TWI832103B

TWI832103B - Space allocation method and apparatus, material storage method and apparatus, robot, warehousing system and computer-readable storage medium

Info

Publication number: TWI832103B
Application number: TW110137727A
Authority: TW
Inventors: 喻潤方; 艾鑫
Original assignee: 大陸商深圳市海柔創新科技有限公司
Priority date: 2020-11-20
Filing date: 2021-10-12
Publication date: 2024-02-11
Also published as: TW202220913A; WO2022105653A1; CN112407728A

Abstract

The present application provides a space allocation method and apparatus, a material storage method and apparatus, a robot, a warehousing system and a computer-readable storage medium. The space allocation method includes: determining a first storage space adapted to a demand space of a material to be stored from an unoccupied space of a material storage space; allocating the first storage space to the material to-be-stored; and sending a first storage instruction to a first robot, where the first storage instruction includes information of the first storage space, thereby achieving dynamically allocating a proper space for a material according to requirements, improving a space utilization rate of the warehousing system, and reducing the warehousing cost.

Description

空間分配方法與裝置、貨物存放方法與裝置、機器人、倉儲系統及計算機可讀儲存媒體 Space allocation method and device, cargo storage method and device, robot, warehousing system and computer-readable storage media

本申請涉及智能倉儲技術領域，尤其涉及一種空間分配方法與裝置、貨物存放方法與裝置、機器人、倉儲系統及計算機可讀儲存媒體。 This application relates to the field of intelligent warehousing technology, and in particular to a space allocation method and device, a cargo storage method and device, a robot, a warehousing system and a computer-readable storage medium.

基於倉儲機器人的智能倉儲系統採用智能操作系統，通過系統指令實現貨物的自動提取和存放，同時可以24小時不間斷運行，代替了人工管理和操作，提高了倉儲的效率，受到了廣泛的應用和青睞。 The intelligent warehousing system based on warehousing robots adopts an intelligent operating system to realize automatic extraction and storage of goods through system instructions. At the same time, it can run 24 hours a day, replacing manual management and operations, improving the efficiency of warehousing, and has been widely used and favor.

現有的智能倉儲系統所使用的庫位均為靜態庫位，即每個庫位所佔據的物理空間是固定的，相應的，所存放的各個料箱的庫位的尺寸也是相同的，則倉儲系統對應的庫位的數量和位置是固定的，所能存放的料箱的數量和尺寸也收到了較大的限制，同時，採用固定庫位，也使得倉庫的存放空間無法得到充分利用，空間利用率較低，相應的，倉儲成本較高。 The storage locations used by existing intelligent warehousing systems are all static storage locations, that is, the physical space occupied by each storage location is fixed. Correspondingly, the sizes of the storage locations of each stored material box are also the same, so the warehousing The quantity and location of the corresponding warehouse locations in the system are Fixed, the number and size of the bins that can be stored are also greatly restricted. At the same time, the use of fixed storage locations also makes the storage space of the warehouse unable to be fully utilized, and the space utilization rate is low. Correspondingly, the storage cost higher.

本申請提供一種空間分配方法與裝置、貨物存放方法與裝置、機器人、倉儲系統及計算機可讀儲存媒體，實現了根據貨物的空間需求，靈活分配適當的空間，提高了倉儲系統的儲存空間的利用率。 This application provides a space allocation method and device, a cargo storage method and device, a robot, a warehousing system and a computer-readable storage medium, which realizes the flexible allocation of appropriate space according to the space requirements of the goods and improves the utilization of the storage space of the warehousing system. Rate.

第一方面，本申請實施例提供了一種空間分配方法，該方法包括：從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間；將所述第一儲存空間分配給所述待存放貨物；發送第一存放指令至第一機器人，所述第一存放指令包括所述第一儲存空間的資訊。 In a first aspect, embodiments of the present application provide a space allocation method, which method includes: determining a first storage space that is adapted to the required space for the goods to be stored from the unoccupied space of the goods storage space; A storage space is allocated to the goods to be stored; and a first storage instruction is sent to the first robot, where the first storage instruction includes information about the first storage space.

可選地，所述貨物存放空間包括第一未被佔用空間和/或第一被佔用空間，其中，所述第一被佔用空間為在貨物進出方向上已放置有貨物的空間。 Optionally, the cargo storage space includes a first unoccupied space and/or a first occupied space, wherein the first occupied space is a space in which cargo has been placed in the cargo entry and exit direction.

可選地，所述貨物存放空間包括第二未被佔用空間和/或第二被佔用空間；其中，所述第二未被佔用空間包括在貨物進出方向上未被貨物佔用的空間。 Optionally, the cargo storage space includes a second unoccupied space and/or a second occupied space; wherein the second unoccupied space includes a space that is not occupied by cargo in the cargo entry and exit direction.

可選地，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：從所述未被佔用空間中，選取大於或者等於所述需求空間的空間集合；根據第一條件，在所述空間集合中確定所述第一儲存空間。 Optionally, determining a first storage space adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space includes: determining from the unoccupied space of the cargo storage space Among the occupied spaces, a space set that is greater than or equal to the required space is selected; according to the first condition, the first storage space is determined in the space set.

可選地，所述第一條件包括以下一種或多種：所述待存放貨物的熱度；所述待存放貨物的尺寸資訊；所述待存放貨物在所述第一機器人上的儲存單元資訊；所述空間集合中每個空間的位置資訊；所述空間集合中每個空間的空間熱度；所述空間集合中每個空間的預設範圍內被佔用的空間的總面積；所述空間集合中每個空間的預設範圍內未被佔用空間的總面積；所述空間集合中每個空間的預設範圍內已放置貨箱的數量；所述空間集合中每個空間的預設範圍內屬於所述空間集合的空間的數量。 Optionally, the first condition includes one or more of the following: the heat of the goods to be stored; the size information of the goods to be stored; the storage unit information of the goods to be stored on the first robot; The location information of each space in the space collection; the space heat of each space in the space collection; the total area of occupied space within the preset range of each space in the space collection; each space in the space collection The total area of unoccupied space within the preset range of each space; the number of containers placed within the preset range of each space in the space set; the preset range of each space in the space set belonging to all The number of spaces in the space collection.

可選地，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：根據第二條件，在所述未被佔用空間對應的至少一個區域中確定目標區域；將所述目標區域中大於或者等於所述需求空間的空間，確定為所述第一儲存空間。 Optionally, determining a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space includes: according to the second condition, at least one of the unoccupied spaces corresponding to the unoccupied space. Determine a target area in an area; determine a space in the target area that is greater than or equal to the required space as the first storage space.

可選地，所述第二條件包括以下一種或多種：所述待存放貨物的熱度；所述待存放貨物的尺寸資訊；所述待存放貨物在所述第一機器人上的儲存單元資訊；所述未被佔用空間中每個空間的位置資訊；所述未被佔用空間中每個空間的空間熱度；所述至少一個區域中已放置貨箱的數量；所述至少一個區域中被佔用的空間的總面積；所述至少一個區域中未被佔用空間的總面積；所述至少一個區域中未被佔用空間的數量。 Optionally, the second condition includes one or more of the following: the heat of the goods to be stored; the size information of the goods to be stored; the storage unit information of the goods to be stored on the first robot; The location information of each space in the unoccupied space; the space heat of each space in the unoccupied space; the number of containers placed in the at least one area; the occupied space in the at least one area the total area; the total area of unoccupied space in the at least one area; the number of unoccupied spaces in the at least one area.

可選地，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：在所述未被佔用空間中查詢大於或者等於所述需求空間的空間；當查詢到大於或者等於所述需求空間的目標空間時，將所述目標空間確定為所述第一儲存空間。 Optionally, determining a first storage space that is adapted to the demand space of the goods to be stored from the unoccupied space of the cargo storage space includes: querying the unoccupied space for storage space that is greater than or equal to the demand. space; when a target space that is greater than or equal to the required space is queried, the target space is determined as the first storage space.

可選地，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：根據貨物存放空間的未被佔用空間以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間以及所述待存放貨物的朝向；在確定所述第一儲存空間之後，還包括：根據所述待存放貨物的朝向和所述第一儲存空間的資訊，生成所述第一存放指令。 Optionally, determining a first storage space adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space includes: based on the unoccupied space of the cargo storage space and the required space, Determine a first storage space that is adapted to the required space and the orientation of the goods to be stored from the unoccupied space; after determining the first storage space, it also includes: according to the goods to be stored The orientation and the information of the first storage space are used to generate the first storage instruction.

可選地，所述第一機器人包括移動底盤、儲存貨架、搬運裝置和升降組件；所述儲存貨架、所述搬運裝置以及所述升降組件安裝於所述移動底盤。 Optionally, the first robot includes a mobile chassis, a storage shelf, a handling device and a lifting assembly; the storage shelf, the handling device and the lifting assembly are installed on the mobile chassis.

可選地，所述搬運裝置包括以下一種或多種：伸縮臂組件、吸盤與機械臂。 Optionally, the handling device includes one or more of the following: a telescopic arm assembly, a suction cup, and a mechanical arm.

可選地，所述搬運裝置包括托板與轉向結構，所述轉向結構改變放置於所述托板上的貨物的朝向。 Optionally, the handling device includes a pallet and a steering structure, and the steering structure changes the orientation of the goods placed on the pallet.

第二方面，本申請實施例還提供了一種貨物存放方法，該方法包括：取得第一存放指令，其中，所述第一存放指令包括第一儲存空間的資訊，所述第一儲存空間為從貨物存放空間的未被佔用空間中確定的與待存放貨物的需求空間適配的空間；根據所述第一存放指令，將所述待存放貨物存放於所述第一儲存空間。 In a second aspect, embodiments of the present application also provide a method for storing goods. The method includes: obtaining a first storage instruction, wherein the first storage instruction includes information about a first storage space, and the first storage space is from Cargo storage space is not occupied Use a space determined in the space that is adapted to the required space of the goods to be stored; store the goods to be stored in the first storage space according to the first storage instruction.

第三方面，本申請實施例還提供了一種空間分配裝置，包括儲存空間確定模組，從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間；儲存空間分配模組，用於將所述第一儲存空間分配給所述待存放貨物；指令發送模組，用於發送第一存放指令至第一機器人，所述第一存放指令包括所述第一儲存空間的資訊。 In a third aspect, embodiments of the present application also provide a space allocation device, including a storage space determination module that determines a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space; A storage space allocation module is used to allocate the first storage space to the goods to be stored; an instruction sending module is used to send a first storage instruction to the first robot, where the first storage instruction includes the third A storage space of information.

第四方面，本申請實施例還提供了一種貨物存放裝置，包括：指令取得模組，用於取得第一存放指令，其中，所述第一存放指令包括所述第一儲存空間的資訊，所述第一儲存空間為從貨物存放空間的未被佔用空間中確定的與待存放貨物的需求空間適配的空間；貨物存放模組，用於根據所述第一存放指令，將所述待存放貨物存放於所述第一儲存空間。 In a fourth aspect, embodiments of the present application also provide a cargo storage device, including: an instruction acquisition module for obtaining a first storage instruction, wherein the first storage instruction includes information about the first storage space, so The first storage space is a space determined from the unoccupied space of the cargo storage space that is adapted to the required space of the cargo to be stored; the cargo storage module is used to store the cargo to be stored according to the first storage instruction. Goods are stored in the first storage space.

第五方面，本申請實施例還提供了一種空間分配裝置，包括：儲存器和至少一個處理器；所述儲存器儲存計算機執行指令；所述至少一個處理器執行所述儲存器儲存的計算機執行指令，使得所述至少一個處理器執行如本申請第一方面對應的任意實施例提供的空間分配方法。 In a fifth aspect, embodiments of the present application further provide a space allocation device, including: a storage and at least one processor; the storage stores computer execution instructions; and the at least one processor executes the computer execution instructions stored in the storage. The instructions cause the at least one processor to execute the space allocation method provided by any embodiment corresponding to the first aspect of this application.

第六方面，本申請實施例還提供了一種機器人，包括：儲存器和至少一個處理器；所述儲存器儲存計算機執行指令；所述至少一個處理器執行所述儲存器儲存的計算機執行指令，使得所述至少一個處理器執行如本申請第二方面對應的任意實施例提供的貨物存放方法。 In a sixth aspect, embodiments of the present application further provide a robot, including: a storage and at least one processor; the storage stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the storage, so that the At least one processor executes the cargo storage method provided by any embodiment corresponding to the second aspect of this application.

第七方面，本申請實施例還提供了一種倉儲系統，包括本申請第五方面任意實施例提供的空間分配裝置，和/或，本申請第六方面任意實施例提供的機器人。 In a seventh aspect, embodiments of the present application further provide a storage system, including the space allocation device provided by any embodiment of the fifth aspect of the present application, and/or the robot provided by any embodiment of the sixth aspect of the present application.

第八方面，本申請實施例還提供了一種計算機可讀儲存媒體，所述計算機可讀儲存媒體中儲存有計算機執行指令，當處理器執行所述計算機執行指令時，實現如本申請第一方面對應的任意實施例提供的空間分配方法，和/或，實現如本申請第二方面對應的任意實施例提供的貨物存放方法。 In an eighth aspect, embodiments of the present application further provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the first aspect of the present application is implemented. The space allocation method provided by any corresponding embodiment, and/or, the cargo storage method provided by any corresponding embodiment of the second aspect of this application is implemented.

本申請實施例提供的空間分配方法、貨物存放方法、裝置、機器人及倉儲系統，根據待存放貨物的需求空間，從貨物存放空間中確定與之適配的未被佔用空間，以所確定的未被佔用空間存放該待存放貨物，實現了為貨物動態分配空間的理念，提高了倉庫的空間利用率，降低了倉儲成本，提高了倉儲系統的智能化程度。 The space allocation method, cargo storage method, device, robot and warehousing system provided by the embodiments of the present application determine the unoccupied space that is adapted to the cargo storage space according to the required space of the cargo to be stored, and use the determined unoccupied space to The occupied space stores the goods to be stored, which realizes the concept of dynamically allocating space for goods, improves the space utilization of the warehouse, reduces warehousing costs, and improves the intelligence of the warehousing system.

100a、100b:貨物 100a, 100b: Goods

101a、101b、101c、101d、101e、101f、101g、101h:空間 101a, 101b, 101c, 101d, 101e, 101f, 101g, 101h: space

80:機器人 80:Robot

81:升降組件 81:Lifting assembly

82:儲存貨架 82:Storage shelves

83:移動底盤 83:Mobile chassis

84:搬運裝置 84:Handling device

841:托板 841:Pallet

842:固定推桿 842: Fixed push rod

843:伸縮臂 843:Telescopic arm

844:活動推桿 844:Movable putter

845:轉盤 845:Turntable

846:吸盤 846:Suction cup

847:機械臂 847: Robotic arm

84a、84b:搬運裝置 84a, 84b: handling device

85:旋轉機構 85: Rotating mechanism

86:托架 86: Bracket

200:智能倉儲系統 200:Intelligent warehousing system

210:倉儲機器人 210:Warehouse robot

220:貨架 220:Shelf

230:倉庫管理設備 230: Warehouse management equipment

S301:從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間 S301: Determine a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the goods storage space.

S302:將所述第一儲存空間分配給所述待存放貨物 S302: Allocate the first storage space to the goods to be stored

S303:發送第一存放指令至第一機器人 S303: Send the first storage instruction to the first robot

310:貨架 310:Shelf

311、312、313、314、318、319、320、321、322、323:料箱 311, 312, 313, 314, 318, 319, 320, 321, 322, 323: Material box

315、316、317、324、325:空間 315, 316, 317, 324, 325: space

S401:從所述未被佔用空間中，選取大於或者等於待存放貨物的需求空間的空間集合 S401: From the unoccupied space, select items greater than or equal to the goods to be stored. spatial collection of object demand spaces

S402:根據第一條件，在所述空間集合中確定所述第一儲存空間 S402: According to the first condition, determine the first storage space in the space set

S403:將所述第一儲存空間分配給所述待存放貨物 S403: Allocate the first storage space to the goods to be stored

S404:發送第一存放指令至第一機器人 S404: Send the first storage command to the first robot

S501:根據第二條件，在所述未被佔用空間對應的至少一個區域中確定目標區域 S501: According to the second condition, determine the target area in at least one area corresponding to the unoccupied space

S502:將所述目標區域中大於或者等於所述需求空間的空間，確定為所述第一儲存空間 S502: Determine the space in the target area that is greater than or equal to the required space as the first storage space

S503:將所述第一儲存空間分配給所述待存放貨物 S503: Allocate the first storage space to the goods to be stored

S504:發送第一存放指令至第一機器人 S504: Send the first storage command to the first robot

S601:根據貨物存放空間的未被佔用空間的空間性質以及待存放貨物的需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間 S601: According to the spatial properties of the unoccupied space of the cargo storage space and the required space for the goods to be stored, determine the first storage space adapted to the required space from the unoccupied space.

S602:將所述第一儲存空間分配給所述待存放貨物 S602: Allocate the first storage space to the goods to be stored

S603:發送第一存放指令至第一機器人 S603: Send the first storage instruction to the first robot

S701:根據所述待存放貨物的熱度，確定目標儲存區域 S701: Determine the target storage area based on the heat of the goods to be stored

S702:根據所述未被佔用空間的空間性質以及所述需求空間，從所述目標儲存區域的未被佔用空間中，確定與所述需求空間適配的第一儲存空間 S702: According to the spatial properties of the unoccupied space and the required space, determine the first storage space adapted to the required space from the unoccupied space in the target storage area.

S703:將所述第一儲存空間分配給所述待存放貨物 S703: Allocate the first storage space to the goods to be stored

S704:發送第一存放指令至第一機器人 S704: Send the first storage command to the first robot

S801:根據所述未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定與所述需求空間適配的至少兩個第二儲存空間 S801: According to the spatial properties of the unoccupied space and the required space, determine at least two second storage spaces adapted to the required space from the unoccupied space.

S802:根據所述待存放貨物的熱度，從所述至少兩個第二儲存空間中確定所述第一儲存空間 S802: Determine the first storage space from the at least two second storage spaces according to the heat of the goods to be stored.

S803:將所述第一儲存空間分配給所述待存放貨物 S803: Allocate the first storage space to the goods to be stored

S804:發送第一存放指令至第一機器人 S804: Send the first storage command to the first robot

S901:確定滿足待存取貨物的需求空間的一個或多個目標未被佔用空間 S901: Determine one or more target unoccupied spaces that meet the required space for the goods to be accessed.

S902:計算所述待存放貨物的熱度 S902: Calculate the heat of the goods to be stored

S903:根據所述空間性質計算所述目標未被佔用空間的空間分數 S903: Calculate the space fraction of the unoccupied space of the target according to the space properties

S904:根據所述待存放貨物的熱度與所述空間分數的匹配結果，確定所述第一儲存空間 S904: Determine the first storage space according to the matching result between the heat of the goods to be stored and the space score.

S905:將所述第一儲存空間分配給所述待存放貨物 S905: Allocate the first storage space to the goods to be stored

S906:發送第一存放指令至第一機器人 S906: Send the first storage command to the first robot

S9041:計算所述待存放貨物的熱度在所述貨物存放空間存放的全部貨物中的熱度排名百分比 S9041: Calculate the heat ranking percentage of the goods to be stored among all the goods stored in the goods storage space.

S9042:根據各個所述目標未被佔用空間的空間分數，確定各個所述目標未被佔用空間的分數排名百分比 S9042: Determine the score ranking percentage of the unoccupied space of each target according to the space score of the unoccupied space of each target.

S9043:根據所述熱度排名百分比以及各個所述目標未被佔用空間的分數排名百分比，確定所述第一儲存空間 S9043: Determine the first storage space according to the popularity ranking percentage and the score ranking percentage of each target unoccupied space.

S1101:計算所述待存放貨物的熱度 S1101: Calculate the heat of the goods to be stored

S1102:根據所述空間性質計算所述未被佔用空間的空間分數 S1102: Calculate the space fraction of the unoccupied space according to the space properties

S1103:根據所述待存放貨物的熱度與所述空間分數的匹配結果，確定一個或多個目標未被佔用空間 S1103: Determine that one or more target unoccupied spaces are determined based on the matching result between the heat of the goods to be stored and the space score.

S1104:從所述目標未被佔用空間中確定與所述需求空間適配的第一儲存空間 S1104: Determine the first storage space adapted to the required space from the target unoccupied space.

