target docking Location.
  • the target storage container is configured with a readable mark
  • the tray-type access device and/or the autonomous mobile robot is configured with an identification device
  • the identification device determines the target by identifying the readable mark The location of the storage container and/or the information of the storage container.
  • the target connection position is located in the roadway or at the entrance of the roadway between the high-level shelves.
  • the tray-type access device includes a stacker.
  • a warehouse management method including:
  • the control server determines, according to the first order, one or more target storage containers hit by the first order, storage positions of the one or more target storage containers in the high-bay rack, target docking positions, target workstations and target temporary at least one of the storage areas, sending container retrieval instructions to one or more targets of the plurality of tray-access devices and autonomous movement to one or more targets of the plurality of autonomous mobile robots
  • the robot sends container handling instructions
  • the target tray-type access device In response to the container take-out instruction, the target tray-type access device operates to a storage position of the target storage container on the high-bay rack, and takes the target storage container out of the storage position and transports the target storage container to the target connection location;
  • the target autonomous mobile robot runs to the target docking position to attach the target storage container, and transports the target storage container from the target docking position to the target workstation Completing at least one of a picking task for the order and a target temporary storage area for caching.
  • the first order comes from an order group combined according to a predetermined rule.
  • control server sends a container handling instruction to the target autonomous mobile robot
  • the target autonomous mobile robot transports the target storage container from the workstation to the target temporary storage area in response to the container handling instruction.
  • the control server sends a container handling instruction to the target autonomous mobile robot when it is determined that the picking task of the first order is about to be executed at the target workstation;
  • the target autonomous mobile robot transports the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the autonomous mobile robot leaves the target temporary storage area after transporting the target storage container to the target temporary storage area for buffering; wherein,
  • the control server sends a container handling instruction to another autonomous mobile robot in the plurality of autonomous mobile robots when it is determined that the picking task of the first order is about to be executed at the target workstation;
  • the other autonomous mobile robot transports the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the control server sends a container handling instruction to one or more other autonomous mobile robots in the plurality of autonomous mobile robots in response to the second order in the order combination;
  • the other autonomous mobile robot transports the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the control server determines the storage position and the target connection position of the target storage container in the high-level shelf, and sends them to the multiple other autonomous mobile robots of the autonomous mobile robots send container handling instructions and send container depositing instructions to other palletized access devices of the plurality of palletized access devices;
  • the other autonomous mobile robot transports the target storage container from the target workstation to the target docking location in response to the container handling instruction;
  • the other tray-type access device configured to operate to the target docking location to dock the target storage container and deposit the target storage container into the storage location in response to the container deposit instruction .
  • a workstation is bound to at least one temporary storage area.
  • the distance between the temporary storage area and the workstation to which it is bound is less than or equal to a preset threshold.
  • the target autonomous mobile robot moves to the target docking position in advance in response to the container handling instruction to wait for the target storage container to be transported to the target docking position.
  • the other tray-type access device moves to the target docking position in advance and waits for the target storage container to be transported to the target docking position.
  • the target storage container is configured with a readable mark
  • the tray-type access device and/or the autonomous mobile robot is configured with an identification device
  • the identification device determines the target by identifying the readable mark The location of the storage container and/or the information of the storage container.
  • the target connection position is located in the roadway or at the entrance of the roadway between the high-level shelves.
  • the tray-type access device includes a stacker.
  • the control server determines, according to the first order, one or more target storage containers hit by the first order, and the location of the one or more target storage containers in the high shelf. at least one of a storage location, a target docking location, and a target workstation and a target temporary storage area, sending a container retrieval instruction to one or more target tray access devices of the plurality of tray access devices, and sending a container retrieval instruction to the plurality of tray access devices.
  • One or more target autonomous mobile robots of the autonomous mobile robots send a container handling instruction; the target palletized access device is configured to operate until the target storage container is in the upper position in response to the container retrieval instruction a storage position of the rack, from which the target storage container is taken out and transported to the target docking position; the target autonomous mobile robot is configured to operate to the target in response to the container transport instruction
  • the docking position connects the target storage container, and transports the target storage container from the target docking position to the target workstation to complete at least one of the order picking task and the target temporary storage area for buffering .
  • the warehouse management system provided by this application based on the flexible characteristics of autonomous mobile robots, is directly connected with the tray-type storage and retrieval equipment, which is flexible and efficient, and a temporary storage area is set up at the same time. It is not possible to complete all the picking in the second transportation. The goods that have been picked out of the whole pallet can be transported to the temporary storage area before the picking is completed. When the subsequent orders in the order group need to pick the goods, the goods in the temporary storage area are prioritized for delivery. It can improve the operation efficiency, reduce the cost and waste encountered by traditional solutions, and flexibly meet the elastic needs of the business.
  • FIG. 1 is a schematic diagram of the system structure of a warehouse management system provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a tray-type access device for accessing a storage container provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a handling robot for handling pallets provided by an embodiment of the present application.
  • FIG. 4 is a flowchart of a warehouse management method provided by an embodiment of the present application.
  • FIG. 1 shows a schematic diagram of the system structure of a warehouse management system provided by an embodiment of the present application.
  • the system includes: one or more control servers 110, multiple workstations 120, a fixed storage area 130, multiple temporary storage areas 140, a or multiple automatic storage and retrieval systems (AS/RS, Automated Storage and Retrieval System), the automatic storage system includes a plurality of high-bay racks and a plurality of pallet storage devices 150 operating on the plurality of high-bay shelves, and a plurality of autonomous mobile robots 160 .
  • AS/RS Automated Storage and Retrieval System
  • the control server 110 is connected in wireless communication with the tray-type access device 150 and/or the autonomous mobile robot 160, and the staff operates the control server 110 through the console 114 to work, and the control server 110 runs on the server and has data storage, information
  • the software system of processing power can be wirelessly connected with the tray-type access device 150 and the software system of the autonomous mobile robot 160, the workstation 120, etc.
  • the control server 110 can include one or more servers, which can be a centralized control architecture or a distributed In terms of computing architecture, the control server 110 has a processor 111 and a memory 112.
  • the memory 112 may have an order pool 113, and the order pool 113 stores order information.
  • the workstation 120 is a manual picking area. After the storage container 131 is transported to the workstation 120, the staff of the workstation 120 takes out the goods in the storage container 131 for scanning according to the order prompt information. Workstation 120 pushes the next order.
  • the fixed storage area 130 can be a dense storage area or a non-intensive storage area.
  • a plurality of high-level shelves are arranged in the fixed storage area 130, and storage containers 131 are stored on the high-level shelves.
  • at least one lane for the pallet storage device 150 to pass through is provided between the multiple high-level shelves, and at least one connection position 132 is provided at the lane entrance of the lane close to the workstation 120, and the connection position 132 can also be located in all
  • the storage containers 131 may be pallets stacked in dense storage, and the storage containers 131 are provided with readable marks for identification by the identification devices on the pallet-type access device 150 and/or the autonomous mobile robot 160, To determine the location of the storage container 131 and/or storage container information.
  • the temporary storage area 140 is an area where storage containers are temporarily stored. Due to the limited number of workstations 120, there may be multiple orders for the same commodity in one order group in one order group, but the workstation 120 cannot process all the orders in the order group at one time. Orders, that is, in the case where all the commodities cannot be picked up in a single transportation process, the temporary storage area 140 temporarily stores the commodities in the same order group that have been picked out of the warehouse, the current order has been completed but the next order has not been completed, and there will be more orders in the future. When selecting the commodities, the commodities in the temporary storage area 140 can be preferentially located. For example, there are 10 orders in an order group, and the 10 orders require a total of 15 pieces of A commodity.
  • the first order requires 10 pieces of A commodity
  • the first order 5 orders require 5 pieces of A commodity.
  • the M storage container storing the A commodity is transported to the workstation. After the staff picks 10 commodities, the M storage container is transported to the temporary storage area 140.
  • the control server controls the autonomous mobile robot to transport the M storage container from the temporary storage area 140 to the workstation to provide picking of the A commodity.
  • the tray-type access device 150 Under the control of the control server 110, the tray-type access device 150 performs the tasks of taking out and storing the storage container 131.
  • FIG. 2 shows the tray-type access device provided by the embodiment of the present application.
  • the pallet-type storage device may include forks, the outgoing direction of the fork is parallel to the travel direction of the pallet-type storage device, so as to prevent the pallet-type storage device from turning excessively wide aisles when taking out and storing the container.
  • the pallet-type access device may also include a controller for controlling the up and down parallel movement of the fork, a target identification component (not shown in FIG. 2 ), etc.; During movement, the tray-type access device 150 is also provided with identification means for identifying readable marks on the storage containers.
  • the pallet-type access device may in particular comprise a stacker crane.
  • the autonomous mobile robot 160 performs the transporting task of the storage container 131.
  • the autonomous mobile robot may be a transporting robot, and the transporting robot may be a transporting robot for carrying a pallet; as shown in FIG. 3, FIG. A schematic diagram of a handling robot for handling pallets provided by an embodiment of the present application is shown. As shown in FIG. 3 , there is a pallet on the top of the handling robot for handling storage containers.
  • the autonomous mobile robot 160 is used to move between the docking position 132 and the workstation 120, between the workstation 120 and the temporary storage area 140, and between the docking position 132 and the temporary storage area 140.
  • the autonomous mobile robot 160 is also equipped with an identification device, Readable markings used to identify storage containers.
  • the tray-type access device 150 and/or the autonomous mobile robot 160 may implement navigation based on vision.
  • the tray-type access device 150 and/or the autonomous mobile robot 160 further includes a navigation recognition component for recognizing Navigation marks (such as two-dimensional codes) on the paved ground.
