WO2020030063A1 - 基于密集存储的物品搬移方法、设备、存储介质以及密集存储*** - Google Patents

基于密集存储的物品搬移方法、设备、存储介质以及密集存储*** Download PDF

Info

Publication number
WO2020030063A1
WO2020030063A1 PCT/CN2019/099860 CN2019099860W WO2020030063A1 WO 2020030063 A1 WO2020030063 A1 WO 2020030063A1 CN 2019099860 W CN2019099860 W CN 2019099860W WO 2020030063 A1 WO2020030063 A1 WO 2020030063A1
Authority
WO
WIPO (PCT)
Prior art keywords
shelf
target
blocking
self
storage box
Prior art date
Application number
PCT/CN2019/099860
Other languages
English (en)
French (fr)
Inventor
孙凯
王磊
冯家浩
Original Assignee
北京极智嘉科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810911672.6A external-priority patent/CN109178743A/zh
Priority claimed from CN201811208950.8A external-priority patent/CN109279249B/zh
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to MX2021001667A priority Critical patent/MX2021001667A/es
Priority to CA3109329A priority patent/CA3109329C/en
Priority to JP2020521352A priority patent/JP6799198B1/ja
Priority to EP19847180.7A priority patent/EP3835236A4/en
Priority to AU2019318657A priority patent/AU2019318657B2/en
Priority to KR1020217007275A priority patent/KR102321857B1/ko
Publication of WO2020030063A1 publication Critical patent/WO2020030063A1/zh
Priority to US16/926,457 priority patent/US11104003B2/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39148—To push or pull on objects, boxes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40088—Task is push, slide box
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45045—Maintenance, automatic storage and retrieval system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45056—Handling cases, boxes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Definitions

  • the embodiments of the present application relate to the field of storage technology and robot control technology, for example, to a method, a device, a storage medium, and a dense storage system for moving goods based on dense storage.
  • the user can use the storage container in the warehouse to store items.
  • the storage container can be moved to the user's location by the self-driven robot for the user to take the items from the storage container.
  • a "mini warehouse” can be used to store the items. Because the storage containers for storing items in the "mini warehouse” are densely arranged, which restricts the walking path of the self-driving robot, the self-driving robot cannot move to the storage container position freely like the traditional large warehouse.
  • the warehouse management mode in the related technology is far from meeting the needs of the actual intelligent density, no matter in terms of storage density or management efficiency. Therefore, no matter from the perspective of saving space in the warehouse, or from the perspective of saving manpower in the management of the warehouse, there is an urgent need for a solution that can store goods intensively, greatly save the space in the warehouse, and can greatly save manpower in the management of the warehouse.
  • a method, a device, a storage medium, and a dense storage system based on dense storage are provided to realize the removal of stored items in a dense storage scenario.
  • An embodiment of the present application provides a method for moving items based on dense storage, the method comprising: instructing a first self-driven robot to move out of the blocking shelf in a case where it is detected that the target shelf is blocked by at least one blocking shelf And / or blocking the storage box, so that the target shelf is not blocked by the blocking shelf or the target storage box on the target shelf is not blocked by the blocking storage box; instructing the first self-driven robot to move the place The blocking shelf and / or the blocking storage box are moved in a circle on the robot's driving path; instructing the second self-driven robot to move the target shelf from the current position to the workstation, or instructing the second self-driving robot to move from the position Take out the target storage box on the target shelf, and move the removed target storage box to the workstation.
  • a computer device is also provided in the embodiment of the present application.
  • the computer device includes: at least one or more processors; a storage device configured to store at least one program, and when the at least one program is executed by the at least one processor , So that the at least one processor implements the dense storage-based item moving method according to any one of the foregoing.
  • An embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for moving an item based on dense storage as described above is implemented.
  • An embodiment of the present application further provides a dense storage system, including: a first self-driven robot configured to remove a blocking shelf and / or a blocking storage box according to an instruction of a control system; a second self-driven robot configured to control according to control Instructions of the system to move the target shelf or the target storage box on the target shelf; the shelf area includes multiple shelves.
  • the shelf is used to store items and be handled by the self-driven robot.
  • the multiple shelves include the target shelf, and the surrounding area of the target shelf is blocked.
  • a self-propelled robot including a first self-propelled robot and a second self-propelled robot; a control system configured to instruct the first self-propelled robot to move out upon detecting that the target shelf is blocked by at least one blocking shelf The blocking shelf and / or the blocking storage box, so that the target shelf is not blocked by the blocking shelf, or the target storage box on the target shelf is not blocked by the blocking storage box; Drive the robot to move the target shelf from the current position to the workstation, or instruct the second self-driven machine Who removes the target from the target storage compartment shelf, taken out of the storage compartment are moved to the target station.
  • FIG. 1 is a schematic diagram of a system structure of a storage system according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a one-way open shelf provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of the layout and handling of a mini warehouse according to an embodiment of the present application.
  • 4a is a schematic flowchart of a method for moving an item based on dense storage according to an embodiment of the present application
  • 4b is a schematic flowchart of another method for moving goods based on dense storage according to an embodiment of the present application
  • FIG. 5 is a schematic flowchart of another method for moving items based on dense storage according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a self-driven robot that executes a method for moving items based on dense storage according to an embodiment of the present application
  • FIG. 7a is another layout of a mini warehouse provided by an embodiment of the present application.
  • FIG. 7b is a schematic diagram of handling in a mini warehouse according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of another method for moving goods based on dense storage according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of an intensive storage-based article moving device according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a computer device according to an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a system structure of an unmanned self-service operating system provided by an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a one-way open shelf provided by an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of a self-driven robot according to an embodiment of the present application.
  • FIG. 14 is a schematic flowchart of an item-intensive storage method according to an embodiment of the present application.
  • 15 is a schematic diagram of a dense rack arrangement provided by an embodiment of the present application.
  • FIG. 16 is a schematic flowchart of an item-intensive storage method according to an embodiment of the present application.
  • FIG. 17 is a schematic flowchart of an item-intensive storage method according to an embodiment of the present application.
  • FIG. 18 is a schematic structural diagram of an article-intensive storage device according to an embodiment of the present application.
  • FIG. 19 is a schematic diagram of an article-intensive storage system according to an embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of a master control terminal according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a system structure of a storage system provided in an embodiment of the present application.
  • the system 100 includes a self-driven robot 110, a control system 120, a storage container area 130, and a workstation 140.
  • the storage container area 130 is provided with a plurality of storage containers 131, and various items are placed on the storage container 131.
  • the storage containers 131 are arranged in an array.
  • a plurality of workstations 140 are provided on one side of the storage container area 130.
  • the storage container 131 may be any container capable of storing items, such as a shelf or a tray. Take the shelf as an example.
  • the shelf includes multiple compartments and four floor support columns. Various items can be placed directly on the shelf compartment.
  • the shelf compartment can also be provided with multiple storage boxes, which can be separated from the shelf. It can also be integrated with the shelf, and one or more items can be placed in the storage box.
  • the shelf can be a two-way opening shelf, and two items can be placed in the depth direction of the compartment, that is, one item in each opening direction; or two storage boxes in the depth direction of the compartment, that is, in each opening Set one storage box for each direction.
  • the shelf can also be a one-way open shelf, and one item can be placed in the depth direction of the compartment, that is, only one item can be placed in the opening direction; or a storage box can be provided in the depth direction of the compartment, that is, only one storage box can be placed in the opening direction.
  • the control system 120 performs wireless communication with the self-driving robot 110, and a worker (or the owner of the article) makes the control system 120 work through the operation platform 160.
  • the self-driving robot 110 performs cargo handling tasks under the control of the control system 120.
  • the self-propelled robot 110 can travel along an empty space (a part of the passage of the self-propelled robot 110) in the middle of the shelf array, move to the bottom of the target shelf 131, lift the target shelf 131 with a lifting mechanism, and carry it to the Assigned to workstation 140.
  • the self-driving robot 110 has a lifting mechanism and an autonomous navigation function.
  • the self-driving robot 110 can travel to the bottom of the target shelf 131 and use the lifting mechanism to lift the entire shelf 131 so that the shelf 131 can follow
  • the lifting mechanism with a lifting function moves up and down.
  • the self-driving robot 110 can travel according to the two-dimensional code information captured by the camera, and can travel under the shelf 131 prompted by the control system 120 according to the route determined by the control system 120.
  • the self-propelled robot 110 transfers the target rack 131 to the work station 140, and a worker (or an item owner) 141 at the work station 140 removes an item from the rack 131.
  • the self-driven robot 110 can rotate the shelf so that the opening direction where the item to be picked is facing the person who picks the item, such as a worker or the owner of the item.
  • the control system 120 is a software system running on a server and having data storage and information processing capabilities, and can be connected to robots, hardware input systems, and other software systems through wireless or wired.
  • the control system 120 may include one or more servers, which may be a centralized control architecture or a distributed computing architecture.
  • the server has a processor 1201 and a memory 1202, and the memory 1202 may have an order pool 1203.
  • the storage system shown in FIG. 1 can be applied to a variety of suitable scenarios.
  • a picking scenario after the shelf 131 is moved to the workstation 140 by the self-driving robot 110, the worker removes the item from the shelf 131 (the item is an order Items) and put them into a packing box for packing; for example, in the article storage scene, whether the stored items are temporarily stored or long-term storage
  • the self-driven robot 110 transfers the shelf 131 to the workstation 140
  • the item owner removes the shelf 131 from the shelf 131 Remove items.
  • a storage container is dedicated to a user ’s article, or a storage box is dedicated to a user ’s article.
  • the storage box may be provided with a password lock, and the user may Open the storage box by entering the password.
  • a one-way open shelf as shown in FIG. 2.
  • FIG. 3 is a schematic diagram of the layout and handling of a mini warehouse provided in an embodiment of the present application.
  • a rack area 301 a robot driving channel 302, a self-driven robot 303, and a workstation 304 are respectively provided.
  • Each shelf in the shelf area 301 can be placed in a single row, such as the single-row shelves shown in Figure 3 above. It can also be placed in multiple rows (at least two) side by side, such as 3 shelves on the left and 4 shelves in the middle.
  • the above-mentioned driving sub-channels are all one-way driving channels, and one or both sides of each of the driving sub-channels are close to a part of the shelves of the shelf area 301.
  • the self-driving robot 303 can move the rack to the position where each rack is located along the directions indicated by each of the traveling sub-channels in the robot's travel aisle 302.
  • the self-driven robot 303 can directly move the shelf to be moved to the workstation; but if the shelf to be moved is not close to the drive
  • the shelf in the sub-channel is located in the middle shelf (such as shelf 2) of multiple rows of shelves, the shelf to be moved is blocked by the outer shelf.
  • the self-driving robot 303 cannot directly move the shelf to be moved. Only the self-driving robot 303 can be used to move the shelves that are blocked on the outside. The self-driving robot 303 cannot be used to move the shelves.
  • the first, second, and third pairs of robots can be used to distinguish multiple robots 303 when they are subsequently used.
  • N is a natural number greater than or equal to 1
  • self-driving robot will move the outer blocking shelf away and circle the unidirectional channel in the field
  • the N + 1th self-driving robot will The target rack is moved away and runs along the one-way aisle in the yard to the workstation for appropriate processing operations.
  • the processing operation can be loading, replenishing, or counting goods.
  • the N + 1th self-driving robot moves the target shelf back to the original place.
  • the first to Nth self-driving robots move the outer blocking shelves back to the original position.
  • the positions of the target shelf and the blocking shelf can also be interchanged.
  • FIG. 4a is a schematic flowchart of a dense storage-based item moving method provided in an embodiment of the present application. The method includes steps 201 to 203.
  • step 201 when it is detected that the target shelf is blocked by at least one blocking shelf, the first self-driven robot is instructed to move out of the blocking shelf and / or the blocking storage box so that the target shelf is not blocked by the blocking shelf. A blocking or target storage box on the target shelf is not blocked by the blocking storage box.
  • step 202 the first self-driving robot is instructed to carry the blocking shelf and / or the blocking storage box to move in a circle on the robot's travel path.
  • step 203 instruct the second self-driven robot to move the target shelf from the current position to the workstation, or instruct the second self-driven robot to remove the target storage box from the target shelf and remove the target The storage box is moved to the workstation.
  • FIG. 4b is a schematic flowchart of another method for moving goods based on dense storage provided in an embodiment of the present application.
  • the method includes steps 401 and 402.
  • the embodiments of the present application can be applied to a case where a self-driven robot acquires items required by a user in a shelf under a densely placed shelf.
  • the method can be performed by an intensive storage-based item moving device.
  • the device can use software and / or hardware.
  • the device can be integrated into any computer equipment having a network communication function, and the computer equipment can be a server set to control the movement of items in a densely placed rack, or a computer equipment such as a computer.
  • step 401 when it is detected that the target shelf is blocked by the blocking shelf from the first preset channel, the first self-driven robot is instructed to move the blocking shelf according to the second preset channel so that the target items on the target shelf are not blocked by the target shelf.
  • the blocking shelf is blocking; wherein, the first preset channel is a moving channel from the current position of the target shelf to the workstation.
  • the target shelf is shelf 1
  • the first self-driving robot 303 or the second self-driving robot 305 carries the shelf 1 of the shelf area 301, it is located on the left side of the shelf 1 There is no other shelf obstruction on the outside. Both the first self-driving robot 303 and the second self-driving robot 305 can drive to the position on the left side of the shelf 1, and move the shelf 1 out.
  • the first preset channel may be a moving channel between the current position of the target shelf and the workstation.
  • the moving channel between the current position of the target shelf and the workstation may be determined in advance according to the placement position of the target shelf and the position of the workstation, or Determined by real-time positioning of the robot.
  • the route indicated by the first preset lane may be "shelf 1 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel L6 ⁇ driving sub-channel Channel L7 ⁇ Workstation 304 ".
  • the above merely exemplifies an exemplary moving channel from shelf 1 to workstation 304.
  • the moving channels from other shelves to each workstation can be based on the actual position of the target shelf, the location of the workstation, and each of the robot driving channels 302. The direction of the subchannel is determined.
  • the target shelf is shelf 2
  • shelf 2 is blocked by shelves 1, such as shelf 1, shelf 3, shelf 4, and shelf 5, causing shelf 2 to workstation 304.
  • the temporary moving channel will be blocked, that is, the first preset channel is blocked.
  • the first self-driving robot 303 may be instructed to move the rack blocking the rack 2 according to the second preset path, so that the moving path between the rack 2 and the workstation 304 is not blocked.
  • the first self-driving robot 303 is configured to move the blocking shelf away from the original position according to the second preset channel, thereby ensuring that the moving channel between the current position of the target shelf and the workstation is unobstructed.
  • the second preset channel can be set according to the actual situation, such as a circle channel in a certain direction on the self-driven robot driving channel 302.
  • the route indicated by the second preset channel may be “traveling subchannel L1 ⁇ traveling subchannel L2 ⁇ traveling subchannel L4 ⁇ traveling subchannel L5 ⁇ traveling subchannel L1”;
  • the route can also be “traveling sub-channel L3 ⁇ traveling sub-channel L2 ⁇ traveling sub-channel L4 ⁇ traveling sub-channel L5 ⁇ traveling sub-channel L3”;
  • the route indicated by the second preset channel can also be the two moving channels of the above example The combination is not repeated here.
  • the above is just an example of a moving lane that moves around the field in the direction indicated by the arrows of the preset driving sub-channels.
  • the other second preset channels are not listed here, as long as the barrier shelves are It can be set that the target rack is not blocked when the aisle is moved.
  • instructing the first self-driven robot to move the blocking shelf according to the second preset channel may include steps 4011a and 4011b.
  • step 4011a when it is detected that the target shelf is blocked by the blocking shelf from the first preset channel, the first self-driven robot is instructed to travel to the shelf area where the blocking shelf is located outside the target shelf and blocking the target shelf, and the blocking shelf is Remove from the shelf area where the blocking shelf is located.
  • the first self-propelled robot may be instructed to travel to the shelf area where the blocking shelf located outside the target shelf and blocking the target shelf is located, and the blocking shelf is removed from the blocking shelf. Shelves move out.
  • the first preset aisle may be “shelf 2 ⁇ shelf 1 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel Channel L6 ⁇ Driving Subchannel L7 ⁇ Workstation 304 ”.
  • the blocking shelf on the first preset channel is shelf 1.
  • the first preset channel can also be“ shelf 2 ⁇ shelf 3 ⁇ driving subchannel L3 ⁇ Driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel L6 ⁇ machine driving sub-channel L7 ⁇ workstation 304 ”.
  • the blocking item on the first preset channel is shelf 3.
  • the shelf 1 or the shelf 3 needs to be removed first, so that the passage between the shelf 2 ⁇ the driving sub-channel L2 can be ensured, or the passage between the shelf 2 ⁇ the driving sub-channel L3 can be ensured.
  • the first self-driven robot 303 may be instructed to travel to the blocking shelf located outside the shelf 2 and blocking the shelf 2. (Such as shelf 1 or shelf 3).
  • the first self-propelled robot 303 After the first self-propelled robot 303 travels to the shelf area where the blocking shelf (such as shelf 1 or shelf 3) is located, it can continue to move the blocking shelf (such as shelf 1 or shelf 3) from the shelf area where the blocking shelf is located to ensure shelf 2 Not blocked by blocking shelves (such as shelf 1 or shelf 3).
  • the blocking shelf such as shelf 1 or shelf 3
  • step 4011b the first self-propelled robot is instructed to carry out the removed blocking rack in a circle on the robot's travel path according to the second preset path.
  • the first A self-driven robot moves the removed blocking shelf on the robot's travel path in a circle according to the second preset path.
  • the second preset passage is a one-way driving passage, that is, the first self-driven robot may move in a one-way circle when moving the blocking shelf.