S1105:將所述第一儲存空間分配給所述待存放貨物 S1105: Allocate the first storage space to the goods to be stored

S1106:發送第一存放指令至第一機器人 S1106: Send the first storage instruction to the first robot

S1201:取得第一存放指令 S1201: Obtain the first storage instruction

S1202:根據所述第一存放指令，將所述待存放貨物存放於所述第一儲存空間 S1202: According to the first storage instruction, store the goods to be stored in the first storage space

1310:儲存空間確定模組 1310: Storage space determination module

1320:儲存空間分配模組 1320:Storage space allocation module

1330:指令發送模組 1330: Command sending module

1410:指令取得模組 1410: Command acquisition module

1420:貨物存放模組 1420: Cargo storage module

1510:儲存器 1510:Storage

1520:處理器 1520: Processor

1530:匯流排 1530:Bus

1610:儲存器 1610:Storage

1620:處理器 1620: Processor

1630:匯流排 1630:Bus

1710:空間分配裝置 1710: Space distribution device

1720:機器人 1720:Robot

圖1A為本申請一個實施例提供的一維配置方式下存放情況的示意圖。 FIG. 1A is a schematic diagram of a storage situation in a one-dimensional configuration provided by an embodiment of the present application.

圖1B為本申請圖1A所示實施例提供的放置貨物之後的存放情況的示意圖。 FIG. 1B is a schematic diagram of the storage situation after placing goods according to the embodiment shown in FIG. 1A of the present application.

圖1C為本申請圖一個實施例提供的二維配置方式下存放情況的示意圖。 FIG. 1C is a schematic diagram of the storage situation in a two-dimensional configuration provided by an embodiment of the present application.

圖1D為本申請圖1C對應的實施例在放置貨物之後的存放情況的示意圖。 FIG. 1D is a schematic diagram of the storage situation after placing goods according to the embodiment corresponding to FIG. 1C of the present application.

圖1E為本申請圖1C對應的實施例在放置貨物之後的存放情況的示意圖。 FIG. 1E is a schematic diagram of the storage situation after placing goods according to the embodiment corresponding to FIG. 1C of the present application.

圖1F為本申請一個實施例提供的機器人的結構示意圖。 FIG. 1F is a schematic structural diagram of a robot provided by an embodiment of the present application.

圖1G為本申請圖1F所示實施例中一種搬運裝置的結構示意圖。 Figure 1G is a schematic structural diagram of a transport device in the embodiment shown in Figure 1F of the present application.

圖1H為本申請圖1F所示實施例中的一種機器人及其搬運裝置的結構。 Figure 1H is the structure of a robot and its transport device in the embodiment shown in Figure 1F of the present application.

圖1I為本申請圖1F所示實施例中的一種搬運裝置的結構示意圖。 FIG. 1I is a schematic structural diagram of a transport device in the embodiment shown in FIG. 1F of the present application.

圖1J為本申請圖1I所示實施例中另一種搬運裝置的結構示意圖。 Figure 1J is a schematic structural diagram of another transport device in the embodiment shown in Figure 1I of the present application.

圖1K為本申請圖1F所示實施例的另一種搬運裝置的結構示意圖。 Figure 1K is a schematic structural diagram of another transport device according to the embodiment shown in Figure 1F of the present application.

圖1L為本申請圖1F所示實施例的另一種搬運裝置的結構示意圖。 Figure 1L is a schematic structural diagram of another transport device according to the embodiment shown in Figure 1F of the present application.

圖2為本申請一個實施例提供的空間分配方法的應用場景圖。 Figure 2 is an application scenario diagram of the space allocation method provided by an embodiment of the present application.

圖3A為本申請一個實施例提供的空間分配方法的流程圖。 Figure 3A is a flow chart of a space allocation method provided by an embodiment of the present application.

圖3B為本申請一個實施例提供的一種存放情況的示意圖。 Figure 3B is a schematic diagram of a storage situation provided by an embodiment of the present application.

圖3C為本申請一個實施例提供的一種存放情況的示意圖。 Figure 3C is a schematic diagram of a storage situation provided by an embodiment of the present application.

圖4為本申請另一個實施例提供的一種空間分配方法的流程圖。 Figure 4 is a flow chart of a space allocation method provided by another embodiment of the present application.

圖5為本申請另一個實施例提供的一種空間分配方法的流程圖。 Figure 5 is a flow chart of a space allocation method provided by another embodiment of the present application.

圖6為本申請另一個實施例提供的一種空間分配方法的流程圖。 Figure 6 is a flow chart of a space allocation method provided by another embodiment of the present application.

圖7為本申請另一個實施例提供的一種空間分配方法的流程圖。 Figure 7 is a flow chart of a space allocation method provided by another embodiment of the present application.

圖8為本申請另一個實施例提供的一種空間分配方法的流程圖。 Figure 8 is a flow chart of a space allocation method provided by another embodiment of the present application.

圖9為本申請另一個實施例提供的一種空間分配方法的流程圖。 Figure 9 is a flow chart of a space allocation method provided by another embodiment of the present application.

圖10為本申請圖9所示實施例中步驟S904的流程圖。 Figure 10 is a flow chart of step S904 in the embodiment shown in Figure 9 of the present application.

圖11為本申請另一個實施例提供的一種空間分配方法的流程圖。 Figure 11 is a flow chart of a space allocation method provided by another embodiment of the present application.

圖12為本申請一個實施例提供的貨物存放方法的流程圖。 Figure 12 is a flow chart of a cargo storage method provided by an embodiment of the present application.

圖13為本申請一個實施例提供的空間分配裝置的結構示意圖。 Figure 13 is a schematic structural diagram of a space allocation device provided by an embodiment of the present application.

圖14為本申請一個實施例提供的貨物存放裝置的結構示意圖。 Figure 14 is a schematic structural diagram of a cargo storage device provided by an embodiment of the present application.

圖15為本申請另一個實施例提供的空間分配裝置的結構示意圖。 Figure 15 is a schematic structural diagram of a space allocation device provided by another embodiment of the present application.

圖16為本申請一個實施例提供的機器人的結構示意圖。 Figure 16 is a schematic structural diagram of a robot provided by an embodiment of the present application.

圖17為本申請一個實施例提供的倉儲系統的結構示意圖。 Figure 17 is a schematic structural diagram of a warehousing system provided by an embodiment of the present application.

這裡將詳細地對示例性實施例進行說明，其示例表示在附圖中。下面的描述涉及附圖時，除非另有表示，不同附圖中的相同數字表示相同或相似的要素。以下示例性實施例中所描述的實施方式並不代表與本申請相一致的所有實施方式。相反，它們僅是與如所附申請專利範圍中所詳述的、本申請的一些方面相一致的裝置和方法的例子。 Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with aspects of the present application as detailed in the appended claims.

下面以具體地實施例對本申請的技術方案以及本申請的技術方案如何解決上述技術問題進行詳細說明。下面這幾個具體的實施例可以相互結合，對於相同或相似的概念或過程可能在某些實施例中不再贅述。下面將結合附圖，對本申請的實施例進行描述。 The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

下面對本申請實施例的應用場景進行解釋：本申請應用於動態配置貨物存放空間的場景，本申請提供不同於固定庫位的一種動態配置貨物存放空間的貨物存放方法。 The application scenarios of the embodiments of this application are explained below: This application is applied to the scenario of dynamically configuring cargo storage space. This application provides a cargo storage method that dynamically configures cargo storage space that is different from fixed storage locations.

動態配置貨物存放空間是指：在系統確定待存放的貨物之後，根據貨物的尺寸，從現有的未被佔用的空間中分配一個與所述貨物尺寸適配的第一儲存空間，其中，未被佔用空間可以是任意大小的空間，所述未被佔用的空間中不包括已劃分好的固定庫位；其中，所述第一儲存空間可容納所述待存放的貨物，所述固定庫位是指在倉庫中預置好的庫位，固定庫位的位置固定且大小確定。 Dynamically configuring cargo storage space means: after the system determines the cargo to be stored, according to the size of the cargo, allocate a first storage space that is adapted to the size of the cargo from the existing unoccupied space, where the unoccupied space is The occupied space can be any The unoccupied space does not include divided fixed storage locations; wherein, the first storage space can accommodate the goods to be stored, and the fixed storage locations refer to pre-divided storage locations in the warehouse. Once the location is set, the location of the fixed location is fixed and the size is determined.

動態貨物存放空間可以為通過動態配置貨物存放空間的空間。 The dynamic cargo storage space may be a space that dynamically configures the cargo storage space.

示例性的，動態配置貨物存放空間至少包括一維和/或二維配置方式。 For example, dynamic configuration of cargo storage space includes at least one-dimensional and/or two-dimensional configuration.

示例性的，圖1A為本申請一個實施例提供的一維配置方式下存放情況的示意圖，配合X-Y坐標系理解，一維配置方式是指貨物存放空間中的每一層的貨物在深度Y方向，僅可以呈一排放置，其中，在一維方式下，貨物的存放空間包括第一未被佔用空間和/或第一被佔用空間，具體的，第一被佔用空間為在貨物進出方向上已放置有貨物的空間。 Exemplarily, Figure 1A is a schematic diagram of the storage situation in a one-dimensional configuration provided by an embodiment of the present application. When understood with the X-Y coordinate system, the one-dimensional configuration means that the goods on each layer in the cargo storage space are in the depth Y direction, It can only be placed in a row, where, in a one-dimensional manner, the storage space of the goods includes the first unoccupied space and/or the first occupied space. Specifically, the first occupied space is the space that has been occupied in the direction of the entry and exit of the goods. A space for placing cargo.

示例性的，圖1C為本申請一個實施例提供的二維配置方式下存放情況的示意圖，配合X-Y坐標系理解，二維配置方式是指貨物存放空間中的每一層的貨物在深度Y方向可以呈一排放置、多排放置或者一排多排混合放置。即二維配置方式下允許貨物存放空間中的貨物在深度Y方向上呈多排放置，其中，在二維方式下，貨物的存放空間包括第二未被佔用空間和/或第二被佔用空間，具體的，第二未被佔用空間包括在貨物進出方向上未被貨物佔用的空間。 Exemplarily, FIG. 1C is a schematic diagram of the storage situation in a two-dimensional configuration provided by an embodiment of the present application. When understood with the X-Y coordinate system, the two-dimensional configuration means that the goods on each layer in the cargo storage space can be stored in the depth Y direction. Place them in one row, multiple rows, or a mix of multiple rows. That is, the two-dimensional configuration allows the goods in the cargo storage space to be placed in multiple rows in the depth Y direction. In the two-dimensional configuration, the storage space for the goods includes the second unoccupied space and/or the second occupied space. , specifically, the second unoccupied space includes a space that is not occupied by goods in the direction of entry and exit of goods.

舉例而言，圖1A為本申請一個實施例提供的一維配置方式下存放情況的示意圖，在一維配置方式下，如圖1A所示，針對上述動態配置貨物存放空間中未被佔用空間，即如同圖1A中的空間101a、101b與101c。在系統確認待存放貨物，貨物100a之後，便會從未被佔用空間中，即空間101a、101b與101c中，找出最適配貨物100a的第一儲存空間，例如空間101c。 For example, Figure 1A is a one-dimensional configuration method provided by an embodiment of the present application. The schematic diagram of the storage situation under the formula, in the one-dimensional configuration mode, as shown in Figure 1A, for the above dynamic configuration of the unoccupied space in the cargo storage space, that is, the spaces 101a, 101b and 101c in Figure 1A. After the system confirms the goods to be stored, goods 100a, it will find the first storage space that is most suitable for the goods 100a, such as space 101c, among the unoccupied spaces, that is, spaces 101a, 101b and 101c.

圖1B為本申請圖1A所示實施例提供的放置貨物之後的存放情況的示意圖，如圖1B所示，在置放貨物100之後，當前的未被佔用空間變為空間101a、101b與101d，其中，空間101d為空間101c在被貨物100部分佔用後，新界定的未被佔用空間。 Figure 1B is a schematic diagram of the storage situation after placing goods according to the embodiment shown in Figure 1A of the present application. As shown in Figure 1B, after placing goods 100, the current unoccupied space becomes spaces 101a, 101b and 101d. Among them, the space 101d is a newly defined unoccupied space after the space 101c is partially occupied by the goods 100.

圖1C為本申請圖一個實施例提供的二維配置方式下存放情況的示意圖，如圖1C所示，二維配置方式的考量上，貨架上所指的未被佔用空間，即如同空間101e與空間101f。在系統確認待存放貨物，貨物100b之後，便會從未被佔用空間中，即空間101e與空間101f中，找出最適配貨物100b的第一儲存空間，例如空間101e。 Figure 1C is a schematic diagram of the storage situation in a two-dimensional configuration provided by an embodiment of the present application. As shown in Figure 1C, considering the two-dimensional configuration, the unoccupied space on the shelf refers to the space 101e and Space 101f. After the system confirms the goods to be stored, the goods 100b, it will find the first storage space that is most suitable for the goods 100b, such as the space 101e, among the unoccupied spaces, that is, the space 101e and the space 101f.

圖1D為本申請圖1C對應的實施例在放置貨物之後的存放情況的示意圖，如圖1D，在置放貨物100b之後，則當前的未被佔用空間變為空間101f、空間101g。其中，空間101g為空間101e在被貨物100b部分佔用後，新界定的未被佔用空間。 Figure 1D is a schematic diagram of the storage situation after placing goods according to the embodiment corresponding to Figure 1C of the present application. As shown in Figure 1D, after placing goods 100b, the current unoccupied space becomes space 101f and space 101g. Among them, the space 101g is a newly defined unoccupied space after the space 101e is partially occupied by the goods 100b.

圖1E為本申請圖1C對應的實施例在放置貨物之後的存放情況的示意圖，參考圖1C、1D和圖1E可知，圖1D和圖1E中貨物100b放置時的朝向不同，即貨物100b在放置時可被轉向，即在放置時可以改變待存放貨物的朝向，在放置貨物100b之後，當前的未被佔用空間為空間101f、101h。其中，空間101h為空間101e在被貨物100b部分佔用後，新界定的未被佔用空間。 Figure 1E is a schematic diagram of the storage situation after the goods are placed according to the embodiment corresponding to Figure 1C of the present application. Referring to Figures 1C, 1D and Figure 1E, it can be seen that the orientation of the goods 100b when placed is different in Figure 1D and Figure 1E, that is, the goods 100b are placed in different directions. can be turned when That is, the orientation of the goods to be stored can be changed when placing them. After placing the goods 100b, the current unoccupied spaces are spaces 101f and 101h. Among them, the space 101h is a newly defined unoccupied space after the space 101e is partially occupied by the goods 100b.

示例性的，圖1F為本申請一個實施例提供的機器人的結構示意圖；如圖1F所示，所述機器人80包括移動底盤83，儲存貨架82，搬運裝置84，升降組件81。其中，儲存貨架82、搬運裝置84以及升降組件81均安裝於所述移動底盤83，以及在儲存貨架82上設置若干儲存單元。升降組件81用於驅動搬運裝置84進行升降移動，使搬運裝置84對準儲存貨架82上的任意一個儲存單元，或者對準貨架和/或貨物。搬運裝置84能以豎直方向為軸進行旋轉而調整朝向，以對準至儲存單元，或者對準貨架和/或貨物。搬運裝置84用於執行貨物的裝載或卸除，以在貨架與儲存單元之間進行貨物的搬運。 Exemplarily, FIG. 1F is a schematic structural diagram of a robot provided by an embodiment of the present application; as shown in FIG. 1F, the robot 80 includes a mobile chassis 83, a storage shelf 82, a handling device 84, and a lifting assembly 81. Among them, the storage shelf 82, the transport device 84 and the lifting assembly 81 are all installed on the mobile chassis 83, and several storage units are provided on the storage shelf 82. The lifting assembly 81 is used to drive the transporting device 84 to move up and down, so that the transporting device 84 is aligned with any storage unit on the storage shelf 82, or with the shelf and/or the goods. The carrying device 84 can rotate about the vertical direction and adjust its orientation to align with the storage unit, or with the shelves and/or goods. The handling device 84 is used to perform loading or unloading of goods to carry goods between shelves and storage units.

示例性的，儲存貨架82可以選擇性的配置或不配置，在不配置儲存貨架82時，機器人80在搬運貨物期間，貨物是存放在搬運裝置84的容置空間內。 For example, the storage shelves 82 may be selectively configured or not configured. When the storage shelves 82 are not configured, when the robot 80 is transporting goods, the goods are stored in the accommodation space of the handling device 84 .

上述實施例中的機器人80可以執行本申請任意實施例提供的貨物存放方法，以實現貨架、操作平臺之間的貨物搬運。 The robot 80 in the above embodiment can execute the cargo storage method provided in any embodiment of the present application to realize the transportation of cargo between shelves and operating platforms.

在機器人80執行存放貨物任務的過程中，機器人80移動至貨物被指定的存放空間的位置，通過升降組件81配合搬運裝置84，將目標物從儲存貨架82的儲存單元搬運至貨架上。 When the robot 80 performs the task of storing goods, the robot 80 moves to the location of the designated storage space of the goods, and uses the lifting assembly 81 to cooperate with the transport device 84 to transport the target object from the storage unit of the storage shelf 82 to the shelf.

示例性的，圖1G為本申請圖1F所示實施例中的一種搬運裝置的結構示意圖。 Illustratively, FIG. 1G is an example of the embodiment shown in FIG. 1F of the present application. Structural diagram of the transport device.

示例性的，搬運裝置84通過旋轉機構85安裝於托架86，旋轉機構85用於帶動搬運裝置84相對於托架86繞一豎直軸線旋轉，以對準儲存單元，或者對準貨架和/或貨物。搬運裝置84用於在儲存單元與貨架之間搬運貨物。若搬運裝置84未對準貨架和/或貨物，可通過旋轉機構85帶動搬運裝置84相對於托架86旋轉，以保證搬運裝置84對準貨架和/或貨物。 Exemplarily, the carrying device 84 is installed on the bracket 86 through a rotating mechanism 85. The rotating mechanism 85 is used to drive the carrying device 84 to rotate around a vertical axis relative to the bracket 86 to align the storage unit, or align the shelf and/or or goods. The transport device 84 is used to transport goods between storage units and shelves. If the transport device 84 is not aligned with the shelves and/or goods, the rotation mechanism 85 can be used to drive the transport device 84 to rotate relative to the bracket 86 to ensure that the transport device 84 is aligned with the shelves and/or goods.

圖1H為本申請圖1F所示實施例中的一種機器人及其搬運裝置的結構。配合圖1F與圖1G可以理解的是，根據實際情況，旋轉機構85可以省略，例如，機器人80以固定的軌道移動，在移動至貨架附近後，搬運裝置84始終對準貨架和/或貨物，而貨物配置在搬運裝置84的取貨方向上即可。 Figure 1H is the structure of a robot and its transport device in the embodiment shown in Figure 1F of the present application. It can be understood from Figure 1F and Figure 1G that the rotating mechanism 85 can be omitted according to the actual situation. For example, the robot 80 moves on a fixed track, and after moving near the shelf, the handling device 84 is always aligned with the shelf and/or goods. The goods only need to be arranged in the picking direction of the transport device 84 .