  • the tray-type access device 150 and/or the autonomous mobile robot 160 includes at least one downward camera, and according to the navigation marks captured by the downward camera Before traveling, the traveling route of the tray-type storage device 150 and/or the autonomous mobile robot 160 is planned and generated by the control server 110 .
  • the manual fixed buffer area is usually adopted, and the external parallel cache line is used to solve the method of sorting the goods.
  • the goods need to be returned to the warehouse after each picking, the picking efficiency is low, and it is difficult to adapt to the development of the industry.
  • a warehouse management system provided by the embodiment of the present application, as shown in FIG. 1 , the system includes a control server 110, a workstation 120, a fixed storage area 130, a temporary storage area 140, a tray-type access device 150, and an autonomous mobile robot 160.
  • There are storage containers 131 and a docking position 132 in the fixed storage area 130 and the docking position 132 is located at the junction of the fixed storage area 130 and the workstation 120 , and between the temporary storage area 140 and the workstation 120 The distance is less than or equal to the preset threshold; where,
  • the control server 110 is configured to determine the target storage container 1311 hit by the first order and the first storage location 1301 of the target storage container 1311 in the fixed storage area 130 according to the first order in the order group information, and determine the retrieval target.
  • the target tray access device 1501 sends a container take-out command and a container handling command to the first target autonomous mobile robot 1601 .
  • the order group information is the comprehensive information of multiple orders in an order wave; the first order is the currently processed order, and the first order can be a single order or an order in an order group;
  • the target storage container is the target The storage container where the commodity is located;
  • the first storage position is the current storage position of the target storage container in the fixed storage area;
  • the first target tray-type access device is the device used to take out the target storage container in the fixed storage area;
  • the target autonomous The mobile robot is a device used to transport the target storage container;
  • the first target docking position refers to the docking position for docking the target storage container when the target storage container is taken out from the fixed storage area, so that the first target tray is stored. Take the device and the first target autonomous mobile robot to complete the handover operation of the target storage container.
  • the order group is a combination of multiple orders obtained by the control server, the order group includes multiple orders, and each order includes one or more commodities. 5 orders, of which the first order and the third order require a total of 30 commodities B.
  • the first order request determine the tray M corresponding to the commodity B and the first storage position of the tray M in the fixed storage area. 1301 , at the same time determine the tray-type storage device S1 for taking out the tray M, the transfer robot C1 for transporting the tray M, and the first target connection position 1321 where the tray-type storage device S1 and the transfer robot C1 perform connection.
  • the first target pallet access device 1501 is configured to operate to the storage position 1301 of the target storage container 1311 in the high shelf in response to the container removal instruction, and remove the target storage container 1311 from the The storage position 1301 is taken out and transported to the target docking position 1321 .
  • the tray-type access device S1 takes out the tray M at the first storage position 1301 and transports it to the first target docking position 1321 .
  • the first target autonomous mobile robot 1601 is configured to, in response to the container handling instruction, run to the target docking position 1321 to dock the target storage container 1311, and remove the target storage container 1311 from the target storage container 1311.
  • the first target docking position 1321 is transported to the workstation 120 to complete the order picking task.
  • the first target autonomous mobile robot 1601 is further configured to move to the first target docking position 1321 in advance in response to the container handling instruction to wait for the target storage container 1311 to be Transported to the first target docking position 1321 .
  • the transfer robot C1 moves to the first target connecting position 1321 in advance, connects with the tray-type access device S1, and transfers the tray M to the workstation.
  • the staff or robotic arm in the workstation 120 takes out the commodities in the storage container for scanning and places them in the bins of the planting wall according to the order information prompted by the screen in the workstation.
  • the group information determines that the commodities in the target storage container 1311 will be picked again in subsequent orders, so the first temporary storage location 1401 of the target storage container 1311 is determined in the temporary storage area 140, and the first temporary storage position 1401 of the target storage container 1311 is determined in the temporary storage area 140,
  • the target autonomous mobile robot 1601 sends a container handling instruction.
  • the staff in the workstation takes out 10 commodities B in the tray M according to the order information prompted on the screen in the workstation, and the control server determines that 20 commodities are needed in the third order task according to the order group information. B, therefore, the control server determines the first temporary storage position 1401 of the tray M in the temporary storage area, and sends a container transport instruction to transport the tray M to the first temporary storage position 1401 to the transport robot C1.
  • the first target autonomous mobile robot 1601 is further configured to move the target storage container 1311 from the workstation 120 to the first temporary storage location 1401 in response to the container handling instruction.
  • the transport robot C1 transports the pallet M to the first temporary access position 1401 in response to the container transport instruction.
  • control server 110 is further configured to, in response to the second order in the order group information, determine a second target autonomous mobile robot 1602 that transports the target storage container 1311, and autonomously move to the second target The robot 1602 sends container handling instructions.
  • first target autonomous mobile robot 1601 and the second target autonomous mobile robot 1602 may be the same autonomous mobile robot, or may be different autonomous mobile robots.
  • the storage container can be determined according to the commodity information in an order group. Whether the commodities in the product have been sorted, if the sorting has been completed, the storage container can be transported back to the fixed storage area 130 , and if the sorting has not been completed, the storage container can be transported to the temporary storage area 140 .
  • the third order request requires 20 commodities B, determines the autonomous mobile robot C2, and sends the container handling instruction to the autonomous mobile robot C2.
  • the second target autonomous mobile robot 1602 is configured to carry the target storage container 1311 from the first temporary storage location 1401 to the workstation 120 for a second order picking task in response to the container handling instruction .
  • the transport robot C2 transports the tray M from the first temporary access position 1401 to the workstation to perform the picking task of the third order request.
  • the control server 110 is further configured to determine a second temporary storage location 1402 of the target storage container 1311 in the temporary storage area according to the order group information, and send a container handling instruction to the second target autonomous mobile robot 1602 .
  • the second target autonomous mobile robot 1602 is further configured to move the target storage container 1311 from the workstation 120 to the second temporary storage location 1402 in response to the container handling instruction to await a next order ask.
  • the control server 110 is further configured to group information, determine the second storage location 1302 of the target storage container 1311 in the fixed storage area 130, store the second target tray access device 1502 of the target storage container 1311, and dock the target The second target docking location 1322 of the container is stored, and a container handling instruction is sent to the second target autonomous mobile robot 1602 and a container depositing instruction is sent to the second target pallet access device 1502 .
  • first target tray-type access device 1501 and the second target tray-type access device 1502 may be the same tray-type access device, or may be different tray-type access devices; the first storage location 1301 and the first storage location 1301
  • the two storage locations 1302 can be the same storage location or different storage locations; the first target docking location 1321 and the second target docking location 1322 can be the same docking location, or can be different docking locations.
  • the docking positions are determined from the free docking positions.
  • the control server determines the second storage position 1302 , the second target connection position 1322 and the tray-type access of the tray M in the fixed storage area 130 .
  • the device S2 sends a container transfer instruction to transfer the pallet M to the second target docking position 1322 to the transfer robot C2, and sends a container storage instruction to store the pallet M in the second storage position 1302 to the pallet access device S2.
  • the second target autonomous mobile robot 1602 is further configured to transport the target storage container 1311 from the workstation 120 to the second target docking location 1322 in response to the container handling instruction.
  • the transport robot C2 transports the tray M from the workstation 120 to the second target docking position 1322 in response to the container transport instruction.
  • the second target tray access device 1502 is configured to receive the target storage container 1311 at the second target docking location 1322 in response to the container deposit instruction, and to store the target storage container 1311 Stored in the second storage location 1302.
  • the second target tray-type access device 1502 is further configured to move to the second target docking position 1322 in advance in response to the container depositing instruction to wait for the The target storage container 1311 is transported to the second target docking location 1322 .
  • the tray-type access device S2 moves to the second target connecting position 1322 in advance, connects with the transport robot C2 for the tray M, and transports and stores the tray M to the second storage position 1302 .
  • the warehouse management system can be applied to a traditional storage environment or a dense storage environment, and the storage scene applied by the storage system at least includes a fixed storage area, a temporary storage area and a workstation, wherein the fixed storage area It is used to store storage containers, such as high-level shelves, and the control server is used to store, update and manage the storage information base, and manage the storage status of the storage container according to the received request or instruction and the instructions issued by the storage information base to the device.
  • a tray-type access device 150 for depositing or taking out storage containers is provided in the fixed storage area.
  • the tray-type access device 150 can perform operations of accessing and transporting storage containers according to instructions sent by the control server.
  • the tray-type access device 105 can use any one navigation method or a combination of multiple navigation methods, such as two-dimensional code, real-time positioning and map building (Simultaneous Localization And Mapping, SLAM) and other navigation methods or a combination thereof.
  • SLAM Simultaneous Localization And Mapping
  • the temporary storage area 140 is adjacent to the workstation 120, and the distance between the temporary storage area 140 and the workstation 120 is smaller than the preset threshold.
  • the mobile robot is transported to the temporary storage area 140 for temporary storage.
  • the storage container can be transported from the temporary storage area 140 to the workstation for picking operations of other order tasks, which improves the efficiency of commodity picking and reduces warehousing. cost.
  • the fixed storage area 130 is provided with a connection position on the side close to the workstation for connecting the connection operation between the tray-type access device and the autonomous mobile robot, and the connection position is at least one, in order to To make full use of the space, it is preferable to have multiple connection positions.
  • the connection positions can be set in a fixed location area, or the set area can be flexibly changed according to the storage situation, thereby improving the storage efficiency.
  • the warehousing management system reduces the cost of warehousing management, realizes the automation of the warehousing system, avoids the mixing of equipment and people, and simplifies warehousing through the cooperation of the tray-type access device and the autonomous mobile robot.
  • the overall operating environment of the system improves the operating efficiency.
  • the target storage container in the temporary storage area is preferentially located, making full use of the flexibility of the autonomous mobile robot and further improving the operation. efficiency.