  • the first self-driving robot 303 can carry the shelf 1 into the robot driving channel 302. After the shelf 1 enters the robot driving aisle 302, the first preset aisle may be blocked again, resulting in that the moving aisle between the current position of the target shelf and the workstation is still blocked. Based on the above situation, the first self-driving robot 303 may be instructed to cycle in one direction according to the second preset channel shown in “driving sub-channel L1 ⁇ traveling sub-channel L2 ⁇ traveling sub-channel L4 ⁇ traveling sub-channel L5 ⁇ traveling sub-channel L1”.
  • the shelf 1 is moved in a circle, so that the shelf 1 will no longer block the first preset channel during the circle movement.
  • the first self-driving robot 303 can carry the shelf 3 into the robot driving channel 302, and the shelf 3 enters the robot After the driving aisle 302 is up, the first preset aisle may be blocked again, resulting in that the moving aisle between the current position of the target shelf and the workstation is still blocked.
  • the first self-propelled robot 303 may be instructed to cycle in one direction according to the second preset channel shown in “driving sub-channel L3 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel L5 ⁇ driving sub-channel L3”.
  • the rack 3 is moved in a circle, so that the process of moving the rack 3 in a circle will no longer block the first preset channel.
  • the target shelf when it is detected that the target shelf is not blocked by the blocking shelf to block the first preset channel, it can directly instruct any self-driving robot to drive to the shelf area where the target shelf is located to directly remove the target shelf from the current position of the target shelf. Position out of the shelf area, and move the target shelf to the workstation according to the first preset aisle.
  • the target shelf is shelf 1
  • the right side, the top side, and the bottom side of shelf 1 are blocked by shelf 3, shelf 4, and shelf 5, respectively, but the right side of shelf 1 is not blocked by other shelves.
  • it can be considered that the shelf 1 is not blocked by the blocking shelf to block the first preset channel.
  • any self-propelled robot 303 can be instructed to travel to the position of shelf 1, and move shelf 1 out of the shelf area, and follow the instructions of "shelf 1 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel Aisle L6 ⁇ driving sub-lane L7 ⁇ workstation 304 ”moves the shelf 1 from the current position of the shelf 1 to the workstation 304 in the direction indicated by the first preset lane.
  • the above merely exemplifies an exemplary moving channel from shelf 1 to workstation 304.
  • the moving channels for other shelves to each workstation can be based on the actual position of the target shelf, the location of the workstation, and each of the driving sub-channels in the robot driving channel 302. The direction of the channel is set.
  • step 402 the second self-driven robot is instructed to move the target shelf from the current position to the workstation according to the first preset channel, so that the user can take the target item on the target shelf.
  • the blocking shelf may be shelf 1 on the left of shelf 2 or shelf 3 on the right of shelf 2.
  • the route indicated by the first preset aisle may be "shelf 2 ⁇ shelf 1 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel L6 ⁇ Driving sub-channel L7 ⁇ workstation 304 ”; when the blocking shelf is shelf 3 on the right side of shelf 2, the route indicated by the first preset channel may be“ shelf 2 ⁇ shelf 3 ⁇ driving sub-channel L3 ⁇ driving sub-channel L2 ⁇ Driving sub-channel L4 ⁇ driving sub-channel L6 ⁇ driving sub-channel L7 ⁇ workstation 304 ”.
  • the second self-driven robot is instructed to transport the target shelf from the current position to the workstation according to the first preset channel, so as to obtain the target item from the target shelf or a storage box on the target shelf.
  • the above only exemplifies the two moving paths from the shelf 2 to the workstation 304.
  • it can be driven according to the actual position of the target shelf, the position of the workstation, and the self-driven robot.
  • the traveling directions of the respective traveling sub-lanes in the lane 302 are set.
  • instructing the second self-driving robot to move the target shelf from the current position to the workstation according to the first preset channel so that the user can pick up the target items on the target shelf may include steps 4021a and 4021b.
  • step 4021a when it is detected that the blocking shelf is moved, the second self-driven robot is instructed to travel to the shelf area where the target shelf is located, and move the target shelf out of the shelf area where the target shelf is located.
  • step 4021b the second self-driven robot is instructed to move the removed target rack from the current position to the workstation according to the first preset channel, so that the user can pick up the target items on the target rack; wherein the target items are stored on the target rack.
  • the second self-driving robot 303 may be instructed to travel to the position where the shelf 2 is located and move the shelf 2 out of the shelf area where the shelf 2 is located.
  • the second self-driving robot 303 may continue to instruct the second self-driving robot 303 to follow the transportation lane "shelf 2 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ Driving sub-channel L6 ⁇ driving sub-channel L7 ⁇ workstation 304 ”, the first preset channel moves the shelf 2 from the current position of the shelf 2 to the workstation 304 so that the user can take the target item from the shelf 2.
  • a shelf of only one box can be placed on each layer of the shelf, and only one opening is provided on one side of each shelf; two storage boxes can also be placed on each layer of the shelf. , Even put more storage boxes, and set an opening on each side of each shelf. Assume that there is an opening on each side of the shelf. After the target shelf is moved to the workstation, you only need to rotate the target shelf to get the storage box on the corresponding side of the target shelf.
  • the second self-driven robot after detecting that the user has picked up the target item at the workstation, the second self-driven robot is first instructed to return the target item corresponding to the target shelf back to the original position, and then the first self-driven robot is instructed to block the shelf again. Return to original position.
  • the placement position of each shelf in the shelf information table needs to be updated.
  • instructing the second self-driving robot to move the target shelf from the current position to the workstation according to the first preset channel, so that the user can pick up the target items on the target shelf may include steps 4022a and 4022b.
  • step 4022a when it is detected that the blocking shelf is moved, the second self-driven robot is instructed to travel to the shelf area where the target shelf is located, and take out the target storage box from the target shelf; wherein the target storage box is placed on the target shelf.
  • step 4022b the second self-driven robot is instructed to move the removed target storage box from the current position to the workstation according to the first preset channel; wherein the target article is stored in the target storage box.
  • the second self-driving robot 303 can be instructed to travel to the position where the shelf 2 is located, and take out the target storage box placed on the target shelf from the shelf 2.
  • the second self-driving robot 303 may continue to instruct the second self-driving robot 303 to follow the transport lane "shelf 2 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel Channel L6 ⁇ driving sub-channel L7 ⁇ the first preset channel shown in Workstation 304 ”will move the removed target storage box from the position of shelf 2 to Workstation 304 so that the user can take the target item from the target storage box.
  • the transport lane “shelf 2 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel Channel L6 ⁇ driving sub-channel L7 ⁇ the first preset channel shown in Workstation 304 ”will move the removed target storage box from the position of shelf 2 to Workstation 304 so that the user can take the target item from the target storage box.
  • only one shelf of boxes is placed on each layer of the shelf, and only one opening is provided on one side of each shelf.
  • the second self-driving robot after detecting that the user has picked up the target item at the workstation, first instruct the second self-driving robot to return the target item corresponding to the target storage box to the target shelf in the original position, and then instruct the first self-drive The robot returns the blocking shelf to its original position.
  • the second self-driven robot after detecting that the user has picked up the target item at the workstation, the second self-driven robot is first instructed to return the target shelf or the target storage box on the target shelf to the original position, and instruct the first A self-propelled robot returns the blocking shelf and / or the blocking storage box to the original position.
  • a robot may be provided on the workstation.
  • the user's required items can be grabbed from the shelf by the robot on the workstation and placed on the shelf. Or the staff picked up items from the shelf.
  • the storage box required by the user is grabbed from the shelf by the robot hand provided on the workstation and placed on the storage platform, and then the user needs to take out the storage box from the storage box by the user or by means of the robot article.
  • the item can be a product in a warehouse (such as a product selected by a conventional logistics warehouse) or a user's personal item.
  • the target shelf or the target item storage box is similar to a personal safe, and the target item is taken at the workstation. Person is the owner of the target item.
  • the first self-driven robot moves the removed blocking shelf on the robot's driving path in a circle according to the second preset channel
  • the second self-driven robot moves the removed shelf according to the first preset channel
  • the first self-driving robot will carry the blocking shelf around the robot's driving path, so there may be a first self-driving robot and a second self-driving robot traveling on the robot.
  • the junctions of the driving sub-channels of the channel 302 meet, at this time, it is necessary to determine which self-driving robot passes through preferentially. For example, referring to FIG.
  • the first self-propelled robot 303 and The second self-driving robot 303 may meet at the junction of the traveling sub-channel L4 and the traveling sub-channel L7.
  • the priority of the target shelf or the target storage box can be set higher than the priority of the blocking shelf.
  • the priority of the second self-driving robot carrying the target shelf or the target storage box is also higher than the priority of the first self-driving robot carrying the blocking shelf.
  • the second self-driven robot can be instructed to return the target shelf or target storage box to the original position in turn according to the priority, and the first self-driven robot is instructed to restart. Return the blocking shelf to its original position.
  • the priority of each shelf or the storage boxes on each shelf can be set according to the order in which each shelf or each storage box is moved out. The priority of the front shelf or storage box is small, and the priority of the rear shelf Or the storage box has a high priority.
  • FIG. 5 is a schematic flowchart of another method for moving items based on dense storage provided in an embodiment of the present application. Based on the above embodiment, the embodiment of the present application instructs the first self-driven robot to move the block according to the second preset channel. The items and instructions instruct the second self-driven robot to transport the target item from the current location to the workstation according to the first preset channel.
  • self-propelled robots In addition to self-propelled robots that can transport shelves to workstations, they can also take the storage boxes on the shelves and carry the storage boxes to the workstations, so that workers at the workstations or the owners of the items can take the items out of the storage boxes.
  • a variety of manipulators or robotic arm structures can be used to make the self-propelled robot remove the storage box from the shelf. For the storage boxes on the shelves in the middle row, or the inner storage boxes on the two-way shelves beside the aisle, they cannot be taken out directly because they are blocked by other storage boxes. Therefore, the blocked storage boxes and / Or remove the blocked shelf to remove the target storage box you want to remove.
  • the method for moving goods based on dense storage in the embodiment of the present application may include steps 501 to 504.
  • step 501 when it is detected that the target shelf is blocked by the blocking shelf from the first preset channel, the first self-driven robot is instructed to travel to the shelf area where the blocking shelf located outside the target shelf and blocking the target shelf is located, and from the blocking shelf And / or remove the blocking bin on the target shelf.
  • An opening is provided on each side of the blocking shelf and the target shelf, and a blocking storage box is placed on the blocking shelf.
  • a blocking storage box and / or a target storage box are placed on the target shelf.
  • the target shelf is shelf 2 and the blocking shelf may be shelf 1. Since the target shelf and the blocking shelf in this embodiment have one opening on each side and a shelf is placed on Opening shelves on both sides of multiple storage boxes, multiple storage boxes can be placed on target shelves and blocking shelves.
  • the storage boxes on the target shelf may include a target storage box and a blocking storage box.
  • the target shelf is shelf 2.
  • the blocking shelf can be shelf 1. For example, if the target storage box is located on the right side of shelf 2, then the storage box placed on the left side of shelf 2 can be understood as being placed on the target shelf.
  • the first self-driving robot 303 may be instructed to travel to the position where the blocking shelf (such as shelf 1) is located. After the first self-driving robot 303 travels to the shelf area where the blocking shelf (such as shelf 1) is located, the first self-driving robot 303 can instruct the first self-driving robot 303 to remove all the blocking storage boxes placed on the blocking shelf and from the target shelf (such as shelf 2). Take out part of the blocking storage box to ensure that the target storage box on the target shelf (such as shelf 2) is not blocked by the blocking storage box on the blocking shelf and from the partial blocking storage box of the target shelf.
  • the first preset channel may be a channel composed of “shelf 2 ⁇ shelf 1 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel L6 ⁇ driving sub-channel L7 ⁇ station 304”.
  • the blocking storage box on the first preset channel may be a storage box on the shelf 1 and / or a storage box on the left side of the shelf 2.
  • step 502 the first self-driving robot is instructed to move the removed plurality of blocking storage boxes on the robot's driving path in a circle according to the second preset channel, so that the target storage box on the target shelf is not blocked by the blocking shelf and / Or the blocking box on the target shelf.
  • the first self-driven robot 303 removes the blocking storage box from the blocking shelf and / or the target shelf, in order to avoid the removal of the blocking storage box from blocking the target storage box from being moved to the workstation
  • the aisle may instruct the first self-driven robot 303 to carry the removed storage box for blocking articles according to the second preset aisle to move around the robot aisle.
  • the target shelf as shelf 2 and the blocking shelf as shelf 1 as an example, since each shelf is densely arranged, when the first self-driving robot 303 removes the blocking storage box on shelf 1 and / or shelf 2, only The blocking storage box can be placed on the robot traveling path 302.
  • the first self-driving robot 303 may be instructed to cycle in one direction according to the second preset channel shown in “driving sub-channel L1 ⁇ traveling sub-channel L2 ⁇ traveling sub-channel L4 ⁇ traveling sub-channel L5 ⁇ traveling sub-channel L1”.
  • the removed blocking storage box is moved in a circle, so that the process of removing the blocking storage box during the circle movement will not block the first preset channel again.
  • FIG. 6 is a schematic structural diagram of a self-driven robot that executes a method of moving items based on dense storage provided in the embodiment of the present application.
  • the self-driving robot in FIG. 6 may be provided with a manipulator 602, and the first self-driving robot 303 passes the manipulator 602.
  • the blocking storage box can be grasped from the blocking shelf, and the removed blocking storage box can be placed on each storage position of the storage device 601 shown in FIG. 6.
  • the first self-driven robot 303 can remove the removed storage box according to the second preset channel.
  • a plurality of blocking storage boxes are moved in a circle on the robot's travel path so that the moving path between the target storage box and the workstation is not blocked.
  • the type of the first self-driving robot 303 may not be limited to the self-driving robot shown in FIG. 6 as long as the first self-driving robot 303 can realize the function of grasping and accommodating the storage box.
  • step 503 when it is detected that the barrier storage box on the barrier shelf and / or the target shelf is moved, the second self-driven robot is instructed to travel to the shelf area where the barrier shelf is located, and pass through two openings on both sides of the barrier shelf and / Or remove the target storage box from the target shelf through the opening on the side of the target shelf.
  • step 504 the second self-driven robot is instructed to move the removed target storage box from the current position to the workstation according to the first preset channel; wherein the target article is stored in the target storage box, and the target storage box is placed on the target shelf.
  • the second self-driving robot 303 can be instructed to travel to the position of the shelf 1 and pass the obstacle through the grasping device With two openings on a shelf (such as shelf 1), take out the target storage box from shelf 2.
  • the second self-driving robot 303 may continue to instruct the second self-driving robot 303 to follow the transport lane "shelf 2 ⁇ driving sub-channel L1 ⁇ driving sub-channel L2 ⁇ driving sub-channel L4 ⁇ driving sub-channel Channel L6 ⁇ Driving sub-channel L7 ⁇ Work station 304 ”, the first preset lane shown in the figure, moves the removed target storage box to the work station 304 so that the user can get the target items from the target storage box.
  • two storage boxes or even more storage boxes are placed on each floor of the shelf, and one opening is provided on each side of the shelf.
  • the shelf has two openings on both sides and two storage boxes on each floor. If you want to remove the inner storage box, you need to instruct the first self-driven robot to remove the outer storage box.
  • FIG. 7a is another layout of the mini warehouse provided in the embodiment of the present application.
  • the shelf area 701, the temporary shelf placement area 702, the workstation 703, and the self-driven robot 704 are shown in FIG. 7a.
  • a plurality of shelves are arranged in the shelf area 701.
  • Each shelf in the shelf area 701 is highly densely distributed on one side of the warehouse.
  • One side of the warehouse) is provided with a temporary shelf placement area 702, and the self-driving robot 704 can move the shelf to the temporary shelf placement area 702.
  • FIG. 7b is a schematic diagram of handling in a mini warehouse provided in an embodiment of the present application.
  • the self-driving robot 704 needs to first move the shelves 1, shelf 2, ..., shelf 10 and other shelves to the temporary shelf storage area. 702, and then move the shelf 11 to the workstation 703. Since it may not be possible to rely on one self-driving robot 303 for one transfer alone, multiple self-driving robots 303 may need to cooperate to complete the transfer. Based on the above situation, in the subsequent use of the self-driven robot 303 multiple times, the first, second, and third pairs of robots can be used to distinguish.
  • the first to Nth (N is a natural number greater than or equal to 1) self-driving robots first transfer the blocking racks located on the conveying path of the target racks to the temporary shelf storage area one by one, and then the N + 1th self-drive
  • the robot moves the target shelf to the workstation for appropriate processing operations.
  • the processing operation can be loading, replenishing, or counting goods.
  • the N + 1th self-driving robot can move the target shelf back to the original place.
  • the first to Nth self-driving robots move the blocking shelf back to the original position.
  • the positions of the target shelf and the blocking shelf may not be moved back to the original location, but may be placed at any free position in the warehouse.
  • FIG. 8 is a schematic flowchart of another method for moving items based on dense storage provided in the embodiment of the present application.
  • the embodiment of the present application is based on the above embodiment and instructs the first self-driven robot to move the block according to the second preset channel.
  • the item and the step of instructing the second self-driven robot to transport the target item from the current position to the workstation according to the first preset channel are detailed.
  • the method for moving goods based on dense storage in the embodiment of the present application may include steps 801 to 803.
  • step 801 when it is detected that the first shelf is blocked by the blocking shelf by the blocking shelf, the first self-driving robot is instructed to travel to the shelf area where the blocking shelf located outside the target shelf and blocking the target shelf is located, and the blocking shelf is removed from Remove the shelf area where the shelf is located.
  • the first preset channel is a moving channel from the current position of the target shelf to the workstation.
  • step 802 the first self-driven robot is instructed to move the blocking shelf to the temporary storage area of the shelf according to the second preset channel, so that the target items on the target shelf are not blocked by the blocking shelf.
  • the first self-driving robot may be instructed to travel to the outside of the target shelf and block the blocking of the target shelf.