示例性的，圖1I為本申請圖1F所示實施例中的一種搬運裝置的結構示意圖，請配合圖1G利於理解。如圖1I所示，搬運裝置84包括托板841和伸縮臂組件。托板841用於放置貨物，可以為一水平設置的平板。伸縮臂組件用於將托板841所放置的貨物推出托板841或者將貨物拉至托板841。伸縮臂組件包括伸縮臂843、固定推桿842以及活動推桿844。伸縮臂843包括左伸縮臂與右伸縮臂，伸縮臂843可水平地伸出，在垂直於伸縮臂843的伸出方向且平行於托板841的方向上，伸縮臂843位於托板841的一側。伸縮臂843由電機提供動力，由鏈輪機構傳遞動力，根據實際情況，鏈輪機構可以替換成帶輪機構，絲槓機構等傳動機構驅動。固定推桿842及活動推桿844皆安裝於伸縮臂843，固定推桿842及活動推桿844可隨伸縮臂843一併伸出。固定推桿842與托板841位於伸縮臂843的同一側，在伸縮臂843伸出時，所述固定推桿842用於將貨物從托板841上推出。活動推桿844可收入伸縮臂843，當活動推桿844未收入伸縮臂843時，活動推桿844、固定推桿842以及托板841三者皆位於伸縮臂843的同一側，並且活動推桿844位於固定推桿842沿伸縮臂843的伸出方向上。活動推桿844可直接由電機驅動，根據實際情況，也可通過如齒輪組，連桿機構等傳動機構傳遞動力。當活動推桿844未收入伸縮臂，並且伸縮臂843縮回時，活動推桿844用於將貨物拉至托板841。 Exemplarily, FIG. 1I is a schematic structural diagram of a handling device in the embodiment shown in FIG. 1F of the present application. Please refer to FIG. 1G for easier understanding. As shown in Figure 1I, the carrying device 84 includes a pallet 841 and a telescopic arm assembly. The pallet 841 is used to place goods and can be a flat plate arranged horizontally. The telescopic arm assembly is used to push the goods placed on the pallet 841 out of the pallet 841 or to pull the goods to the pallet 841 . The telescopic arm assembly includes a telescopic arm 843, a fixed push rod 842 and a movable push rod 844. The telescopic arm 843 includes a left telescopic arm and a right telescopic arm. The telescopic arm 843 can extend horizontally. In a direction perpendicular to the extension direction of the telescopic arm 843 and parallel to the supporting plate 841, the telescopic arm 843 is located on one side of the supporting plate 841. side. The telescopic arm 843 is powered by a motor and transmitted by a sprocket mechanism. Depending on the actual situation, the sprocket mechanism can be replaced by a pulley mechanism, screw mechanism and other transmission mechanisms. move. The fixed push rod 842 and the movable push rod 844 are both installed on the telescopic arm 843, and the fixed push rod 842 and the movable push rod 844 can be extended together with the telescopic arm 843. The fixed push rod 842 and the pallet 841 are located on the same side of the telescopic arm 843. When the telescopic arm 843 is extended, the fixed push rod 842 is used to push the goods out of the pallet 841. The movable push rod 844 can be retracted into the telescopic arm 843. When the movable push rod 844 is not retracted into the telescopic arm 843, the movable push rod 844, the fixed push rod 842 and the supporting plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is not retracted into the telescopic arm 843. 844 is located in the extension direction of the fixed push rod 842 along the telescopic arm 843. The movable push rod 844 can be directly driven by the motor. Depending on the actual situation, the power can also be transmitted through a transmission mechanism such as a gear set, a connecting rod mechanism, etc. When the movable push rod 844 is not retracted into the telescopic arm and the telescopic arm 843 is retracted, the movable push rod 844 is used to pull the goods to the pallet 841 .

示例性的，搬運裝置84的固定推桿842，可以設計如同活動推桿844的指桿結構。 For example, the fixed push rod 842 of the carrying device 84 can be designed to have a finger rod structure similar to the movable push rod 844 .

示例性的，搬運裝置84可以設計為伸縮臂組件的間距寬度為可調的結構。在存/取貨物的時候，可因應著貨物尺寸調整伸縮臂組件的間距寬度。 For example, the carrying device 84 may be designed as a structure in which the spacing width of the telescopic arm assemblies is adjustable. When storing/retrieving goods, the spacing width of the telescopic arm assembly can be adjusted according to the size of the goods.

示例性的，該搬運裝置84還可以包括轉向結構，如轉盤，該轉向結構可以用於改變放置於其托板841上的貨物的朝向。圖1J為本申請圖1I所示實施例中另一種搬運裝置的結構示意圖，結合圖1J和圖1I可知，搬運裝置84還可以包括一個轉向結構，即圖1I中的轉盤845，以改變放置於其托板841上的貨物的朝向。 For example, the handling device 84 may also include a steering structure, such as a turntable, which may be used to change the orientation of the goods placed on its pallet 841 . Figure 1J is a schematic structural diagram of another carrying device in the embodiment shown in Figure 1I of the present application. Combining Figures 1J and 1I, it can be seen that the carrying device 84 can also include a steering structure, that is, the turntable 845 in Figure 1I, to change the position of the conveying device. The orientation of the goods on its pallet 841.

示例性的，圖1K為本申請圖1F所示實施例的另一種搬運裝置的結構示意圖，搬運裝置84a包括一個或多個吸盤846，其配置在固定推桿842上，固定推桿842可為桿狀或板狀。在存/取貨物的時候，固定推桿842可被驅動而就朝向貨物和/或貨架方向，作往/返方向的位移。通過吸盤846吸附貨物，配合固定推桿842的位移以搬運貨物至貨架上，或搬運貨物至托板841上。 Illustratively, FIG. 1K is another implementation of the embodiment shown in FIG. 1F of the present application. Referring to the structural schematic diagram of the transport device, the transport device 84a includes one or more suction cups 846, which are arranged on the fixed push rod 842. The fixed push rod 842 can be rod-shaped or plate-shaped. When storing/retrieving goods, the fixed push rod 842 can be driven to move in the forward/return direction toward the goods and/or the shelf. The suction cup 846 absorbs the goods, and cooperates with the displacement of the fixed push rod 842 to transport the goods to the shelf or to the pallet 841 .

示例性的，圖1L為本申請圖1F所示實施例的另一種搬運裝置的結構示意圖。搬運裝置84b包括一個或多個機械臂847，其配置在固定推桿842和/或搬運裝置84b上的適當位置。在存/取貨物的時候，固定推桿842可被驅動而就朝向貨物和/或貨架方向，作往/返方向的位移。通過機械臂847抓取/鉤取貨物，配合固定推桿842的位移以搬運貨物至貨架上，或搬運貨物至托板841上。 Illustratively, FIG. 1L is a schematic structural diagram of another carrying device according to the embodiment shown in FIG. 1F of the present application. The carrying device 84b includes one or more robotic arms 847, which are arranged in appropriate positions on the fixed push rod 842 and/or the carrying device 84b. When storing/retrieving goods, the fixed push rod 842 can be driven to move in the forward/return direction toward the goods and/or the shelf. The mechanical arm 847 is used to grab/hook the goods, and the movement of the fixed push rod 842 is used to transport the goods to the shelf or to the pallet 841 .

示例性的，搬運裝置(84a、84b)還可以包括一個轉向結構，如圖1J、圖1K中的轉盤845，以改變放置於其托板841上的貨物的朝向。 Exemplarily, the handling device (84a, 84b) may also include a steering structure, such as the turntable 845 in Figures 1J and 1K, to change the orientation of the goods placed on its pallet 841.

本申請所示實施例的搬運裝置結構，可包括上述示例中，一個或多個的組合。 The carrying device structure of the embodiment shown in this application may include one or a combination of more of the above examples.

有益效果在於，相對於伸縮臂而言，採用吸盤、機械臂等結構，可縮小貨物之間的安全間距，進而提升倉儲系統的貨架上的貨物密度，提高空間利用率，降低倉儲成本。 The beneficial effect is that compared with telescopic arms, the use of suction cups, mechanical arms and other structures can reduce the safe distance between goods, thereby increasing the density of goods on the shelves of the storage system, improving space utilization and reducing storage costs.

圖2為本申請一個實施例提供的空間分配方法的應用場景圖，如圖2所示，本申請實施例提供的空間分配方法可以運行在電子設備上，如計算機、伺服器等。智能倉儲系統200採用倉儲機器人210進行貨架220上的目標料箱的提取和/或存放，採用倉庫管理設備230對倉儲機器人210進行路徑規劃、狀態監控和調度等，以使倉儲機器人210移動至設定位置進行目標料箱的提取和/或存放，倉庫管理設備230中還儲存有貨架220的各個庫位的存放資訊以及目標料箱的基本資訊，以便於進行倉庫管理。當倉庫管理設備230接收到料箱的入庫需求時，倉庫管理設備230根據貨架220的存放情況為料箱分配合適的庫位，或者由人工輸入料箱的庫位，從而由倉儲機器人210將料箱放置於庫位上，完成料箱的入庫。 Figure 2 is an application scenario diagram of a space allocation method provided by an embodiment of the present application. As shown in Figure 2, the space allocation method provided by an embodiment of the present application can be run on electronic devices, such as computers, servers, etc. Intelligent warehousing system 200 adopts warehousing The robot 210 extracts and/or stores the target bins on the shelf 220, and uses the warehouse management equipment 230 to perform path planning, status monitoring and scheduling for the storage robot 210, so that the storage robot 210 moves to a set position to carry out the target bins. During extraction and/or storage, the storage information of each storage location of the shelf 220 and the basic information of the target bin are also stored in the warehouse management equipment 230 to facilitate warehouse management. When the warehouse management device 230 receives the warehousing requirement of the material box, the warehouse management device 230 allocates an appropriate storage location for the material box according to the storage situation of the shelf 220, or manually inputs the storage location of the material box, so that the warehouse robot 210 stores the material. The box is placed on the storage location to complete the storage of the material box.

然而，現有的智能倉儲系統200的貨架220上的庫位均為固定大小且位置固定的物理空間，每個貨架220上包括數量固定的大小相同的庫位，從而導致其所能存放的料箱的最大數量和最大尺寸均受到限制，同時採用相同尺寸的靜態庫位存放料箱，空間利用率較低，倉儲成本較大。 However, the storage locations on the shelves 220 of the existing smart warehousing system 200 are all physical spaces of fixed size and fixed location. Each shelf 220 includes a fixed number of storage locations of the same size, resulting in that it can store only a few boxes of materials. The maximum quantity and maximum size are both limited. At the same time, static storage locations of the same size are used to store the bins, which results in low space utilization and high storage costs.

圖3A為本申請一個實施例提供的空間分配方法的流程圖，如圖3A所示，該空間分配方法可以由倉儲系統的電子設備執行，如料箱入庫設備、倉庫管理設備等，其具體形式可以是計算機、伺服器等。本實施例提供的料箱入庫方法包括以下步驟： Figure 3A is a flow chart of a space allocation method provided by an embodiment of the present application. As shown in Figure 3A, the space allocation method can be executed by electronic equipment of the warehousing system, such as material box warehousing equipment, warehouse management equipment, etc. Its specific form It can be a computer, server, etc. The material box warehousing method provided by this embodiment includes the following steps:

步驟S301，從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間。 Step S301: Determine a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the goods storage space.

其中，待存放貨物是需要存放於倉儲系統的貨架或倉庫的貨物存放空間中的物體，待存放貨物的形式可以是料箱、包裹，可以是用戶提供的未經倉儲系統打包的貨物，或者是放置於倉儲系統提供的標準料箱的貨物。待存放貨物的形狀可以是規則形狀，如長方體形狀、正方體形狀等，也可以是不規則形狀，如表面含有凸起或凹槽等，待存放貨物可以是布料、食物、電子產品、建材等。本申請對待存放貨物的數量、形狀、類型、包裝等內容均不進行限定。待存放貨物的需求空間表示放置該待存放貨物所需的空間。 Among them, the goods to be stored are objects that need to be stored on the shelves of the warehousing system or in the cargo storage space of the warehouse. The form of the goods to be stored can be boxes or packages. It can be goods provided by the user that are not packaged by the warehousing system, or goods placed in standard boxes provided by the warehousing system. The shape of the goods to be stored can be regular shapes, such as rectangular parallelepiped, cube, etc., or irregular shapes, such as ridges or grooves on the surface. The goods to be stored can be cloth, food, electronic products, building materials, etc. This application does not limit the quantity, shape, type, packaging, etc. of the goods to be stored. The required space for goods to be stored indicates the space required to place the goods to be stored.

示例的，第一儲存空間與待存放貨物的需求空間適配，即表示第一儲存空間足以容納待存放貨物，或者第一儲存空間大於或等於該需求空間。 For example, the first storage space is adapted to the required space for the goods to be stored, which means that the first storage space is sufficient to accommodate the goods to be stored, or the first storage space is greater than or equal to the required space.

示例的，可以先取得待存放貨物的需求空間，進而從貨物存放空間的未被佔用空間中確定一個與該需求空間適配的第一儲存空間。 For example, the required space for the goods to be stored can be obtained first, and then a first storage space adapted to the required space is determined from the unoccupied space of the goods storage space.

示例的，在確定第一儲存空間之前，可以取得待存放貨物的需求空間，該需求空間可以由人工輸入待存放貨物的需求空間，或者，預先儲存待存放貨物的需求空間，進而直接讀取所儲存的待存放貨物的需求空間。還可以由倉儲系統自動確定待存放貨物的需求空間。具體可以根據待存放貨物的尺寸資訊確定需求空間，還可以考慮安全間距，即根據待存放貨物的尺寸資訊和預設安全間距確定需求空間。 For example, before determining the first storage space, the required space for the goods to be stored can be obtained. The required space can be manually inputted into the required space for the goods to be stored, or the required space for the goods to be stored can be stored in advance, and then all the required space can be directly read. The space required for storage of goods to be stored. The warehousing system can also automatically determine the required space for the goods to be stored. Specifically, the required space can be determined based on the size information of the goods to be stored, and the safety distance can also be considered, that is, the required space is determined based on the size information of the goods to be stored and the preset safe distance.

其中，貨物存放空間可以是倉儲系統的貨架上用於存放貨物的空間，貨物存放空間的未被佔用空間指的是空閒的空間，該未被佔用空間上未放置任何物體。未被佔用空間可以是任意大小的空間，未被佔用空間中不包括已劃分好的固定庫位。已劃分好的固定庫位是指在倉庫中預置好的庫位，固定庫位的位置固定且大小確定。 The cargo storage space may be a space on a shelf of the warehousing system used to store cargo. The unoccupied space of the cargo storage space refers to an idle space, and no objects are placed on the unoccupied space. Unoccupied space can be of any size The unoccupied space does not include divided fixed storage locations. The divided fixed storage location refers to the preset storage location in the warehouse. The location of the fixed storage location is fixed and the size is determined.

示例的，貨物存放空間對應的貨架或緩存區域的配置方式可以是一維配置方式，還可以是二維配置方式，或者同時包括一維配置方式和二維配置方式。 For example, the shelves or cache areas corresponding to the goods storage space may be configured in a one-dimensional configuration, a two-dimensional configuration, or both a one-dimensional configuration and a two-dimensional configuration.

可選地，所述貨物存放空間包括第一未被佔用空間和/或第一被佔用空間。 Optionally, the cargo storage space includes a first unoccupied space and/or a first occupied space.

其中，第一未被佔用空間可以是上述未被佔用空間的一種，所述第一被佔用空間為在貨物進出方向上已放置有貨物的空間。 Wherein, the first unoccupied space may be one of the above-mentioned unoccupied spaces, and the first occupied space is a space where goods have been placed in the direction of entry and exit of the goods.

可選地，所述貨物存放空間包括第二未被佔用空間和/或第二被佔用空間。 Optionally, the cargo storage space includes a second unoccupied space and/or a second occupied space.

其中，所述第二被佔用空間可以是無法進行貨物存放的空間，如空間的大部分已被貨物佔據，所述第二未被佔用空間包括在貨物進出方向上未被貨物佔用的空間，第二未被佔用空間可以是上述未被佔用空間的一種。 Wherein, the second occupied space may be a space in which goods cannot be stored, for example, most of the space has been occupied by goods. The second unoccupied space includes a space not occupied by goods in the direction of entry and exit of goods. The second unoccupied space may be one of the above-mentioned unoccupied spaces.

示例的，當貨物存放空間存在未被佔用空間時，該未被佔用空間可以是沒有放置任何貨物的空間，也可以是部分空間放置有貨物的空間，剩餘部分仍可以進行貨物放置的空間。當貨物存放空間不存在上述未被佔用空間時，可以先執行其他操作，或者進入等待模式，經過預設時間後，再次檢測貨物存放空間是否存在未被佔用空間。 For example, when there is unoccupied space in the cargo storage space, the unoccupied space may be a space where no cargo is placed, or a part of the space where cargo is placed, and the remaining part can still be used for storing cargo. When there is no unoccupied space in the cargo storage space, you can perform other operations first, or enter the waiting mode. After the preset time, check again whether the cargo storage space exists or not. Takes up space.

示例的，可以實時或者定時檢測貨物存放空間中的未被佔用空間，或者是當存在放貨需求時，檢測貨物存放空間中的未被佔用空間，其中，放貨需求包括待存放貨物的資訊，可以包括待存放貨物的標識資訊、需求空間等。 For example, the unoccupied space in the cargo storage space can be detected in real time or regularly, or when there is a demand for cargo release, the unoccupied space in the cargo storage space can be detected, where the cargo release demand includes information about the goods to be stored. It can include identification information of goods to be stored, required space, etc.

示例的，可以從倉儲系統的貨物存放空間中確定各個未被佔用空間，進而將空間尺寸大於或等於所述需求空間的任意一個未被佔用空間確定為第一儲存空間。 For example, each unoccupied space can be determined from the cargo storage space of the warehousing system, and then any unoccupied space with a space size greater than or equal to the required space is determined as the first storage space.

示例的，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：在所述未被佔用空間中查詢大於或者等於所述需求空間的空間；當查詢到大於或者等於所述需求空間的目標空間時，將所述目標空間確定為所述第一儲存空間。 For example, determining a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space includes: querying the unoccupied space that is greater than or equal to the required space. space; when a target space that is greater than or equal to the required space is queried, the target space is determined as the first storage space.

示例的，將所查詢到的第一個大於或等於待存放貨物的需求空間的未被佔用空間，確定為第一儲存空間，無需遍歷全部的未被佔用空間，縮短了確定第一儲存空間所需的時間，提高了確定第一儲存空間的效率，進而提高了貨物存放的效率。 For example, the first queried unoccupied space that is greater than or equal to the required space of the goods to be stored is determined as the first storage space. There is no need to traverse all unoccupied spaces, which shortens the time required to determine the first storage space. The time required improves the efficiency of determining the first storage space, thereby improving the efficiency of cargo storage.

示例的，為了提高空間利用率，該第一儲存空間可以是與需求空間適配的各個未被佔用空間中的最小空間。 For example, in order to improve space utilization, the first storage space may be the smallest space among the unoccupied spaces that matches the required space.

示例的，為了提高空間利用率和貨物存放效率，該第一儲存空間還可以是與需求空間適配的各個未被佔用空間中的空間分數最高的空間，其中，空間分數可以根據與工作站的距離、與巷道口的距離、位於所屬貨架的層數、所屬貨架的空間佔用率、所屬貨架的連續空間占比中的一項或多項確定。 For example, in order to improve space utilization and cargo storage efficiency, the first storage space may also be the space with the highest space score among the unoccupied spaces that adapt to the required space, wherein the space score may be based on the distance to the workstation. , and lane One or more of the distance between the openings, the number of layers on the corresponding shelf, the space occupancy rate of the corresponding shelf, and the continuous space proportion of the corresponding shelf are determined.

步驟S302，將所述第一儲存空間分配給所述待存放貨物。 Step S302: Allocate the first storage space to the goods to be stored.

示例的，在確定第一儲存空間之後，建立該第一儲存空間與待存放貨物映射關係，以表示該第一儲存空間為待存放貨物的存放空間。 For example, after the first storage space is determined, a mapping relationship between the first storage space and the goods to be stored is established to indicate that the first storage space is a storage space for the goods to be stored.

步驟S303，發送第一存放指令至第一機器人。 Step S303: Send the first storage instruction to the first robot.

其中，所述第一存放指令包括所述第一儲存空間的資訊。第一機器人的數量可以是一個，也可以是多個。 Wherein, the first storage instruction includes information of the first storage space. The number of the first robot may be one or multiple.

示例的，當待存放貨物的數量為多個時，可以分別為每個待存放貨物確定相應的第一儲存空間，進而為每個第一機器人分配相應的待存放貨物，一個第一機器人可以對應一個待存放貨物，也可以對應多個，需要根據第一機器人的能力以及倉儲系統的作業情況確定。 For example, when there are multiple goods to be stored, a corresponding first storage space can be determined for each goods to be stored, and then corresponding goods to be stored are allocated to each first robot. One first robot can correspond to One item to be stored can also correspond to multiple items, which need to be determined based on the capabilities of the first robot and the operating conditions of the warehousing system.

示例的，可以根據第一儲存空間的資訊以及待存放貨物的資訊，生成第一存放指令，並將該第一存放指令發送至第一機器人，以使該第一機器人將待存放貨物放置於相應的第一儲存空間。 For example, a first storage instruction can be generated based on the information of the first storage space and the information of the goods to be stored, and the first storage instruction can be sent to the first robot, so that the first robot places the goods to be stored in the corresponding of the first storage space.

可選地，從貨物存放空間的未被佔用空間中確定一個與所述需求空間適配的第一儲存空間，包括：根據貨物存放空間的未被佔用空間以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間以及所述待存放貨物的朝向；在確定所述第一儲存空間之後，還包括：根據所述待存放貨物的朝向和所述第一儲存空間的資訊，生成所述第一存放指令。 Optionally, determining a first storage space adapted to the required space from the unoccupied space of the cargo storage space includes: based on the unoccupied space of the cargo storage space and the required space, from the unoccupied space. Determine a first storage space in the occupied space that is adapted to the required space and the orientation of the goods to be stored; after determining the first storage space, it also includes: according to the orientation of the goods to be stored and the information of the first storage space to generate the first storage instruction.