  • the system includes: one or more control servers 110, multiple workstations 120, fixed storage areas 130, multiple temporary storage areas 140, one or more A plurality of automatic access systems including high-level shelves and pallet-type access equipment 150 operating on the high-level shelves, a number of autonomous mobile robots 160, and storage containers 131 and A docking position 132, the docking position 132 is located at the junction of the fixed storage area 130 and the workstation 120, and the distance between the temporary storage area 140 and the workstation 120 is less than or equal to a preset threshold; wherein ,
  • the control server 110 is configured to determine the target storage container 1311 hit by the first order and the first storage location 1301 of the target storage container 1311 in the fixed storage area 130 according to the first order in the order group information, and determine the retrieval target.
  • the target tray access device 1501 sends a container take-out command and a container handling command to the first target autonomous mobile robot 1601 .
  • the order group information it is determined that the third order and the fourth order require a total of 10 commodities C.
  • Commodity C corresponds to tray M, and tray M is stored in fixed storage.
  • the first storage position 1301 of the area determine the tray-type access device S1 that takes out the tray M, the transfer robot P1 that transports the tray M, the first connection position 1321 of the tray-type access device S1 and the transfer robot P1, and the tray M
  • the control server 110 sends a container take-out instruction to the tray-type access device S1 to take out the tray M from the first storage position 1301 and transport the tray M to the first connection position 1321
  • a container transport instruction for transporting the tray M to the first temporary storage location 1401 is sent to the transport robot P1.
  • the first target tray access device 1501 is configured to remove the target storage container 1311 from the fixed storage area and carry it to the first target docking location 1321 in response to the container removal instruction.
  • the tray-type access device S1 moves to the first storage position 1301 in response to the container take-out instruction, takes out the tray M and transports the tray M to the first target docking position 1321 .
  • the first target autonomous mobile robot 1601 is configured to carry the target storage container 1311 from the first target docking position 1321 to the first temporary storage position 1401 in response to the container carrying instruction.
  • the handling robot P1 in response to the container handling instruction, connects with the tray-type access device S1 at the first target connection position 1321, and conveys the connected pallet M to the temporary storage area 140.
  • the first temporary storage location 1401 in response to the container handling instruction, connects with the tray-type access device S1 at the first target connection position 1321, and conveys the connected pallet M to the temporary storage area 140.
  • the first temporary storage location 1401 in response to the container handling instruction, the handling robot P1 connects with the tray-type access device S1 at the first target connection position 1321, and conveys the connected pallet M to the temporary storage area 140.
  • the first temporary storage location 1401 in response to the container handling instruction, connects with the tray-type access device S1 at the first target connection position 1321, and conveys the connected pallet M to the temporary storage area 140.
  • the first temporary storage location 1401 in response to the container handling instruction, connects with the tray-type access device S1 at the first target connection position 1321, and conveys the connected pallet M to the temporary storage area
  • the control server 110 is further configured to, in response to the first order in the order group, determine a second target autonomous mobile robot 1602 for handling the target storage container 1311, and send a message to the second target autonomous mobile robot 1602. Container Handling Instructions.
  • a transport robot P2 for transporting the tray M is determined, and a container transport instruction for transporting the tray M to the workstation is sent to the transport robot P2.
  • the second target autonomous mobile robot 1602 is configured to carry the target storage container 1311 from the first temporary storage location 1401 to the workstation 130 in response to the container carrying instruction.
  • the handling robot P2 moves to the first temporary storage position 1401 in response to the container handling instruction, and moves the tray M from the first temporary storage position 1401 to the workstation.
  • system further includes:
  • the control server 110 is further configured to determine a second temporary storage location 1402 of the target storage container 1311 in the temporary storage area according to the order group information, and send a container handling instruction to the second target autonomous mobile robot.
  • control server 110 determines, according to the order group information, that the pallet M will be used in subsequent order processing tasks, then determines the second temporary storage area 1402 of the pallet M in the temporary storage area, and sends it to the handling robot P2.
  • a container transport instruction for transporting the pallet M to the second temporary storage area 1402 is sent.
  • the second target autonomous mobile robot 1602 is further configured to move the target storage container 1311 from the workstation 120 to the second temporary storage location 1402 in response to the container handling instruction.
  • the transport robot P2 transports the pallet M from the workstation to the second temporary storage location 1402 in response to the container transport instruction.
  • system further includes:
  • the control server 110 is further configured to, according to the order group information, determine the second storage location 1302 of the target storage container 1311 in the fixed storage area, and the second target tray storage of the target storage container 1311. fetching device 1502 and a second target docking position 1322 for connecting to the target storage container, sending container handling instructions to the second target autonomous mobile robot 1602 and sending container storage to the second target palletized access device 1502 Enter the command.
  • control server 110 determines that the pallet M will not be used in subsequent order processing according to the order group information, and determines that the pallet M is to be transported back to the fixed storage area 130, then the pallet M is determined to be transported back to the fixed storage area 130.
  • the tray-type access device S2 for storing the high-level shelf and the second target connecting position 1322 for connecting the tray M are determined at the same time, and the control server 110 sends the
  • the handling robot P2 sends a container handling instruction to move the pallet M from the workstation to the second target docking location 1322 and sends the pallet access device S2 to convey the pallet M from the second destination docking location 1322 to the second storage location 1302 and A container deposit instruction to deposit pallet M into the second storage location 1302 .
  • the second target autonomous mobile robot 1602 is further configured to transport the target storage container 1311 from the workstation 120 to the second target docking location 1322 in response to the container handling instruction.
  • the transport robot P2 transports the tray M from the workstation to the second target docking position 1322 in response to the container transport instruction.
  • the second target tray access device 1502 is configured to receive the target storage container 1311 at the second target docking location 1322 in response to the container deposit instruction, and to store the target storage container 1311 into the second storage location 1302.
  • the tray-type access device S2 and the transfer robot P2 are connected to the tray M at the second target connection position 1322, and then the tray M is transported to the second storage position 1302, and the tray M is stored in the second storage position 1302. into the second storage location 1302.
  • the warehousing management system reduces the cost of warehousing management, realizes the automation of the warehousing system, avoids the mixing of equipment and people, and simplifies warehousing through the cooperation of the tray-type access device and the autonomous mobile robot.
  • the overall operating environment of the system improves the operating efficiency.
  • the control server stores the storage container corresponding to the item hit by the order in the temporary buffer area in advance according to the order group information. When the corresponding order task is executed, it will be stored in the temporary buffer area. Carrying storage containers to workstations to perform picking tasks, making full use of the flexibility of autonomous mobile robots, can further effectively improve work efficiency in the case of order peaks.
  • FIG. 4 shows a warehouse management method provided by an embodiment of the present application.
  • This embodiment can use the case of accessing storage containers in a fixed storage area, and the method can be executed by the warehouse management system in the first embodiment.
  • the application scenarios of this method include at least one or more control servers, one or more automatic access systems, multiple autonomous mobile robots, multiple workstations and multiple temporary storage
  • the automatic access system includes a plurality of high-level racks and a plurality of pallet-type access devices operating on the plurality of high-level racks, the pallet-type access devices and the autonomous mobile robot are respectively connected with the control Server communication connection
  • the warehouse management method specifically includes:
  • Step 402 The control server determines, according to the first order, one or more target storage containers hit by the first order, the storage positions of the one or more target storage containers in the high-bay rack, the target docking position, and the target workstation and at least one of the target temporary storage areas, sending a container retrieval instruction to one or more target pallet access devices of the plurality of pallet access devices and to one or more of the plurality of autonomous mobile robots
  • the target autonomous mobile robot sends container handling instructions.
  • Step 404 In response to the container take-out instruction, the target tray-type access device runs to the storage position of the target storage container on the high-level shelf, and takes out the target storage container from the storage position and transports the target storage container to the storage position. the target docking location.
  • Step 406 In response to the container handling instruction, the target autonomous mobile robot runs to the target docking position to attach the target storage container, and transports the target storage container from the target docking position to the target storage container.
  • the target workstation completes at least one of the order picking task and the target temporary storage area for buffering.
  • the first order comes from an order group combined according to a predetermined rule.
  • control server sends a container handling instruction to the target autonomous mobile robot
  • the target autonomous mobile robot transports the target storage container from the workstation to the target temporary storage area in response to the container handling instruction.
  • the control server sends a container handling instruction to the target autonomous mobile robot when it is determined that the picking task of the first order is about to be executed at the target workstation;
  • the target autonomous mobile robot transports the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the autonomous mobile robot leaves the target temporary storage area after transporting the target storage container to the target temporary storage area for buffering; wherein,
  • the control server sends a container handling instruction to another autonomous mobile robot in the plurality of autonomous mobile robots when it is determined that the picking task of the first order is about to be executed at the target workstation;
  • the other autonomous mobile robot transports the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the control server sends a container handling instruction to one or more other autonomous mobile robots in the plurality of autonomous mobile robots in response to the second order in the order combination;
  • the other autonomous mobile robot transports the target storage container from the target temporary storage area to the target workstation in response to the container handling instruction.
  • the control server After determining that the picking task of all the orders in the order group is completed, the control server determines the storage position and the target connection position of the target storage container in the high-level shelf, and sends them to the plurality of autonomous mobile robots. sending container handling instructions and sending container depositing instructions to other pallet-type access devices in the plurality of pallet-type access devices;
  • the other autonomous mobile robot transports the target storage container from the target workstation to the target docking location in response to the container handling instruction;
  • the other tray-type access device configured to operate to the target docking location to dock the target storage container and deposit the target storage container into the storage location in response to the container deposit instruction .
  • a workstation is bound to at least one temporary storage area.
  • the distance between the temporary storage area and the workstation to which it is bound is less than or equal to a preset threshold.