  • the shelf area where the shelf is located, and the blocking shelf is moved from the shelf area where the blocking shelf is located to the temporary shelf storage area, so that the target shelf is not blocked by the blocking shelf.
  • the target shelf is shelf 11
  • the blocking shelf is shelf 1, such as shelf 1, shelf 2, ..., shelf 10
  • the first preset path is the transport path H1 from the target shelf to the workstation.
  • the blocking shelf blocks the first preset aisle.
  • the first self-driving robot 804 can be instructed to travel to the position where the shelf 1 is located, move the shelf 1 out of the shelf area where the shelf 1 is located, and move the shelf 1 to the shelf temporarily according to the route indicated by the transportation corridor "H1 ⁇ H2" In the area 802, the shelves 1, shelves 2, ..., 10 and the like are sequentially moved to the temporary shelf placement area 802 by repeating the above-mentioned moving operation.
  • the moving channels used in the process of moving the shelves such as shelves 1, shelves 2, ..., shelves 10, etc. can be respectively based on the actual placement of the shelves such as shelves 1, shelves 2, ..., shelves 10 and in the temporary shelf placement area 802, respectively.
  • the placement position is determined.
  • the shelves 1, 1, 2, ..., 10 and other shelves are moved to the temporary shelf placement area 802, it can be ensured that the shelves 11 are not blocked by the shelves such as the shelves 1, 2, 2, ..., 10 and the first preset channel.
  • Step 803 Instruct the second self-driven robot to move the target shelf from the current position to the workstation according to the first preset channel, so that the user can take the target item on the target shelf.
  • instructing the second self-driving robot to move the target shelf from the current position to the workstation according to the first preset channel may include steps 8031a and 8031b.
  • step 8031a when it is detected that the blocking shelf is moved, the second self-driven robot is instructed to travel to the shelf area where the target shelf is located, and move the target shelf out of the shelf area where the target shelf is located.
  • step 8031b the second self-driven robot is instructed to move the removed target shelf from the current position to the workstation according to the first preset channel; wherein the target item is stored on the target shelf.
  • Figs. 7a and 7b taking the target shelf as shelf 11 and the blocking shelf as shelf 1, shelf 2, ..., shelf 10, etc., for example, when it is detected that the shelf 11 is detected by the first self-driven robot 804
  • the second self-driving robot 804 can be instructed to travel to the position of the shelf 11 and move the shelf 11 from The shelf area where the shelf 11 is located is moved out.
  • the second self-driving robot 804 may continue to be instructed to move the shelf 11 to the workstation 803 according to the route direction indicated by the transport corridor "H1", so that the user can pick it up from the target shelf. Take the target item.
  • a shelf with only one box can be placed on each layer of the shelf, and only one opening is provided on one side of the shelf, or two storage boxes can be placed on each layer of the shelf, or even More storage boxes, and one opening on each side of the shelf. Assume that when there is an open shelf on each side of the shelf, when the target shelf arrives at the workstation, it only needs to rotate the target shelf to get the box on the corresponding side.
  • instructing the second self-driving robot to move the target shelf from the current position to the workstation according to the first preset channel may include steps 8032a and 8032b.
  • step 8032a when it is detected that the blocking shelf is moved, the second self-driving robot is instructed to travel to the shelf area where the target shelf is located, and remove the target storage box from the target shelf.
  • step 8032b the second self-driven robot is instructed to move the removed target storage box from the current position to the workstation according to the first preset channel; wherein the target storage box is placed on the target shelf, and the target article is stored in the target storage box. in.
  • Figs. 7a and 7b taking the target shelf as shelf 11 and the blocking shelf as shelf 1, shelf 2, ..., shelf 10, etc., for example, when it is detected that the shelf 11 is detected by the first self-driven robot 804
  • the second self-driving robot 804 can be instructed to travel to the position of the shelf 11 and from the shelf 11 Remove the target storage box.
  • the second self-driving robot 804 is instructed to move the target storage box taken out from the shelf 11 to the workstation 803 in accordance with the direction of the route indicated by the transportation passage "H1", so that the user can pick up the target article from the target storage box.
  • the shelf of this embodiment two storage boxes or even more storage boxes can be placed on each floor of each shelf, and one opening is provided on each side of the shelf.
  • one first self-driving robot 804 when moving shelves such as shelf 1, shelf 2, ..., shelf 10, one first self-driving robot 804 may be used, or a plurality of first self-driving robots 804 may be used.
  • first self-driving robots 804 in order to speed up the movement of shelves 1 to 10, you can choose to use 10 first self-driving robots 804 to move shelves 1, such as shelves 1, shelves 2, ..., shelves 10 at the same time. , ..., shelves 10 and other shelves can be quickly returned to the original position.
  • the technical solution of this embodiment mainly adopts the Huarong principle.
  • self-propelled robots In addition to self-propelled robots that can transport shelves to workstations, they can also take the storage boxes on the shelves and carry the storage boxes to the workstations, so that workers at the workstations or the owners of the items can take the items out of the storage boxes.
  • a variety of manipulators or robotic arm structures can be used to make the self-propelled robot remove the storage box from the shelf.
  • the first to Nth (N is a natural number greater than or equal to 1) self-driving robots first transfer the blocking racks located on the conveying path of the target racks to the temporary shelf storage area one by one, and then the N + 1th self-drive The robot removes the target storage box from the target shelf and transfers it to the workstation for appropriate processing operations. After processing, it returns to the target shelf.
  • the method for moving goods based on dense storage includes: when detecting that the target shelf is blocked by the blocking shelf and blocking the first preset channel, instructing the first self-driven robot to move the location according to the second preset channel;
  • the blocking shelf so that the target items on the target shelf are not blocked by the blocking shelf;
  • the first preset channel is a moving channel from the current position of the target shelf to the workstation;
  • the driving robot moves the target shelf from the current position to the workstation according to the first preset channel, so that the user can pick up the target items on the target shelf.
  • FIG. 9 is a schematic structural diagram of an intensive storage-based item moving device provided in an embodiment of the present application.
  • the embodiment of the present application can be applied to a case where a robot moves items in a shelf when the shelves are densely placed, and the device can adopt It can be implemented by software and / or hardware.
  • the device can be integrated into any computer equipment with network communication function.
  • the computer equipment can be a server set to control the movement of items in densely packed shelves, or it can be a computer. And other computer equipment.
  • the device for moving an item based on dense storage may include a first moving module 901 and a second moving module 902.
  • the first moving module 901 is configured to instruct the first self-driving robot to move the blocking rack according to the second preset path when the target rack is detected to be blocked by the blocking rack in order to place the target rack on the target rack. Of the target item is not blocked by the blocking shelf; wherein the first preset channel is a moving channel from the current position of the target shelf to the workstation
  • the second moving module 902 is configured to instruct a second self-driven robot to move the target shelf from the current position to the workstation according to the first preset channel, so that the user can pick up the target items on the target shelf. .
  • the first moving module 901 may include a first removing unit for blocking shelves, configured to instruct the first self-driving robot to travel to a blocking shelf located outside the target shelf and blocking the target shelf. Where the blocking shelf is located, and the blocking shelf is moved out of the shelf area where the blocking shelf is located; the first moving unit of the blocking shelf is set to instruct the first self-driving robot to move the The blocking shelf is moved in a circle on the robot's travel path.
  • the second moving module 902 may include a target rack first removing unit configured to instruct a second self-driven robot to travel to the target rack when the blocking rack is detected to be moved. Where the target shelf is located, and the target shelf is moved out of the shelf area where the target shelf is located; the target shelf first moving unit is set to instruct the second self-driven robot to move out of the target shelf according to the first preset passage The target shelf is moved from the current position to the workstation; wherein the target item is stored on the target shelf.
  • a target rack first removing unit configured to instruct a second self-driven robot to travel to the target rack when the blocking rack is detected to be moved.
  • the second moving module 902 may include: a first take-out unit of the target storage box, configured to instruct the second self-driving robot to travel to the target when the blocking shelf is detected to be moved The shelf area where the shelf is located, and the target storage box is taken out from the target shelf; wherein the target storage box is placed on the target shelf; the first moving unit of the target storage box is set to instruct the second self-driven robot to The first preset channel moves the removed target storage box from the current position to the workstation; wherein the target article is stored in the target storage box.
  • the first moving module 901 may include a blocking storage box removing unit configured to instruct the first self-driving robot to travel to a blocking shelf located outside the target shelf and blocking the target shelf.
  • the blocking shelf and / or the blocking shelf from the blocking shelf and / or the target shelf; wherein two sides of the blocking shelf and the target shelf are provided with two openings, and the blocking shelf is on the blocking shelf A blocking storage box is placed, and a blocking storage box and / or a target storage box are placed on the target shelf; the blocking storage box moving unit is configured to instruct the first self-driven robot to take out a plurality of items according to the second preset channel.
  • the blocking storage box is moved in a circle on the robot's travel path.
  • the second moving module 902 may include: a second take-out unit of the target storage box, configured to detect that the blocking shelf and / or the blocking storage box on the target shelf is moved When instructing the second self-propelled robot to travel to the shelf area where the blocking shelf is located, and taking out the target storage box from the target shelf through two openings on both sides of the blocking shelf; the second moving unit of the target storage box, And set to instruct the second self-driven robot to move the removed target storage box from the current position to the workstation according to the first preset channel; wherein the target article is stored in the target storage box The target storage box is placed on the target shelf.
  • the first moving module 901 may include: a second rack unloading unit of the target rack, configured to instruct the first self-driving robot to travel to a blocking rack located outside the target rack and blocking the target rack A shelf area, and the blocking shelf is moved out of the shelf area where the blocking shelf is located; the target shelf second moving unit is set to instruct the first self-driven robot to move the blocking shelf to the temporary shelf according to a second preset channel Drop area.
  • the second moving module 902 may include: a second removal unit of the blocking shelf, configured to instruct the second self-driven robot to travel to the target when the blocking shelf is detected to be moved The shelf area where the shelf is located, and the target shelf is moved out of the shelf area where the target shelf is located; the second shelf removal unit for blocking the shelf is set to instruct the second self-driving robot to move out the location according to the first preset passage.
  • the target shelf is moved from the current location to the workstation; wherein the target item is stored on the target shelf.
  • the device further includes a returning module 903 configured to instruct a second self-driven robot to place the target shelf or the target shelf after detecting that the user has picked up the target item at the workstation.
  • the target storage box is returned to the original position, and the first self-driving robot is instructed to return the blocking shelf and / or the blocking storage box to the original position again.
  • the dense-storage-based article moving device provided by the embodiment of the present application can execute the dense-storage-based article moving method provided by any of the embodiments of the present application, and has corresponding function modules for executing the dense-storage-based article-moving method.
  • FIG. 10 is a schematic structural diagram of a computer device provided in an embodiment of the present application.
  • FIG. 10 shows a block diagram of an exemplary computer device 1012 suitable for use in implementing embodiments of the present application.
  • the computer device 1012 shown in FIG. 10 is merely an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present application.
  • the computer device 1012 is represented in the form of a general-purpose computing device.
  • the components of the computer device 1012 may include, but are not limited to, one or more processors or processing units 1016, a system memory 1028, and a bus 1018 connecting different system components (including the system memory 1028 and the processing unit 1016).
  • the bus 1018 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local area bus using any of a variety of bus structures.
  • these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the enhanced ISA bus, and the Video Electronics Standards Association Association (VESA) local area bus and Peripheral Component Interconnect (PCI) bus.
  • Computer device 1012 typically includes a variety of computer system-readable media. These media can be any available media that can be accessed by the computer device 1012, including volatile and non-volatile media, removable and non-removable media.
  • the system memory 1028 may include a computer system-readable medium in the form of volatile memory, such as Random Access Memory (RAM) 1030 and / or cache memory 1032.
  • the order supply and demand scheduling computer device 1012 may include other removable / non-removable, volatile / nonvolatile computer system storage media.
  • the storage system 1034 may be configured to read and write non-removable, non-volatile magnetic media (not shown in FIG. 10 and is commonly referred to as a "hard drive").
  • a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk") and a removable non-volatile disk such as a read-only optical disk (Compact Disc Disc Read) may be provided.
  • each drive may be connected to the bus 1018 through one or more data medium interfaces.
  • the memory 1028 may include at least one program product having a set (for example, at least one) of program modules configured to perform the functions of the embodiments of the present application.
  • a program / utility tool 1040 having a set (at least one) of program modules 1042 may be stored in, for example, the memory 1028.
  • Such program modules 1042 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data Each of these examples, or some combination, may include an implementation of a network environment.
  • the program module 1042 generally performs functions and / or methods in the embodiments described in this application.
  • the computer device 1012 may also communicate with one or more external devices 1014 (such as a keyboard, pointing device, display 1024, etc.), may also communicate with one or more devices that enable a user to interact with the computer device 1012, and / or with The computer device 1012 can communicate with any device (such as a network card, modem, etc.) that communicates with one or more other computing devices. This communication can be performed through an input / output (In / Out, I / O) interface 1022.
  • the computer device 1012 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 1020.
  • LAN local area network
  • WAN wide area network
  • public network such as the Internet
  • the network adapter 1020 communicates with other modules of the computer device 1012 through the bus 1018.
  • other hardware and / or software modules may be used in conjunction with the computer device 1012, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks (RAID) systems, tape drives, and data backup storage systems.
  • RAID Redundant Arrays of Independent Disks
  • the processing unit 1016 executes various functional applications and data processing by running programs stored in the system memory 1028.
  • the method for moving goods based on dense storage includes: when the target shelf is detected to be blocked When the shelf blocks the first preset channel, the first self-driven robot is instructed to move the blocking shelf according to the second preset channel, so that the target items on the target shelf are not blocked by the blocking shelf;
  • the first preset channel is a moving channel from the current position of the target shelf to a workstation; instructing a second self-driven robot to move the target shelf from the current position to the workstation according to the first preset channel, So that the user can pick up the target item on the target shelf.
  • An embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored.
  • the program When the program is executed by a processor, the method for moving goods based on dense storage as provided in the embodiment of the present application is implemented.
  • the method Including: when detecting that the target shelf is blocked by the blocking shelf in the first preset channel, instructing the first self-driving robot to move the blocking shelf in accordance with the second preset channel so that the target items on the target shelf are not left untouched The blocking shelf is blocked; wherein, the first preset channel is a moving channel from the current position of the target shelf to the workstation; and the second self-driven robot is instructed to remove the target shelf from the target channel according to the first preset channel. The current position is moved to the workstation so that the user can pick up the target items on the target shelf.
  • the computer storage medium in the embodiments of the present application may adopt any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM or flash memory, optical fiber, CD-ROM, optical A memory device, a magnetic memory device, or any suitable combination of the foregoing.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal in baseband or propagated as part of a carrier wave, which carries a computer-readable program code. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device .
  • the program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • any appropriate medium including but not limited to wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • Computer program code for performing the operations of this application may be written in one or more programming languages, or a combination thereof, including programming languages such as Java, Smalltalk, C ++, and also conventional Procedural programming language—such as "C" or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer, partly on a remote computer, or entirely on a remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network, including a LAN or wide area network WAN, or it can be connected to an external computer (such as using an Internet service provider to connect over the Internet).
  • FIG. 11 is a schematic diagram of a system structure of an unmanned self-service operating system provided in an embodiment of the present application.
  • the system 1100 includes a self-driven robot 1110, a control system 1120, a storage area 1130, and a workstation 1140.
  • the storage area 130 is provided with a plurality of storage containers 1131, and various items are placed on the storage container 1131.
  • a plurality of storage containers 1131 are arranged in an array, such as the shelves on which various commodities are placed in supermarkets.
  • a plurality of workstations 1140 are provided on one or more sides of the storage area 1130 (the side shown in the figure).
  • the storage container 1131 is a container having a slot and capable of storing items through the slot, such as a shelf.
  • the shelf includes multiple compartments and four floor support columns. At least one slot is provided on the partition of the shelf. You can place one or more items.
  • the shelf may be a one-way opening.
  • FIG. 12 is a schematic structural diagram of a one-way opening shelf provided in the embodiment of the present application.
  • the one-way opening shelf shown in FIG. 12 may also be a two-way opening. The rotation of the shelf can operate the items in either side of the two-way open shelf.
  • the control system 1120 communicates with the self-driven robot 1110 wirelessly.
  • the worker or user
  • the control system 1120 responds to the order and starts work.
  • the self-driven robot 1110 is in the control system.
  • Under the control of 1120 carry out the transportation task. For example, taking a storage container as a shelf, the self-driving robot 1110 can travel along an empty space in the middle of the shelf array (a part of the passage of the self-driving robot 1110), move to the bottom of the shelf, and use a lifting mechanism to lift the shelf. And carried to the assigned workstation 1140.
  • the self-driving robot 1110 has a lifting mechanism and an autonomous navigation function.
  • the self-driving robot 1110 can travel to the bottom of the shelf and use the lifting mechanism to lift the entire shelf, so that the shelf can follow the The lifting mechanism moves up and down.
  • the self-driving robot 1110 can travel according to the two-dimensional code information captured by the camera, and can travel under the shelf indicated by the control system 1120 according to the route determined by the control system 1120.
  • the self-driving robot 1110 transfers the shelf to the workstation 1140, where a worker (or user) 1141 removes items from the shelf.
  • the self-driven robot 1110 can be used to rotate the shelf so that the opening direction where the item to be picked is located faces the person who picks the item, such as a worker or a user.
  • the control system 1120 is a software system with data storage and information processing capabilities running on a control server, and can be connected to a self-driven robot, a hardware input system, and other software systems through wireless or wired.
  • the control system 1120 may include one or more control servers, which may be a centralized control architecture or a distributed computing architecture.
  • the control server has a processor 1121 and a memory 1122, and the memory 1122 may have an order pool 1123.
  • the system shown in FIG. 11 can be applied to a variety of suitable scenarios.