其中，對於倉儲系統的伺服器、空間分配裝置或設備來說，待存放貨物的朝向指的是待存放貨物被放置於其對應的空間上時的朝向。對於機器人來說，第一存放指令內包括的資訊，可以為機器人上放置的存放貨物需要旋轉的角度，或者，待存放貨物被放置於其對應的空間上時的朝向，機器人計算放置存放貨物時，需要將貨物旋轉的角度，或者，前述兩者資訊皆具備，從而使得待存放貨物可以按照設定的朝向放置於其對應的空間上。 Among them, for the servers, space allocation devices or equipment of the warehousing system, the orientation of the goods to be stored refers to the orientation of the goods to be stored when they are placed on their corresponding spaces. For the robot, the information included in the first storage instruction can be the angle at which the stored goods placed on the robot need to be rotated, or the orientation of the goods to be stored when they are placed in its corresponding space. The robot calculates when placing the stored goods. , the angle at which the goods need to be rotated, or both of the above information are available, so that the goods to be stored can be placed in their corresponding space according to the set orientation.

示例的，在為待存放貨物分配第一儲存空間時，考慮到可以通過機器人的搬運裝置，如圖1J中的搬運裝置，調整待存放貨物的朝向，因此，在確定第一儲存空間時，可以綜合考慮朝向這一因素進行確定。待放貨物的朝向可以包括默認朝向和調整朝向，該調整朝向可以是默認朝向順/逆時針旋轉後的朝向。示例性的，該調整朝向可以是默認朝向順/逆時針旋轉後，90°或270°對應的朝向。 For example, when allocating the first storage space for the goods to be stored, it is considered that the orientation of the goods to be stored can be adjusted through the robot's handling device, such as the handling device in Figure 1J. Therefore, when determining the first storage space, it is possible to Take this factor into consideration when determining. The orientation of the goods to be placed may include a default orientation and an adjusted orientation, and the adjusted orientation may be an orientation after the default orientation is rotated clockwise/counterclockwise. For example, the adjustment orientation may be an orientation corresponding to 90° or 270° after the default orientation is rotated clockwise/counterclockwise.

示例的，可以在根據待存放貨物的尺寸資訊，生成各個朝向的需求空間，進而根據各個未被佔用空間以及各個朝向的需求空間，確定與其中一個朝向的需求空間適配的第一儲存空間，該需求空間的朝向即為待存放貨物存放後的朝向。 For example, the required space in each direction can be generated based on the size information of the goods to be stored, and then based on each unoccupied space and the required space in each direction, the first storage space adapted to the required space in one of the directions can be determined. The orientation of the required space is the orientation of the goods to be stored after they are stored.

示例的，若第一儲存空間與多個朝向的需求空間適配，則選擇默認朝向為待存放貨物的朝向。 For example, if the first storage space is adapted to the required space in multiple orientations, then the default orientation is selected as the orientation of the goods to be stored.

進一步地，可以根據各個未被佔用空間以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間之後，根據該第一儲存空間的尺寸資訊，確定待存放貨物的朝向。 Further, according to each unoccupied space and the required space, a first space adapted to the required space can be determined from the unoccupied space. After storing the space, the orientation of the goods to be stored is determined based on the size information of the first storage space.

示例性的，圖3B為本申請一個實施例提供的一種存放情況的示意圖，如圖3B所示，貨架310上放置有料箱311~料箱313，料箱314為待存放的料箱，即上述待存放貨物，從圖3B中，可知，貨架310當前的未被佔用空間包括空間315、空間316與空間317，但僅有空間315符合需求，而空間315無法以料箱314的默認朝向(正/負)Y方向將其存放，故可以改變料箱314的朝向，如順或逆時針旋轉90°，從而得到調整朝向(正/負)X方向狀態下的料箱314，從而將料箱314以對應的(正/負)X方向的朝向放置於空間315上。 Exemplarily, Figure 3B is a schematic diagram of a storage situation provided by an embodiment of the present application. As shown in Figure 3B, there are material boxes 311 to 313 placed on the shelf 310, and the material box 314 is the material box to be stored, that is, the above-mentioned For goods to be stored, from Figure 3B, it can be seen that the current unoccupied space of the shelf 310 includes space 315, space 316 and space 317, but only space 315 meets the requirements, and space 315 cannot be in the default orientation of the bin 314 (positive /Negative) Y direction to store it, so the orientation of the material box 314 can be changed, such as rotating 90° clockwise or counterclockwise, so as to obtain the material box 314 in the state of being adjusted in the (positive/negative) X direction, so that the material box 314 Place it on space 315 with the corresponding (positive/negative) X-direction orientation.

示例性的，圖3C為本申請一個實施例提供的一種存放情況的示意圖，如圖3C所示，貨架310上放置有料箱318~料箱323，料箱314為待存放的料箱，即上述待存放貨物，從圖3C中，可知，貨架310當前的未被佔用空間包括空間324與空間325，但僅有空間325符合需求，而空間325無法以料箱314的默認朝向(正/負)X方向將其存放，故可以改變料箱314的朝向，如順或逆時針旋轉90°，從而得到調整朝向(正/負)Y方向狀態下的料箱314，從而將料箱314以對應的(正/負)Y方向的朝向放置於空間325上。 Illustratively, Figure 3C is a schematic diagram of a storage situation provided by an embodiment of the present application. As shown in Figure 3C, there are material boxes 318 to 323 placed on the shelf 310, and the material box 314 is the material box to be stored, that is, the above-mentioned For the goods to be stored, from Figure 3C, it can be seen that the current unoccupied space of the shelf 310 includes space 324 and space 325, but only space 325 meets the requirements, and space 325 cannot be in the default orientation (positive/negative) of the bin 314 Store it in the The orientation of the (positive/negative) Y direction is placed on space 325.

可選地，所述第一機器人包括移動底盤、搬運裝置、儲存貨架和升降組件；所述儲存貨架、所述搬運裝置以及所述升降組件安裝於所述移動底盤。儲存貨架中可以存放待存放貨物，當第一機器人接收到第一存放指令之後，移動底盤可以基於該第一存放指令進行移動，以到達指定位置，進而通過搬運裝置和升降組件將位於儲存貨架的待存放貨物存放於第一儲存空間。 Optionally, the first robot includes a mobile chassis, a handling device, a storage shelf and a lifting assembly; the storage shelf, the handling device and the lifting assembly are installed on the mobile chassis. The storage shelves can store goods to be stored. When the first machine After the robot receives the first storage instruction, the mobile chassis can move based on the first storage instruction to reach the designated location, and then store the goods to be stored on the storage shelf in the first storage space through the handling device and the lifting assembly.

可選地，所述搬運裝置包括托板與轉向結構，所述轉向結構用於改變放置於所述托板上的貨物的朝向。 Optionally, the handling device includes a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.

在本實施例中，根據待存放貨物的需求空間，從貨物存放空間中確定與之適配的未被佔用空間，以所確定的未被佔用空間存放該待存放貨物，實現了為貨物動態分配空間的理念，提高了倉庫的空間利用率，降低了倉儲成本，提高了倉儲系統的智能化程度。 In this embodiment, according to the required space of the goods to be stored, an unoccupied space that matches the goods storage space is determined, and the goods to be stored are stored in the determined unoccupied space, thereby realizing dynamic allocation of goods. The concept of space improves the space utilization of the warehouse, reduces warehousing costs, and improves the intelligence of the warehousing system.

圖4為本申請另一個實施例提供的一種空間分配方法的流程圖，本實施例是在圖3所示實施例的基礎上，對步驟S301進行進一步細化，如圖4所示，該空間分配方法包括： Figure 4 is a flow chart of a space allocation method provided by another embodiment of the present application. This embodiment further refines step S301 based on the embodiment shown in Figure 3. As shown in Figure 4, the space Allocation methods include:

步驟S401，從所述未被佔用空間中，選取大於或者等於待存放貨物的需求空間的空間集合。 Step S401: From the unoccupied spaces, select a space set that is greater than or equal to the required space for the goods to be stored.

其中，待存放貨物可以是放置於機器人的儲存單元上的貨物。 The goods to be stored may be goods placed on the storage unit of the robot.

示例的，可以確定或者獲取各個未被佔用空間的空間尺寸，根據需求空間的空間尺寸以及各個未被佔用空間的空間尺寸，確定大於或者等於所述需求空間的各個未被佔用空間，從而得到上述空間集合。 For example, the space size of each unoccupied space can be determined or obtained. According to the space size of the required space and the space size of each unoccupied space, each unoccupied space that is greater than or equal to the required space is determined, thereby obtaining The above space collection.

步驟S402，根據第一條件，在所述空間集合中確定所述第一儲存空間。 Step S402: Determine the first storage space in the space set according to the first condition.

其中，所述第一條件包括：所述待存放貨物的熱度，所述待存放貨物的尺寸資訊，所述待存放貨物在所述第一機器人上的儲存單元資訊，所述空間集合中每個空間的位置資訊，所述空間集合中每個空間的空間熱度，所述空間集合中每個空間的預設範圍內被佔用的空間的總面積，所述空間集合中每個空間的預設範圍內未被佔用空間的總面積，所述空間集合中每個空間的預設範圍內已放置貨箱的數量，所述空間集合中每個空間的預設範圍內屬所述空間集合的空間的數量等因素中的一項或多項。空間熱度可以是倉儲系統為每個空間配置的熱度參數，可以根據空間對應的區域或貨架所在的區域的熱度確定，還可以參考空間與對應的區域或貨架所在的區域的相關度確定。 Wherein, the first condition includes: the heat of the goods to be stored, the size information of the goods to be stored, the storage unit information of the goods to be stored on the first robot, each of the items in the space set The location information of the space, the spatial heat of each space in the space set, the total area of the occupied space within the preset range of each space in the space set, the preset range of each space in the space set The total area of unoccupied space in the space set, the number of containers placed within the preset range of each space in the space set, the number of spaces belonging to the space set within the preset range of each space in the space set One or more of the factors such as quantity. Space heat can be a heat parameter configured by the warehousing system for each space. It can be determined based on the heat of the corresponding area of the space or the area where the shelves are located. It can also be determined by referring to the correlation between the space and the corresponding area or the area where the shelves are located.

其中，預設範圍可以是二維的範圍，也可以是三維的範圍。可以指的是與空間集合中的空間位於貨架的同一層的範圍，如該層與空間集合中的空間距離5公尺的範圍；也可以是位於貨架的不同層的範圍，如該貨架上與空間集合中的空間距離3公尺的範圍。當然，該預設範圍也可以是其他的範圍，本申請對此不進行限定。 The preset range may be a two-dimensional range or a three-dimensional range. It can refer to the range that is located on the same layer of the shelf as the space in the space collection, such as the range that is 5 meters away from the space in the space collection; it can also be the range that is located on a different layer of the shelf, such as the range on the shelf that is 5 meters away from the space in the space collection. The spaces in the space collection are within a range of 3 meters. Of course, the preset range can also be other ranges, which is not limited in this application.

其中，待存放貨物的熱度是用於描述待存放貨物被取出的頻率的參數，可以由人工輸入，也可以由倉儲系統根據歷史訂單數據確定。 Among them, the heat of the goods to be stored is a parameter used to describe the frequency with which the goods to be stored are taken out. It can be input manually or by the warehousing system based on historical orders. Data confirmed.

示例性的，若待存放貨物為較暢銷的衣服，每天均需要提取和存放一次，則其對應的熱度可以是90或90%；而若待存放貨物為大件物品，一周甚至更長時間才提取和存放一次，則其對應的熱度可以是30或30%；而若待存放貨物為在設定時間便提取且不會再放回的貨物，則其對應的熱度可以是0或者較低的值，如1、3、5、1%、3%、5%或者其他值。 For example, if the goods to be stored are relatively popular clothes and need to be picked up and stored once a day, the corresponding heat can be 90 or 90%; and if the goods to be stored are large items, it will take a week or even longer. If the goods are picked up and stored once, the corresponding heat can be 30 or 30%; and if the goods to be stored are picked up at a set time and will not be put back again, the corresponding heat can be 0 or a lower value. , such as 1, 3, 5, 1%, 3%, 5% or other values.

示例的，待存放貨物的熱度可以根據待存放貨物的類型確定，如待存放貨物為襪子時，其熱度為50，當待存放貨物為黃金飾品時，其熱度為30。 For example, the heat of the goods to be stored can be determined according to the type of the goods to be stored. For example, when the goods to be stored are socks, the heat is 50, and when the goods to be stored are gold jewelry, the heat is 30.

示例的，當待存放貨物包括多種物品時，可以根據各個物品的物品熱度確定待存放貨物的熱度。可以根據各個物品熱度的最大值、最小值、平均值、和值、加權平均值等中的一項或多項確定待存放貨物的熱度。 For example, when the goods to be stored include multiple items, the heat of the goods to be stored may be determined based on the item heat of each item. The heat of the goods to be stored can be determined based on one or more of the maximum value, minimum value, average value, sum value, weighted average value, etc. of each item's heat.

示例性的，當待存放貨物包括物品A、物品B和物品C時，其中，物品A的熱度為90，物品B的熱度為50，而物品C的熱度為40，則可以根據三者的平均值確定待存放貨物的熱度，即為60。 For example, when the goods to be stored include item A, item B and item C, where the heat of item A is 90, the heat of item B is 50, and the heat of item C is 40, then the average of the three can be The value determines the heat of the goods to be stored, which is 60.

示例的，可以根據待存放貨物的熱度，從空間集合中確定第一儲存空間，也可以根據待存放貨物的熱度和每個空間的位置資訊，從空間集合中確定第一儲存空間。當然也可以選擇上述第一條件的各個因素的其他組合方式，確定第一儲存空間。 For example, the first storage space can be determined from the space collection based on the heat of the goods to be stored, or the first storage space can be determined from the space collection based on the heat of the goods to be stored and the location information of each space. Of course, other combinations of various factors of the above first condition can also be selected to determine the first storage space.

示例性的，可以為第一條件中的各個因素配置權重因子，進而得到空間集合中各個空間的第一條件對應的加權平均值或存放分數，從而根據該加權平均值或存放分數確定第一儲存空間，如選擇空間集合中加權平均值最高或者存放分數最高的空間為第一儲存空間。 For example, weight factors can be configured for each factor in the first condition, and then a weighted average or storage score corresponding to the first condition of each space in the space collection can be obtained, and the first storage can be determined based on the weighted average or storage score. Space, for example, select the space with the highest weighted average or the highest storage score in the space set as the first storage space.

示例性的，空間集合中的空間所在的位置與巷道距離越近、與工作站距離越近則其存放分數越高，預設範圍內被佔用的空間總面積越大則其存放分數越高。 For example, the closer the space in the space set is to the lane and the workstation, the higher the storage score. The larger the total area of occupied space within the preset range, the higher the storage score.

示例性的，當第一條件包括待存放貨物的熱度和空間集合中每個空間的空間熱度時，可以選擇空間熱度與待存放貨物的熱度最匹配的空間集合中的空間為第一儲存空間，如選擇空間熱度與待存放貨物的熱度的差值的絕對值最小的空間集合中的空間為第一儲存空間。假設空間集合包括3個空間，空間熱度分別為：30、50和20，而待存放貨物的熱度為49，則確定空間熱度為50空間集合中的空間為第一儲存空間。 For example, when the first condition includes the heat of the goods to be stored and the space heat of each space in the space set, the space in the space set whose space heat most matches the heat of the goods to be stored can be selected as the first storage space, For example, the space in the space set with the smallest absolute value of the difference between the space heat and the heat of the goods to be stored is selected as the first storage space. Assume that the space set includes three spaces, the space heats are: 30, 50 and 20 respectively, and the heat of the goods to be stored is 49, then it is determined that the space in the space set with a space heat of 50 is the first storage space.

示例性的，可以根據待存放貨物的熱度、尺寸資訊和在所述第一機器人上的儲存單元資訊中的一項或多項，確定待存放貨物的需求條件，該需求條件可以包括待存放貨物對應的第一儲存空間的要求，該要求可以具體包括：位於所屬貨架上的層數的範圍、位置資訊的範圍、預設範圍內被佔用的空間的總面積的範圍、預設範圍內未被佔用空間的總面積的範圍以及預設範圍內屬於空間集合的空間的數量的範圍等中的一項或多項。 For example, the demand conditions of the goods to be stored can be determined based on one or more of the heat and size information of the goods to be stored and the storage unit information on the first robot. The demand conditions can include the corresponding conditions of the goods to be stored. The requirements for the first storage space, which may specifically include: the range of the number of layers on the shelf, the range of location information, the range of the total area of occupied space within the preset range, the range of unoccupied space within the preset range One or more of the range of the total area of the space and the range of the number of spaces belonging to the space collection within the preset range.

考慮待存放貨物的儲存單元資訊、空間的位置資訊，可以確定與工作臺、巷道等距離最近的空間，從而提高貨物存放的效率；考慮空間預設範圍內的情況，可以提高貨物存放空間的空間利用率，以優化倉儲方式，降低倉儲成本；考慮待存放貨物的熱度，可以實現將存取頻率較高的貨物放置於易於存取的位置，提高倉儲系統的效率和智能化程度。 Considering the storage unit information and space location information of the goods to be stored, the space closest to the workbench, lane, etc. can be determined, thereby improving the efficiency of goods storage; considering the situation within the preset range of the space, the space for goods storage can be increased Utilization, to optimize warehousing methods and reduce warehousing costs; considering the heat of the goods to be stored, goods with higher access frequency can be placed in easy-to-access locations, improving the efficiency and intelligence of the warehousing system.

步驟S403，將所述第一儲存空間分配給所述待存放貨物。 Step S403: Allocate the first storage space to the goods to be stored.

步驟S404，發送第一存放指令至第一機器人，其中，所述第一存放指令包括所述第一儲存空間的資訊。 Step S404: Send a first storage instruction to the first robot, where the first storage instruction includes information about the first storage space.

在本實施例中，針對各個未被佔用空間，根據待存放獲取的需求空間，先確定滿足其需求各個未被佔用空間組成的空間集合，進而在該空間集合中，可以包括多個因素，如熱度、尺寸、位置、空間佔用情況等，的第一條件，從該空間集合中確定最優或者最適宜的第一儲存空間，作為待存放貨物的存放空間，提高了存放空間確定的智能化程度，進而提高了貨物存放的效率以及倉儲系統空間利用率。 In this embodiment, for each unoccupied space, based on the required space to be stored and acquired, a space set composed of unoccupied spaces that meets the needs is first determined. Then, the space set may include multiple factors, such as Based on the first conditions of heat, size, location, space occupancy, etc., the optimal or most suitable first storage space is determined from the space collection as the storage space for the goods to be stored, which improves the intelligence of storage space determination. , thereby improving the efficiency of cargo storage and the space utilization of the warehousing system.

圖5為本申請另一個實施例提供的一種空間分配方法的流程圖，本實施例是在圖3A所示實施例的基礎上，對步驟S301進行進一步細化，如圖5所示，該空間分配方法包括： Figure 5 is a flow chart of a space allocation method provided by another embodiment of the present application. This embodiment further refines step S301 based on the embodiment shown in Figure 3A. As shown in Figure 5, the space Allocation methods include:

步驟S501，根據第二條件，在所述未被佔用空間對應的至少一個區域中確定目標區域。 Step S501: According to the second condition, determine a target area in at least one area corresponding to the unoccupied space.

其中，所述第二條件包括：所述待存放貨物的熱度，所述待存放貨物的尺寸資訊，所述待存放貨物在所述第一機器人上的儲存單元資訊，所述未被佔用空間中每個空間的位置資訊，所述未被佔用空間中每個空間的空間熱度，所述至少一個區域中已放置貨箱的數量，所述至少一個區域中被佔用的空間的總面積，所述至少一個區域中未被佔用空間的總面積，以及所述至少一個區域中未被佔用空間的數量等因素中的一項或多項。 Wherein, the second condition includes: the heat of the goods to be stored, the The size information of the goods to be stored, the storage unit information of the goods to be stored on the first robot, the location information of each space in the unoccupied space, the space of each space in the unoccupied space heat, the number of containers placed in the at least one area, the total area of occupied space in the at least one area, the total area of unoccupied space in the at least one area, and the total area of unoccupied space in the at least one area. One or more of factors such as the amount of unoccupied space.