  • the target autonomous mobile robot moves to the target docking position in advance in response to the container handling instruction to wait for the target storage container to be transported to the target docking position.
  • the other tray-type access device moves to the target docking position in advance and waits for the target storage container to be transported to the target docking position.
  • the target storage container is configured with a readable mark
  • the tray-type access device and/or the autonomous mobile robot is configured with an identification device
  • the identification device determines the target by identifying the readable mark The location of the storage container and/or the information of the storage container.
  • the target connection position is located in the roadway or at the entrance of the roadway between the high-level shelves.
  • the warehouse management method provided in this embodiment reduces the cost of warehouse management, realizes the automation of the warehouse system, avoids the mixed operation of equipment and people, and simplifies the warehouse system through the cooperation of the tray-type access device and the autonomous mobile robot.
  • the overall operation environment improves the operation efficiency.
  • the unpicked target storage container will be Transport to the temporary storage area, or store the storage container corresponding to the item hit by the order in the temporary buffer area in advance.
  • the storage container is transported in the temporary buffer area to the workstation to perform the picking task, making full use of the With the flexibility of the autonomous mobile robot, it can further effectively improve the operation efficiency in the case of order peaks.

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Abstract

本申请提供仓储管理系统及方法，其中所述系统包括：控制服务器、自主移动机器人、工作站、临时存储区和托盘式存取设备，托盘式存取设备和自主移动机器人分别与控制服务器通信连接；控制服务器被配置为根据第一订单，确定第一订单命中的目标存储容器、目标存储容器的存储位、目标接驳位置以及目标工作站和目标临时存储区，向目标托盘式存取设备发送容器取出指令以及向目标自主移动机器人发送容器搬运指令；目标托盘式存取设备被配置为响应于容器取出指令，将目标存储容器从存储位取出并搬运至目标接驳位置；目标自主移动机器人被配置为响应于容器搬运指令，将目标存储容器从目标接驳位置搬运至目标工作站完成所述订单的拣选任务和目标临时存储区进行缓存中的至少之一。

Description

仓储管理系统及方法
本申请要求于2020年11月5日提交中国专利局、申请号为202011223032.X、发明名称为“仓储管理系统及方法”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。
技术领域
本申请涉及仓储技术领域，特别涉及仓储管理系统及方法。
背景技术
随着电子商务的快速发展，电子商务在消费者生活中扮演着越来越重要的角色，每年用户订单数量呈几何倍数增长，仓储中心的处理能力也在经受严峻的考验。
在现有的自动化物流中心中，AS/RS(Automated Storage and Retrieval System，自动存取系统)作为应用较为广泛的自动化密集存储设备，拥有较大的市场保有量，与此同时，传统AS/RS一般通过库端输送系统，实现整托或者在线整箱拆零出库作业；库端输送系统由链式输送线、辊筒输送线和移栽机构成，其只能实现按照线路连接方式的X/Y轴的水平移动，且受到水平移栽的效率影响，在拐点处的搬运能力大概仅有40托/小时，直线段输送能力能到200托/小时，在线拣选仅能实现整托出库和极少量整箱拆零出库。并且，商品拣选完毕后还需要进行回库操作，且部分商品在回库时需要重新缠绕膜进行固定，如果有部分SKU(Stock Keeping Unit，最小存货单位)在某个订单批次下多次拣选，需要不断重复出入库或者占用库端输送系统进行环绕输送，出库效率低。
因此，如何解决上述问题，提高仓储管理系统的出库效率，就成为技术人员亟需解决的问题。
发明内容
有鉴于此，本申请实施例提供了仓储管理系统及方法，以解决现有技术中存在的技术缺陷。
根据本申请实施例的第一方面，提供了一种仓储管理系统，所述系统包括：一个或多个控制服务器、一个或多个自动存取系统、多个自主移动机器人、多个工作站和多个临时存储区；所述自动存取系统包括高位货架以及运行在所述高位货架上的托盘式存取设备，所述托盘式存取设备和所述自主移动机器人分别与所述控制服务器通信连接；其中，
所述控制服务器，被配置为根据第一订单，确定所述第一订单命中的一个或多个目标存储容器、所述一个或多个目标存储容器在所述高位货架中的存储位、目标接驳位置以及目标工作站和目标临时存储区中的至少之一，向所述多个托盘式存取设备中的一个或多个目标托盘式存取设备发送容器取出指令以及向多个自主移动机器人中的一个或多个目标自主移动机器人发送容器搬运指令；
所述目标托盘式存取设备，被配置为响应于所述容器取出指令，运行至所述目标存储容器在所述高位货架的存储位，将所述目标存储容器从所述存储位取出并搬运至所述目标接驳位置；
所述目标自主移动机器人，被配置为响应于所述容器搬运指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器从所述目标接驳位置搬运至所述目标工作站完成所述订单的拣选任务和目标临时存储区进行缓存中的至少之一。
可选的，所述第一订单来自于一个按照预定规则进行组合后的订单组。
可选的，所述控制服务器，还被配置为在确定所述第一订单的拣选任务在所述目标工作站完成后，向所述目标自主移动机器人发送容器搬运指令；
所述目标自主移动机器人，还被配置为响应于所述容器搬运指令，将所述目标存储容器从所述工作站搬运至所述目标临时存储区。
可选的，
所述控制服务器，还被配置为在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述目标自主移动机器人发送容器搬运指令；
所述目标自主移动机器人，还被配置为响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，所述自主移动机器人将所述目标存储容器搬运至目标临时存储区进行缓存后离开所述目标临时存储区；其中，
所述控制服务器，还被配置为在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述多个自主移动机器人中的另一个自主移动机器人发送容器搬运指令；
所述另一个自主移动机器人，被配置为响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，
所述控制服务器，还被配置为响应于所述订单组合中的第二订单，向所述多个自主移动机器人中的一个或多个其它自主移动机器人发送容器搬运指令；
所述其它自主移动机器人，被配置为响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，
所述控制服务器，还被配置为在确定所述订单组中的所有订单的拣选任务完成后，确定所述目标存储容器在所述高位货架中的存储位以及目标接驳位置，向所述多个自主移动机器人中的其它自主移动机器人发送容器搬运指令以及向所述多个托盘式存取设备中的其它托盘式存取设备发送容器存入指令；
所述其它自主移动机器人，还被配置为响应于所述容器搬运指令，将所述目标存储容器从所述目标工作站搬运至所述目标接驳位置；
所述其它托盘式存取设备，被配置为响应于所述容器存入指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器存入所述存储位。
可选的，一个工作站绑定至少一个临时存储区域。
可选的，所述临时存储区域与其绑定的工作站之间的距离小于或等于预设阈值。
可选的，所述目标自主移动机器人，进一步被配置为响应于所述容器搬运指令，提前移动到所述目标接驳位置处以等待所述目标存储容器被搬运至所述目标接驳位置。
可选的，所述其它托盘式存取设备，进一步被配置为响应于所述容器存入指令，提前移动到所述目标接驳位置处等待所述目标存储容器被搬运至所述目标接驳位置。
可选的，所述目标存储容器配置有可读标记，所述托盘式存取设备和/或所述自主移动机器人配置有识别装置，所述识别装置通过识别所述可读标记确定所述目标存储容器的位置和/或存储容器的信息。
可选的，所述目标接驳位置位于所述高位货架之间巷道内或者巷道口处。
可选的，所述托盘式存取设备包括堆垛机。
根据本申请实施例的第二方面，提供了一种仓储管理方法，包括：