  • a picking scenario after the self-driven robot 1110 moves the storage container 1131 to the workstation 1140, the worker removes the item from the storage container 1131 (the item is Order items) and put them in a packing box for packaging; for example, in the item storage scenario, whether the items to be stored are temporarily or long-term storage, after the self-driven robot 1110 transfers the storage container 1131 to the workstation 1140, the staff or The item owner takes out items from the storage container 1131 or stores the items in the storage container 1131.
  • a storage container 1131 may specifically place a user's article, or a grid may exclusively place a user's article.
  • the system is also suitable for unmanned access scenarios and unmanned supermarket scenarios.
  • FIG. 13 is a schematic structural diagram of a self-driving robot provided in an embodiment of the present application.
  • the self-driving robot 1110 may include a driving mechanism 1111. By the driving mechanism 1111, the self-driving robot 1110 can move in a working space.
  • the self-driving robot 1110 may further include a lifting mechanism 1112 configured to carry the storage container 1131.
  • the self-driving robot 1110 may move below the storage container 1131, use the lifting mechanism 1112 to lift the storage container 1131, and carry the storage container 1131 to Workstation 1140.
  • the lifting mechanism 1112 When the lifting mechanism 1112 is raised, the entire storage container 1131 is lifted from the ground, so that the self-driven robot 1110 carries the storage container 1131, and when the lifting mechanism 1112 is lowered, the storage container 1131 is placed on the ground.
  • the target recognition component 1113 on the self-driving robot 1110 can effectively recognize the storage container 1131 when the self-driving robot 1110 lifts the storage container 1131.
  • the storage container in order to allow the robot to smoothly carry the storage container in the storage area, the storage container is generally set to one or two columns as an array unit, and after the aisle is set, an array unit is set, and so on.
  • the current use cost of both the display area and the storage area is expensive, such a setup does not maximize the use of resources. Therefore, this application proposes an item-intensive storage solution.
  • FIG. 14 is a schematic flowchart of an item-intensive storage method provided by an embodiment of the present application. This embodiment is applicable to the case of cargo storage. This method may be performed by an item-intensive storage device provided by an embodiment of the present application. The device may be implemented by software and / Or hardware to achieve, and can be integrated in the article-intensive storage system.
  • the method for densely storing items includes steps S1410 to S1430.
  • step S1410 the target shelf to which the handling task is directed is determined from the shelf array; the number of shelves in any horizontal row and any vertical row of the shelf array is at least three.
  • the handling task can be determined by the operating table. For example, at the workstation, currently there are some A items that need to be stored on the shelves in the storage area, and the handling task can be generated through the operating table. Then in this case, the handling task can specify two kinds of shelves, one is an empty shelf, and the other is a shelf that has been placed with item A but is not fully stored. For these two types of shelves, it can be determined by the operation table, and the priority can also be set. It can also be determined according to the number of A items that need to be stored at present. It can be understood that for the storage of each item, information can be entered into the control system. This can ensure that the staff can inquire about what items are stored in each shelf through the console, and can also determine each shelf. Whether the current storage status is full. In this way, when there are items that need to be stored or certain items need to be taken out of the storage area, the target shelf of the handling task can be determined through the console.
  • the arrangement of the shelves in the shelf array is a dense arrangement, and the number of shelves in any horizontal row and any vertical row of the dense rack arrangement may be at least three.
  • the number of shelves in one horizontal row or one vertical row is two, but because the related technology needs to set an aisle in the middle of the shelf, when there are many horizontal rows of shelves, it can be understood here as three or three
  • the number of vertical shelves can only be two, otherwise the handling of the vertical shelves in the middle will be quite inconvenient.
  • three, four, or more vertical shelves can be set (when the number of horizontal shelves is large). This is the arrangement of the shelves in the shelf array. Compared with the related technology, it is dense. Arranged. FIG.
  • FIG. 15 is a schematic diagram of a dense rack arrangement provided in an embodiment of the present application. Among them, only a kind of 8 rows and 4 columns racks are shown in FIG. 15, and aisles are arranged around the racks. In one embodiment, it can be designed according to the scope of the storage space and the size of the shelves. After the racks are densely set, the racks near the aisle need to be removed first for handling the racks that are not close to the aisle. Therefore, the number of shelves in any horizontal row and any vertical row of the dense rack arrangement is at least three. For example, it can be 4 rows or more rows or 4 rows or more rows.
  • the reason for this setting is that when moving a shelf without an aisle position, it is only necessary to remove a shelf near the aisle position, which is convenient for controlling the handling efficiency of the rack.
  • the shelf D needs to be moved, and the shelf D can be moved by removing the shelf E or the shelf F.
  • the shelf C only the shelf G can be moved to move the shelf C.
  • the reason is that if two shelves need to be removed by moving the shelf on the left or upper side of shelf C, it will affect the efficiency of the self-propelled robot to move the target shelf. After the arrangement in this way, the distance between the shelves is closer, which reduces the occupation of storage space by the original aisle, which can save space and increase the utilization rate of storage space.
  • step S1420 the position type of the target shelf in the shelf array is determined, and the handling strategy is determined according to the position type.
  • the position types of the target shelf in the dense shelf arrangement may include: a first position type and a second position type.
  • the first position type can be a shelf that can be directly carried by a self-driven robot according to the handling task
  • the second position type can be a shelf that cannot directly complete the handling task.
  • the handling strategy can be determined according to the position type of the target shelf in the dense shelf arrangement.
  • the transportation strategy can include direct and indirect transportation. Direct transportation refers to directly moving the target shelf to the location specified by the transportation task, while indirect transportation means that the blocking shelf must be removed before the target shelf is moved.
  • the blocking shelf may be a shelf that needs to be removed first during the process of moving the target shelf.
  • the blocking shelf may be shelf E, shelf F, and shelf G and shelf C. It can be determined that after the blocking shelf is removed, the self-driving robot can directly move to the location of the target shelf to carry the target shelf.
  • step S1430 the self-propelled robot is controlled to transport the target shelf based on the transport strategy.
  • the self-driving robot is controlled to carry in accordance with the determined handling strategy.
  • the handling strategy corresponding to the handling task may be issued to the self-driving robot, and the self-driving robot may complete the handling task of the target shelf by identifying the current handling strategy.
  • the transportation task may include a transportation target address of the target shelf.
  • the transportation path is determined according to the transportation task to realize the movement of the shelf.
  • the transportation path may be determined according to the position of the shelf in the current warehouse and the position of the self-driving robot and other equipment.
  • the technical solution provided in the embodiment of the present application determines the target rack pointed by the handling task from the rack array; the number of shelves in any horizontal row and any vertical row of the rack array is at least 3; The position type of the target shelf in the shelf array, and a handling strategy is determined according to the position type; and a self-driven robot is controlled to carry the target shelf based on the handling strategy.
  • FIG. 16 is a schematic flowchart of an article-intensive storage method according to an embodiment of the present application. Based on the above embodiment, this embodiment is detailed as follows: the judging the position type of the target shelf in the shelf array, and determining the handling strategy according to the position type, including: If the position of the target shelf is a first position type, determining a handling strategy as direct handling according to the first position type; and controlling the self-driven robot to carry the target shelf based on the handling strategy includes controlling the self-driven robot The target rack is transferred to a designated position of the transfer task.
  • the article-intensive storage method proposed in this application includes steps S1610 to S1630.
  • step S1610 the target shelf to which the handling task is directed is determined from the shelf array; the number of shelves in any horizontal row and any vertical row of the shelf array is at least three.
  • step S1620 if it is determined that the position of the target shelf is the first position type, it is determined that the transportation strategy is direct transportation according to the first position type.
  • the position of the target shelf can be determined based on the identification in the control system. It is understandable that each time the shelf moves in the warehouse, it is necessary to synchronize the information to the control system to facilitate the control system's implementation of the handling tasks and the inventory. State control. Therefore, after the target shelf is determined, the position type of the target shelf in the dense shelf arrangement can be determined.
  • the self-driving robot can The shelf C is dismembered and transported by the positions of the original shelf D and the shelf E.
  • the position type of the shelf C is the first position type.
  • the position type of each shelf in the dense shelf queue can be constantly changing, and can be the first position type or the second position type.
  • the position of the shelves can be determined and tracked by obtaining the coding of the shelves, so that even if the position of the shelves in the dense shelf queue changes, the actual required target shelves can still be determined according to the handling task .
  • the position of the shelf in the shelf queue can be synchronized to the control system with an identifier such as the shelf's code.
  • the direct handling strategy is determined. It can be understood that the self-driven robot can move the target rack without moving the other racks, but can directly move the target rack.
  • step S1630 the self-driving robot is controlled to carry the target rack to the designated position of the carrying task.
  • the designated position of the handling task may be a certain workstation or other positions.
  • the designated position of the handling task may be determined when the handling task is established, and may be changed during the handling of the self-driven robot.
  • the position type of the target shelf is the first position type, the self-driven robot is controlled to carry the target shelf to the designated position of the handling task.
  • this embodiment provides a shelf conveyance method in which the target shelf position is the first position type. Compared with the previous transportation methods, this transportation method needs to determine whether the position of the target shelf accords with the first position type first, so as to ensure that during the delivery of the transportation task with the shelf, the target shelf position cannot be directly affected. Removal, but only the relocation task cannot be performed. It ensures the stable operation of the rack handling by the self-driven robot.
  • FIG. 17 is a schematic flowchart of an article-intensive storage method according to an embodiment of the present application. Based on the above embodiment, this embodiment refines: judging the position type of the target shelf in the dense shelf arrangement, and determining the handling strategy according to the position type, including: judging the position of the target shelf If it is a second position type, determining a handling strategy as indirect handling according to the second position type; and controlling the self-driven robot to move the target shelf based on the handling strategy includes: according to a position of the target shelf, Determine the blocking shelf; control the self-driving robot to move the blocking shelf to move the target shelf to the designated position of the handling task.
  • the method for densely storing articles includes steps S1710 to S1740.
  • step S1710 the target shelf to which the handling task is directed is determined from the shelf array; the number of shelves in any horizontal row and any vertical row of the shelf array is at least three.
  • step S1720 if it is determined that the position of the target shelf is the second position type, it is determined that the conveyance strategy is indirect conveyance according to the second position type.
  • the second position type may be determined as a position type in which the self-driving robot cannot directly carry the target rack, that is, the target rack is inside the dense rack arrangement. Therefore, in this case, the handling strategy of the target shelf is determined as the indirect handling strategy.
  • the indirect handling strategy is to use the target rack as the ultimate goal of the handling task. After the path from the position of the self-driving robot to the least blocking rack path that the target rack can pass, remove the blocking rack, and then move the target rack to the handling task. Designated place.
  • step S1730 the blocking shelf is determined according to the position of the target shelf.
  • the blocking shelf is determined according to the position of the target shelf. When there are 3 or 4 fewer shelves or rows with densely arranged rows, it can be determined that there is at most one blocking shelf, but the blocking shelf may not be unique. According to the position of the self-propelled robot, a blocking shelf is determined. When the number of racks with fewer rows or columns of dense racks is greater than 4, the number of blocking racks may be 2 or more.
  • step S1740 after controlling the self-driving robot to remove the blocking shelf, the target shelf is transported to the designated position of the transport task.
  • the blocking shelf After the blocking shelf is determined, the blocking shelf can be removed to carry the target shelf to complete the transportation task.
  • this embodiment provides a method for transporting the position type of the target shelf to the second position type.
  • This embodiment avoids the transportation situation of intensive storage for the shelf.
  • the self-driven robot can stably carry the shelves, and can realize dense storage of the shelves, saving storage space.
  • controlling the self-driving robot to move the blocking shelf to the designated position of the handling task after removing the blocking shelf includes: controlling the self-driving robot to move the blocking shelf to the temporary storage area; controlling the self-driving robot to move the target Shelves are moved to the designated location for the handling task.
  • the temporary storage area may be inside the storage area or outside the storage area. In order to improve the handling efficiency of the self-propelled robot, the temporary storage area can be set inside the storage area, and it is not close to the dense rack arrangement.
  • the advantage of this technical solution is that a self-driving robot can complete the transportation of internal shelves, make full use of the resources of the self-driving robot, do not need to set too many self-driving robots, and reduce the input cost of intelligent storage.
  • controlling the self-driving robot to remove the blocking shelf and moving the target shelf to the designated position of the handling task includes: controlling the first self-driving robot to remove the blocking shelf; and controlling the second self-driving robot. Move the target shelf to the designated position of the transport task.
  • the first self-driving robot removes the blocking shelf, it can always keep the blocking shelf in a carrying state. In this way, the first self-driving robot can dynamically move in the aisle position to avoid affecting the work of other self-driving robots.
  • the advantage is that there is no need to set up a temporary storage area in the storage area, which reduces the cost of floor space.
  • the utilization rate of the self-driving robots can be improved, and the efficiency of the self-driving robots to move to the target shelf can be improved, and the transportation time can be saved.
  • the method further includes: moving the removed blocking shelf back by the self-driven robot To the original position of the blocking shelf or the original position of the target shelf.
  • this technical solution provides a solution for putting back the blocking shelf, where the original target shelf can be put back, and the original blocking shelf itself can be put back. And the information can be synchronized to the control system.
  • the advantage of returning to the location of the target shelf is that after the target shelf is loaded or unloaded, it can be directly returned to the original blocking shelf position without moving the blocking shelf again.
  • the advantage of returning the blocking shelf to its original location is that it is not necessary to frequently update the position of each shelf, avoiding the situation that the shelf position statistics of the control system are wrong due to frequent updates of the shelf position, and improving the operational stability of the intelligent storage.
  • FIG. 18 is a schematic structural diagram of an article-dense storage device according to an embodiment of the present application.
  • the item-intensive storage device includes a target shelf determination module 1810, a handling strategy determination module 1820, and a handling execution module 1830.
  • the target shelf determination module 1810 is configured to determine the target shelf pointed by the handling task from the shelf array; the number of shelves in any horizontal row and any vertical row of the shelf array is at least three.
  • the handling strategy determining module 1820 is configured to determine a position type of the target shelf in the shelf array, and determine a handling strategy according to the position type.
  • the carrying execution module 1830 is configured to control the self-driven robot to carry the target shelf based on the carrying strategy.
  • the technical solution provided in the embodiment of the present application determines the target rack pointed by the handling task from the rack array; the number of shelves in any horizontal row and any vertical row of the rack array is at least 3; The position type of the target shelf in the shelf array, and a handling strategy is determined according to the position type; and a self-driven robot is controlled to carry the target shelf based on the handling strategy.
  • the handling strategy determination module 1820 includes a first handling strategy determination unit configured to determine that the location of the target shelf is the first location type, and then determine that the handling strategy is direct handling according to the first location type. .
  • the transport execution module 1830 includes a first transport execution unit configured to control the self-driven robot to transport the target shelf to a designated position of the transport task.
  • the handling strategy determining module 1820 includes a second handling strategy determining unit configured to determine that the location of the target shelf is the second location type, and determine the handling strategy as indirect handling according to the second location type. .
  • the transportation execution module 1830 includes a blocking shelf determination unit configured to determine the blocking shelf according to the position of the target shelf.
  • the second conveyance execution unit is configured to control the self-driven robot to move the blocking shelf to move the target shelf to the designated position of the conveyance task.
  • the second conveyance execution unit is configured to control the self-driving robot to move the blocking shelf to the temporary storage area; and control the self-driving robot to convey the target shelf to the designated position of the conveyance task.
  • the second carrying execution unit is configured to control the first self-driving robot to remove the blocking shelf; and control the second self-driving robot to carry the target shelf to the designated position of the carrying task.
  • the handling execution module 1830 further includes: a blocking rack return unit, configured to control the self-driven robot to move the removed blocking rack back to the original position of the blocking rack or the original position of the target rack.
  • the above product can execute the method provided by any embodiment of the present application, and has corresponding function modules for executing the method.
  • FIG. 19 is a schematic diagram of an article-intensive storage system provided in an embodiment of the present application.
  • the system includes a main control terminal 1910, at least one self-driving robot 1920, and a dense rack arrangement 1930.
  • the number of shelves in any horizontal row and any vertical row of the dense rack arrangement is at least three.
  • the main control terminal 1910 includes a memory, a processor, and a computer program stored in the memory and executable by the processor.
  • the processor executes the computer program, the method for implementing an intensive storage method for items provided in any one of the embodiments of the present application is implemented.
  • FIG. 20 is a schematic structural diagram of a master control terminal provided in an embodiment of the present application.
  • FIG. 20 shows a block diagram of an exemplary master 2012 suitable for implementing the embodiments of the present application.
  • the main control terminal 2012 shown in FIG. 20 is merely an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present application.
  • the main control end 2012 is expressed in the form of a general-purpose computing device.
  • the components of the main control end 2012 may include, but are not limited to, one or more processors or processing units 2016, a memory 2028, and a bus 2018 connecting different system components (including the memory 2028 and the processing unit 2016).
  • the bus 2018 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local area bus using any of a variety of bus structures.
  • these architectures include, but are not limited to, the ISA bus, MAC bus, enhanced ISA bus, VESA local bus, and PCI bus.
  • the host 2012 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the host 2012, including volatile and non-volatile media, removable and non-removable media.
  • the memory 2028 may include a computer system-readable medium in the form of volatile memory, such as RAM) 2030 and / or cache memory 2032.
  • the host 2012 may include other removable / non-removable, volatile / nonvolatile computer system storage media.
  • the storage system 2034 may be configured to read and write non-removable, non-volatile magnetic media (not shown in FIG. 20, commonly referred to as a "hard drive").
  • a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk"), and a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM, etc.) may be provided. Or other optical media).
  • each drive may be connected to the bus 2018 through one or more data medium interfaces.
  • the memory 2028 may include at least one program product having a set (for example, at least one) of program modules configured to perform the functions of the embodiments of the present application.
  • a program / utility tool 2040 having a set (at least one) of program modules 2042 may be stored in, for example, the memory 2028.
  • Such program modules 2042 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data Each of these examples, or some combination, may include an implementation of a network environment.