示例的，可以根據待存放貨物的熱度，在未被佔用空間對應的至少一個區域中確定目標區域，具體可以是根據待存放貨物的熱度和未被佔用空間中每個空間的空間熱度，在未被佔用空間對應的至少一個區域中確定目標區域，如選擇空間熱度與待存放貨物的熱度匹配的各個未被佔用空間對應的區域為目標區域，如選擇空間熱度與待存放貨物的熱度的差值的絕對值小於預設值的未被佔用空間對應的區域為目標區域；或者，根據待存放貨物的熱度以及未被佔用空間中每個空間的位置資訊，在未被佔用空間對應的至少一個區域中確定目標區域。當然也可以選擇上述第二條件的各個因素的其他組合方式，確定目標區域。 For example, the target area may be determined in at least one area corresponding to the unoccupied space based on the heat of the goods to be stored. Specifically, the target area may be determined based on the heat of the goods to be stored and the space heat of each space in the unoccupied space. The target area is determined in at least one area corresponding to the occupied space. For example, the area corresponding to each unoccupied space whose heat of the space matches the heat of the goods to be stored is selected as the target area. For example, the difference between the heat of the space and the heat of the goods to be stored is selected. The area corresponding to the unoccupied space whose absolute value is less than the preset value is the target area; or, based on the heat of the goods to be stored and the location information of each space in the unoccupied space, at least one area corresponding to the unoccupied space Determine the target area. Of course, other combinations of various factors of the above second condition can also be selected to determine the target area.

示例的，可以預先建立貨物存放空間的各個區域與帶存放貨物的熱度的映射關係，進而基於該映射關係和待存放貨物的熱度，在所述未被佔用空間對應的至少一個區域中確定目標區域。 For example, a mapping relationship between each area of the cargo storage space and the heat of the stored goods can be established in advance, and then based on the mapping relationship and the heat of the goods to be stored, the target area is determined in at least one area corresponding to the unoccupied space. .

示例的，可以為第二條件中的各個因素配置權重因子，進而得到未被佔用空間對應的各個區域的加權平均值或區域分數，從而根據該加權平均值或區域分數確定目標區域，如選擇加權平均值最高或者區域分數最高的區域為目標區域。 For example, weight factors can be configured for each factor in the second condition, and then the weighted average or regional score of each area corresponding to the unoccupied space can be obtained, and the target area can be determined based on the weighted average or regional score, such as selecting weighted flat The area with the highest mean value or the highest area score is the target area.

示例性的，空間集合中的空間所在的位置與巷道距離越近、與工作站距離越近則其對應的區域分數越高，區域被佔用空間的總面積越大、未被佔用的總面積越小，則其存放分數越高。 For example, the closer the space in the space set is to the lane and the workstation, the higher the corresponding area score, the larger the total area of occupied space in the area, and the smaller the total unoccupied area. , the higher its storage score.

進一步地，可以根據待存放貨物的熱度、尺寸資訊和在所述第一機器人上的儲存單元資訊中的一項或多項，確定待存放貨物的需求條件，該需求條件可以包括待存放貨物對應的存放區域的要求，該要求可以具體包括：空間位置資訊的範圍、區域被佔用的空間的總面積的範圍、區域未被佔用空間的總面積的範圍以及區域未被佔用空間的數量等中的一項或多項。 Further, the demand conditions of the goods to be stored can be determined based on one or more of the heat and size information of the goods to be stored and the storage unit information on the first robot. The demand conditions can include the corresponding requirements of the goods to be stored. Storage area requirements, which may specifically include: the range of spatial location information, the range of the total area of occupied space in the area, the range of the total area of unoccupied space in the area, and the number of unoccupied spaces in the area, etc. item or multiple items.

步驟S502，將所述目標區域中大於或者等於所述需求空間的空間，確定為所述第一儲存空間。 Step S502: Determine a space in the target area that is greater than or equal to the required space as the first storage space.

步驟S503，將所述第一儲存空間分配給所述待存放貨物。 Step S503: Allocate the first storage space to the goods to be stored.

步驟S504，發送第一存放指令至第一機器人，其中，所述第一存放指令包括所述第一儲存空間的資訊。 Step S504: Send a first storage instruction to the first robot, where the first storage instruction includes information about the first storage space.

在本實施例中，針對各個未被佔用空間，先根據包括多個因素，如熱度、尺寸、位置、佔用情況等，的第二條件對各個被佔用空間進行篩選，確定存取效率較高、空間利用率較高的目標區域，進而從該目標區域中選擇滿足大存放貨物需求的未被佔用空間為待存放貨物的存放空間，從而提高了存放空間確定的智能化程度，提高了貨物存放的效率以及倉儲系統空間利用率。 In this embodiment, for each unoccupied space, each occupied space is first filtered according to the second condition including multiple factors, such as heat, size, location, occupancy, etc., to determine whether the access efficiency is higher, The target area with high space utilization rate is selected, and then the unoccupied space that meets the demand for large storage of goods is selected from the target area as the storage space for the goods to be stored, thereby improving the intelligence of the storage space determination and improving the efficiency of goods storage. efficiency and space utilization of the warehousing system.

圖6為本申請另一個實施例提供的空間分配方法的流程圖，本實施例是在圖3A的基礎上，對步驟S301進行進一步細化，如圖6所示，該空間分配方法包括以下步驟： Figure 6 is a flowchart of a space allocation method provided by another embodiment of the present application. Figure, this embodiment further refines step S301 on the basis of Figure 3A. As shown in Figure 6, the space allocation method includes the following steps:

步驟S601，根據貨物存放空間的未被佔用空間的空間性質以及待存放貨物的需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間。 Step S601: According to the spatial properties of the unoccupied space of the cargo storage space and the required space for the goods to be stored, a first storage space adapted to the required space is determined from the unoccupied space.

其中，未被佔用空間的空間性質可以包括與工作站的距離、與巷道口的距離、位於所屬貨架的層數、所屬貨架的空間佔用率、所屬貨架的連續空間占比等因素中的一項或多項。 Among them, the spatial properties of the unoccupied space may include one of the following factors: the distance from the workstation, the distance from the lane entrance, the number of layers of the shelf to which it belongs, the space occupancy rate of the shelf to which it belongs, and the proportion of continuous space of the shelf to which it belongs, or Multiple items.

示例的，未被佔用空間的空間性質還可以包括與工作站的距離、與巷道口的距離、位於所屬貨架的層數、所屬貨架的空間佔用率、所屬貨架的連續空間占比以及空間熱度等因素中的一項或多項。其中，空間熱度可以是倉儲系統為每個空間配置的熱度參數，可以根據該未被佔用空間對應的區域或貨架所在的區域的熱度確定，還可以參考未被佔用空間與對應的區域或貨架所在的區域的相關度確定。 For example, the spatial properties of the unoccupied space can also include factors such as the distance from the workstation, the distance from the lane entrance, the number of layers on the shelf to which it belongs, the space occupancy rate of the shelf to which it belongs, the proportion of continuous space of the shelf to which it belongs, and the heat of the space. one or more of them. Among them, the space heat can be the heat parameter configured by the warehousing system for each space. It can be determined based on the heat of the area corresponding to the unoccupied space or the area where the shelf is located. You can also refer to the unoccupied space and the corresponding area or shelf. The correlation degree of the area is determined.

示例的，可以先確定貨物存放空間中與需求空間適配的各個未被佔用空間，進而根據空間性質，從各個與需求空間適配的未被佔用空間中確定第一儲存空間。 For example, each unoccupied space in the cargo storage space that matches the required space can be determined first, and then the first storage space can be determined from each unoccupied space that matches the required space according to the nature of the space.

示例性的，將與工作站距離最近的與需求空間適配的未被佔用空間確定為第一儲存空間，或者，將與巷道口的距離最近的與需求空間適配的未被佔用空間確定為第一儲存空間，或者，將位於所屬貨架層數最低或者為設定層數的與需求空間適配的未被佔用空間確定為第一儲存空間，或者，將所屬貨架的空間佔用率最高或者最低的與需求空間適配的未被佔用空間確定為第一儲存空間，或者將所屬貨架的連續空間占比最高或者最低的與需求空間適配的未被佔用空間確定為第一儲存空間。當然也可以選擇上述空間性質的因素中的兩個、三個、四個或者五個，確定第一儲存空間。 For example, the unoccupied space that is closest to the workstation and is suitable for the required space is determined as the first storage space, or the unoccupied space that is closest to the tunnel entrance and is suitable for the required space is determined as the third storage space. A storage space, either located at the lowest shelf level or an unoccupied storage space that is suitable for the required space at the set level. The occupied space is determined as the first storage space, or the unoccupied space of the shelf with the highest or lowest space occupancy rate that is adapted to the required space is determined as the first storage space, or the continuous space of the shelf with the highest or lowest proportion is determined as the first storage space. The lowest unoccupied space that matches the required space is determined as the first storage space. Of course, you can also select two, three, four or five of the above factors of space properties to determine the first storage space.

以考慮與工作站的距離、與巷道口的距離和位於所屬貨架的層數為例進行說明，假設與工作站的距離、與巷道口的距離和位於所屬貨架的層數的權重因子分別為0.5、0.3和0.2，進而，計算上述三個因素的加權平均值，得到各個未被佔用空間的空間性質的加權平均值，根據該加權平均值確定第一儲存空間。其他的情況可以類推得知，在此不再贅述。 Taking the distance to the workstation, the distance to the tunnel entrance and the number of floors on the shelf as an example to illustrate, it is assumed that the weight factors of the distance to the workstation, the distance to the laneway entrance and the number of floors on the shelf are 0.5 and 0.3 respectively. and 0.2, and then calculate the weighted average of the above three factors to obtain the weighted average of the spatial properties of each unoccupied space, and determine the first storage space based on the weighted average. Other situations can be learned by analogy and will not be repeated here.

可選地，根據貨物存放空間的未被佔用空間的空間性質以及待存放貨物的需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間，包括：根據所述未被佔用空間的空間性質確定所述未被佔用空間的空間分數；根據所述未被佔用空間的分數以及所述需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間。 Optionally, according to the spatial properties of the unoccupied space of the cargo storage space and the required space for the goods to be stored, determining the first storage space adapted to the required space from the unoccupied space includes: according to the required space The spatial properties of the unoccupied space determine the space fraction of the unoccupied space; according to the fraction of the unoccupied space and the required space, determine the adaptation to the required space from the unoccupied space of the first storage space.

示例性的，當未被佔用空間與工作站的距離越近則其空間分數越高，與巷道口的距離越近則其空間分數越高，位於所屬貨架的層數越低則分數越高。 For example, the closer the unoccupied space is to the workstation, the higher the space score, the closer the distance to the lane entrance, the higher the space score, and the lower the level of the shelf to which it belongs, the higher the score.

示例的，可以先根據需求空間，從各個未被佔用空間中確定與該需求空間適配的目標未被佔用空間，進而根據空間性質，計算目標未被佔用空間的空間分數，根據各個目標未被佔用空間的空間分數，從目標未被佔用空間中確定第一儲存空間。 For example, according to the demand space, you can first determine the target unoccupied space that is adapted to the demand space from each unoccupied space, and then calculate the target unoccupied space according to the nature of the space. Calculate the space fraction of the unoccupied space of the target, and determine the first storage space from the unoccupied space of the target based on the space fraction of the unoccupied space of each target.

示例的，可以先計算各個未被佔用空間的空間分數，進而根據需求空間，從空間分數滿足預設分數條件，如大於預設分數閾值，的未被佔用空間中，確定與需求空間適配的第一儲存空間。 For example, the space score of each unoccupied space can be calculated first, and then according to the demand space, from the unoccupied space whose space score satisfies the preset score condition, such as greater than the preset score threshold, determine the space that is adapted to the demand space. First storage space.

示例的，空間分數可以根據空間性質中的各個因素的值確定。 For example, the spatial score can be determined based on the values of various factors in the spatial properties.

示例性，可以假設未被佔用空間的空間性質的各項的滿分為10分，總分為50分，當未被佔用空間與工作站的距離小於或等10公尺時，該項分數為10分，超過10公尺的部分可以按照相應的映射關係進行扣分，如每超過5公尺扣除1分；當未被佔用空間與巷道口的距離小於或等於2公尺時，該項分數為10分，超過2公尺的部分可以按照相應的映射關係進行扣分，如每超過1公尺扣除1分；位於所屬貨架的層數的分數可以根據貨架的總層數以及未被佔用空間位於的層數確定，如貨架包括6層，最底層或第一層分數為滿分10分，每高一層則扣除2分，第三層的分數為6分。 For example, it can be assumed that the full score for each item of the spatial properties of the unoccupied space is 10 points, and the total score is 50 points. When the distance between the unoccupied space and the workstation is less than or equal to 10 meters, the score for this item is 10 points. , the part exceeding 10 meters can be deducted according to the corresponding mapping relationship, for example, 1 point is deducted for every 5 meters exceeded; when the distance between the unoccupied space and the tunnel entrance is less than or equal to 2 meters, the score is 10 Points will be deducted for parts exceeding 2 meters according to the corresponding mapping relationship. For example, 1 point will be deducted for each length exceeding 1 meter. The points for the number of layers of the shelf can be calculated based on the total number of layers of the shelf and the location of the unoccupied space. The number of layers is determined. If the shelf includes 6 layers, the score for the lowest or first layer is 10 points, and 2 points are deducted for each higher layer. The score for the third layer is 6 points.

當需要最大化地提高倉儲系統的空間利用率，則應該優先選擇所屬貨架的空間佔有率最高的、與需求空間適配的未被佔用空間為第一儲存空間。當需要重點考慮存放效率時，可以選擇與工作站的距離和與巷道口的距離之和最小的、與需求空間適配的未被佔用空間作為第一儲存空間。 When it is necessary to maximize the space utilization of the warehousing system, priority should be given to selecting the unoccupied space with the highest space occupancy of the shelf that is suitable for the required space as the first storage space. When storage efficiency needs to be considered, you can choose an unoccupied space that has the smallest sum of the distance to the workstation and the distance to the tunnel entrance and is suitable for the required space as the first storage space.

示例的，在確定第一儲存空間時，還可以考慮待存放貨物的熱度。可選地，根據貨物存放空間的未被佔用空間的空間性質以及待存放貨物的需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間，包括：根據所述待存放貨物的熱度、所述未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間。 For example, when determining the first storage space, the heat of the goods to be stored may also be considered. Optionally, according to the spatial properties of the unoccupied space of the cargo storage space and the required space for the goods to be stored, determining the first storage space adapted to the required space from the unoccupied space includes: according to the required space The heat of the goods to be stored, the spatial properties of the unoccupied space and the required space are used to determine a first storage space adapted to the required space from the unoccupied space.

示例的，在確定第一儲存空間時，綜合考慮待存放貨物的熱度，可以確定與其熱度匹配的第一儲存空間，以實現將熱度較高的貨物放置於易於存取的位置，以提高倉儲系統的存取效率。 For example, when determining the first storage space, comprehensively considering the heat of the goods to be stored, a first storage space matching its heat can be determined, so that goods with higher heat can be placed in an easy-to-access location to improve the warehousing system. access efficiency.

示例性的，未被佔用空間的空間性質包括未被佔用空間的空間熱度，可以根據未被佔用空間的空間熱度與待存放貨物的熱度的匹配結果，對未被佔用空間進行篩選，進而結合需求空間，確定與需求空間適配的第一儲存空間。或者，可以先確定滿足需求空間的各個未被佔用空間，進而根據滿足需求空間的未被佔用空間的空間熱度與待存放貨物的熱度的匹配結果，從中確定空間熱度與待存放貨物的熱度最匹配的滿足需求空間的未被佔用空間為第一儲存空間。 For example, the spatial properties of the unoccupied space include the space heat of the unoccupied space. The unoccupied space can be screened based on the matching result of the space heat of the unoccupied space and the heat of the goods to be stored, and then combined with the needs. Space, determine the first storage space that matches the required space. Alternatively, you can first determine each unoccupied space that meets the demand space, and then determine the best match between the space heat and the heat of the goods to be stored based on the matching result of the space heat of the unoccupied space that meets the demand space and the heat of the goods to be stored. The unoccupied space that meets the demand space is the first storage space.

步驟S602，將所述第一儲存空間分配給所述待存放貨物。 Step S602: Allocate the first storage space to the goods to be stored.

步驟S603，發送第一存放指令至第一機器人。 Step S603: Send the first storage instruction to the first robot.

其中，所述第一存放指令包括所述第一儲存空間的資訊。 Wherein, the first storage instruction includes information of the first storage space.

示例的，根據貨物存放空間的未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間，包括：根據貨物存放空間的未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間以及所述待存放貨物的朝向；根據所述待存放貨物的朝向和所述第一儲存空間的資訊，生成所述第一存放指令。 For example, according to the spatial nature of the unoccupied space of the cargo storage space and the required space, determining a first storage space adapted to the required space from the unoccupied space, including: based on the spatial properties of the unoccupied space of the cargo storage space and the required space, from Determine a first storage space in the unoccupied space that is adapted to the required space and the orientation of the goods to be stored; generate the information based on the orientation of the goods to be stored and the first storage space. Describe the first storage instruction.

示例的，在為待存放貨物分配第一儲存空間時，考慮到可以通過機器人的搬運裝置，如圖1G中的搬運裝置，調整待存放貨物的朝向，因此，在確定第一儲存空間時，可以綜合考慮朝向這一因素進行確定。待放貨物的朝向可以包括默認朝向和調整朝向，該調整朝向可以是默認朝向順時針旋轉90°、270°或其他角度對應的朝向。 For example, when allocating the first storage space for the goods to be stored, it is considered that the orientation of the goods to be stored can be adjusted by the robot's handling device, such as the handling device in Figure 1G. Therefore, when determining the first storage space, it is possible to Take this factor into consideration when determining. The orientation of the goods to be placed may include a default orientation and an adjusted orientation. The adjusted orientation may be an orientation corresponding to the default orientation rotated clockwise by 90°, 270°, or other angles.

示例的，可以根據待存放貨物的尺寸資訊，生成各個朝向的需求空間，進而根據各個未被佔用空間的空間性質以及各個朝向的需求空間，確定與其中一個朝向的需求空間適配的第一儲存空間，該需求空間的朝向即為待存放貨物的朝向。 For example, the required space in each direction can be generated based on the size information of the goods to be stored, and then based on the spatial properties of each unoccupied space and the required space in each direction, the first storage that adapts to the required space in one of the directions can be determined. Space, the direction of the required space is the direction of the goods to be stored.

示例的，若需求空間包括多個不同朝向時，且存在多個未被佔用空間可以與該不同朝向的需求空間適配時，可隨機，或是依據上述空間性質的一項或多項條件，或是依據未佔用空間邊和/或角而作選邊和/或選角，或靠近周邊物件，或相關和/或相類似條件，選擇一個朝向的需求空間來適配確定第一儲存空間。 For example, if the required space includes multiple different orientations, and there are multiple unoccupied spaces that can adapt to the required space in different orientations, it can be random, or based on one or more conditions of the above-mentioned space properties, or The first storage space is determined based on the side and/or corner selection of unoccupied space, proximity to surrounding objects, or related and/or similar conditions, and the required space in one direction is selected to suitably determine the first storage space.

示例的，若需求空間包括多個不同朝向時，且存在多個未被佔用空間可以與該不同朝向的需求空間適配時，選擇默認朝向為待存放貨物的朝向。 For example, if the required space includes multiple different orientations and there are multiple unknown When the occupied space can be adapted to the required space of different orientations, select the default orientation as the orientation of the goods to be stored.

示例的，可以在根據各個未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間之後，根據該第一儲存空間適配的需求空間的朝向，確定待存放貨物的朝向。 For example, after determining a first storage space adapted to the required space from the unoccupied space according to the spatial properties of each unoccupied space and the required space, the first storage space can be stored according to the first storage space. The orientation of the adapted required space determines the orientation of the goods to be stored.

在本實施例中，根據待存放貨物的需求空間以及貨物存放空間中各個未被佔用空間的空間性質，從貨物存放空間中確定與之適配、且空間性能良好的未被佔用空間來放置該待存放貨物，實現了為貨物動態分配空間的理念，提高了倉庫的空間利用率，降低了倉儲成本，同時，提高了貨物存放的效率。 In this embodiment, according to the required space of the goods to be stored and the spatial properties of each unoccupied space in the goods storage space, an unoccupied space that is suitable for the goods and has good space performance is determined from the goods storage space to place the goods. For goods to be stored, the concept of dynamically allocating space for goods is realized, which improves the space utilization of the warehouse, reduces warehousing costs, and at the same time improves the efficiency of goods storage.