控制服务器根据第一订单，确定所述第一订单命中的一个或多个目标存储容器、所述一个或多个目标存储容器在高位货架中的存储位、目标接驳位置以及目标工作站和目标临时存储区中的至少之一，向所述多个托盘式存取设备中的一个或多个目标托盘式存取设备发送容器取出指令以及向多个自主移动机器人中的一个或多个目标自主移动机器人发送容器搬运指令；
所述目标托盘式存取设备响应于所述容器取出指令，运行至所述目标存储容器在所述高位货架的存储位，将所述目标存储容器从所述存储位取出并搬运至所述目标接驳位置；
所述目标自主移动机器人响应于所述容器搬运指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器从所述目标接驳位置搬运至所述目标工作站完成所述订单的拣选任务和目标临时存储区进行缓存中的至少之一。
可选的，所述第一订单来自于一个按照预定规则进行组合后的订单组。
可选的，所述控制服务器，在确定所述第一订单的拣选任务在所述目标工作站完成后，向所述目标自主移动机器人发送容器搬运指令；
所述目标自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述工作站搬运至所述目标临时存储区。
可选的，
所述控制服务器在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述目标自主移动机器人发送容器搬运指令；
所述目标自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，所述自主移动机器人将所述目标存储容器搬运至目标临时存储区进行缓存后离开所述目标临时存储区；其中，
所述控制服务器在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述多个自主移动机器人中的另一个自主移动机器人发送容器搬运指令；
所述另一个自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，
所述控制服务器响应于所述订单组合中的第二订单，向所述多个自主移动机器人中的一个或多个其它自主移动机器人发送容器搬运指令；
所述其它自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，所述控制服务器在确定所述订单组中的所有订单的拣选任务完成后，确定所述目标存储容器在所述高位货架中的存储位以及目标接驳位置，向所述多个自主移动机器人中的其它自主移动机器人发送容器搬运指令以及向所述多个托盘式存取设备中的其它托盘式存取设备发送容器存入指令；
所述其它自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标工作站搬运至所述目标接驳位置；
所述其它托盘式存取设备，被配置为响应于所述容器存入指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器存入所述存储 位。
可选的，一个工作站绑定至少一个临时存储区域。
可选的，所述临时存储区域与其绑定的工作站之间的距离小于或等于预设阈值。
可选的，所述目标自主移动机器人响应于所述容器搬运指令，提前移动到所述目标接驳位置处以等待所述目标存储容器被搬运至所述目标接驳位置。
可选的，所述其它托盘式存取设备响应于所述容器存入指令，提前移动到所述目标接驳位置处等待所述目标存储容器被搬运至所述目标接驳位置。
可选的，所述目标存储容器配置有可读标记，所述托盘式存取设备和/或所述自主移动机器人配置有识别装置，所述识别装置通过识别所述可读标记确定所述目标存储容器的位置和/或存储容器的信息。
可选的，所述目标接驳位置位于所述高位货架之间巷道内或者巷道口处。
可选的，所述托盘式存取设备包括堆垛机。本申请实施例提供的仓储管理系统，通过控制服务器根据第一订单，确定所述第一订单命中的一个或多个目标存储容器、所述一个或多个目标存储容器在所述高位货架中的存储位、目标接驳位置以及目标工作站和目标临时存储区中的至少之一，向所述多个托盘式存取设备中的一个或多个目标托盘式存取设备发送容器取出指令以及向多个自主移动机器人中的一个或多个目标自主移动机器人发送容器搬运指令；所述目标托盘式存取设备，被配置为响应于所述容器取出指令，运行至所述目标存储容器在所述高位货架的存储位，将所述目标存储容器从所述存储位取出并搬运至所述目标接驳位置；所述目标自主移动机器人，被配置为响应于所述容器搬运指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存 储容器从所述目标接驳位置搬运至所述目标工作站完成所述订单的拣选任务和目标临时存储区进行缓存中的至少之一。
本申请提供的仓储管理系统，基于自主移动机器人的柔性化特点，与托盘式存取设备直接对接，机动灵活，提高效率；同时设置临时存储区，当同一个订单组中可能有部分商品在单次搬运中无法全部拣选完毕，可以将整托拣选出库的商品在未拣选完毕之前搬运至临时存储区，当订单组中后续订单再需要拣选该商品时优先定位临时存储区内的商品进行出库作业，提高作业效率，同时减少传统方案所遇到的成本浪费，灵活满足业务的弹性需求。
附图说明
图1是本申请实施例提供的仓储管理系统的系统结构示意图；
图2是本申请实施例提供的用于存取存储容器的托盘式存取设备示意图；
图3是本申请实施例提供的用于搬运托盘的搬运机器人示意图；
图4是本申请实施例提供的一种仓储管理方法的流程图。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施的限制。
在本申请一个或多个实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请一个或多个实施例。在本申请一个或多个实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包 括多数形式，除非上下文清楚地表示其他含义。还应当理解，本申请一个或多个实施例中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请一个或多个实施例中可能采用术语第一、第二等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请一个或多个实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
在本申请中，提供了一种仓储管理系统及方法，在下面的实施例中逐一进行详细说明。
图1示出了本申请一实施例提供的仓储管理系统的系统结构示意图，该系统包括：一个或多个控制服务器110、多个工作站120、固定存储区130、多个临时存储区140、一个或多个自动存取系统(AS/RS，Automated Storage and Retrieval System)，所述自动存取系统包括多个高位货架和运行在所述多个高位货架上的多个托盘式存取设备150，以及多个自主移动机器人160。
控制服务器110与托盘式存取设备150和/或自主移动机器人160无线通信连接，工作人员通过操作台114操作控制服务器110工作，所述控制服务器110为在服务器上运行的、具有数据存储、信息处理能力的软件系统，可以通过无线与托盘式存取设备150和自主移动机器人160、工作站120的软件系统等连接，控制服务器110可以包括一个或多个服务器，可以为集中式控制架构或者分布式计算架构，控制服务器110具有处理器111和存储器112，在存储 器112中可以具有订单池113，订单池113中存有订单信息。
工作站120为人工拣选区域，存储容器131被搬运至工作站120后，由工作站120的工作人员按照订单提示信息，将存储容器131中的商品拿出进行扫描，当订单处理完毕后，控制服务器110向工作站120推送下一个订单。
所述固定存储区130可以为密集存储区，也可以为非密集存储区，在固定存储区130中设置有多个高位货架，高位货架上存放有存储容器131，存储容器131上放置有各种商品，在多个高位货架之间设置有供托盘式存取设备150通过的至少一个巷道，在巷道靠近工作站120的巷道口处设置有至少一个接驳位置132，接驳位置132还可以位于所述高位货架之间巷道内，存储容器131可以为密集存储中堆垛的托盘，存储容器131配置有可读标记，供托盘式存取设备150和/或自主移动机器人160上的识别装置识别，以确定所述存储容器131的位置和/或存储容器信息。
所述临时存储区140为存储容器临时存储的区域，由于工作站120数量有限，在一个订单组内可能存在同一个商品在一个订单组的多个订单，但工作站120无法一次处理订单组中所有的订单，即商品在单次搬运过程中无法全部拣选完毕的情况，临时存储区140临时存储同一个订单组内整托挑选出库、完成当前订单但未完成下一个订单的商品，后续再有订单挑选所述商品时，可以优先定位临时存储区140处的商品，如一个订单组中有10个订单，10个订单总共需要A商品15件，其中，第1个订单需要A商品10件，第5个订单需要A商品5件，当执行第1个订单时，存储A商品的M存储容器被搬运至工作站，工作人员拣选10件商品后，将M存储容器搬运至临时存储区140，当执行到第5个订单时，控制服务器控制自主移动机器人从临时存储区140搬运 M存储容器至工作站，提供A商品的拣选。
托盘式存取设备150在控制服务器110的控制下，执行存储容器131的取出、存入任务，如图2所示，图2示出了本申请实施例提供的托盘式存取设备，该托盘式存取设备可以包括货叉，所述货叉的出叉方向与托盘式存取设备的行驶方向平行，以避免托盘式存取设备在取出和存放置物容器时因转向而导致巷道过宽。此外，该托盘式存取设备还可以包括用于控制货叉上下平行移动的控制器以及目标识别组件(图2未示出)等；托盘式存取设备150可以在固定存储区130的巷道之间移动，托盘式存取设备150还配置有识别装置，用以识别存储容器上的可读标记。托盘式存取设备具体可以包括堆垛机。
自主移动机器人160在控制服务器110的控制下，执行存储容器131的搬运任务，自主移动机器人可以为搬运机器人，搬运机器人可以为用于背负托盘的搬运机器人；如图3所示，图3是出了本申请一实施例提供的用于搬运托盘的搬运机器人的示意图，如图3所示的搬运机器人顶部有一个托盘，用于搬运存储容器。自主移动机器人160用于在接驳位置132和工作站120之间、工作站120与临时存储区140之间、接驳位置132与临时存储区140之间移动，自主移动机器人160也配置有识别装置，用于识别存储容器上的可读标记。
需要注意的是，托盘式存取设备150和/或自主移动机器人160可以是基于视觉实现导航，此时，托盘式存取设备150和/或自主移动机器人160还包括导航识别组件，用于识别铺设地面上的导航标记(如二维码)，在一个示例中，托盘式存取设备150和/或自主移动机器人160至少包括一个向下的摄像头，根据向下的摄像头拍摄到的导航标记向前行驶，托盘式存取设备150和/ 或自主移动机器人160的行驶路线由控制服务器110进行规划和生成。