  • the program module 2042 generally performs functions and / or methods in the embodiments described in this application.
  • the master 2012 can also communicate with one or more external devices 2014 (such as a keyboard, pointing device, display 2024, etc.), and can also communicate with one or more devices that enable users to interact with the master 2012, and / or Communicate with any device (such as a network card, modem, etc.) that enables the master 2012 to communicate with one or more other computing devices. This communication can be performed through the I / O interface 2022.
  • the master terminal 1012 can also communicate with one or more networks (such as a LAN, WAN, and / or a public network, such as the Internet) through the network adapter 2020. As shown in the figure, the network adapter 1020 communicates with other modules of the master 2012 through a bus 1018. It should be understood that although not shown in FIG. 20, other hardware and / or software modules may be used in conjunction with the master 2012, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, Tape drives and data backup storage systems.
  • the processing unit 2016 executes various functional applications and data processing by running programs stored in the memory 2028.
  • the method for implementing the item-intensive storage method includes: determining a target rack to which a transport task points from a rack array. ; The number of shelves in any horizontal row and any vertical row of the shelf array is at least 3; judging the position type of the target shelf in the shelf array, and determining the handling according to the position type Strategy; controlling the self-propelled robot to move the target shelf based on the handling strategy.
  • An embodiment of the present application further provides a storage medium containing computer-executable instructions.
  • the method is configured to perform an item-intensive storage method.
  • the method includes: determining a handling task location from a shelf array The target shelf that is pointed to; the number of shelves in any horizontal row and any vertical row of the shelf array is at least 3; determining the type of position of the target shelf in the shelf array, and according to the The location type determines a handling strategy; and controls the self-driving robot to carry the target shelf based on the handling strategy.
  • Storage medium any type of memory device or storage device.
  • the term "storage medium” is intended to include: installation media such as CD-ROM, floppy disks, or magnetic tape devices; computer system memory or random access memory such as Dynamic Random Access Memory (DRAM), dual-channel synchronous dynamics Random Access Memory (Double Data, Random Access, Memory, DDR RAM), Static Random Access Memory (Static Random Access Memory, SRAM), Dynamic Random Access Memory (Extended Data Output, Random Access Memory, EDO RAM), Lambeth (Rambus) RAM, etc .; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc.
  • the storage medium may also include other types of memory or a combination thereof.
  • the storage medium may be located in a computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network such as the Internet.
  • the second computer system may provide program instructions to a computer for execution.
  • the term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems connected through a network.
  • the storage medium may store program instructions (for example, embodied as a computer program) executable by one or more processors.
  • the storage medium containing computer-executable instructions provided in the embodiments of the present application is not limited to the above-mentioned item-intensive storage operation, and may also be executed in the item-intensive storage method provided by any embodiment of this application. Related operations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Quality & Reliability (AREA)
  • Economics (AREA)
  • Development Economics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Strategic Management (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种基于密集存储的物品搬移方法、设备、存储介质以及密集存储***，该物品搬移方法包括：在检测到目标货架（2）被至少一个阻挡货架（1，3，4，5）阻挡时的情况下，指示第一自驱动机器人（303）移出阻挡货架（1，3，4，5）和/或阻挡置物箱，以使目标货架（2）不被阻挡货架（1，3，4，5）阻挡或目标货架（2）上的目标置物箱不被阻挡置物箱阻挡；指示第一自驱动机器人（303）搬运阻挡货架（1，3，4，5）和/或阻挡置物箱在机器人行驶通道（302）上进行绕圈移动；指示第二自驱动机器人（305）将目标货架（2）从当前位置搬移至工作站（304），或者，指示第二自驱动机器人（305）从目标货架（2）上取出目标置物箱，将取出的目标置物箱搬移至工作站（304）。

Description

基于密集存储的物品搬移方法、设备、存储介质以及密集存储***
本申请要求在2018年08月10日提交中国专利局、申请号为201810911672.6的中国专利申请，以及在2018年10月17日提交中国专利局、申请号为201811208950.8的中国专利申请的优先权，上述申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及仓储技术和机器人控制技术领域，例如涉及基于密集存储的物品搬移方法、设备、存储介质以及密集存储***。
背景技术
随着仓储行业的不断发展，越来越多的自驱动机器人被应用于仓储行业。用户可以使用仓库的存储容器存储物品，当用户需要某些物品时，通过自驱动机器人可以将存储容器搬移至用户位置处，供用户从存储容器中拿取物品。但是当存储物品的仓库的空间比较小，尤其是为了节省仓库空间大小带来的空间成本，可以采用“迷你仓库”存储物品。由于“迷你仓库”中存储物品的存储容器是密集摆放的，造成对自驱动机器人行走通道的限制，自驱动机器人无法像在传统大型的仓库一样***到存储容器位置处搬移存储容器。
相关技术中的库房管理模式无论从存储密集程度，还是管理效率方面，都远远不能满足现实的智能化密集化需要。因此，无论从节省库房空间的角度来看，还是从节省库房管理人力的角度来看，都急需一种能够密集存储货物，大幅度节省库房空间，并且能够大量节省库房管理人力的方案。
发明内容
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
在本申请实施例中提供了一种基于密集存储的物品搬运方法、设备、存储介质以及密集存储***，以实现在密集存储情景下搬移存储的物品。
本申请实施例提供了一种基于密集存储的物品搬移方法，该方法包括：在检测到目标货架被至少一个阻挡货架阻挡时的情况下的情况下，指示第一自驱动机器人移出所述阻挡货架和/或阻挡置物箱，以使所述目标货架不被所述阻挡货架阻挡住或所述目标货架上的目标置物箱不被所述阻挡置物箱阻挡；指示所述第一自驱动机器人搬运所述阻挡货架和/或所述阻挡置物箱在机器人行驶通道上进行绕圈移动；指示第二自驱动机器人将所述目标货架从当前位置搬移至工作站，或者，指示第二自驱动机器人从所述目标货架上取出所述目标置物箱，将取出的所述目标置物箱搬移至工作站。
本申请实施例中还提供了一种计算机设备，该计算机设备包括：至少一个或多个处理器；存储装置，设置为存储至少一个程序，当所述至少一个程序被 所述至少一个处理器执行，使得所述至少一个处理器实现如上任一所述的基于密集存储的物品搬移方法。
本申请实施例中还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上任一所述的基于密集存储的物品搬移方法。
本申请实施例中还提供了一种密集存储***，包括：第一自驱动机器人，配置为根据控制***的指令，移出阻挡货架和/或阻挡置物箱；第二自驱动机器人，配置为根据控制***的指令，搬运目标货架或目标货架上的目标置物箱；货架区，包括多个货架，货架用于存储物品并供自驱动机器人搬运，多个货架中包括目标货架，目标货架的四周被阻挡货架包围，所述自驱动机机器人包括第一自驱动机器人和第二自驱动机器人；控制***，配置为在检测到目标货架被至少一个阻挡货架阻挡住的情况下，指示第一自驱动机器人移出所述阻挡货架和/或所述阻挡置物箱，以使所述目标货架不被所述阻挡货架阻挡，或所述目标货架上的目标置物箱不被所述阻挡置物箱阻挡；指示第二自驱动机器人将所述目标货架从当前位置搬移至工作站，或者，指示第二自驱动机器人从所述目标货架上取出所述目标置物箱，将取出的所述目标置物箱搬移至工作站。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，附图仅用于示出示例实施方式，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。
图1是本申请实施例提供的一种仓储***的***结构示意图；
图2是本申请实施例提供的一种单向开口货架的结构示意图；
图3是本申请实施例提供的一种迷你仓库的布局以及搬运示意图；
图4a是本申请实施例提供的一种基于密集存储的物品搬移方法的流程示意图；
图4b是本申请实施例提供的另一种基于密集存储的物品搬移方法的流程示意图；
图5是本申请实施例提供的另一种基于密集存储的物品搬移方法的流程示意图；
图6是本申请实施例提供的一种执行基于密集存储的物品搬移方法的自驱动机器人的结构示意图；
图7a是本申请实施例提供的另一种迷你仓库的布局；
图7b是本申请实施例提供的一种在迷你仓库中的搬运示意图；
图8是本申请实施例提供的又一种基于密集存储的物品搬移方法的流程示意图；
图9是本申请实施例提供的一种基于密集存储的物品搬移装置的结构示意图；
图10是本申请实施例提供的一种计算机设备的结构示意图；
图11是本申请实施例提供的一种无人的自助式操作***的***结构示意图；
图12是本申请实施例提供的一种单向开口货架的结构示意图；
图13是本申请实施例提供的一种自驱动机器人的结构示意图；
图14是本申请实施例提供的物品密集存储方法的流程示意图；
图15是本申请实施例提供的一种密集货架排列示意图；
图16是本申请实施例提供的物品密集存储方法的流程示意图；
图17是本申请实施例提供的物品密集存储方法的流程示意图；
图18是本申请实施例提供的物品密集存储装置的结构示意图；
图19是本申请实施例提供的一种物品密集存储***示意图；
图20是本申请实施例提供的一种主控端的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
图1是本申请实施例中提供的一种仓储***的***结构示意图。参见图1，该***100包括：自驱动机器人110、控制***120、存储容器区130以及工作站140，存储容器区130设置有多个存储容器131，存储容器131上放置有各种物品，多个存储容器131之间排布成阵列形式。通常，在存储容器区130的一侧设置有多个工作站140。存储容器131可以是任意一种能够存放物品的容器，例如货架或托盘等。以货架为例，货架包括多个隔层以及四个落地支撑柱，货架的隔层上可以直接放置各种物品，货架的隔层也可以设置有多个置物箱，该置物箱可以与货架分离，也可以与货架一体，置物箱中可以放置一个或多个物品。另外，货架可以是双向开口货架，延隔层的纵深方向可以放置两个物品，即在每个开口方向各放置一个物品；或者延隔层的纵深方向设置两个置物箱，即在每个开口方向各设置一个置物箱。货架也可以是单向开口货架，延隔层的纵深方向可以放置一个物品，即在开口方向只放置一个物品；或者延隔层的纵深方向设置一个置物箱，即在开口方向只设置一个置物箱。
控制***120与自驱动机器人110进行无线通信，工作人员(或物品的主人)通过操作台160使控制***120工作，自驱动机器人110在控制***120的控制下，执行货物搬运任务。例如，自驱动机器人110可以沿货架阵列中间的空着的空间(自驱动机器人110通行通道的一部分)行驶，运动到目标货架131的底部，利用举升机构举起目标货架131，并搬运到被分配到的工作站140。
在一个示例中，自驱动机器人110具有举升机构，以及具有自主导航功能，自驱动机器人110能够行驶至目标货架131底部，并利用举升机构将整个货架131举起，使得货架131能够随着具有升降功能的举升机构上下移动。在一个示例中，自驱动机器人110能够根据摄像头拍摄到的二维码信息行驶，并且能够根据控制***120确定的路线行驶至控制***120提示的货架131下面。自驱动机器人110将目标货架131搬运到工作站140，在工作站140处工作人员(或 物品主人)141从货架131上取出物品。对于双向开口的货架，可以通过自驱动机器人110旋转货架，使待取物品所在的开口方向面对取物品的人，如工作人员或物品主人。
控制***120为在服务器上运行的、具有数据存储、信息处理能力的软件***，可通过无线或有线与机器人、硬件输入***、其它软件***连接。控制***120可以包括一个或多个服务器，可以为集中式控制架构或者分布式计算架构。服务器具有处理器1201和存储器1202，在存储器1202中可以具有订单池1203。
图1所示的仓储***可适用于多种适宜的场景，例如，在拣选场景中，在自驱动机器人110将货架131搬运到工作站140后，工作人员从货架131上取出物品(该物品为订单物品)并放入打包箱中进行打包；再例如，在物品保管场景中，无论保管的物品是临时保管还是长期保管，在自驱动机器人110将货架131搬运到工作站140后，物品主人从货架131上取出物品。特别说明的是，在物品保管场景中，为了保证私密性和安全性，一个存储容器专门放置一个用户的物品，或者一个置物箱专门放置一个用户的物品，置物箱可以设置有密码锁，用户可以通过输入密码打开置物箱。例如，如图2所示的单向开口的货架。
由于存储物品的仓库的空间比较小，尤其是为了节省仓库空间大小带来的空间成本，采用“迷你仓库”存储物品时，“迷你仓库”中存储物品的货架是密集摆放的，造成对机器人行驶通道的限制，自驱动机器人无法直接搬移到想要搬运的货架。因此，需要改进基于密集存储的物品搬运方式，实现在密集存储情景下搬移。