圖7為本申請另一個實施例提供的空間分配方法的流程圖，本實施例是在圖6的基礎上，對步驟S601進行進一步細化，如圖7所示，該空間分配方法包括以下步驟： Figure 7 is a flow chart of a space allocation method provided by another embodiment of the present application. This embodiment further refines step S601 on the basis of Figure 6. As shown in Figure 7, the space allocation method includes the following steps :

步驟S701，根據所述待存放貨物的熱度，確定目標儲存區域。 Step S701: Determine a target storage area based on the heat of the goods to be stored.

示例的，待存放貨物的熱度可以採用數值或者分數進行描述，如35、12等，也可以採用等級進行描述，如高、中、低等。 For example, the heat of the goods to be stored can be described by numerical values or scores, such as 35, 12, etc., or it can be described by levels, such as high, medium, low, etc.

示例的，可以預先建立貨物存放空間的各個儲存區域與熱度的映射關係，進而根據待存放貨物的熱度以及該映射關係確定目標儲存區域。 For example, a mapping relationship between each storage area and heat of the goods storage space can be established in advance, and then the target storage area is determined based on the heat of the goods to be stored and the mapping relationship.

示例性的，假設貨物存放空間包括3個儲存區域，區域 A、區域B和區域C，而區域A對應的熱度為高，區域B對應的熱度為中，區域C對應的熱度為低，待存放貨物的熱度為中，則確定目標儲存區域為區域B。 For example, assume that the cargo storage space includes 3 storage areas, area A, area B and area C. If the heat corresponding to area A is high, the heat corresponding to area B is medium, the heat corresponding to area C is low, and the heat corresponding to the goods to be stored is medium, then the target storage area is determined to be area B.

步驟S702，根據所述未被佔用空間的空間性質以及所述需求空間，從所述目標儲存區域的未被佔用空間中，確定與所述需求空間適配的第一儲存空間。 Step S702: Based on the spatial properties of the unoccupied space and the required space, determine a first storage space adapted to the required space from the unoccupied space in the target storage area.

步驟S702與步驟S601的具體過程類似，僅將確定第一儲存空間的範圍修改為目標儲存區域對應的未被佔用空間，在此不再贅述。 Step S702 is similar to the specific process of step S601, except that the range of the determined first storage space is modified to the unoccupied space corresponding to the target storage area, which will not be described again here.

步驟S703，將所述第一儲存空間分配給所述待存放貨物。 Step S703: Allocate the first storage space to the goods to be stored.

步驟S704，發送第一存放指令至第一機器人。 Step S704: Send the first storage instruction to the first robot.

在本實施例中，先根據待存放貨物的熱度對倉儲系統的貨物存放空間進行初步篩選，得到目標儲存區域，進而在目標儲存區域中，根據未被佔用空間的空間性質以及待存放貨物的需求空間，確定適配的第一儲存空間，加快了第一儲存空間確定的效率，提高了貨物存放的智能化程度以及貨物存放的效率，同時，採用動態空間分配的方式，提高了倉儲系統的空間利用率，降低了倉儲成本。 In this embodiment, the cargo storage space of the warehousing system is initially screened based on the heat of the cargo to be stored to obtain the target storage area, and then in the target storage area, based on the spatial properties of the unoccupied space and the needs of the cargo to be stored space, determining the adapted first storage space, speeding up the efficiency of determining the first storage space, improving the intelligence of cargo storage and the efficiency of cargo storage. At the same time, the dynamic space allocation method is used to improve the space of the warehousing system. Utilization rate reduces warehousing costs.

圖8為本申請另一個實施例提供的空間分配方法的流程圖，本實施例是在圖6的基礎上，對步驟S601進行進一步細化，如圖8所示，該空間分配方法包括以下步驟： Figure 8 is a flow chart of a space allocation method provided by another embodiment of the present application. This embodiment further refines step S601 on the basis of Figure 6. As shown in Figure 8, the space allocation method includes the following steps :

步驟S801，根據所述未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定與所述需求空間適配的至少兩個第二儲存空間。 Step S801: Determine at least two second storage spaces adapted to the required space from the unoccupied space based on the spatial properties of the unoccupied space and the required space.

示例的，確定至少兩個第二儲存空間的具體過程與步驟S601中確定第一儲存空間的過程類似，僅將確定的空間的數量修改為至少兩個，該步驟的具體描述在此不再贅述。 For example, the specific process of determining at least two second storage spaces is similar to the process of determining the first storage space in step S601, except that the number of determined spaces is modified to at least two. The specific description of this step will not be repeated here. .

若第二儲存空間的數量僅為1個，則可以直接將該第二儲存空間確定為第一儲存空間，而省略後續的步驟。 If the number of second storage spaces is only one, the second storage space can be directly determined as the first storage space, and subsequent steps can be omitted.

步驟S802，根據所述待存放貨物的熱度，從所述至少兩個第二儲存空間中確定所述第一儲存空間。 Step S802: Determine the first storage space from the at least two second storage spaces according to the heat of the goods to be stored.

示例的，可以從各個第二儲存空間中，選擇與待存放貨物的熱度匹配的第二儲存空間作為該第一儲存空間。 For example, a second storage space that matches the heat of the goods to be stored can be selected as the first storage space from each of the second storage spaces.

進一步地，可以預先建立各個儲存空間對應的區域與貨物的熱度的映射關係，進而根據待存放貨物的熱度以及該映射關係，從至少兩個第二儲存空間中確定所述第一儲存空間。 Furthermore, a mapping relationship between the area corresponding to each storage space and the heat of the goods can be established in advance, and then the first storage space is determined from at least two second storage spaces based on the heat of the goods to be stored and the mapping relationship.

示例性的，假設第二儲存空間包括儲存空間S1和儲存空間S2，待存放貨物的熱度為86，儲存空間S1對應的區域所能存放的貨物的熱度區間為60-80，儲存空間S2對應的區域所能存放的貨物的熱度區間為81-90，則從儲存空間S2確定第一儲存空間。 For example, assuming that the second storage space includes storage space S1 and storage space S2, the heat of the goods to be stored is 86, the heat range of the goods that can be stored in the area corresponding to storage space S1 is 60-80, and the heat range of the storage space S2 corresponds to The heat range of the goods that can be stored in the area is 81-90, and the first storage space is determined from the storage space S2.

步驟S803，將所述第一儲存空間分配給所述待存放貨物。 Step S803: Allocate the first storage space to the goods to be stored.

步驟S804，發送第一存放指令至第一機器人。 Step S804: Send the first storage instruction to the first robot.

在本實施例中，先根據未被佔用空間的空間性質以及待存放貨物的需求空間對倉儲系統的貨物存放空間進行初步篩選，得到至少兩個第二儲存空間，進而根據待存放貨物的熱度，從至少兩個第二儲存空間中確定匹配的第一儲存空間，加快了第一儲存空間確定的效率，提高了貨物存放的智能化程度以及提高了貨物存放的效率，同時，採用動態空間分配的方式，提高了倉儲系統的空間利用率，降低了倉儲成本。 In this embodiment, the cargo storage space of the warehousing system is initially screened based on the spatial properties of the unoccupied space and the required space of the goods to be stored, to obtain at least two second storage spaces, and then based on the heat of the goods to be stored, Determining a matching first storage space from at least two second storage spaces speeds up the efficiency of determining the first storage space, improves the intelligence of cargo storage, and improves the efficiency of cargo storage. At the same time, dynamic space allocation is adopted This method improves the space utilization of the warehousing system and reduces warehousing costs.

圖9為本申請另一個實施例提供的空間分配方法的流程圖，本實施例是在圖6的基礎上，對步驟S601進行進一步細化，如圖9所示，該空間分配方法包括以下步驟： Figure 9 is a flow chart of a space allocation method provided by another embodiment of the present application. This embodiment further refines step S601 on the basis of Figure 6. As shown in Figure 9, the space allocation method includes the following steps :

步驟S901，確定滿足待存取貨物的需求空間的一個或多個目標未被佔用空間。 Step S901: Determine one or more target unoccupied spaces that meet the required space for the goods to be accessed.

示例的，目標未被佔用空間可以是大於或等於該需求空間的未被佔用空間。 For example, the target unoccupied space may be an unoccupied space that is greater than or equal to the required space.

示例的，可以先檢測或獲取貨物存放空間的各個未被佔用空間，進而根據各個未被佔用空間的尺寸資訊和需求空間的尺寸資訊，從各個未被佔用空間中確定大於或等於該需求空間的目標未被佔用空間。 For example, each unoccupied space of the cargo storage space can be detected or obtained first, and then based on the size information of each unoccupied space and the size information of the required space, a space greater than or equal to the required space can be determined from each unoccupied space. The target has no occupied space.

示例的，若僅包括一個目標未被佔用空間，則可以省略後續的步驟，直接從該目標未被佔用空間確定為第一儲存空間。 For example, if only one target unoccupied space is included, subsequent steps may be omitted and the first storage space may be directly determined from the target unoccupied space.

步驟S902，計算所述待存放貨物的熱度。 Step S902: Calculate the heat of the goods to be stored.

步驟S903，根據所述空間性質計算所述目標未被佔用空間的空間分數。 Step S903: Calculate the unoccupied space of the target according to the spatial properties. space fraction between.

其中，計算空間分數的方式與前述方式相同，在此不再贅述。 Among them, the method of calculating the spatial score is the same as the previous method, and will not be described again here.

步驟S904，根據所述待存放貨物的熱度與所述空間分數的匹配結果，確定所述第一儲存空間。 Step S904: Determine the first storage space according to the matching result between the heat of the goods to be stored and the space score.

示例的，可以選擇空間分數與待存放貨物的熱度匹配的目標未被佔用空間，就所述目標未被佔用空間確定第一儲存空間。 For example, a target unoccupied space whose space score matches the heat of the goods to be stored can be selected, and the first storage space is determined for the target unoccupied space.

可選地，圖10為本申請圖9所示實施例中步驟S904的流程圖，如圖10所示，步驟S904包括： Optionally, Figure 10 is a flow chart of step S904 in the embodiment shown in Figure 9 of this application. As shown in Figure 10, step S904 includes:

步驟S9041，計算所述待存放貨物的熱度在所述貨物存放空間存放的全部貨物中的熱度排名百分比。 Step S9041: Calculate the heat ranking percentage of the heat of the goods to be stored among all the goods stored in the goods storage space.

其中，熱度排名百分比指的是待存放貨物的熱度在貨物存放空間中存放的全部貨物的熱度的排名對應的百分比。 Among them, the popularity ranking percentage refers to the percentage of the popularity of the goods to be stored corresponding to the ranking of the popularity of all goods stored in the cargo storage space.

示例的，可以獲取貨物存放空間當前存放的全部貨物的熱度，將待存放貨物的熱度以及全部貨物的熱度，確定待存放貨物的熱度的排名，進而根據待存放貨物的熱度的排名以及貨物存放空間存放的全部貨物的數量，確定到存放貨物的熱度排名百分比。 For example, the heat of all goods currently stored in the cargo storage space can be obtained, the heat of the goods to be stored and the heat of all goods can be used to determine the ranking of the heat of the goods to be stored, and then based on the ranking of the heat of the goods to be stored and the storage space of the goods The quantity of all goods stored is determined by the popularity ranking percentage of the stored goods.

示例性的，熱度排名百分比的表達式為：

For example, the expression of the popularity ranking percentage is:

其中，H_d為待存放貨物的熱度排名百分比；R1為待存放貨物的熱度排名；M為貨物存放空間存放的全部貨物的數量。 Among them, H _d is the popularity ranking percentage of the goods to be stored; R1 is the popularity ranking of the goods to be stored; M is the number of all goods stored in the cargo storage space.

示例性的，假設貨物存放空間包括100個貨物，待存放貨物的熱度的排名為29，則其熱度排名百分比為29%。 For example, assume that the cargo storage space includes 100 cargoes to be stored The popularity ranking of the goods is 29, and its popularity ranking percentage is 29%.

步驟S9042，根據各個所述目標未被佔用空間的空間分數，確定各個所述目標未被佔用空間的分數排名百分比；其中，分數排名百分比為目標未被佔用空間的空間分數的排名對應的百分比。 Step S9042: Determine the score ranking percentage of each target unoccupied space according to the space score of each target unoccupied space; wherein the score ranking percentage is the percentage corresponding to the ranking of the space score of the target unoccupied space.

示例性的，分數排名百分比的表達式為：

For example, the expression of score ranking percentage is:

其中，P_i為第i個目標未被佔用空間的分數排名百分比，i=1,…,N，N為目標未被佔用空間的數量；R2_i為第i個目標未被佔用空間的分數排名。 Among them, P _i is the score ranking percentage of the unoccupied space of the i-th target, i=1,...,N, N is the number of unoccupied space of the target; R2 _i is the score ranking of the unoccupied space of the i-th target .

示例性的，假設包括10個目標未被佔用空間，第i個目標未被佔用空間的熱度的排名為6，則其熱度排名百分比為60%。 For example, assuming that there are 10 unoccupied spaces of the target, and the popularity ranking of the unoccupied space of the i-th target is 6, then its popularity ranking percentage is 60%.

步驟S9043，根據所述熱度排名百分比以及各個所述目標未被佔用空間的分數排名百分比，確定所述第一儲存空間。 Step S9043: Determine the first storage space based on the popularity ranking percentage and the score ranking percentage of each target's unoccupied space.

示例的，可以預先建立熱度排名百分比和分數排名百分比的對應關係，進而根據該對應關係、待存放貨物的熱度排名百分比以及各個所述目標未被佔用空間的分數排名百分比，確定所述第一儲存空間。 For example, the corresponding relationship between the popularity ranking percentage and the score ranking percentage can be established in advance, and then the first storage is determined based on the corresponding relationship, the popularity ranking percentage of the goods to be stored, and the score ranking percentage of each target's unoccupied space. space.

可選地，根據所述熱度排名百分比以及各個所述目標未被佔用空間的分數排名百分比，確定所述第一儲存空間，包括：將所述分數排名百分比與所述熱度排名百分比的差值的絕對值最小的所述目標未被佔用空間，確定為所述第一儲存空間。 Optionally, determining the first storage space according to the popularity ranking percentage and the score ranking percentage of each target unoccupied space includes: calculating the difference between the score ranking percentage and the popularity ranking percentage. The target unoccupied space with the smallest absolute value is determined as the first storage space.

示例性的，假設待存放貨物的熱度排名百分比為39%，倉庫中包括5個目標未被佔用空間，表1為本申請一個實施例提供的各個目標未被佔用空間的分數排名百分比表，根據表1可知，空間D2與待入庫料箱的熱度排名百分比最接近，因此，確定空間D2為待入庫料箱的庫位。 For example, assuming that the popularity ranking percentage of goods to be stored is 39%, and the warehouse includes 5 target unoccupied spaces, Table 1 is a score ranking percentage table of each target unoccupied space provided by an embodiment of the present application. According to As can be seen from Table 1, the popularity ranking percentage of space D2 is closest to that of the bins to be stored. Therefore, space D2 is determined to be the storage location of the bins to be stored.

步驟S905，將所述第一儲存空間分配給所述待存放貨物。 Step S905: Allocate the first storage space to the goods to be stored.

步驟S906，發送第一存放指令至第一機器人。 Step S906: Send the first storage instruction to the first robot.

在本實施例中，先根據待存放貨物的需求空間，確定可以用於存放該待存放貨物的各個目標未被佔用空間，進而根據空間分數以及待存放貨物的熱度，確定與熱度匹配的目標未被佔用空間為用於存放待存放貨物的第一儲存空間，實現了為貨物動態分配空間的理念的前提下，實現了為貨物分配與其熱度匹配的儲存空間，提高了空間分配的合理性和智能性，實現了將熱度較高的貨物放置於易於存取的空間，提高了倉儲系統的存取效率。 In this embodiment, first, based on the required space of the goods to be stored, the unoccupied space of each target that can be used to store the goods to be stored is determined, and then based on the space score and the heat of the goods to be stored, the unoccupied space of the target that matches the heat is determined. The occupied space is the first storage space for storing goods to be stored. On the premise of realizing the concept of dynamically allocating space for goods, it is possible to allocate storage space for goods that matches their heat, which improves the rationality and intelligence of space allocation. It realizes the placement of hot goods in an easily accessible space and improves the access efficiency of the warehousing system.

圖11為本申請另一個實施例提供的空間分配方法的流程圖，本實施例是在圖6的基礎上，對步驟S601進行進一步細化，如圖11所示，該空間分配方法包括以下步驟： Figure 11 is a flow chart of a space allocation method provided by another embodiment of the present application. This embodiment further refines step S601 on the basis of Figure 6. As shown in Figure 11, the space allocation method includes the following steps :

步驟S1101，計算所述待存放貨物的熱度。 Step S1101: Calculate the heat of the goods to be stored.

步驟S1102，根據所述空間性質計算所述未被佔用空間的空間分數。 Step S1102: Calculate the space fraction of the unoccupied space according to the space properties.

步驟S1103，根據所述待存放貨物的熱度與所述空間分數的匹配結果，確定一個或多個目標未被佔用空間。 Step S1103: Determine one or more target unoccupied spaces based on the matching result of the heat of the goods to be stored and the space score.

其中，目標未被佔用空間的空間分數與待存放貨物的熱度匹配。 Among them, the space fraction of the target unoccupied space matches the heat of the goods to be stored.

示例的，當目標未被佔用空間的數量為一個時，則可以直接就給目標未被佔用空間確定第一儲存空間，而省略後續步驟。 For example, when the number of target unoccupied spaces is one, the first storage space can be directly determined for the target unoccupied spaces, and subsequent steps can be omitted.

進一步地，可以預先建立貨物的熱度與空間分數的匹配映射關係，進而根據該匹配映射關係、待存放貨物的熱度以及各個所述空間分數，確定一個或多個目標未被佔用空間。 Furthermore, a matching mapping relationship between the popularity of the goods and the space score can be established in advance, and then one or more target unoccupied spaces are determined based on the matching mapping relationship, the popularity of the goods to be stored, and each of the space scores.

步驟S1104，從所述目標未被佔用空間中確定與所述需求空間適配的第一儲存空間。 Step S1104: Determine a first storage space adapted to the required space from the target unoccupied space.

進一步地，若從各個目標未被佔用空間中未找到與需求空間適配的第一儲存空間，則可以生成提示資訊，以提醒人為介入，或者，進入等待模式，以當系統存在新的未被佔用空間時，計算該新的未被佔用空間的空間分數，重新進行目標未被空間的確定，即返回執行步驟S1102。 Furthermore, if the first storage space that is suitable for the required space is not found from each target unoccupied space, prompt information can be generated to remind human intervention, or the waiting mode can be entered to detect when there is a new unoccupied space in the system. When space is occupied, the space score of the new unoccupied space is calculated, and the target unoccupied space is determined again, that is, step S1102 is returned to execution.

步驟S1105，將所述第一儲存空間分配給所述待存放貨物。 Step S1105: Allocate the first storage space to the goods to be stored.

步驟S1106，發送第一存放指令至第一機器人。 Step S1106: Send the first storage instruction to the first robot.

在本實施例中，先根據未被佔用空間的空間分數以及待存放貨物的熱度，確定滿足待存放貨物的熱度要求的各個目標未被佔用空間，進而根據待存放貨物的需求空間，從各個目標未被佔用空間中選擇滿足待存放貨物的需求空間的要求的空間，實現了為貨物動態分配空間的理念的前提下，實現了為貨物分配與其熱度匹配的儲存空間，提高了空間分配的合理性和智能性，實現了將熱度較高的貨物放置於易於存取的空間，提高了倉儲系統的存取效率。 In this embodiment, first, based on the space fraction of the unoccupied space and the heat of the goods to be stored, each target unoccupied space that meets the heat requirements of the goods to be stored is determined, and then based on the required space of the goods to be stored, from each target Select the space that meets the space requirements of the goods to be stored in the unoccupied space. On the premise of realizing the concept of dynamically allocating space for goods, it is possible to allocate storage space for goods that matches their heat, which improves the rationality of space allocation. and intelligence, enabling hot goods to be placed in easily accessible spaces, improving the access efficiency of the warehousing system.

示例的，對於本申請任意實施例中涉及的待存放貨物的熱度，可以是根據所述待存放貨物的貨物類型和/或所述待存放貨物的存取頻率確定的。 For example, the heat of the goods to be stored in any embodiment of the present application may be determined based on the type of the goods to be stored and/or the access frequency of the goods to be stored.