在传统的自动化密集存储模式的解决方案中，通常采取人工固定缓存区，利用外挂并联缓存线的形式解决商品拆零拣选的方式，而人工固定缓存区和外挂并联缓存线均会带来仓储成本的增加，并且商品在每次拣选完毕后都需要进行回库操作，拣选效率较低，难以适应行业发展。
下面针对本申请实施例提供的仓储管理系统及方法，通过各个实施例进行详细阐述。
实施例一
本申请实施例提供的一种仓储管理系统，如图1所示，系统包括控制服务器110、工作站120、固定存储区130、临时存储区140、托盘式存取设备150和自主移动机器人160，在固定存储区130中有存储容器131和接驳位置132，所述接驳位置132位于所述固定存储区130与所述工作站120的交界处，所述临时存储区域140与所述工作站120之间的距离小于或等于预设阈值；其中，
所述控制服务器110，被配置为根据订单组信息中的第一订单，确定第一订单命中的目标存储容器1311和目标存储容器1311在固定存储区域130中的第一存储位置1301，确定取出目标存储容器1311的第一目标托盘式存取设备1501、搬运所述目标存储容器的第一目标自主移动机器人1601以及接驳所述目标存储容器的第一目标接驳位置1321，向所述第一目标托盘式存取设备1501发送容器取出指令以及向所述第一目标自主移动机器人1601发送容器搬运指令。
订单组信息具体为一个订单波次中多个订单的综合信息；第一订单为当前处理的订单，第一订单可以是单个订单，也可以是订单组中的某个订单；目标 存储容器为目标商品所在的存储容器；第一存储位置是目标存储容器当前在固定存储区域中的存储位置；第一目标托盘式存取设备为在固定存储区中用于将目标存储容器取出的设备；目标自主移动机器人为用于搬运目标存储容器的设备；第一目标接驳位置指在目标存储容器从固定存储区取出时，用于接驳目标存储容器的接驳位置，以使第一目标托盘式存取设备和第一目标自主移动机器人完成目标存储容器的交接操作。
具体的，以订单组中的商品B为例，订单组为控制服务器获取的多个订单的组合，订单组中包括多个订单，每个订单中包括一个或多个商品，如订单组中有5个订单，其中第一个订单和第三个订单中需要商品B共计30个，根据第一个订单请求，确定商品B对应的托盘M，以及托盘M在固定存储区域中的第一存储位置1301，同时确定取出托盘M的托盘式存取设备S1，用于搬运所述托盘M的搬运机器人C1，以及托盘式存取设备S1与搬运机器人C1执行接驳的第一目标接驳位置1321。
所述第一目标托盘式存取设备1501，被配置为响应于所述容器取出指令，运行至所述目标存储容器1311在所述高位货架的存储位1301，将所述目标存储容器1311从所述存储位1301取出并搬运至所述目标接驳位置1321。
具体的，沿用上例，托盘式存取设备S1在第一存储位置1301取出托盘M，并搬运至第一目标接驳位置1321。
所述第一目标自主移动机器人1601，被配置为响应于所述容器搬运指令，运行至所述目标接驳位置1321接驳所述目标存储容器1311，并将所述目标存储容器1311从所述第一目标接驳位置1321搬运至所述工作站120完成所述订单的拣选任务。
在实际应用中，为了提高工作效率，第一目标自主移动机器人1601进一步被配置为响应于所述容器搬运指令，提前移动到所述第一目标接驳位置1321处以等待所述目标存储容器1311被搬运至所述第一目标接驳位置1321。
具体的，沿用上例，搬运机器人C1提前移动到第一目标接驳位置1321，与托盘式存取设备S1进行接驳，并将托盘M搬运至工作站。
工作站120中的工作人员或机械臂按照工作站中屏幕提示的订单信息，在存储容器中的商品拿出进行扫描后放置在播种墙的料箱中，当拣选商品的任务完成后，控制服务器根据订单组信息确定所述目标存储容器1311中的商品在后续的订单中还会再次被拣选，因此在临时存储区140中确定所述目标存储容器1311的第一临时存储位置1401，向所述第一目标自主移动机器人1601发送容器搬运指令。
具体的，沿用上例，工作站中的工作人员按照工作站中屏幕提示的订单信息，在托盘M中拿出10个商品B，控制服务器根据订单组信息确定第三个订单任务中还需要20个商品B，因此控制服务器在临时存储区中确定托盘M的第一临时存储位置1401，并向搬运机器人C1发送将托盘M搬运至第一临时存储位置1401的容器搬运指令。
所述第一目标自主移动机器人1601，进一步被配置为响应于所述容器搬运指令，将所述目标存储容器1311从所述工作站120搬运至所述第一临时存储位置1401。
具体的，沿用上例，搬运机器人C1响应于容器搬运指令，搬运托盘M至第一临时存取位置1401。
同时，所述控制服务器110，进一步被配置为响应于所述订单组信息中的 第二订单，确定搬运所述目标存储容器1311的第二目标自主移动机器人1602，向所述第二目标自主移动机器人1602发送容器搬运指令。
需要注意的是，第一目标自主移动机器人1601和第二目标自主移动机器人1602可以为同一个自主移动机器人，也可以为不同的自主移动机器人。
在实际应用中，一个订单组中可以有多个订单，每个订单中的商品各不相同，通常会有同一个商品出现在不同的订单中的情况，传统的仓储管理系统中，每个订单完成之后，存储容器均会被搬运回固定存储区做入库处理，这样极大地降低了拣选效率，在本申请实施例提供的仓储管理系统中，根据一个订单组中的商品信息可以确定存储容器中的商品是否被拣选完毕，若已经拣选完毕则可以将存储容器搬运回固定存储区130，若没有拣选完毕，则可以将存储容器搬运至临时存储区140。
具体的，沿用上例，当控制服务器执行到订单组中第三个订单请求时，第三个订单请求需要20个商品B，确定自主移动机器人C2，并向自主移动机器人C2发送容器搬运指令。
所述第二目标自主移动机器人1602，被配置为响应于所述容器搬运指令，将所述目标存储容器1311从所述第一临时存储位置1401搬运至所述工作站120进行第二订单的拣选任务。
具体的，沿用上例，搬运机器人C2响应于容器搬运指令，将托盘M从第一临时存取位置1401搬运至工作站进行第三个订单请求的拣选任务。
相应的，当第二目标订单的拣选任务完成后，根据订单组中的信息判断目标存储容器1311中的商品是否拣选完成，若订单组中后续的订单中还需要拣选所述商品，则控制服务器110进一步被配置为根据订单组信息，确定所述目 标存储容器1311在所述临时存储区的第二临时存储位置1402，向所述第二目标自主移动机器人1602发送容器搬运指令。
所述第二目标自主移动机器人1602，进一步被配置为响应于所述容器搬运指令，将所述目标存储容器1311从所述工作站120搬运至所述第二临时存储位置1402，以等待下一个订单请求。
相应的，当第二目标订单的拣选任务完成后，订单组中后续的订单中没有所述商品或所述目标存储容器1311中的商品数量不足的情况下，控制服务器110进一步被配置为根据订单组信息，确定所述目标存储容器1311在所述固定存储区域130中的第二存储位置1302，存入所述目标存储容器1311的第二目标托盘式存取设备1502，以及接驳所述目标存储容器的第二目标接驳位置1322，并向第二目标自主移动机器人1602发送容器搬运指令以及向第二目标托盘式存取设备1502发送容器存入指令。
需要注意的是，第一目标托盘式存取设备1501和第二目标托盘式存取设备1502可以为相同托盘式存取设备，也可以为不同托盘式存取设备；第一存储位置1301和第二存储位置1302可以为相同存储位置，也可以为不同的存储位置；第一目标接驳位置1321和第二目标接驳位置1322可以为相同接驳位置，也可以为不同的接驳位置，接驳位置从空闲的接驳位置中确定。
具体的，沿用上例，此时订单组中商品B的拣选任务已经完成，控制服务器确定托盘M在固定存储区130中的第二存储位置1302、第二目标接驳位置1322以及托盘式存取设备S2，向搬运机器人C2发送将托盘M搬运至第二目标接驳位置1322的容器搬运指令，向托盘式存取设备S2发送将托盘M存入第二存储位置1302的容器存入指令。
所述第二目标自主移动机器人1602，进一步被配置为响应于所述容器搬运指令，将所述目标存储容器1311从所述工作站120搬运至所述第二目标接驳位置1322。
具体的，沿用上例，搬运机器人C2响应于容器搬运指令，将托盘M从工作站120搬运至第二目标接驳位置1322。
所述第二目标托盘式存取设备1502，被配置为响应于所述容器存入指令，在所述第二目标接驳位置1322接收所述目标存储容器1311，并将所述目标存储容器1311存入第二存储位置1302。
在实际应用中，为了提高工作效率，所述第二目标托盘式存取设备1502，进一步被配置为响应于所述容器存入指令，提前移动到所述第二目标接驳位置1322处等待所述目标存储容器1311被搬运至所述第二目标接驳位置1322。
具体的，沿用上例，托盘式存取设备S2提前移动至第二目标接驳位置1322，与搬运机器人C2针对托盘M进行接驳，并将托盘M搬运至并存入第二存储位置1302。
本申请提供的实施例中，该仓储管理系统可以应用于传统的仓储环境或密集化仓储环境，该仓储系统应用的存储场景中至少包括固定存储区、临时存储区和工作站，其中，固定存储区用于存放存储容器，例如高位货架，控制服务器用于存储、更新和管理存储信息库，依据接收到的请求或指示以及存储信息库给设备下发指令来统筹管理存储容器的存储状态。
在固定存储区域中设置有用于存入或取出存储容器的托盘式存取设备150，托盘式存取设备150可以根据控制服务器发送的指令执行存取、搬运存储容器的操作，托盘式存取设备105可以使用任何一种导航方式或多种导航方 式的结合，如二维码、即时定位与地图构建(Simultaneous Localization And Mapping，SLAM)等导航方式或其集合。
在本申请提供的实施例中，临时存储区域140与工作站120相邻，临时存储区140与工作站120的距离小于预设阈值，当存储容器在工作站执行完当前订单的拣选任务后，可以由自主移动机器人搬运至临时存储区140做临时存储，当执行订单组中其他订单任务时，可以从临时存储区140中将存储容器搬运至工作站进行其他订单任务的拣选操作，提高商品拣选效率，减少仓储成本。
在本申请提供的实施例中，固定存储区130靠近工作站一侧设置有接驳位置，用于衔接托盘式存取设备与自主移动机器人之间的接驳操作，接驳位置为至少一个，为了充分利用空间，优选接驳位置为多个，接驳位置可以设置与固定的位置区域，也可以根据仓储情况灵活变更设置的区域，进而提高仓储效率。通过托盘式存取设备150和自主移动机器人160在接驳位置132的协同合作，完成存储容器的存入、搬运、取出等操作。
本申请实施例提供的仓储管理系统，通过托盘式存取设备和自主移动机器人的配合，降低了仓储管理的成本，实现了仓储系统的自动化，避免了设备和人混行的情况，简化了仓储系统整体的作业环境，提高了作业效率，同时在处理订单组中的多个订单请求时，当目标存储容器中的商品在多个订单中被拣选的情况下，将未被拣选完的目标存储容器搬运至临时存储区，当所述订单组中的其他订单也命中该目标存储容器的情况下，优先定位临时存储区的目标存储容器，充分利用了自主移动机器人的灵活性，进一步提高了作业效率。
实施例二