下面针对本申请实施例中提供的对基于密集存储的物品搬运方法、装置、计算机设备和存储介质，通过各实施例进行详细阐述。
图3是本申请实施例中提供的一种迷你仓库的布局以及搬运示意图，参见图3，分别设置有货架区301、机器人行驶通道302、自驱动机器人303以及工作站304。货架区301中设置有多个货架，货架区301中的各个货架可以单列摆放，比如图3中上面所示的单列摆放的货架；也可以多列(至少两列)并排摆放，比如图3中左侧3列货架以及中间4列货架。图3中的机器人行驶通道302可以包括：行驶子通道L1、行驶子通道L2、行驶子通道L3、行驶子通道L4、行驶子通道L5、行驶子通道L6、行驶子通道L7以及行驶子通道L8。其中，上述行驶子通道均为单向行驶的通道，且在各行驶子通道的一侧或两侧紧靠货架区301的部分货架。自驱动机器人303可以沿着机器人行驶通道302中各个行驶子通道所指示的方向运动到各个货架所在的位置搬运货架。如果需要搬移的货架为紧靠行驶子通道的货架(比如货架1或货架3)时，那么自驱动机器人303可以直接将需要搬移的货架搬移到工作站；但是如果需要搬移的货架并不紧靠行驶子通道的货架，而是位于多列货架的中间货架(比如货架2)时，此时需要搬移的货架被外侧的货架所阻挡，自驱动机器人303无法直接将需要搬移的货架进行搬移，必须先将阻挡在外侧的货架搬移才可以采用自驱动机器人303 搬移该需要搬移的货架，此时单独依靠一个自驱动机器人303无法实现，需要多个自驱动机器人303共同配合才可以完成。基于上述情形，在后续使用多个自驱动机器人303时可以采用第一、第二、第三对机器人进行区分。例如，先由第一至第N(N为大于或等于1的自然数)自驱动机器人将外侧的阻挡货架搬运走并延着场内的单向通道绕圈，再由第N+1自驱动机器人将目标货架搬运走并沿着场内的单向通道运行到工作站进行适当的处理操作，如在拣选场景中，该处理操作可以是上货、补货或者盘点货物等。待处理操作结束后，第N+1自驱动机器人将目标货架搬运回原处，待目标货架回到原处后，第1至第N自驱动机器人再将外侧的阻挡货架搬运回原处。当然，目标货架与阻挡货架的位置也可以互换。
图4a是本申请实施例中提供的一种基于密集存储的物品搬移方法的流程示意图。该方法包括步骤201至步骤203。
在步骤201中，在检测到目标货架被至少一个阻挡货架阻挡的情况下，指示第一自驱动机器人移出所述阻挡货架和/或阻挡置物箱，以使所述目标货架不被所述阻挡货架阻挡或所述目标货架上的目标置物箱不被所述阻挡置物箱阻挡。
在步骤202中，指示所述第一自驱动机器人搬运所述阻挡货架和/或所述阻挡置物箱在机器人行驶通道上进行绕圈移动。
在步骤203中，指示第二自驱动机器人将所述目标货架从当前位置搬移至工作站，或者，指示第二自驱动机器人从所述目标货架上取出所述目标置物箱，将取出的所述目标置物箱搬移至工作站。
图4b是本申请实施例中提供的另一种基于密集存储的物品搬移方法的流程示意图该方法包括步骤401和步骤402。本申请实施例可应用于自驱动机器人在货架摆放密集情况下获取货架中用户需要的物品的情况，该方法可由基于密集存储的物品搬移装置来执行，该装置可以采用软件和/或硬件的方式实现，该装置可以集成在任何具有网络通信功能的计算机设备中，该计算机设备可以为设置为对密集摆放的货架中的物品进行搬移控制的服务器，也可以是电脑等计算机设备。
在步骤401中，当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人按照第二预设通道搬移所述阻挡货架，以使目标货架上的目标物品不被阻挡货架阻挡住；其中，第一预设通道为目标货架的当前位置到工作站的搬移通道。
在本申请实施例中，参见图3，例如，针对目标货架为货架1而言，当第一自驱动机器人303或第二自驱动机器人305搬运货架区301的货架1时，由于位于货架1左边的外侧没有其他货架阻挡，第一自驱动机器人303或第二自驱动机器人305均可以行驶到货架1左边一侧的位置，并将货架1搬出，沿着第一预设通道将货架1搬移至工作站304。第一预设通道可以为该目标货架的当前位置到工作站之间的搬移通道，目标货架的当前位置到工作站之间的搬移通道可以根据目标货架的放置位置与工作站的位置进行预先确定，也可以通过机器人实时定位确定。示例性的，对于目标货架为货架1而言，第一预设通道所指 示的路线可以为“货架1→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”。当然上述仅仅示例了从货架1到工作站304之间的一条示例性的搬移通道，其他货架到各工作站之间的搬移通道可以根据目标货架的实际位置、工作站的位置以及机器人行驶通道302中各个行驶子通道的方向进行确定。
在本申请实施例中，参见图3，再例如，针对目标货架为货架2而言，此时货架2被货架1、货架3、货架4以及货架5等货架阻挡，造成货架2到工作站304之间的搬移通道就会被阻挡，即第一预设通道被阻挡。为此，可以指示第一自驱动机器人303按照第二预设通道将阻挡货架2的货架进行搬移，以使货架2到工作站304之间的搬移通道不被阻挡。该第一自驱动机器人303设置为按照第二预设通道将阻挡货架搬离原始位置，从而保证目标货架的当前位置到工作站之间的搬移通道的畅通。第二预设通道可以根据实际情况进行设定，比如在自驱动机器人行驶通道302上沿着某一方向进行的绕圈通道。示例性的，第二预设通道所指示的路线可以为“行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L5→行驶子通道L1”；第二预设通道所指示的路线还可以为“行驶子通道L3→行驶子通道L2→行驶子通道L4→行驶子通道L5→行驶子通道L3”；第二预设通道所指示的路线还可以为上述示例的两种搬移通道的组合，这里不再一一赘述。当然上述仅仅示例了一条按照预设各个行驶子通道的箭头指示的方向进行满场绕圈的搬移通道，关于其他的第二预设通道这里不再一一列举，只要满足阻挡货架在第二预设通道搬移时不阻挡目标货架即可。
在本申请一实施例中，当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人按照第二预设通道搬移所述阻挡货架，可以包括步骤4011a和步骤4011b。
在步骤4011a中，当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人行驶至位于目标货架外侧且阻挡目标货架的阻挡货架所在的货架区，并将阻挡货架从阻挡货架所在的货架区搬出。
在本实施方式中，当接收到搬移目标物品的搬移指令时，可以检测目标物品对应的目标货架是否被阻挡货架阻挡住第一预设通道，也就是说检测目标货架外侧是否全部存在阻挡物品。当检测到目标货架被阻挡货架阻挡住第一预设通道时，可以指示第一自驱动机器人行驶至位于目标货架外侧且阻挡目标货架的阻挡货架所在的货架区，并将阻挡货架从阻挡货架所在的货架区搬出。
示例性的，参见图3，假设目标物品对应的目标货架为货架2，第一预设通道可以为“货架2→货架1→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”，此时在上述的第一预设通道上的阻挡货架为货架1；第一预设通道还可以为“货架2→货架3→行驶子通道L3→行驶子通道L2→行驶子通道L4→行驶子通道L6→机行驶子通道L7→工作站304”，此时在上述的第一预设通道上的阻挡物品为货架3。当需要搬移货架2时，需要先将货架1或货架3搬走，才可以保证货架2→行驶子通道L2的之间的通道畅通，或者保证货架2→行驶子通道L3之间的通道畅通。基于上述情形， 当检测到货架2被阻挡货架(比如货架1或货架3)阻挡住第一预设通道时，可以指示第一自驱动机器人303行驶至位于货架2外侧且阻挡货架2的阻挡货架(比如货架1或货架3)所在的货架区。第一自驱动机器人303行驶到阻挡货架(比如货架1或货架3)所在的货架区之后，可以继续将阻挡货架(比如货架1或货架3)从阻挡货架所在的货架区搬出，以保证货架2不被阻挡货架(比如货架1或货架3)阻挡。
在步骤4011b中，指示第一自驱动机器人按照第二预设通道将搬出的阻挡货架在机器人行驶通道上进行绕圈搬移。
在本实施方式中，当指示第一自驱动机器人将阻挡货架从阻挡货架所在的货架区搬出后，为了避免被搬出的阻挡货架阻挡目标货架的当前位置到工作站之间的搬移通道，可以指示第一自驱动机器人按照第二预设通道将搬出的阻挡货架在机器人行驶通道上进行绕圈搬移。其中，第二预设通道是单向行驶通道，即第一自驱动机器人搬移阻挡货架绕圈时可以是单向绕圈搬移。
示例性的，参见图3，以目标货架为货架2，阻挡货架为货架1为例，当货架1被搬出原始货架区后，第一自驱动机器人303可以携带货架1进入机器人行驶通道302上，货架1进入机器人行驶通道302上后可能会再次阻断第一预设通道，导致目标货架的当前位置到工作站之间的搬移通道仍然被阻挡。基于上述情形，可以指示第一自驱动机器人303按照“行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L5→行驶子通道L1”所示的第二预设通道单向循环绕圈搬移货架1，从而使得货架1在绕圈搬移的过程不会再阻断第一预设通道。参见图3，以目标货架为货架2，阻挡货架为货架3为例，当货架3被搬出原始货架区后，第一自驱动机器人303可以携带货架3进入机器人行驶通道302上，货架3进入机器人行驶通道302上后可能会再次阻断第一预设通道，导致目标货架的当前位置到工作站之间的搬移通道仍然被阻挡。基于上述情形，可以指示第一自驱动机器人303按照“行驶子通道L3→行驶子通道L2→行驶子通道L4→行驶子通道L5→行驶子通道L3”所示的第二预设通道单向循环绕圈搬移货架3，从而使得货架3在绕圈搬移的过程不会再阻断第一预设通道。
在本申请实施例中，当检测到目标货架未被阻挡货架阻挡住第一预设通道时，可以直接指示任一自驱动机器人行驶到目标货架所在的货架区将目标货架直接从目标货架的当前位置搬出货架区，并按照第一预设通道将目标货架搬移到工作站。示例性的，参见图3，假设目标货架为货架1，货架1的右侧、上面以及下面分别被货架3、货架4以及货架5阻挡，但是货架1的右侧没有被阻挡其他货架阻挡，此时可以认为货架1未被阻挡货架阻挡住第一预设通道。基于上述情形，可以指示任一自驱动机器人303行驶到货架1所在的位置，将货架1搬出货架区，并按照“货架1→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”所示第一预设通道指示的方向，将货架1从货架1的当前位置搬移至工作站304。当然上述仅仅示例了从货架1到工作站304之间的一条示例性的搬移通道，针对其他货架到各工作站的搬移通道可以根据目标货架的实际位置、工作站的位置以及机器人行驶通道302中 各个行驶子通道的方向进行设定。
在步骤402中，指示第二自驱动机器人按照第一预设通道将目标货架从当前位置搬移至工作站，以便用户拿取目标货架上的目标物品。
在本申请实施例中，参见图3，对于目标货架为货架2而言，阻挡货架可以为货架2左边的货架1，也可以是货架2右边的货架3。当阻挡货架为货架2左边的货架1时，第一预设通道所指示的路线可以为“货架2→货架1→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”；当阻挡货架为货架2右边的货架3时，该第一预设通道所指示的路线可以为“货架2→货架3→行驶子通道L3→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”。
在本申请实施例中，参见图3，当指示第一自驱动机器人303按照第二预设通道搬移阻挡货架(例如货架1或者货架3)，以使目标货架不被阻挡货架阻挡住后，可以指示第二自驱动机器人按照第一预设通道将目标货架从当前位置运输至工作站，以便从目标货架上或者目标货架上的置物箱中获取目标物品。
需要注意的是，上述仅仅示例了从货架2到工作站304之间示例性的两条搬移通道，针对其他货架到各工作站的运输通道可以根据目标货架的实际位置、工作站的位置以及自驱动机器人行驶通道302中各个行驶子通道的行驶方向进行设定。
在本申请一实施例中，指示第二自驱动机器人按照第一预设通道将目标货架从当前位置搬移至工作站，以便用户拿取目标货架上的目标物品，可以包括步骤4021a和步骤4021b。
在步骤4021a中，当检测到阻挡货架被搬移时，指示第二自驱动机器人行驶至目标货架所在的货架区，并将目标货架从目标货架所在的货架区搬出。
在步骤4021b中，指示第二自驱动机器人按照第一预设通道将搬出的目标货架从当前位置搬移至工作站，以便用户拿取目标货架上的目标物品；其中，目标物品存放于目标货架上。
在本实施方式中，参见图3，以目标货架为货架2，阻挡货架为货架1为例，当检测到第一自驱动机器人303携带货架1并按照第二预设通道在机器人行驶通道上进行绕圈搬移时，可以指示第二自驱动机器人303行驶到货架2所在的位置，并将货架2从货架2所在的货架区搬出。第二自驱动机器人303将货架2从货架2所在的货架区搬出之后，可以继续指示第二自驱动机器人303按照运输通道“货架2→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”所示的第一预设通道，将货架2从货架2的当前位置搬移至工作站304，以便用户从货架2上拿取目标物品。
在本实施方式中，针对本实施方式的货架，可以在货架的每层只放一个箱子的货架，且只在每个货架一侧设置一个开口；也可以在货架的每层放置两个置物箱，甚至放置更多的置物箱，且在每个货架的两侧分别设置一个开口。假设货架的两侧分别存在有一个开口，当目标货架被搬移到达工作站后，只需要对目标货架转动即可拿到目标货架对应面的置物箱。
在本申请一实施例中，当检测到用户在工作站拿取目标物品后，先指示第二自驱动机器人将目标物品对应目标货架重新放回原始位置，再指示第一自驱动机器人将阻挡货架重新放回原始位置。或者，当检测到用户在工作站拿取目标物品后，先指示第一自驱动机器人将阻挡货架放回目标物品对应目标货架所在的原始位置，再指示第二自驱动机器人将目标物品对应目标货架放回阻挡货架所在的原始位置，此时需要将在货架信息表中对各个货架的放置位置进行更新。
在本申请另一实施例中，指示第二自驱动机器人按照第一预设通道将目标货架从当前位置搬移至工作站，以便用户拿取目标货架上的目标物品，可以包括步骤4022a和步骤4022b。
在步骤4022a中，当检测到阻挡货架被搬移时，指示第二自驱动机器人行驶至目标货架所在的货架区，并从目标货架上取出目标置物箱；其中，目标置物箱放置于目标货架上。
在步骤4022b中，指示第二自驱动机器人按照第一预设通道将取出的目标置物箱，从当前位置搬移至工作站；其中，目标物品存放于目标置物箱中。
在本实施方式中，参见图3，以目标货架为货架2，阻挡货架为货架1为例，当检测到第一自驱动机器人303携带货架1并按照第二预设通道在机器人行驶通道上进行绕圈搬移时，可以指示第二自驱动机器人303行驶到货架2所在的位置，并从货架2上取出放置于目标货架上的目标置物箱。当第二自驱动机器人303从货架2上取出目标置物箱后，可以继续指示第二自驱动机器人303按照运输通道“货架2→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”所示的第一预设通道，将取出的目标置物箱，从货架2所在位置搬移至工作站304，以便用户从目标置物箱中拿取目标物品。需要说明的是，针对本实施方式的货架，在货架的每层上只放一个箱子的货架，且只在每个货架的一侧设置一个开口。
在本申请一实施例中，当检测到用户在工作站拿取目标物品后，先指示第二自驱动机器人将目标物品对应目标置物箱重新放回原始位置的目标货架上，再指示第一自驱动机器人将阻挡货架重新放回原始位置。
在本申请一实施例中，当检测到用户在工作站拿取目标物品后，先指示第二自驱动机器人将所述目标货架或所述目标货架上的目标置物箱放回原始位置，并指示第一自驱动机器人将所述阻挡货架和/或所述阻挡置物箱放回原始位置。
在本申请一实施例中，工作站上可以设置有机械手，当货架被自驱动机器人303搬移至工作站后，可以通过工作站上设置的机械手从货架上抓取用户需要的物品放在置物台上，用户或者工作人员从置物台上拿到物品。或者，当货架被自驱动机器人303搬移至工作站后，通过工作站上设置的机械手从货架上抓取用户需要的置物箱放在置物台上，再由用户自己或者借助机械手从置物箱取出用户需要的物品。该物品可以是仓库中的商品(例如常规的物流仓储拣选的商品)，也可以是用户的个人物品，此时目标货架或者目标物品置物箱箱子就类似于个人保险箱一样，在工作站拿取目标物品的人就是该目标物品的主人。
在本申请一实施例中，当第一自驱动机器人按照第二预设通道将搬出的阻挡货架在机器人行驶通道上进行绕圈搬移，以及第二自驱动机器人按照第一预设通道将搬出的目标货架或目标置物箱搬移至工作站的过程中，由于第一自驱动机器人会携带阻挡货架一直在机器人行驶通道上进行绕圈，因此可能存在第一自驱动机器人与第二自驱动机器人在机器人行驶通道302的各行驶子通道交界处相遇的情况，此时需要确定哪一个自驱动机器人优先通过。例如，参见图3，第一自驱动机器人303携带货架1或货架3搬移绕圈，以及第二自驱动机器人303搬移货架2或货架2上的置物箱的过程中，第一自驱动机器人303与第二自驱动机器人303可能在行驶子通道L4与行驶子通道L7交界处相遇。基于上述情形，为了保证在第一自驱动机器人与第二自驱动机器人相遇时能及时地搬移目标货架或目标置物箱，可以设置目标货架或目标置物箱的优先级大于阻挡货架的优先级，相应的携带目标货架或目标置物箱的第二自驱动机器人的优先级也大于携带阻挡货架的第一自驱动机器人的优先级。当第一自驱动机器人与第二自驱动机器人相遇时，第二自驱动机器人搬移的目标货架或目标置物箱优先通过。
另外，由于用户在工作站从目标货架或目标置物箱拿取目标物品之后，还需要将目标货架或目标置物箱重新返回原处。通过设置目标货架或目标置物箱的优先级大于阻挡货架的优先级，可以依据优先级依次指示第二自驱动机器人重新返还目标货架或目标置物箱到原始位置处，以及指示第一自驱动机器人重新返还阻挡货架到原始位置处。需要注意的是，各个货架或各货架上的置物箱的优先级可以根据各个货架或各置物箱的搬出顺序进行设定，搬出在前的货架或置物箱的优先级小，搬出在后的货架或置物箱的优先级大。
图5是本申请实施例中提供的另一种基于密集存储的物品搬移方法的流程示意图，本申请实施例在上述实施例的基础上对指示第一自驱动机器人按照第二预设通道搬移阻挡物品和指示第二自驱动机器人按照第一预设通道将目标物品从当前位置运输至工作站的步骤进行细化。
自驱动机器人除了可以搬运货架到工作站之外，也可以拿取货架上的置物箱并将置物箱搬运到工作站，供工作站的工作人员或者物品的主人从置物箱中拿出物品。这里可以借助于各种机械手或机械臂结构使自驱动机器人将置物箱从货架上拿下来。对于位于中间列的货架上的置物箱，或者对于位于通道旁边的双向货架上的内侧置物箱来说，由于其被其它置物箱阻挡而无法直接被取出，因此，需要将阻挡的置物箱和/或阻挡的货架搬运走才能再取出想要取出的目标置物箱。
如图5所示，本申请实施例中的基于密集存储的物品搬移方法可以包括步骤501至步骤504。
在步骤501中，当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人行驶至位于目标货架外侧且阻挡目标货架的阻挡货架所在的货架区，并从阻挡货架和/或目标货架上取出阻挡置物箱。
其中，阻挡货架和目标货架的两侧分别设置有一个开口，且阻挡货架上放 置有阻挡置物箱，目标货架上放置有阻挡置物箱和/或目标置物箱。