示例的，可以獲取待存放貨物的貨物類型對應的類型熱度，進而根據類型熱度和/或待存放貨物的存取頻率確定待存放貨物的熱度。 For example, the type popularity corresponding to the cargo type of the goods to be stored can be obtained, and then the popularity of the goods to be stored is determined based on the type popularity and/or the access frequency of the goods to be stored.

示例的，可以直接將待存放貨物的類型評分確定為其熱度；或者，可以根據歷史數據確定待存放貨物的存取頻率，進而，根據存取頻率確定待存放貨物的熱度；或者，可以根據待存放貨物的存取頻率，確定其熱度評分，進而根據類型評分和熱度評分，確定待存放貨物的熱度。 For example, the type score of the goods to be stored can be directly determined to determine its popularity; or the access frequency of the goods to be stored can be determined based on historical data, and then the popularity of the goods to be stored can be determined based on the access frequency; or the popularity of the goods to be stored can be determined based on the access frequency. The access frequency of stored goods determines its heat score, and then the heat of the goods to be stored is determined based on the type score and heat score.

示例的，可以根據待存放貨物的類型評分和/或熱度評分兩者的和、平均值、最大值、最小值、加權平均值中的一項或多項確定待存放貨物的熱度。 For example, the heat of the goods to be stored may be determined based on one or more of the sum, average, maximum value, minimum value, and weighted average of the type score and/or heat score of the goods to be stored.

示例性的，假設待存放貨物的類型評分為70，而待存放貨物的熱度評分為30，類型評分的權重為0.6，而熱度評分的權重為0.4，則確定待存放貨物的熱度為70×0.6+30×0.4=54。 For example, assuming that the type score of the goods to be stored is 70, and the popularity score of the goods to be stored is 30, the weight of the type score is 0.6, and the weight of the popularity score is 0.4, then it is determined that the popularity of the goods to be stored is 70×0.6 +30×0.4=54.

可選地，當待存放貨物為待存放料箱，所述待存放料箱包括至少兩種物品，所述待存放貨物的熱度是根據所述待存放料箱的各個所述物品的物品熱度確定的。 Optionally, when the goods to be stored are bins to be stored, the bins to be stored include at least two types of items, and the heat of the goods to be stored is determined based on the item heat of each of the items in the bin to be stored. of.

示例的，可以根據待存放料箱的各個所述物品的物品熱度的加權平均值、最大值、最小值、平均值、最高加權值、最低加權值、設定加權值和中間值中的一項或多項，確定待存放料箱的熱度。其中，最高加權值指的是權重最高的物品對應的物品熱度或物品熱度與其權重的乘積，最低加權值指的是權重最低的物品對應的物品熱度或物品熱度與其權重的乘積，設定加權值指的是權重為設定排名，如第二高、中間等，的物品應的物品熱度或物品熱度與其權重的乘積。 For example, it can be based on one of the weighted average value, maximum value, minimum value, average value, highest weighted value, lowest weighted value, set weighted value and intermediate value of the item heat of each item to be stored in the bin, or Multiple items to determine the heat of the bin to be stored. Among them, the highest weighted value refers to the item heat corresponding to the item with the highest weight or the product of the item heat and its weight. The lowest weighted value refers to the item heat corresponding to the item with the lowest weight or the product of the item heat and its weight. The set weighted value refers to The weight is the set ranking, such as second highest, middle, etc., the item should have the item heat or the product of the item heat and its weight.

進一步地，可以根據待存放料箱的各個所述物品的物品熱度以及各個物品對應類型熱度，確定待存放料箱的熱度。 Further, the heat of the material box to be stored can be determined based on the item heat of each of the items in the material box to be stored and the corresponding type heat of each item.

進一步地，在確定待存放料箱或待存放貨物的熱度的時候，還可以綜合考慮待存放貨物或者其中的物品的數量。 Furthermore, when determining the heat of the bin or goods to be stored, the quantity of the goods to be stored or the items in them may also be comprehensively considered.

示例性的，假設待存放料箱中放置有物品a、物品b和物品c，物品a、物品b和物品c的物品熱度分別為：70、60和50，物品a、物品b和物品c的權重分別為0.5、0.2和0.3，則待存放料箱的熱度可以為：70×0.5+60×0.2+50×0.3=62，待存放料箱的熱度還可以是各物品的加權值中的最高數值70×0.5=35。 For example, assume that there are item a, item b, and item c placed in the bin to be stored. The item heat of item a, item b, and item c are: 70, 60, and 50 respectively. The item heat of item a, item b, and item c The weights are 0.5, 0.2 and 0.3 respectively, then the heat of the material box to be stored can be: 70×0.5+60×0.2+50×0.3=62, the heat of the material box to be stored is The heat can also be the highest value among the weighted values of each item, 70×0.5=35.

假設物品a、物品b和物品c的類型熱度分別為：40、70和30，類型熱度的權重為05，物品熱度的權重為0.5，待存放料箱的熱度還可以是物品熱度最高的物品的加權熱度，70×0.5+40×0.5=55，待存放料箱的熱度還可以是最高的加權熱度，即60×0.5+70×0.5=65，待存放料箱的熱度還可以所有物品的加權熱度的平均值，即(70×0.5+40×0.5+60×0.5+70×0.5+50×0.5+30×0.5)/3=53.33。假設物品a、物品b和物品c的數量分別為6、9和5，則待存放料箱的熱度還可以是(70×6+60×9+50×5)/20=60.5。 Assume that the type heat of item a, item b and item c are: 40, 70 and 30 respectively. The weight of type heat is 05 and the weight of item heat is 0.5. The heat of the bin to be stored can also be the heat of the item with the highest heat. Weighted heat, 70×0.5+40×0.5=55. The heat of the material box to be stored can also be the highest weighted heat, that is, 60×0.5+70×0.5=65. The heat of the material box to be stored can also be the weighted weight of all items. The average value of heat is (70×0.5+40×0.5+60×0.5+70×0.5+50×0.5+30×0.5)/3=53.33. Assuming that the quantities of item a, item b and item c are 6, 9 and 5 respectively, the heat of the bin to be stored can also be (70×6+60×9+50×5)/20=60.5.

需要說明的是，上述熱度的計算方式僅作為示例，不構成對本申請的限定，當然，也可以採用其他方式計算待存放貨物的熱度。 It should be noted that the above calculation method of heat is only an example and does not constitute a limitation of the present application. Of course, other methods can also be used to calculate the heat of goods to be stored.

可選地，在確定所述第一儲存空間之前，還包括：對所述待存放貨物的熱度以及所述空間分數進行標準化處理；根據標準化處理後的所述待存放貨物的熱度以及所述空間分數進行匹配，以得到匹配結果。 Optionally, before determining the first storage space, the method further includes: standardizing the heat of the goods to be stored and the space fraction; and based on the standardized heat of the goods to be stored and the space Scores are matched to get matching results.

其中，標準化處理可以是任意一種正規化處理。 Among them, the standardization process can be any kind of regularization process.

示例的，可以將待存放貨物的熱度和各個空間分數，轉換為相同上限閾值和下限閾值的數據範圍，進而根據轉換後的待存放貨物的熱度以及所述空間分數的匹配結果，確定第一儲存空間或者目標未被佔用空間。 For example, the popularity of the goods to be stored and each space score can be converted into a data range with the same upper limit threshold and lower threshold, and then the first storage is determined based on the converted heat of the goods to be stored and the matching result of the space scores. The space or target is unoccupied.

圖12為本申請一個實施例提供的貨物存放方法的流程圖，本實施例提供的貨物存放方法可以由倉儲系統的機器人執行，如圖12所示，該貨物存放方法包括： Figure 12 is a flow chart of a cargo storage method provided by an embodiment of the present application. The cargo storage method provided by this embodiment can be executed by a robot in the warehousing system. As shown in Figure 12, the cargo storage method includes:

步驟S1201，取得第一存放指令。 Step S1201: Obtain the first storage instruction.

其中，所述第一存放指令包括第一儲存空間的資訊，所述第一儲存空間為分配給待存放貨物的空間，所述第一儲存空間可以是從貨物存放空間的未被佔用空間中確定的與待存放貨物的需求空間適配的空間。 Wherein, the first storage instruction includes information of a first storage space. The first storage space is a space allocated to the goods to be stored. The first storage space may be determined from unoccupied spaces of the goods storage space. The space is suitable for the space required for the goods to be stored.

其中，所述第一儲存空間可以是根據貨物存放空間的未被佔用空間的空間性質以及待存放貨物的需求空間，從所述未被佔用空間中確定的與所述需求空間適配的空間。 Wherein, the first storage space may be a space determined from the unoccupied space that is adapted to the required space based on the spatial properties of the unoccupied space of the cargo storage space and the required space for the goods to be stored.

步驟S1202，根據所述第一存放指令，將所述待存放貨物存放於所述第一儲存空間。 Step S1202: Store the goods to be stored in the first storage space according to the first storage instruction.

圖13為本申請一個實施例提供的空間分配裝置的結構示意圖，如圖13所示，該空間分配裝置包括：儲存空間確定模組1310、儲存空間分配模組1320和指令發送模組1330。 Figure 13 is a schematic structural diagram of a space allocation device provided by an embodiment of the present application. As shown in Figure 13, the space allocation device includes: a storage space determination module 1310, a storage space allocation module 1320 and an instruction sending module 1330.

其中，儲存空間確定模組1310，從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間；儲存空間分配模組1320，用於將所述第一儲存空間分配給所述待存放貨物；指令發送模組1330，用於發送第一存放指令至第一機器人，所述第一存放指令包括所述第一儲存空間的資訊。 Among them, the storage space determination module 1310 determines a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space; the storage space allocation module 1320 is used to allocate the first storage space to the required space. The storage space is allocated to the goods to be stored; the instruction sending module 1330 is used to send a first storage instruction to the first robot, where the first storage instruction includes information about the first storage space.

可選地，儲存空間確定模組1310，具體用於：根據貨物存放空間的未被佔用空間的空間性質以及所述待存放貨物的需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間。 Optionally, the storage space determination module 1310 is specifically used for: According to the spatial properties of the unoccupied space of the cargo storage space and the required space for the goods to be stored, a first storage space adapted to the required space is determined from the unoccupied space.

可選地，該空間分配裝置還包括：需求空間取得模組，用於取得待存放貨物的需求空間。 Optionally, the space allocation device also includes: a required space acquisition module, used to obtain the required space for goods to be stored.

可選地，儲存空間確定模組1310，具體用於：從所述未被佔用空間中，選取大於或者等於所述需求空間的空間集合；根據第一條件，在所述空間集合中確定所述第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: select a space set that is greater than or equal to the required space from the unoccupied space; and determine the space set in the space set according to the first condition. First storage space.

可選地，儲存空間確定模組1310，具體用於：根據第二條件，在所述未被佔用空間對應的至少一個區域中確定目標區域；將所述目標區域中大於或者等於所述需求空間的空間，確定為所述第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: determine a target area in at least one area corresponding to the unoccupied space according to the second condition; and determine the target area that is greater than or equal to the required space. The space is determined as the first storage space.

可選地，儲存空間確定模組1310，具體用於：在所述未被佔用空間中查詢大於或者等於所述需求空間的空間；當查詢到大於或者等於所述需求空間的目標空間時，將所述目標空間確定為所述第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: query the unoccupied space for a space that is greater than or equal to the required space; when a target space that is greater than or equal to the required space is queried, The target space is determined as the first storage space.

可選地，儲存空間確定模組1310，具體用於：根據貨物存放空間的未被佔用空間以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間以及所述待存放貨物的朝向。 Optionally, the storage space determination module 1310 is specifically configured to determine a first space suitable for the required space from the unoccupied space according to the unoccupied space of the cargo storage space and the required space. Storage space and the orientation of the goods to be stored.

相應的，該空間分配裝置，還包括：指令生成模組，用於在確定所述第一儲存空間之後，根據所述待存放貨物的朝向和所述第一儲存空間的資訊，生成所述第一存放指令。 Correspondingly, the space allocation device also includes: An instruction generation module is configured to generate the first storage instruction according to the orientation of the goods to be stored and the information of the first storage space after determining the first storage space.

可選地，儲存空間確定模組1310，具體用於：根據所述未被佔用空間的空間性質確定所述未被佔用空間的空間分數；根據所述未被佔用空間的分數以及所述需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: determine the space fraction of the unoccupied space based on the spatial properties of the unoccupied space; determine the space fraction of the unoccupied space based on the fraction of the unoccupied space and the required space. , determining a first storage space that is adapted to the required space from the unoccupied space.

可選地，儲存空間確定模組1310，具體用於：根據所述待存放貨物的熱度、所述未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定與所述需求空間適配的第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: determine the storage space corresponding to the required space from the unoccupied space based on the heat of the goods to be stored, the spatial properties of the unoccupied space, and the required space. The first storage space is adapted to the required space.

可選地，儲存空間確定模組1310，具體用於：根據所述待存放貨物的熱度，確定目標儲存區域；根據未被佔用空間的空間性質以及所述需求空間，從所述目標儲存區域的未被佔用空間中，確定與所述需求空間適配的第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: determine the target storage area according to the heat of the goods to be stored; and determine the target storage area from the space properties of the unoccupied space and the required space. Among the unoccupied spaces, a first storage space adapted to the required space is determined.

可選地，儲存空間確定模組1310，具體用於：根據所述未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定與所述需求空間適配的至少兩個第二儲存空間；根據所述待存放貨物的熱度，從所述至少兩個第二儲存空間中確定所述第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: determine at least two storage spaces from the unoccupied space that are adapted to the required space based on the spatial properties of the unoccupied space and the required space. a second storage space; the first storage space is determined from the at least two second storage spaces according to the heat of the goods to be stored.

可選地，儲存空間確定模組1310，包括：需求篩選單元，用於確定滿足所述需求空間的一個或多個目標未被佔用空間；熱度計算單元，用於計算所述待存放貨物的熱度；分數計算單元，用於根據所述空間性質計算所述目標未被佔用空間的空間分數；儲存空間確定單元，用於根據所述待存放貨物的熱度與所述空間分數的匹配結果，確定所述第一儲存空間。 Optionally, the storage space determination module 1310 includes: a demand screening unit for determining one or more storage spaces that meet the demand space. A target unoccupied space; a heat calculation unit, used to calculate the heat of the goods to be stored; a score calculation unit, used to calculate the space fraction of the target unoccupied space according to the space properties; a storage space determination unit, Used to determine the first storage space according to the matching result of the heat degree of the goods to be stored and the space score.

可選地，儲存空間確定單元，包括：熱度百分比計算子單元，用於計算所述待存放貨物的熱度在所述貨物存放空間存放的全部貨物中的熱度排名百分比；空間百分比計算子單元，用於根據各個所述目標未被佔用空間的空間分數，確定各個所述目標未被佔用空間的分數排名百分比；儲存空間確定子單元，用於根據所述熱度排名百分比以及各個所述目標未被佔用空間的分數排名百分比，確定所述第一儲存空間。 Optionally, the storage space determination unit includes: a heat percentage calculation subunit, used to calculate the heat ranking percentage of the heat of the goods to be stored among all goods stored in the goods storage space; a space percentage calculation subunit, using Determine the score ranking percentage of the unoccupied space of each target according to the space score of the unoccupied space of each target; a storage space determination subunit is used to determine the ranking percentage according to the popularity and the unoccupied space of each target The space score ranking percentage determines the first storage space.

可選地，儲存空間確定子單元，具體用於：將所述分數排名百分比與所述熱度排名百分比的差值的絕對值最小的所述目標未被佔用空間，確定為所述第一儲存空間。 Optionally, the storage space determination subunit is specifically configured to determine the target unoccupied space with the smallest absolute value of the difference between the score ranking percentage and the popularity ranking percentage as the first storage space. .

可選地，儲存空間確定模組1310，具體用於：計算所述待存放貨物的熱度；根據所述空間性質計算所述未被佔用空間的空間分數；根據所述待存放貨物的熱度與所述空間分數的匹配結果，確定一個或多個目標未被佔用空間；從所述目標未被佔用空間中確定與所述需求空間適配的第一儲存空間。 Optionally, the storage space determination module 1310 is specifically configured to: calculate the heat of the goods to be stored; calculate the space fraction of the unoccupied space according to the space properties; and calculate the heat of the goods to be stored and the Based on the matching results of the space scores, one or more target unoccupied spaces are determined; and a first storage space adapted to the required space is determined from the target unoccupied spaces.

可選地，該空間分配裝置，還包括：標準化處理模組，用於對所述待存放貨物的熱度以及所述空間分數進行標準化處理；根據標準化處理後的所述待存放貨物的熱度以及所述空間分數進行匹配，以得到匹配結果。 Optionally, the space allocation device further includes: a standardization processing module for standardizing the heat of the goods to be stored and the space fraction; and based on the standardized processing of the heat of the goods to be stored and the space fraction. space fraction Lines are matched to get matching results.

可選地，儲存空間確定模組1310，具體用於：根據貨物存放空間的未被佔用空間的空間性質以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間以及所述待存放貨物的朝向。 Optionally, the storage space determination module 1310 is specifically configured to: determine a space from the unoccupied space that is suitable for the required space according to the spatial properties of the unoccupied space of the cargo storage space and the required space. The first storage space and the orientation of the goods to be stored.

本申請實施例所提供的空間分配裝置可執行本申請任意實施例所提供的空間分配方法，具備執行方法相應的功能模組和有益效果。 The space allocation device provided by the embodiments of this application can execute the space allocation method provided by any embodiment of this application, and has functional modules and beneficial effects corresponding to the execution method.

圖14為本申請一個實施例提供的貨物存放裝置的結構示意圖，如圖14所示，該貨物存放裝置包括：指令取得模組1410和貨物存放模組1420。 Figure 14 is a schematic structural diagram of a cargo storage device provided by an embodiment of the present application. As shown in Figure 14, the cargo storage device includes: an instruction acquisition module 1410 and a cargo storage module 1420.

其中，指令取得模組1410，用於取得第一存放指令，其中，所述第一存放指令包括所述第一儲存空間的資訊，所述第一儲存空間為從貨物存放空間的未被佔用空間中確定的與待存放貨物的需求空間適配的空間；貨物存放模組1420，用於根據所述第一存放指令，將所述待存放貨物存放於所述第一儲存空間。 Among them, the instruction acquisition module 1410 is used to obtain the first storage instruction, wherein the first storage instruction includes the information of the first storage space, and the first storage space is an unoccupied space from the cargo storage space. The cargo storage module 1420 is configured to store the cargo to be stored in the first storage space according to the first storage instruction.

圖15為本申請另一個實施例提供的空間分配裝置的結構示意圖，該空間分配裝置可以是計算機或伺服器，具體可以是倉儲系統的倉庫管理設備，如圖15所示，該空間分配裝置包括：儲存器1510、處理器1520以及計算機程式。 Figure 15 is a schematic structural diagram of a space allocation device provided by another embodiment of the present application. The space allocation device can be a computer or a server, and specifically can be a warehouse management equipment of a warehousing system. As shown in Figure 15, the space allocation device includes : Storage 1510, processor 1520 and computer program.

其中，計算機程式儲存在儲存器1510中，並被配置為由處理器1520執行以實現本申請圖3-圖11所對應的實施例中任一實施例提供的空間分配方法。 The computer program is stored in the storage 1510 and is configured to be executed by the processor 1520 to implement any of the embodiments corresponding to Figures 3 to 11 of this application. The space allocation method provided by the embodiment.

其中，儲存器1510和處理器1520通過匯流排1530連接。 Among them, the storage 1510 and the processor 1520 are connected through a bus 1530.

相關說明可以對應參見圖3-圖11的步驟所對應的相關描述和效果進行理解，此處不做過多贅述。 Relevant descriptions can be understood corresponding to the relevant descriptions and effects corresponding to the steps shown in Figures 3 to 11, and will not be described in detail here.

圖16為本申請一個實施例提供的機器人的結構示意圖，如圖16所示，該機器人包括：儲存器1610、處理器1620以及計算機程式。 Figure 16 is a schematic structural diagram of a robot provided by an embodiment of the present application. As shown in Figure 16, the robot includes: a storage 1610, a processor 1620 and a computer program.

其中，計算機程式儲存在儲存器1610中，並被配置為由處理器1620執行以實現本申請圖12所對應的實施例提供的貨物存放方法。 The computer program is stored in the storage 1610 and is configured to be executed by the processor 1620 to implement the cargo storage method provided by the embodiment corresponding to FIG. 12 of this application.