本实施例提供了仓储系统的另外一种实现方式，如图1所示，系统包括： 一个或多个控制服务器110、多个工作站120、固定存储区130、多个临时存储区140、一个或多个自动存取系统，所述自动存取系统包括高位货架以及运行在所述高位货架上的托盘式存取设备150，多个自主移动机器人160，在固定存储区130中有存储容器131和接驳位置132，所述接驳位置132位于所述固定存储区130与所述工作站120的交界处，所述临时存储区域140与所述工作站120之间的距离小于或等于预设阈值；其中，
所述控制服务器110，被配置为根据订单组信息中的第一订单，确定第一订单命中的目标存储容器1311和目标存储容器1311在固定存储区域130中的第一存储位置1301，确定取出目标存储容器1311的第一目标托盘式存取设备1501、搬运所述目标存储容器的第一目标自主移动机器人1601以及接驳所述目标存储容器的第一目标接驳位置1321，向所述第一目标托盘式存取设备1501发送容器取出指令以及向所述第一目标自主移动机器人1601发送容器搬运指令。
在实际应用中，会出现一个订单组中有多个订单，多个订单中有多个商品的情况，但是有可能正在处理的订单还未命中该商品，因此可以先将商品对应的存储容器先放入临时存储区，当执行到相应订单任务时，从临时存储区将存储容器搬运至工作站执行订单任务，提高拣选效率。
具体的，以商品C为例，订单组中有5个订单信息，根据订单组信息确定第三个订单和第四个订单需要商品C共计10个，商品C对应托盘M，托盘M在固定存储区的第一存储位置1301，确定取出托盘M的托盘式存取设备S1、搬运所述托盘M的搬运机器人P1、托盘式存取设备S1和搬运机器人P1的第一接驳位置1321以及托盘M在临时存储区140的第一临时存储位置1401， 控制服务器110向托盘式存取设备S1发出从第一存储位置1301取出托盘M并将托盘M搬运至第一接驳位置1321的容器取出指令，以及向搬运机器人P1发送将托盘M搬运至第一临时存储位置1401的容器搬运指令。
所述第一目标托盘式存取设备1501，被配置为响应于所述容器取出指令，将所述目标存储容器1311从所述固定存储区取出并搬运至所述第一目标接驳位置1321。
具体的，沿用上例，托盘式存取设备S1响应于容器取出指令，移动至第一存储位置1301，取出托盘M并将托盘M搬运至第一目标接驳位置1321。
所述第一目标自主移动机器人1601，被配置为响应于所述容器搬运指令，将所述目标存储容器1311从所述第一目标接驳位置1321搬运至所述第一临时存储位置1401。
具体的，沿用上例，搬运机器人P1响应于容器搬运指令，在第一目标接驳位置1321与托盘式存取设备S1进行接驳，将接驳到的托盘M搬运至临时存储区140中的第一临时存储位置1401。
所述控制服务器110，进一步被配置为响应于订单组中的第一订单，确定用于搬运所述目标存储容器1311的第二目标自主移动机器人1602，向所述第二目标自主移动机器人1602发送容器搬运指令。
具体的，沿用上例，当控制服务器在处理第三个订单时，第三个订单中需要4个商品C，此时商品C对应的托盘M此时在临时存储区140的第一临时存储位置1401处，确定用于搬运所述托盘M的搬运机器人P2，向搬运机器人P2发送将托盘M搬运至工作站的容器搬运指令。
所述第二目标自主移动机器人1602，被配置为响应于所述容器搬运指令， 将所述目标存储容器1311从所述第一临时存储位置1401搬运至所述工作站130。
具体的，沿用上例，搬运机器人P2响应于容器搬运指令，移动至第一临时存储位置1401处，将托盘M从第一临时存储位置1401处移动至工作站。
可选的，所述系统还包括：
所述控制服务器110，进一步被配置为根据订单组信息，确定所述目标存储容器1311在所述临时存储区的第二临时存储位置1402，向所述第二目标自主移动机器人发送容器搬运指令。
具体的，沿用上例，控制服务器110根据订单组信息确定托盘M在后续的订单处理任务中还会用到，则确定托盘M在临时存储区中的第二临时存储区1402，向搬运机器人P2发送将托盘M搬运至所述第二临时存储区1402的容器搬运指令。
所述第二目标自主移动机器人1602，进一步被配置为响应于所述容器搬运指令，将所述目标存储容器1311从所述工作站120搬运至所述第二临时存储位置1402。
具体的，沿用上例，搬运机器人P2响应于所述容器搬运指令，将托盘M从工作站搬运至第二临时存储位置1402。
可选的，所述系统还包括：
所述控制服务器110，进一步被配置为根据订单组信息，确定所述目标存储容器1311在所述固定存储区域的第二存储位置1302、存入所述目标存储容器1311的第二目标托盘式存取设备1502以及接驳所述目标存储容器的第二目标接驳位置1322，向所述第二目标自主移动机器人1602发送容器搬运指令 及向所述第二目标托盘式存取设备1502发送容器存入指令。
具体的，沿用上例，当控制服务器110根据订单组信息确定托盘M在后续的订单处理中不会被用到的情况下，确定托盘M要被运送回固定存储区域130中，则确定托盘M在固定存储区域130中的第二存储位置1302，同时确定用于存入所述高位货架的托盘式存取设备S2以及接驳所述托盘M的第二目标接驳位置1322，控制服务器110向搬运机器人P2发送将托盘M从工作站搬运至第二目标接驳位置1322的容器搬运指令以及向托盘式存取设备S2发送将托盘M从第二目标接驳位置1322搬运至第二存储位置1302并将托盘M存入至第二存储位置1302的容器存入指令。
所述第二目标自主移动机器人1602，进一步被配置为响应于所述容器搬运指令，将所述目标存储容器1311从所述工作站120搬运至所述第二目标接驳位置1322。
具体的，沿用上例，搬运机器人P2响应于容器搬运指令，将托盘M从工作站搬运至第二目标接驳位置1322。
所述第二目标托盘式存取设备1502，被配置为响应于所述容器存入指令，在所述第二目标接驳位置1322接收所述目标存储容器1311，并将所述目标存储容器1311存入所述第二存储位置1302。
具体的，沿用上例，托盘式存取设备S2与搬运机器人P2在第二目标接驳位置1322针对托盘M进行接驳，之后，将托盘M搬运至第二存储位置1302，并将托盘M存入第二存储位置1302。
本申请实施例提供的仓储管理系统，通过托盘式存取设备和自主移动机器人的配合，降低了仓储管理的成本，实现了仓储系统的自动化，避免了设备和 人混行的情况，简化了仓储系统整体的作业环境，提高了作业效率，控制服务器根据订单组信息，将订单命中的商品对应的存储容器提前存入临时缓存区，当执行到相应的订单任务的情况下，在临时缓存区中搬运存储容器至工作站执行拣选任务，充分利用自主移动机器人的灵活性，在订单波峰的情况下，可以进一步有效提高作业效率。
实施例三
图4示出了本申请实施例提供一种仓储管理方法，本实施例可使用对于固定存储区中的存储容器进行物品存取的情况，该方法可以由实施例一中的仓储管理系统来执行，适用于传统仓储环境或密集存储环境，该方法所应用的场景中至少包括一个或多个控制服务器、一个或多个自动存取系统、多个自主移动机器人、多个工作站和多个临时存储区；所述自动存取系统包括多个高位货架以及运行在所述多个高位货架上的多个托盘式存取设备，所述托盘式存取设备和所述自主移动机器人分别与所述控制服务器通信连接，所述仓储管理方法具体包括：
步骤402：控制服务器根据第一订单，确定所述第一订单命中的一个或多个目标存储容器、所述一个或多个目标存储容器在高位货架中的存储位、目标接驳位置以及目标工作站和目标临时存储区中的至少之一，向所述多个托盘式存取设备中的一个或多个目标托盘式存取设备发送容器取出指令以及向多个自主移动机器人中的一个或多个目标自主移动机器人发送容器搬运指令。
步骤404：所述目标托盘式存取设备响应于所述容器取出指令，运行至所述目标存储容器在所述高位货架的存储位，将所述目标存储容器从所述存储位取出并搬运至所述目标接驳位置。
步骤406：所述目标自主移动机器人响应于所述容器搬运指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器从所述目标接驳位置搬运至所述目标工作站完成所述订单的拣选任务和目标临时存储区进行缓存中的至少之一。
可选的，所述第一订单来自于一个按照预定规则进行组合后的订单组。
可选的，所述控制服务器，在确定所述第一订单的拣选任务在所述目标工作站完成后，向所述目标自主移动机器人发送容器搬运指令；
所述目标自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述工作站搬运至所述目标临时存储区。
可选的，
所述控制服务器在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述目标自主移动机器人发送容器搬运指令；
所述目标自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，所述自主移动机器人将所述目标存储容器搬运至目标临时存储区进行缓存后离开所述目标临时存储区；其中，
所述控制服务器在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述多个自主移动机器人中的另一个自主移动机器人发送容器搬运指令；
所述另一个自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，
所述控制服务器响应于所述订单组合中的第二订单，向所述多个自主移动机器人中的一个或多个其它自主移动机器人发送容器搬运指令；
所述其它自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
可选的，
所述控制服务器在确定所述订单组中的所有订单的拣选任务完成后，确定所述目标存储容器在所述高位货架中的存储位以及目标接驳位置，向所述多个自主移动机器人中的其它自主移动机器人发送容器搬运指令以及向所述多个托盘式存取设备中的其它托盘式存取设备发送容器存入指令；
所述其它自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标工作站搬运至所述目标接驳位置；
所述其它托盘式存取设备，被配置为响应于所述容器存入指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器存入所述存储位。
可选的，一个工作站绑定至少一个临时存储区域。
可选的，所述临时存储区域与其绑定的工作站之间的距离小于或等于预设阈值。
可选的，所述目标自主移动机器人响应于所述容器搬运指令，提前移动到所述目标接驳位置处以等待所述目标存储容器被搬运至所述目标接驳位置。
可选的，所述其它托盘式存取设备响应于所述容器存入指令，提前移动到所述目标接驳位置处等待所述目标存储容器被搬运至所述目标接驳位置。
可选的，所述目标存储容器配置有可读标记，所述托盘式存取设备和/或所 述自主移动机器人配置有识别装置，所述识别装置通过识别所述可读标记确定所述目标存储容器的位置和/或存储容器的信息。
可选的，所述目标接驳位置位于所述高位货架之间巷道内或者巷道口处。