在本申请实施例中，参见图3，假设目标货架为货架2，阻挡货架可以为货架1，由于在本实施方式中的目标货架和阻挡货架为两侧分别设置有一个开口且货架上放置有多个置物箱的两面开口货架，目标货架和阻挡货架上可以放置多个置物箱。需要注意的是，目标货架上的置物箱可以包括目标置物箱和阻挡置物箱。例如，目标货架为货架2，阻挡货架可以为货架1为例，如果目标置物箱位于货架2的右侧一面处，那么货架2的左侧一面处放置的置物箱就可以理解为放置于目标货架上的阻挡置物箱，此时不仅需要搬移阻挡货架(比如货架1)上的阻挡置物箱，还需要搬走目标货架上包含的部分阻挡置物箱。只要将位于目标置物箱外侧的阻挡置物箱搬离，就可以保证存放目标物品的目标置物箱所在位置与工作站之间的搬移通道的畅通。
基于上述情形，当检测到目标货架被阻挡货架(比如货架1)阻挡住第一预设通道时，可以指示第一自驱动机器人303行驶至阻挡货架(比如货架1)所在的位置处。当第一自驱动机器人303行驶到阻挡货架(比如货架1)所在的货架区后，可以指示第一自驱动机器人303从阻挡货架上取出放置的全部阻挡置物箱以及从目标货架(比如货架2)上取出部分阻挡置物箱，以保证目标货架(比如货架2)上的目标置物箱不被阻挡货架上阻挡置物箱以及从目标货架的部分阻挡置物箱所阻挡。其中，第一预设通道可以为“货架2→货架1→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”所组成的通道，此时在该第一预设通道上的阻挡置物箱可以为货架1上的置物箱和/或位于货架2左侧的置物箱。
在步骤502中，指示第一自驱动机器人按照第二预设通道将取出的多个阻挡置物箱在机器人行驶通道上进行绕圈搬移，以使目标货架上的目标置物箱不被阻挡货架和/或目标货架上的阻挡置物箱阻挡住。
在本申请实施例中，参见图3，当第一自驱动机器人303从阻挡货架和/或目标货架上取出阻挡置物箱后，为了避免取出的阻挡置物箱阻挡目标置物箱到工作站之间的搬移通道，可以指示第一自驱动机器人303按照第二预设通道携带取出的阻挡物品的置物箱在机器人行驶通道上进行绕圈搬移。示例性的，以目标货架为货架2，阻挡货架为货架1为例，由于各个货架摆放比较密集，当第一自驱动机器人303取出货架1和/或货架2上的阻挡置物箱后，只能将阻挡置物箱放置在机器人行驶通道302上。然而将阻挡置物箱静止放置在机器人行驶通道302上必然会影响其他自驱动机器人303的正常搬移，而且将阻挡置物箱静止放置在机器人行驶通道302上可能会导致目标置物箱到工作站之间的搬移通道再次被阻断。基于上述情形，可以指示第一自驱动机器人303按照“行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L5→行驶子通道L1”所示的第二预设通道单向循环绕圈搬移取出的阻挡置物箱，从而使得取出阻挡置物箱在绕圈搬移的过程不会再次阻断第一预设通道。需要说明的是，关于第一预设通道和第二预设通道的具体解释说明可以参考前面实施例中的关于第一预设通道和第二预设通道的解释说明，这里不再赘述。
在本申请实施例中，图6是本申请实施例中提供的一种执行基于密集存储的物品搬移方法的自驱动机器人的结构示意图。参见图3，以图6中的自驱动机器人作为图3中所示的第一自驱动机器人303为例，图6中自驱动机器人的可以设置有机械手602，第一自驱动机器人303通过机械手602可以从阻挡货架上抓取阻挡置物箱，并将取出的阻挡置物箱放置在图6中所示容纳装置601的各个容纳位上，第一自驱动机器人303可以按照第二预设通道将取出的多个阻挡置物箱在机器人行驶通道上进行绕圈搬移，以使目标置物箱与工作站之间的搬移通道不被阻挡。当然，关于第一自驱动机器人303的类型可以不限定图6所示的自驱动机器人，只要第一自驱动机器人303可以实现抓取并容纳阻挡置物箱的功能即可。
在步骤503中，当检测到阻挡货架和/或目标货架上的阻挡置物箱被搬移时，指示第二自驱动机器人行驶至阻挡货架所在的货架区，并经过阻挡货架两侧的两个开口和/或目标货架一侧的开口从目标货架上取出目标置物箱。
在步骤504中，指示第二自驱动机器人按照第一预设通道将取出的目标置物箱，从当前位置搬移至工作站；其中，目标物品存放于目标置物箱中，目标置物箱放置于目标货架上。
在本申请实施例中，参见图3，以目标货架为货架2，阻挡货架为货架1为例，当检测到货架1上的阻挡置物箱和/或货架2上的阻挡置物箱被第一自驱动机器人303携带并按照第二预设通道在机器人行驶通道302的各个行驶子通道上进行绕圈搬移时，可以指示第二自驱动机器人303行驶到货架1所在的位置，通过抓取装置越过阻挡货架(如货架1)的两个开口，从货架2上取出目标置物箱。当第二自驱动机器人303从货架2上取出目标置物箱后，可以继续指示第二自驱动机器人303按照运输通道“货架2→行驶子通道L1→行驶子通道L2→行驶子通道L4→行驶子通道L6→行驶子通道L7→工作站304”所示的第一预设通道，将取出的目标置物箱搬移至工作站304，以便用户从目标置物箱中拿取目标物品。需要注意的是，针对本实施方式的货架，在货架的每层放置两个置物箱，甚至更多置物箱，且在货架的两侧分别设置一个开口。例如，货架是双面有两个开口且每层放两个置物箱，如果想取出内侧的置物箱，需要指示第一自驱动机器人取走外侧的置物箱。
在本申请一实施例中，当检测到用户在工作站拿取目标物品后，先指示第二自驱动机器人将目标物品对应目标置物箱重新放回原始货架上，再指示第一自驱动机器人将阻挡置物箱重新放回原始货架上。或者，当检测到用户在工作站拿取目标物品后，先指示第一自驱动机器人将阻挡置物箱放回目标物品对应目标货架上，再指示第二自驱动机器人将目标物品对应目标置物箱放回阻挡货架上，此时需要将在货架信息表中对各个货架的放置的置物箱进行更新。
图7a是本申请实施例中提供的另一种迷你仓库的布局。参见图7a，图7a中货架区701、货架临时放置区702、工作站703、自驱动机器人704。货架区701中设置有多个货架，货架区701中各个货架高度密集的分布在仓库的一侧， 各个货架之间没有机器人的行驶通道，仅仅在仓库的某一个区域(例如图7a所示的仓库的一侧)设置有货架临时放置区702，自驱动机器人704可以将货架搬移至货架临时放置区702。图7b是本申请实施例中提供的一种在迷你仓库中的搬运示意图。参见图7b，如果需要搬移的货架为货架区701内部的货架(比如货架11)时，那么需要自驱动机器人704先将货架1、货架2、…、货架10等货架先搬移到货架临时放置区702，然后再搬移货架11到工作站703。由于单独依靠一个自驱动机器人303一次搬运可能无法实现，需要自驱动机器人303多次搬运共同配合才可以完成。基于上述情形，在后续使用多次自驱动机器人303时可以采用第一、第二、第三对机器人进行区分。
例如，先由第一至第N(N为大于或等于1的自然数)自驱动机器人将位于目标货架的搬运通道上的阻挡货架逐个地搬运到货架临时放置区，再由第N+1自驱动机器人将目标货架搬运到工作站进行适当的处理操作，如在拣选场景中，该处理操作可以是上货、补货或者盘点货物等。待处理操作结束后，第N+1自驱动机器人可以将目标货架搬运回原处，待目标货架回到原处后，第1至第N自驱动机器人再将阻挡货架搬运回原处。当然，目标货架与阻挡货架的位置也可以不搬回原处，而是放置在仓库中任意一个空闲的位置。
图8是本申请实施例中提供的又一种基于密集存储的物品搬移方法的流程示意图，本申请实施例在上述实施例的基础上对指示第一自驱动机器人按照第二预设通道搬移阻挡物品，和指示第二自驱动机器人按照第一预设通道将目标物品从当前位置运输至工作站的步骤进行细化。
如图8所示，本申请实施例中的基于密集存储的物品搬移方法可以包括步骤801至步骤803。
在步骤801中，当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人行驶至位于目标货架外侧且阻挡目标货架的阻挡货架所在货架区，并将阻挡货架从阻挡货架所在的货架区搬出。
其中，第一预设通道为目标货架的当前位置到工作站的搬移通道。
在步骤802中，指示第一自驱动机器人按照第二预设通道将阻挡货架搬移至货架临时放置区，以使目标货架上的目标物品不被阻挡货架阻挡住。
在本申请实施例中，参见图7a和图7b，当检测到目标货架被阻挡货架阻挡住第一预设通道时，可以指示第一自驱动机器人行驶至位于目标货架外侧且阻挡目标货架的阻挡货架所在的货架区，并将阻挡货架从阻挡货架所在的货架区搬移至货架临时放置区，以使目标货架不被阻挡货架阻挡住。示例性的，假设目标货架为货架11，阻挡货架为货架1、货架2、…、货架10等货架，第一预设通道为目标货架到工作站之间的运输通道H1，由于检测到目标货架被阻挡货架阻挡住第一预设通道，如果想拿取货架11所在位置处的货架11或货架11上目标置物箱，需要先将外侧阻挡的货架1、货架2、…、货架10等货架搬离相应的货架区，并放置在货架临时放置区802。可以指示第一自驱动机器人804行驶到货架1所在的位置处，将货架1从货架1所在的货架区搬出，并按照运输通道“H1→H2”所指示的路线将货架1搬移至货架临时放置区802，重复上述 搬移操作依次将货架1、货架2、…、货架10等货架均搬移至货架临时放置区802。其中，在搬移货架1、货架2、…、货架10等货架的过程中所使用的搬移通道可以分别根据货架1、货架2、…、货架10等货架的实际放置与将要在货架临时放置区802的放置位置进行确定。当将货架1、货架2、…、货架10等货架均搬移至货架临时放置区802后，就可以保证货架11不被货架1、货架2、…、货架10等货架阻挡第一预设通道。
步骤803、指示第二自驱动机器人按照第一预设通道将目标货架从当前位置搬移至工作站，以便用户拿取目标货架上的目标物品。
在本申请一实施例中，指示第二自驱动机器人按照第一预设通道将目标货架从当前位置搬移至工作站，可以包括步骤8031a和步骤8031b。
在步骤8031a中，当检测到阻挡货架被搬移时，指示第二自驱动机器人行驶至目标货架所在的货架区，并将目标货架从目标货架所在的货架区搬出。
在步骤8031b中，指示第二自驱动机器人按照第一预设通道将搬出的目标货架从当前位置搬移至工作站；其中，目标物品存放于目标货架上。
在本实施方式中，参见图7a和图7b，以目标货架为货架11，阻挡货架为货架1、货架2、…、货架10等货架为例，当检测到货架11被第一自驱动机器人804按照第二预设通道依次将货架1、货架2、…、货架10等货架搬移至货架临时放置区802后，可以指示第二自驱动机器人804行驶到货架11所在的位置，并将货架11从货架11所在的货架区搬出。在将货架11从货架11所在的货架区搬出之后，可以继续指示第二自驱动机器人804按照运输通道“H1”所指示的路线方向，将货架11搬移至工作站803，以便用户从目标货架上拿取目标物品。
需要说明的是，针对本实施方式的货架，可以在货架的每层只放一个箱子的货架，且只在货架一侧设置一个开口，也可以是在货架的每层放置两个置物箱，甚至更多置物箱，且在货架的两侧分别设置一个开口。假设在货架的两侧分别存在有一个开口的货架时，当目标货架到达工作站后，只需要对目标货架转动即可拿到对应面的箱子。
在本申请一实施例中，指示第二自驱动机器人按照第一预设通道将目标货架从当前位置搬移至工作站，可以包括步骤8032a和步骤8032b。
在步骤8032a中，当检测到阻挡货架被搬移时，指示第二自驱动机器人行驶至目标货架所在的货架区，并从目标货架上取出目标置物箱。
在步骤8032b中，指示第二自驱动机器人按照第一预设通道将搬出的目标置物箱，从当前位置搬移至工作站；其中，目标置物箱放置于目标货架上，目标物品存放着于目标置物箱中。
在本实施方式中，参见图7a和图7b，以目标货架为货架11，阻挡货架为货架1、货架2、…、货架10等货架为例，当检测到货架11被第一自驱动机器人804按照第二预设通道依次将货架1、货架2、…、货架10等货架搬移至货架临时放置区802后，可以指示第二自驱动机器人804行驶到货架11所在的位置，并从货架11上取出目标置物箱。然后指示第二自驱动机器人804按照运输 通道“H1”所指示的路线方向，将从货架11上取出的目标置物箱搬移至工作站803，以便用户从目标置物箱搬中拿取目标物品。需要说明的是，针对本实施方式的货架，在每个货架的每层可以放置两个置物箱，甚至更多置物箱，且在货架的两侧分别设置一个开口。
在本申请实施例中，在搬移货架1、货架2、…、货架10等货架时，可以采用一个第一自驱动机器人804，也可以采用多个第一自驱动机器人804。例如，为了加快搬移货架1至货架10等货架，可以选择使用10个第第一自驱动机器人804同时搬移货架1、货架2、…、货架10等货架，当需要重新放回货架1、货架2、…、货架10等货架时可以快速放回原始位置。需要说明的是，本实施例的技术方案主要采用华容道原理。
需要说明的是，在图7a所示迷你仓库的布局进行搬运时其他过程可以参见前面在图3所示迷你仓库的布局进行搬运的过程，这里不再阐述。
自驱动机器人除了可以搬运货架到工作站之外，也可以拿取货架上的置物箱并将置物箱搬运到工作站，供工作站的工作人员或者物品的主人从置物箱中拿出物品。这里可以借助于各种机械手或机械臂结构使自驱动机器人将置物箱从货架上拿下来。例如，先由第一至第N(N为大于或等于1的自然数)自驱动机器人将位于目标货架的搬运通道上的阻挡货架逐个地搬运到货架临时放置区，再由第N+1自驱动机器人从目标货架上取出目标置物箱并搬运到工作站进行适当的处理操作，处理后再重新放回目标货架上。
本申请实施例中提供的基于密集存储的物品搬移方法，该方法包括：当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人按照第二预设通道搬移所述阻挡货架，以使所述目标货架上的目标物品不被所述阻挡货架阻挡住；其中，所述第一预设通道为所述目标货架的当前位置到工作站的搬移通道；指示第二自驱动机器人按照所述第一预设通道将所述目标货架从所述当前位置搬移至所述工作站，以便用户拿取所述目标货架上的目标物品。本申请实施例的技术方案避免了自驱动机器人无法像在传统大型的仓库一样***到货架位置处搬移用户需要的物品的情况，使得在密集存储情景下也自由搬移存储的物品。
图9是本申请实施例中提供的一种基于密集存储的物品搬移装置的结构示意图，本申请实施例可应用于机器人在货架摆放密集情况下对搬移货架中物品的情况，该装置可以采用软件和/或硬件的方式实现，该装置可以集成在任何具有网络通信功能的计算机设备中，该计算机设备可以为设置为对密集摆放的货架中的物品进行搬移控制的服务器，也可以是电脑等计算机设备。
如图9所示，本申请实施例中基于密集存储的物品搬移装置可以包括：第一搬移模块901和第二搬移模块902。
第一搬移模块901，设置为当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人按照第二预设通道搬移所述阻挡货架，以使所述目标货架上的目标物品不被所述阻挡货架阻挡住；其中，所述第一预设通道为 所述目标货架的当前位置到工作站的搬移通道
第二搬移模块902，设置为指示第二自驱动机器人按照所述第一预设通道将所述目标货架从所述当前位置搬移至所述工作站，以便用户拿取所述目标货架上的目标物品。
在本申请一实施例中，所述第一搬移模块901可以包括：阻挡货架第一搬出单元，设置为指示第一自驱动机器人行驶至位于所述目标货架外侧且阻挡所述目标货架的阻挡货架所在的货架区，并将所述阻挡货架从所述阻挡货架所在的货架区搬出；阻挡货架第一搬移单元，设置为指示第一自驱动机器人按照所述第二预设通道将搬出的所述阻挡货架在机器人行驶通道上进行绕圈搬移。
在本申请一实施例中，所述第二搬移模块902可以包括：目标货架第一搬出单元，设置为当检测到所述阻挡货架被搬移时，指示第二自驱动机器人行驶至所述目标货架所在的货架区，并将所述目标货架从所述目标货架所在的货架区搬出；目标货架第一搬移单元，设置为指示第二自驱动机器人按照所述第一预设通道将搬出的所述目标货架从所述当前位置搬移至所述工作站；其中，所述目标物品存放于所述目标货架上。
在本申请一实施例中，所述第二搬移模块902可以包括：目标置物箱第一取出单元，设置为当检测到所述阻挡货架被搬移时，指示第二自驱动机器人行驶至所述目标货架所在的货架区，并从所述目标货架上取出目标置物箱；其中，所述目标置物箱放置于所述目标货架上；目标置物箱第一搬移单元，设置为指示第二自驱动机器人按照所述第一预设通道将取出的所述目标置物箱，从所述当前位置搬移至所述工作站；其中，所述目标物品存放于所述目标置物箱中。
在本申请一实施例中，所述第一搬移模块901可以包括：阻挡置物箱取出单元，设置为指示第一自驱动机器人行驶至位于所述目标货架外侧且阻挡所述目标货架的阻挡货架所在的货架区，并从所述阻挡货架和/或所述目标货架上取出阻挡置物箱；其中，所述阻挡货架和所述目标货架的两侧均设置有两个开口，且所述阻挡货架上放置有阻挡置物箱，所述目标货架上放置有阻挡置物箱和/或目标置物箱；阻挡置物箱搬移单元，设置为指示第一自驱动机器人按照所述第二预设通道将取出的多个阻挡置物箱在机器人行驶通道上进行绕圈搬移。
在本申请又一实施例中，所述第二搬移模块902可以包括：目标置物箱第二取出单元，设置为当检测到所述阻挡货架和/或所述目标货架上的阻挡置物箱被搬移时，指示第二自驱动机器人行驶至所述阻挡货架所在的货架区，并经过所述阻挡货架两侧的两个开口从所述目标货架上取出目标置物箱；目标置物箱第二搬移单元，设置为指示第二自驱动机器人按照所述第一预设通道将取出的所述目标置物箱，从所述当前位置搬移至所述工作站；其中，所述目标物品存放于所述目标置物箱中，所述目标置物箱放置于所述目标货架上。
在本申请另一实施例中，所述第一搬移模块901可以包括：目标货架第二搬出单元，设置为指示第一自驱动机器人行驶至位于目标货架外侧且阻挡所述目标货架的阻挡货架所在货架区，并将所述阻挡货架从所述阻挡货架所在的货架区搬出；目标货架第二搬移单元，设置为指示第一自驱动机器人按照第二预 设通道将所述阻挡货架搬移至货架临时放置区。
在本申请另一实施例中，所述第二搬移模块902可以包括：阻挡货架第二搬出单元，设置为当检测到所述阻挡货架被搬移时，指示第二自驱动机器人行驶至所述目标货架所在的货架区，并将所述目标货架从所述目标货架所在的货架区搬出；阻挡货架第二搬移单元，设置为指示第二自驱动机器人按照所述第一预设通道将搬出的所述目标货架从所述当前位置搬移至所述工作站；其中，所述目标物品存放于所述目标货架上。
在本申请一实施例中，所述装置还包括：归位模块903，设置为当检测到用户在工作站拿取目标物品后，指示第二自驱动机器人将所述目标货架或所述目标货架上的目标置物箱重新放回原始位置，以及指示第一自驱动机器人将所述阻挡货架和/或所述阻挡置物箱重新放回原始位置。
本申请实施例所提供的基于密集存储的物品搬移装置可执行上述本申请任意实施例所提供的基于密集存储的物品搬移方法，具备执行该基于密集存储的物品搬移方法相应的功能模块。
本申请实施例提供一种计算机设备，该计算机设备包括：至少一个处理器；存储装置，用于设置为存储至少一个程序，当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如上述实施例中的基于密集存储的物品搬移方法。图10是本申请实施例中提供的一种计算机设备的结构示意图。图10示出了适于用来实现本申请实施方式的示例性计算机设备1012的框图。图10显示的计算机设备1012仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图10所示，计算机设备1012以通用计算设备的形式表现。计算机设备1012的组件可以包括但不限于：一个或者多个处理器或者处理单元1016，***存储器1028，连接不同***组件(包括***存储器1028和处理单元1016)的总线1018。