其中，儲存器1610和處理器1620通過匯流排1630連接。 Among them, the storage 1610 and the processor 1620 are connected through a bus 1630.

相關說明可以對應參見圖12的步驟所對應的相關描述和效果進行理解，此處不做過多贅述。 Relevant descriptions can be understood corresponding to the relevant descriptions and effects corresponding to the steps shown in Figure 12, and will not be elaborated here.

可選地，該機器人還可以包括移動底盤、搬運裝置、儲存貨架和升降組件；所述儲存貨架、所述搬運裝置以及所述升降組件安裝於所述移動底盤。可選地，所述搬運裝置包括以下一種或多種：伸縮臂組件、吸盤與機械臂。可選地，所述搬運裝置包括托板與轉向結構，所述轉向結構用於改變放置於所述托板上的貨物的朝向。 Optionally, the robot may also include a mobile chassis, a handling device, a storage shelf, and a lifting assembly; the storage shelf, the handling device, and the lifting assembly are installed on the mobile chassis. Optionally, the handling device includes one or more of the following: a telescopic arm assembly, a suction cup, and a mechanical arm. Optionally, the handling device includes a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.

圖17為本申請一個實施例提供的倉儲系統的結構示意圖，如圖17所示，該倉儲系統包括：空間分配裝置1710和機器人1720。 Figure 17 is a schematic structural diagram of a warehousing system provided by an embodiment of the present application. As shown in Figure 17, the warehousing system includes: a space allocation device 1710 and a robot 1720.

其中，空間分配裝置1710可以是本申請圖15對應實施例提供的空間分配裝置，機器人1720可以是本申請圖15對應實施例提供的機器人。 The space allocation device 1710 may be the space allocation device provided by the embodiment corresponding to Figure 15 of this application, and the robot 1720 may be the robot provided by the embodiment corresponding to Figure 15 of this application.

本申請一個實施例提供一種計算機可讀儲存媒體，其上儲存有計算機程式，計算機程式被處理器執行以實現本申請圖3-圖11所對應的實施例中任一實施例提供的空間分配方法，和/或，實現本申請圖12所對應的實施例提供的貨物存放方法。 One embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the space allocation method provided in any one of the embodiments corresponding to Figures 3 to 11 of the present application. , and/or, implement the cargo storage method provided by the embodiment corresponding to Figure 12 of this application.

其中，計算機可讀儲存媒體可以是唯讀記憶體(Read-Only Memory，簡稱ROM)、隨機存取記憶體(Random Access Memory，簡稱RAM)、唯讀記憶光碟(Compact Disc Read-Only Memory，簡稱CD-ROM)、磁帶、軟碟和光數據儲存設備等。 Among them, computer-readable storage media can be read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), read-only memory disc (Compact Disc Read-Only Memory, referred to as CD-ROM), tapes, floppy disks and optical data storage devices, etc.

在本申請所提供的幾個實施例中，應該理解到，所揭露的設備和方法，可以通過其它的方式實現。例如，以上所描述的設備實施例僅僅是示意性的，例如，所述模組的劃分，僅僅為一種邏輯功能劃分，實際實現時可以有另外的劃分方式，例如多個模組可以結合或者可以整合到另一個系統，或一些特徵可以忽略，或不執行。另一點，所顯示或討論的相互之間的耦合或直接耦合或通信連接可以是通過一些介面，裝置或模組的間接耦合或通信連接，可以是電性，機械或其它的形式。 In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be indirect coupling or communication connection through some interfaces, devices or modules, which may be electrical, mechanical or other forms.

所述作為分離部件說明的模組可以是或者也可以不是物理上分開的，作為模組顯示的部件可以是或者也可以不是物理單元，即可以位於一個地方，或者也可以分佈到多個網路單元上。可以根據實際的需要選擇其中的部分或者全部模組來實現本實施例方案的目的。 The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physically unitary. unit, which can be located in one place, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本申請各個實施例中的各功能模組可以整合在一個處理單元中，也可以是各個模組單獨實體存在，也可以兩個或兩個以上模組整合在一個單元中。上述模組成的單元既可以採用硬體的形式實現，也可以採用硬體加軟體功能單元的形式實現。 In addition, each functional module in each embodiment of the present application can be integrated into a processing unit, or each module can exist in a separate entity, or two or more modules can be integrated into one unit. The units composed of the above modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

上述以軟體功能模組的形式實現的整合的模組，可以儲存在一個計算機可讀取儲存媒體中。上述軟體功能模組儲存在一個儲存媒體中，包括若干指令用以使得一台計算機設備(可以是個人計算機，伺服器，或者網路設備等)或處理器(英文：processor)執行本申請各個實施例所述方法的部分步驟。 The above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium and includes a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute various implementations of this application. Some steps of the method described in the example.

應理解，上述處理器可以是中央處理單元(Central Processing Unit，簡稱CPU)，還可以是其他通用處理器、數位訊號處理器(Digital Signal Processor，簡稱DSP)、特定應用積體電路(Application Specific Integrated Circuit，簡稱ASIC)等。通用處理器可以是微處理器或者該處理器也可以是任何常規的處理器等。結合發明所公開的方法的步驟可以直接體現為硬體處理器執行完成，或者用處理器中的硬體及軟體模組組合執行完成。 It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, referred to as DSP), or application specific integrated circuit (Application Specific Integrated Circuit). Circuit, referred to as ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention can be directly implemented by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

儲存器可能包含高速RAM儲存器，也可能還包括非揮發性記憶體(Non-Volatile Memory，簡稱NVM)，例如至少一個磁盤儲存器，還可以為隨身碟、移動硬碟、唯讀記憶體、磁碟或光碟等。 The storage may include high-speed RAM storage, or may also include Non-Volatile Memory (NVM), such as at least one disk storage, and may also be a pen drive, a removable hard disk, a read-only memory, Disk or CD, etc.

匯流排可以是工業標準結構(Industry Standard Architecture，簡稱ISA)匯流排、周邊組件互連(Peripheral Component Interconnection，簡稱PCI)匯流排或擴展工業標準結構(Extended Industry Standard Architecture，簡稱EISA)匯流排等。匯流排可以分為地址匯流排、數據匯流排、控制匯流排等。為便於表示，本申請附圖中的匯流排並不限定僅有一根匯流排或一種類型的匯流排。 The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnection (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of presentation, the busbars in the drawings of this application are not limited to only one busbar or one type of busbar.

上述儲存媒體可以是由任何類型的揮發性或非揮發性儲存設備或者它們的組合實現，如靜態隨機存取記憶體(Static Random Access Memory，簡稱SRAM)，電可擦除可編程唯讀記憶體(Electrically Erasable Programmable Read-Only Memory，簡稱EEPROM)，可擦除可編程唯讀記憶體(Erasable Programmable Read-Only Memory，簡稱EPROM)，可編程唯讀記憶體(Programmable read-only memory，簡稱PROM)，唯讀記憶體(ROM)，磁儲存器，快閃記憶體，磁碟或光碟。儲存媒體可以是通用或專用計算機能夠存取的任何可用媒體。 The above storage media can be implemented by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable read-only memory, referred to as PROM) , read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. Storage media can be any available media that can be accessed by a general purpose or special purpose computer.

一種示例性的儲存媒體耦合至處理器，從而使處理器能夠從該儲存媒體讀取資訊，且可向該儲存媒體寫入資訊。當然，儲存媒體也可以是處理器的組成部分。處理器和儲存媒體可以位於特定應用積體電路(Application Specific Integrated Circuit，簡稱ASIC)中。當然，處理器和儲存媒體也可以作為分立組件存在於電子設備或主控設備中。 An exemplary storage medium is coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage media may be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a host control device.

本領域普通技術人員可以理解：實現上述各方法實施例的全部或部分步驟可以通過程式指令相關的硬體來完成。前述的程式可以儲存於一計算機可讀取儲存媒體中。該程式在執行時，執行包括上述各方法實施例的步驟；而前述的儲存媒體包括：ROM、RAM、磁碟或者光碟等各種可以儲存程式代碼的媒體。 Persons of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed through program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above-mentioned method embodiments are executed; and the aforementioned storage media includes: ROM, RAM, magnetic disks, optical disks and other media that can store program codes.

最後應說明的是：以上各實施例僅用以說明本申請的技術方案，而非對其限制；儘管參照前述各實施例對本申請進行了詳細的說明，本領域的普通技術人員應當理解：其依然可以對前述各實施例所記載的技術方案進行修改，或者對其中部分或者全部技術特徵進行等同替換；而這些修改或者替換，並不使相應技術方案的本質脫離本申請各實施例技術方案的範圍。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application. Scope.

Claims

一種空間分配方法，其特徵在於，包括：從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間；將所述第一儲存空間分配給所述待存放貨物；發送第一存放指令至第一機器人，其中，所述第一存放指令包括所述第一儲存空間的資訊，其中，所述貨物存放空間包括第一未被佔用空間和/或第一被佔用空間，其中，所述第一被佔用空間為在貨物進出方向上已放置有貨物的空間。 A space allocation method, characterized in that it includes: determining a first storage space that is adapted to the required space of goods to be stored from the unoccupied space of the cargo storage space; allocating the first storage space to the required space of the cargo to be stored; Store goods; send a first storage instruction to the first robot, where the first storage instruction includes information about the first storage space, where the goods storage space includes a first unoccupied space and/or a first Occupied space, wherein the first occupied space is a space where goods have been placed in the direction of entry and exit of goods.

如請求項1所述的方法，其中，所述貨物存放空間包括第二未被佔用空間和/或第二被佔用空間；其中，所述第二未被佔用空間包括在貨物進出方向上未被貨物佔用的空間。 The method according to claim 1, wherein the cargo storage space includes a second unoccupied space and/or a second occupied space; wherein the second unoccupied space includes an unoccupied space in the direction of entry and exit of the cargo. The space occupied by the cargo.

如請求項1或2所述的方法，其中，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：從所述未被佔用空間中，選取大於或者等於所述需求空間的空間集合；根據第一條件，在所述空間集合中確定所述第一儲存空間。 The method according to claim 1 or 2, wherein determining a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space includes: from the unoccupied space Among the spaces, select a space set that is greater than or equal to the required space; according to the first condition, determine the first storage space in the space set.

如請求項3所述的方法，其中，所述第一條件包括以下一種或多種：所述待存放貨物的熱度；所述待存放貨物的尺寸資訊；所述待存放貨物在所述第一機器人上的儲存單元資訊；所述空間集合中每個空間的位置資訊；所述空間集合中每個空間的空間熱度；所述空間集合中每個空間的預設範圍內被佔用的空間的總面積；所述空間集合中每個空間的預設範圍內未被佔用空間的總面積；所述空間集合中每個空間的預設範圍內已放置貨箱的數量；所述空間集合中每個空間的預設範圍內屬所述空間集合的空間的數量。 The method of claim 3, wherein the first condition includes one or more of the following: the heat of the goods to be stored; the size information of the goods to be stored; The storage unit information of the goods to be stored on the first robot; the location information of each space in the space set; the space heat of each space in the space set; the space heat of each space in the space set The total area of occupied spaces within the preset range; the total area of unoccupied spaces within the preset range of each space in the space set; containers have been placed within the preset range of each space in the space set The number of spaces belonging to the space set within the preset range of each space in the space set.

如請求項1或2所述的方法，其中，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：根據第二條件，在所述未被佔用空間對應的至少一個區域中確定目標區域；將所述目標區域中大於或者等於所述需求空間的空間，確定為所述第一儲存空間。 The method according to claim 1 or 2, wherein determining a first storage space adapted to the required space of the goods to be stored from the unoccupied space of the goods storage space includes: according to the second condition, in A target area is determined in at least one area corresponding to the unoccupied space; a space in the target area that is greater than or equal to the required space is determined as the first storage space.

如請求項5所述的方法，其中，所述第二條件包括以下一種或多種：所述待存放貨物的熱度；所述待存放貨物的尺寸資訊；所述待存放貨物在所述第一機器人上的儲存單元資訊；所述未被佔用空間中每個空間的位置資訊；所述未被佔用空間中每個空間的空間熱度；所述至少一個區域中已放置貨箱的數量；所述至少一個區域中被佔用的空間的總面積；所述至少一個區域中未被佔用空間的總面積；所述至少一個區域中未被佔用空間的數量。 The method of claim 5, wherein the second condition includes one or more of the following: the heat of the goods to be stored; the size information of the goods to be stored; the location of the goods to be stored on the first robot storage unit information on; The location information of each space in the unoccupied space; the space heat of each space in the unoccupied space; the number of containers placed in the at least one area; the occupied space in the at least one area The total area of the space; the total area of unoccupied space in the at least one area; the number of unoccupied spaces in the at least one area.

如請求項1或2所述的方法，其中，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：在所述未被佔用空間中查詢大於或者等於所述需求空間的目標空間；當查詢到大於或者等於所述需求空間的目標空間時，將所述目標空間確定為所述第一儲存空間。 The method according to claim 1 or 2, wherein determining a first storage space that is adapted to the required space of the goods to be stored from the unoccupied space of the cargo storage space includes: in the unoccupied space A target space greater than or equal to the required space is queried in the space; when a target space greater than or equal to the required space is queried, the target space is determined as the first storage space.

如請求項1或2所述的方法，其中，所述從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間，包括：根據所述未被佔用空間以及所述需求空間，從所述未被佔用空間中確定一個與所述需求空間適配的第一儲存空間以及所述待存放貨物的朝向；在確定所述第一儲存空間之後，所述方法還包括：根據所述待存放貨物的朝向和所述第一儲存空間的資訊，生成所述第一存放指令。 The method according to claim 1 or 2, wherein determining a first storage space adapted to the required space for the goods to be stored from the unoccupied space of the cargo storage space includes: according to the unoccupied space space and the required space, determine a first storage space adapted to the required space from the unoccupied space and the orientation of the goods to be stored; after determining the first storage space, the The method further includes: generating the first storage instruction according to the orientation of the goods to be stored and the information of the first storage space.

如請求項1或2所述的方法，其中，所述第一機器人包括移動底盤、搬運裝置、儲存貨架和升降組件；所述儲存貨架和所述搬運裝置安裝於所述移動底盤，所述搬運裝置安裝於所述升降組件。 The method according to claim 1 or 2, wherein the first robot includes a mobile chassis, a handling device, a storage shelf and a lifting assembly; the storage shelf and the handling device are installed on the mobile chassis, and the handling device The device is installed on the lifting assembly.

如請求項9所述的方法，其中，所述搬運裝置包括以下一種或多種：伸縮臂組件、吸盤與機械臂。 The method according to claim 9, wherein the carrying device includes one or more of the following: a telescopic arm assembly, a suction cup, and a mechanical arm.

如請求項9所述的方法，其中，所述搬運裝置包括托板與轉向結構，所述轉向結構用於改變放置於所述托板上的貨物的朝向。 The method of claim 9, wherein the handling device includes a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.

一種貨物存放方法，其特徵在於，包括：取得第一存放指令，其中，所述第一存放指令包括第一儲存空間的資訊，所述第一儲存空間為分配給待存放貨物的空間，所述第一儲存空間為從貨物存放空間的未被佔用空間中確定的與所述待存放貨物的需求空間適配的空間；根據所述第一存放指令，將所述待存放貨物存放於所述第一儲存空間；其中，所述貨物存放空間包括第一未被佔用空間和/或第一被佔用空間，其中，所述第一被佔用空間為在貨物進出方向上已放置有貨物的空間。 A method for storing goods, characterized in that it includes: obtaining a first storage instruction, wherein the first storage instruction includes information about a first storage space, and the first storage space is a space allocated to goods to be stored, and the The first storage space is a space determined from the unoccupied space of the cargo storage space that is adapted to the required space of the goods to be stored; according to the first storage instruction, the goods to be stored are stored in the third A storage space; wherein the cargo storage space includes a first unoccupied space and/or a first occupied space, wherein the first occupied space is a space in which cargo has been placed in the incoming and outgoing direction of the cargo.

一種空間分配裝置，其特徵在於，包括：儲存空間確定模組，從貨物存放空間的未被佔用空間中確定一個與待存放貨物的需求空間適配的第一儲存空間；儲存空間分配模組，用於將所述第一儲存空間分配給所述待存放貨物；指令發送模組，用於發送第一存放指令至第一機器人，所述第一存放指令包括所述第一儲存空間的資訊；其中，所述貨物存放空間包括第一未被佔用空間和/或第一被佔用空間，其中，所述第一被佔用空間為在貨物進出方向上已放置有貨物的空間。 A space allocation device, characterized in that it includes: a storage space determination module, which determines a first storage space that is adapted to the required space of goods to be stored from the unoccupied space of the goods storage space; A storage space allocation module is used to allocate the first storage space to the goods to be stored; an instruction sending module is used to send a first storage instruction to the first robot, where the first storage instruction includes the third Information about a storage space; wherein the cargo storage space includes a first unoccupied space and/or a first occupied space, wherein the first occupied space is a space in which cargo has been placed in the direction of cargo entry and exit. .

一種貨物存放裝置，其特徵在於，包括：指令取得模組，用於取得第一存放指令，其中，所述第一存放指令包括第一儲存空間的資訊，所述第一儲存空間為從貨物存放空間的未被佔用空間中確定的與待存放貨物的需求空間適配的空間；貨物存放模組，用於根據所述第一存放指令，將所述待存放貨物存放於所述第一儲存空間；其中，所述貨物存放空間包括第一未被佔用空間和/或第一被佔用空間，其中，所述第一被佔用空間為在貨物進出方向上已放置有貨物的空間。 A cargo storage device, characterized in that it includes: an instruction acquisition module for obtaining a first storage instruction, wherein the first storage instruction includes information of a first storage space, and the first storage space is a storage space from which goods are stored. A space determined in the unoccupied space of the space that is adapted to the required space of the goods to be stored; a cargo storage module used to store the goods to be stored in the first storage space according to the first storage instruction ; Wherein, the cargo storage space includes a first unoccupied space and/or a first occupied space, wherein the first occupied space is a space in which cargo has been placed in the cargo entry and exit direction.

一種空間分配裝置，其特徵在於，包括：儲存器和至少一個處理器；所述儲存器儲存計算機執行指令；所述至少一個處理器執行所述儲存器儲存的計算機執行指令，使得所述至少一個處理器執行如請求項1或2所述的空間分配方法。 A space allocation device, characterized in that it includes: a storage and at least one processor; the storage stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the storage, so that the at least one The processor executes the space allocation method as described in claim 1 or 2. Law.

一種機器人，其特徵在於，儲存器和至少一個處理器；所述儲存器儲存計算機執行指令；所述至少一個處理器執行所述儲存器儲存的計算機執行指令，使得所述至少一個處理器執行如請求項12所述的貨物存放方法。 A robot, characterized by a storage and at least one processor; the storage stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the storage, so that the at least one processor executes as The method of storing goods described in claim 12.

如請求項16所述的機器人，其中，所述機器人包括移動底盤，搬運裝置，儲存貨架和升降組件；所述儲存貨架和所述搬運裝置安裝於所述移動底盤，所述搬運裝置安裝於所述升降組件。 The robot according to claim 16, wherein the robot includes a mobile chassis, a transport device, a storage shelf and a lifting assembly; the storage shelf and the transport device are installed on the mobile chassis, and the transport device is installed on the Describe the lifting components.

如請求項17所述的機器人，其中，所述搬運裝置包括以下一種或多種：伸縮臂組件、吸盤與機械臂。 The robot according to claim 17, wherein the carrying device includes one or more of the following: a telescopic arm assembly, a suction cup, and a mechanical arm.

如請求項17或18所述的機器人，其中，所述搬運裝置包括托板與轉向結構，所述轉向結構用於改變放置於所述托板上的貨物的朝向。 The robot according to claim 17 or 18, wherein the handling device includes a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.

一種倉儲系統，其特徵在於，包括：請求項13或15所述的空間分配裝置和/或請求項16至18任一項所述的機器人。 A warehousing system is characterized by comprising: the space allocation device described in claim 13 or 15 and/or the robot described in any one of claims 16 to 18.

一種計算機可讀儲存媒體，其特徵在於，所述計算機可讀儲存媒體中儲存有計算機執行指令，當處理器執行所述計算機執行指令時，實現如請求項1或2所述的空間分配方法，和/或，實現如請求項12所述的貨物存放方法。 A computer-readable storage medium, characterized in that computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the space allocation method as described in claim 1 or 2 is implemented, And/or, implement the cargo storage method as described in claim 12.