本实施例提供的仓储管理方法，通过托盘式存取设备和自主移动机器人的配合，降低了仓储管理的成本，实现了仓储系统的自动化，避免了设备和人混行的情况，简化了仓储系统整体的作业环境，提高了作业效率，同时在处理订单组中的多个订单请求时，当目标存储容器中的商品在多个订单中被拣选的情况下，将未被拣选完的目标存储容器搬运至临时存储区，或将订单命中的商品对应的存储容器提前存入临时缓存区，当执行到相应的订单任务的情况下，在临时缓存区中搬运存储容器至工作站执行拣选任务，充分利用了自主移动机器人的灵活性，，在订单波峰的情况下，可以进一步有效提高作业效率。
上述对本申请特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详 述的部分，可以参见其它实施例的相关描述。
以上公开的本申请优选实施例只是用于帮助阐述本申请。可选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本申请的内容，可作很多的修改和变化。本申请选取并具体描述这些实施例，是为了更好地解释本申请的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本申请。本申请仅受权利要求书及其全部范围和等效物的限制。

Claims (28)

  1. 一种仓储管理系统，所述系统包括：一个或多个控制服务器、一个或多个自动存取系统、多个自主移动机器人、多个工作站和多个临时存储区；所述自动存取系统包括多个高位货架以及运行在所述多个高位货架上的多个托盘式存取设备，所述托盘式存取设备和所述自主移动机器人分别与所述控制服务器通信连接；其中，
    所述控制服务器，被配置为根据第一订单，确定所述第一订单命中的一个或多个目标存储容器、所述一个或多个目标存储容器在所述高位货架中的存储位、目标接驳位置以及目标工作站和目标临时存储区中的至少之一，向所述多个托盘式存取设备中的一个或多个目标托盘式存取设备发送容器取出指令以及向多个自主移动机器人中的一个或多个目标自主移动机器人发送容器搬运指令；
    所述目标托盘式存取设备，被配置为响应于所述容器取出指令，运行至所述目标存储容器在所述高位货架的存储位，将所述目标存储容器从所述存储位取出并搬运至所述目标接驳位置；
    所述目标自主移动机器人，被配置为响应于所述容器搬运指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器从所述目标接驳位置搬运至所述目标工作站完成所述第一订单的拣选任务和目标临时存储区进行缓存中的至少之一。
  2. 如权利要求1所述的仓储管理系统，其特征在于，所述第一订单来自 于一个按照预定规则进行组合后的订单组。
  3. 如权利要求2所述的仓储管理系统，其中，所述控制服务器，还被配置为在确定所述第一订单的拣选任务在所述目标工作站完成后，向所述目标自主移动机器人发送容器搬运指令；
    所述目标自主移动机器人，还被配置为响应于所述容器搬运指令，将所述目标存储容器从所述工作站搬运至所述目标临时存储区。
  4. 如权利要求1所述的仓储管理系统，其中，
    所述控制服务器，还被配置为在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述目标自主移动机器人发送容器搬运指令；
    所述目标自主移动机器人，还被配置为响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
  5. 如权利要求1所述的仓储管理系统，其中，所述自主移动机器人将所述目标存储容器搬运至目标临时存储区进行缓存后离开所述目标临时存储区；其中，
    所述控制服务器，还被配置为在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述多个自主移动机器人中的另一个自主移动机器人发送容器搬运指令；
    所述另一个自主移动机器人，被配置为响应于所述容器搬运指令，将所 述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
  6. 如权利要求3所述的仓储管理系统，其中，所述控制服务器，还被配置为响应于所述订单组合中的第二订单，向所述多个自主移动机器人中的一个或多个其它自主移动机器人发送容器搬运指令；
    所述其它自主移动机器人，被配置为响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
  7. 如权利要求2所述的仓储管理系统，其中，
    所述控制服务器，还被配置为在确定所述订单组中的所有订单的拣选任务完成后，确定所述目标存储容器在所述高位货架中的存储位以及目标接驳位置，向所述多个自主移动机器人中的其它自主移动机器人发送容器搬运指令以及向所述多个托盘式存取设备中的其它托盘式存取设备发送容器存入指令；
    所述其它自主移动机器人，还被配置为响应于所述容器搬运指令，将所述目标存储容器从所述目标工作站搬运至所述目标接驳位置；
    所述其它托盘式存取设备，被配置为响应于所述容器存入指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器存入所述存储位。
  8. 如权利要求1所述的仓储管理系统，其中，一个工作站绑定至少一个临时存储区域。
  9. 如权利要求8所述的仓储管理系统，其中，所述临时存储区域与其绑定的工作站之间的距离小于或等于预设阈值。
  10. 如权利要求1所述的仓储管理系统，其中，所述目标自主移动机器人，进一步被配置为响应于所述容器搬运指令，提前移动到所述目标接驳位置处以等待所述目标存储容器被搬运至所述目标接驳位置。
  11. 如权利要求7所述的仓储管理系统，其中，所述其它托盘式存取设备，进一步被配置为响应于所述容器存入指令，提前移动到所述目标接驳位置处等待所述目标存储容器被搬运至所述目标接驳位置。
  12. 如权利要求1所述的仓储管理系统，其中，所述目标存储容器配置有可读标记，所述托盘式存取设备和/或所述自主移动机器人配置有识别装置，所述识别装置通过识别所述可读标记确定所述目标存储容器的位置和/或存储容器的信息。
  13. 如权利要求1所述的仓储管理系统，其中，所述目标接驳位置位于所述高位货架之间的巷道内或者巷道口处。
  14. 如权利要求1-13中任一项所述的仓储管理系统，其中，所述托盘式存取设备包括堆垛机。
  15. 一种仓储管理方法，包括：
    控制服务器根据第一订单，确定所述第一订单命中的一个或多个目标存储容器、所述一个或多个目标存储容器在高位货架中的存储位、目标接驳位 置以及目标工作站和目标临时存储区中的至少之一，向所述多个托盘式存取设备中的一个或多个目标托盘式存取设备发送容器取出指令以及向多个自主移动机器人中的一个或多个所述目标自主移动机器人发送容器搬运指令；
    所述目标托盘式存取设备响应于所述容器取出指令，运行至所述目标存储容器在所述高位货架的存储位，将所述目标存储容器从所述存储位取出并搬运至所述目标接驳位置；
    所述目标自主移动机器人响应于所述容器搬运指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器从所述目标接驳位置搬运至所述目标工作站完成所述订单的拣选任务和目标临时存储区进行缓存中的至少之一。
  16. 如权利要求15所述的仓储管理方法，其中，所述第一订单来自于一个按照预定规则进行组合后的订单组。
  17. 如权利要求16所述的仓储管理方法，其中，所述控制服务器，在确定所述第一订单的拣选任务在所述目标工作站完成后，向所述目标自主移动机器人发送容器搬运指令；
    所述目标自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述工作站搬运至所述目标临时存储区。
  18. 如权利要求15所述的仓储管理方法，其中，
    所述控制服务器在确定所述第一订单的拣选任务即将在所述目标工作站 执行时，向所述目标自主移动机器人发送容器搬运指令；
    所述目标自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
  19. 如权利要求15所述的仓储管理方法，其中，所述自主移动机器人将所述目标存储容器搬运至目标临时存储区进行缓存后离开所述目标临时存储区；其中，
    所述控制服务器在确定所述第一订单的拣选任务即将在所述目标工作站执行时，向所述多个自主移动机器人中的另一个自主移动机器人发送容器搬运指令；
    所述另一个自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
  20. 如权利要求17所述的仓储管理方法，其中，
    所述控制服务器响应于所述订单组合中的第二订单，向所述多个自主移动机器人中的一个或多个其它自主移动机器人发送容器搬运指令；
    所述其它自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标临时存储区搬运至所述目标工作站。
  21. 如权利要求16所述的仓储管理方法，其中，
    所述控制服务器在确定所述订单组中的所有订单的拣选任务完成后，确 定所述目标存储容器在所述高位货架中的存储位以及目标接驳位置，向所述多个自主移动机器人中的其它自主移动机器人发送容器搬运指令以及向所述多个托盘式存取设备中的其它托盘式存取设备发送容器存入指令；
    所述其它自主移动机器人响应于所述容器搬运指令，将所述目标存储容器从所述目标工作站搬运至所述目标接驳位置；
    所述其它托盘式存取设备，被配置为响应于所述容器存入指令，运行至所述目标接驳位置接驳所述目标存储容器，并将所述目标存储容器存入所述存储位。
  22. 如权利要求15所述的仓储管理方法，其中，一个工作站绑定至少一个临时存储区域。
  23. 如权利要求22所述的仓储管理方法，其特征在于，所述临时存储区域与其绑定的工作站之间的距离小于或等于预设阈值。
  24. 如权利要求15所述的仓储管理方法，其特征在于，所述目标自主移动机器人响应于所述容器搬运指令，提前移动到所述目标接驳位置处以等待所述目标存储容器被搬运至所述目标接驳位置。
  25. 如权利要求21所述的仓储管理方法，其中，所述其它托盘式存取设备响应于所述容器存入指令，提前移动到所述目标接驳位置处等待所述目标存储容器被搬运至所述目标接驳位置。
  26. 如权利要求15所述的仓储管理方法，其中，所述目标存储容器配置 有可读标记，所述托盘式存取设备和/或所述自主移动机器人配置有识别装置，所述识别装置通过识别所述可读标记确定所述目标存储容器的位置和/或存储容器的信息。
  27. 如权利要求15所述的仓储管理方法，其特征在于，所述目标接驳位置位于所述高位货架之间的巷道内或者巷道口处。
  28. 根据权利要求15-27中任一项所述的仓储管理方法，所述托盘式存取设备包括堆垛机。
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