总线1018表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，***总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industry Standard Architecture，ISA)总线，微通道体系结构(Micro Channel Architecture，MAC)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及***组件互连((Peripheral Component Interconnect，PCI)总线。
计算机设备1012典型地包括多种计算机***可读介质。这些介质可以是任何能够被计算机设备1012访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
***存储器1028可以包括易失性存储器形式的计算机***可读介质，例如随机存取存储器(Random Access Memory，RAM)1030和/或高速缓存存储器1032。订单供需调度计算机设备1012可以包括其它可移动/不可移动的、易失性/非易失性计算机***存储介质。仅作为举例，存储***1034可以设置为读写不 可移动的、非易失性磁介质(图10未显示，通常称为“硬盘驱动器”)。尽管图10中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘，例如只读光盘(Compact Disc Read-Only Memory，CD-ROM)，数字视盘(Digital Video Disc-Read Only Memory，DVD-ROM)或者其它光介质读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线1018相连。存储器1028可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请各实施例的功能。
具有一组(至少一个)程序模块1042的程序/实用工具1040，可以存储在例如存储器1028中，这样的程序模块1042包括但不限于操作***、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块1042通常执行本申请所描述的实施例中的功能和/或方法。
计算机设备1012也可以与一个或多个外部设备1014(例如键盘、指向设备、显示器1024等)通信，还可与一个或者多个使得用户能与计算机设备1012交互的设备通信，和/或与使得该计算机设备1012能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(In/Out，I/O)接口1022进行。并且，计算机设备1012还可以通过网络适配器1020与一个或者多个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器1020通过总线1018与计算机设备1012的其它模块通信。应当明白，尽管图10中未示出，可以结合计算机设备1012使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)***、磁带驱动器以及数据备份存储***等。
处理单元1016通过运行存储在***存储器1028中的程序，从而执行各种功能应用以及数据处理，例如实现本申请实施例所提供的基于密集存储的物品搬移方法，包括：当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人按照第二预设通道搬移所述阻挡货架，以使所述目标货架上的目标物品不被所述阻挡货架阻挡住；其中，所述第一预设通道为所述目标货架的当前位置到工作站的搬移通道；指示第二自驱动机器人按照所述第一预设通道将所述目标货架从所述当前位置搬移至所述工作站，以便用户拿取所述目标货架上的目标物品。
本申请实施例中还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请实施例所中提供的基于密集存储的物品搬移方法，该方法包括：当检测到目标货架被阻挡货架阻挡住第一预设通道时，指示第一自驱动机器人按照第二预设通道搬移所述阻挡货架，以使所述目标货架上的目标物品不被所述阻挡货架阻挡住；其中，所述第一预设通道为所述目标货架的当前位置到工作站的搬移通道；指示第二自驱动机器人按照所述 第一预设通道将所述目标货架从所述当前位置搬移至所述工作站，以便用户拿取所述目标货架上的目标物品。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘，RAM、ROM、EPROM或闪存、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行***、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如”C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括LAN或广域网WAN—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
图11是本申请实施例中提供的一种无人的自助式操作***的***结构示意图。参见图11，该***1100包括：自驱动机器人1110、控制***1120、存储区1130以及工作站1140，存储区130设置有多个存储容器1131，存储容器1131上放置有各种物品，多个存储容器1131之间排布成阵列形式，例如在超市中见到的放置有各种商品的货架一样。通常，在存储区1130的一侧或多侧(如图所示的一侧)设置有多个工作站1140。存储容器1131是一种具有格口并通过格口能够存放物品的容器，例如货架，其中货架包括多个隔层以及四个落地支撑柱，货架的隔层上设置有至少一个格口，格口中可以放置一个或多个物品。另外，货架可以是单向开口，例如，图12是本申请实施例中提供的一种单向开口货架的结构示意图，如图12所示的单向开口的货架，也可以是双向开口，通过货架的 旋转即可操作双向开口货架中的任意一面开口中的物品。
控制***1120与自驱动机器人1110进行无线通信，工作人员(或用户)通过操作台1160产生订单，该订单传输到控制***1120，控制***1120响应于订单并开始工作，自驱动机器人1110在控制***1120的控制下，执行搬运任务。例如，以存储容器为货架为例，自驱动机器人1110可以沿货架阵列中间的空着的空间(自驱动机器人1110通行通道的一部分)行驶，运动到货架的底部，利用举升机构举起货架，并搬运到被分配到的工作站1140。
在一个示例中，自驱动机器人1110具有举升机构，以及具有自主导航功能，自驱动机器人1110能够行驶至货架底部，并利用举升机构将整个货架举起，使得货架能够随着具有升降功能的举升机构上下移动。在一个示例中，自驱动机器人1110能够根据摄像头拍摄到的二维码信息行驶，并且能够根据控制***1120确定的路线行驶至控制***1120提示的货架下面。自驱动机器人1110将货架搬运到工作站1140，在工作站1140处工作人员(或用户)1141从货架上取出物品。对于双向开口的货架，可以通过自驱动机器人1110旋转货架，使待取物品所在的开口方向面对取物品的人，如工作人员或用户。
控制***1120为在控制服务器上运行的、具有数据存储、信息处理能力的软件***，可通过无线或有线与自驱动机器人、硬件输入***、其它软件***连接。控制***1120可以包括一个或多个控制服务器，可以为集中式控制架构或者分布式计算架构。控制服务器具有处理器1121和存储器1122，在存储器1122中可以具有订单池1123。
图11所示的***可适用于多种适宜的场景，例如，在拣选场景中，在自驱动机器人1110将存储容器1131搬运到工作站1140后，工作人员从存储容器1131上取出物品(该物品为订单物品)并放入打包箱中进行打包；再例如，在物品保管场景中，无论保管的物品是临时保管还是长期保管，在自驱动机器人1110将存储容器1131搬运到工作站1140后，工作人员或物品主人从存储容器1131上取出物品或者将物品存入存储容器1131中。特别说明的是，在物品保管场景中，为了保证私密性和安全性，一个存储容器1131可专门放置一个用户的物品，或者一个格口专门放置一个用户的物品。当然，除此之外，该***还适用于无人存取场景以及无人超市场景。
图13是本申请实施例中提供的一种自驱动机器人的结构示意图，参见图13，自驱动机器人1110可以包括驱动机构1111，通过该驱动机构1111,自驱动机器人1110能够在工作空间内移动，自驱动机器人1110还可以包括设置为搬运存储容器1131的举升机构1112，自驱动机器人1110可以运动到存储容器1131的下方，利用举升机构1112举起存储容器1131，并搬运到被分配到的工作站1140。举升机构1112升起时将整个存储容器1131从地面抬起，以使得自驱动机器人1110搬运存储容器1131，举升机构1112下降时将存储容器1131放在地面上。自驱动机器人1110上的目标识别组件1113在自驱动机器人1110举升存储容器1131时，能够有效的对存储容器1131进行识别。
相关技术中，为了能够让机器人顺利的搬运存储区的存储容器，则一般把 存储容器设置为一列或者两列为一个阵列单元，设置过道后，再设置一个阵列单元，以此类推。然而，对于现在无论是展示区域还是仓储区域的使用成本昂贵的背景下，这样的设置没有做到把资源进行最大化利用。因此本申请提出了一种物品密集存储方案。
下面结合附图和实施例对本申请作详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，各步骤的顺序可以被重新安排。当其操作完成时处理可以被终止，但是还可以具有未包括在附图中的附加步骤。处理可以对应于方法、函数、规程、子例程、子程序等等。
图14是本申请实施例提供的物品密集存储方法的流程示意图，本实施例可适用货物存储的情况，该方法可以由本申请实施例所提供的物品密集存储装置来执行，该装置可以由软件和/或硬件的方式来实现，并可集成于物品密集存储***中。
如图14所示，物品密集存储方法包括步骤S1410至步骤S1430。
在步骤S1410中，从货架阵列中确定搬运任务所指向的目标货架；货架阵列的任一横排和任一竖排中的货架个数至少为3个。
其中，搬运任务可以是由操作台来确定的，例如在工作站处，目前有一些A物品需要存放至存储区的货架上，则可以通过操作台生成搬运任务。那么在这种情况下，搬运任务可以指定两种货架，一种是空货架，另一种是已经放置有A物品但是没有存储满的货架。对于这两种货架，可以由操作台来确定，也可以设置优先级，还可以根据目前需要存储的A物品的多少来确定。可以理解的是，对于每种物品的存储，是可以把信息录入到控制***的，这样可以保证工作人员可以通过操作台来查询每个货架所存储的物品有哪些，同时还可以确定每个货架当前的储物状态，是否已经存储满。这样就可以在有物品需要存储或者需要从存储区取出某些物品时，通过操控台来确定搬运任务的目标货架。
在本实施例中，货架阵列中货架的排列方式为密集排列方式，可以为密集货架排列的任一横排和任一竖排中的货架个数至少为3个。其中，可以存在一个横排或者一个竖排中的货架数目为两个的情况，但是由于相关技术需要在货架中间设置过道，所以当横排货架数目较多时，此处可以理解为三个或者三个以上，竖排货架数目只能够为两个，否则在中间竖排的货架的搬运将会相当不便利。而本申请中可以在设置成三个、四个甚至更多个竖排货架(当横排货架数目较多时)，这就是货架阵列中货架的排列方式，相对于相关技术而言，是密集型排列的。图15是本申请实施例中提供的一种密集货架排列示意图，其中，图15中仅给出了一种8行4列的货架，并在货架的四周设置有过道。在一实施例中，可以根据仓储空间的范围以及货架的大小来设计。由于货架密集设置后， 对于没有临近过道位置的货架的搬运需要将临近过道的货架先移开，因此，密集货架排列的任一横排和任一竖排中的货架个数至少为3个，例如可以为4排多列或者多排4列，这样设置的原因是可以在搬运没有临近过道位置的货架时，只要移开一个临近过道位置的货架就可以，便于对货架的搬运效率的掌控。如图所示，例如需要搬运的是货架D，则可以通过移开货架E或者货架F来实现将货架D进行搬运，而对于货架C，则只能够移动货架G，来对货架C进行移动，原因是如果通过移动货架C左侧或者上侧的货架则需要移开两个货架，则对自驱动机器人搬运目标货架的效率会产生影响。这样排列后，货架之间的距离更加紧密，这一减少原有的过道对于仓储空间的占用，从而可以节省空间，提高仓储空间使用率。
在步骤S1420中，判断目标货架在货架阵列中所处的位置类型，并根据位置类型确定搬运策略。
其中，目标货架在密集货架排列中的位置类型可以包括：第一位置类型和第二位置类型。其中第一位置类型可以是根据搬运任务可以直接由自驱动机器人搬运的货架，而第二位置类型的货架则可以是无法直接完成搬运任务的货架，在搬运到目标货架之前，必须将阻挡货架移开才可以。因此，可以根据目标货架在密集货架排列中的位置类型来确定搬运策略。其中，搬运策略可以包括直接搬运和间接搬运，直接搬运是指直接将目标货架搬运至搬运任务所指定的位置，而间接搬运则是必须要先把阻挡货架移开，再进行目标货架的搬运。其中，阻挡货架可以是搬运目标货架过程中，需要先将其移开的货架。结合上述示例，如果目标货架是D，则阻挡货架可以是货架E、货架F以及货架G和货架C。可以确定的是，在将阻挡货架移开后，自驱动机器人可以直接移动至目标货架的所在位置，对目标货架进行搬运。
在步骤S1430中，基于搬运策略控制自驱动机器人搬运目标货架。
在确定搬运策略之后，则控制自驱动机器人按照所确定的搬运策略进行搬运。其中，可以将搬运任务所对应的搬运策略下发至自驱动机器人，自驱动机器人通过识别当前的搬运策略完成对目标货架的搬运任务。
其中，搬运任务可以包含对目标货架的搬运目标地址，例如搬运至某工作站，则根据搬运任务确定搬运路径，实现对货架的移动。其中，搬运路径可以是根据当前仓储中的货架位置以及自驱动机器人和其他设备的位置来确定。
本申请实施例所提供的技术方案，通过从货架阵列中确定搬运任务所指向的目标货架；所述货架阵列的任一横排和任一竖排中的货架个数至少为3个；判断所述目标货架在所述货架阵列中所处的位置类型，并根据所述位置类型确定搬运策略；基于所述搬运策略控制自驱动机器人搬运所述目标货架。通过采用本申请所提供的技术方案，可以充分利用库房空间，并降低库房管理的人力成本。
图16是本申请实施例提供的物品密集存储方法的流程示意图。本实施例在上述实施例的基础上，细化为：所述判断所述目标货架在所述货架阵列中所处 的位置类型，并根据所述位置类型确定搬运策略，包括：若判断所述目标货架的位置为第一位置类型，则根据所述第一位置类型，确定搬运策略为直接搬运；以及所述基于所述搬运策略控制自驱动机器人搬运所述目标货架，包括：控制自驱动机器人将所述目标货架搬运到搬运任务指定位置。
如图16所示，本申请提出的物品密集存储方法包括步骤S1610至步骤S1630。
在步骤S1610中，从货架阵列中确定搬运任务所指向的目标货架；货架阵列的任一横排和任一竖排中的货架个数至少为3个。
在步骤S1620中，若判断目标货架的位置为第一位置类型，则根据第一位置类型，确定搬运策略为直接搬运。
其中，目标货架的位置可以是根据控制***中识别来确定的，可以理解的，仓储中每一次对货架的移动都需要把信息同步到控制***，以利于控制***对于搬运任务的实施，对库存状态的掌控。因此，在确定目标货架后，就可以确定目标货架在密集货架排列中的位置类型。
值得说明的是，结合上述示例，如图5所示，如果在确定搬运任务的目标货架为货架C时，货架D和货架E因为某种原因，没有在密集货架队列中，则自驱动机器人可以通过原货架D和货架E的位置来对货架C进行肢解搬运，在这种情况下，货架C的位置类型为第一位置类型。同时也可以理解的是，密集货架队列中每一个货架的位置类型都可以是不断变化的，可以为第一位置类型，也可以为第二位置类型。
另外，在一个实施例中，可以通过获取货架的编码等形式确定和追踪货架的位置，这样，即便货架在密集货架队列中的位置发生了变化，但仍然可以根据搬运任务确定实际需要的目标货架。也就是说，货架在货架队列中的位置可以是以货架的编码等标识同步到控制***中的。
根据第一位置类型，确定搬运策略为直接搬运，可以理解为自驱动机器人搬运目标货架无需经过移开其他货架，而是可以直接将目标货架进行搬运。
在步骤S1630中，控制自驱动机器人将目标货架搬运到搬运任务指定位置。
其中，搬运任务指定位置可以是某一个工作站，还可以是其他位置，搬运任务指定位置可以是搬运任务建立时就已经确定的，可以在自驱动机器人搬运中途发生更改。当目标货架的位置类型为第一位置类型时，则控制自驱动机器人将目标货架搬运到搬运任务指定位置。
本实施例在上述实施例的基础上，提供了一种目标货架的位置为第一位置类型的货架搬运方式。这种搬运方式相对于以往的搬运方式而言，需要优先确定目标货架的位置是否符合第一位置类型，以确保对与货架的搬运任务下发过程中，不会因为目标货架的位置不能够直接搬运，而只是搬运任务无法进行。确保了通过自驱动机器人对于货架进行搬运的运行稳定性。
图17是本申请实施例提供的物品密集存储方法的流程示意图。本实施例在上述实施例的基础上，细化：判断所述目标货架在所述密集货架排列中的位置类型，并根据所述位置类型确定搬运策略，包括：若判断所述目标货架的位置为第二位置类型，则根据所述第二位置类型，确定搬运策略为间接搬运；以及 所述基于所述搬运策略控制自驱动机器人搬运所述目标货架，包括：根据所述目标货架的位置，确定阻挡货架；控制自驱动机器人将所述阻挡货架移开后，将所述目标货架搬运到搬运任务指定位置。
如图17所示，物品密集存储方法包括步骤S1710至步骤S1740。
在步骤S1710中，从货架阵列中确定搬运任务所指向的目标货架；货架阵列的任一横排和任一竖排中的货架个数至少为3个。
在步骤S1720中，若判断目标货架的位置为第二位置类型，则根据第二位置类型，确定搬运策略为间接搬运。
其中，第二位置类型可以确定为自驱动机器人无法直接对目标货架进行搬运的位置类型，也就是说目标货架在密集货架排列中的内部。所以在这种情况下，将目标货架的搬运策略确定为间接搬运策略。
其中间接搬运策略为：以目标货架作为搬运任务最终目的，从自驱动机器人位置处到目标货架所能经过的最少的阻挡货架的路径后，将阻挡货架移开，再把目标货架搬运至搬运任务指定地点。
在步骤S1730中，根据目标货架的位置，确定阻挡货架。
其中，根据目标货架的位置，确定阻挡货架，当密集货架排列的行或者列较少的货架数量为3个或者4个时，则可以确定阻挡货架最多为一个，只是阻挡货架可以不唯一，可以根据自驱动机器人的位置确定一个作为阻挡货架。当密集货架排列的行或者列较少的货架数量为大于4个时，则阻挡货架可以为2个或者更多。
在步骤S1740中，控制自驱动机器人将阻挡货架移开后，将目标货架搬运到搬运任务指定位置。
在确定阻挡货架之后，将阻挡货架移开，就可以对目标货架进行搬运，完成搬运任务。
本实施例在上述实施例在上述各实施例的基础上，提供了一种目标货架的位置类型为第二位置类型的搬运方法，本实施例避免了对于货架进行密集式存储的搬运情况，通过自驱动机器人对货架进行搬运能够稳定进行，并且可以实现将货架密集存储，节省仓储空间。
在上述技术方案的基础上，控制自驱动机器人将阻挡货架移开后，将目标货架搬运到搬运任务指定位置，包括：控制自驱动机器人将阻挡货架移动至暂放区域；控制自驱动机器人将目标货架搬运到搬运任务指定位置。其中，暂放区域可以是在存储区内部，还可以在存储区外部。为了能够提高自驱动机器人的搬运效率，可以将暂放区域设置在存储区的内部，与密集货架排列不是紧密的地方。本技术方案这样设置的好处是可以由一台自驱动机器人完成内部货架的搬运，充分利用自驱动机器人资源，无需设置过多的自驱动机器人，降低了智能仓储的投入成本。
在上述技术方案的基础上，控制自驱动机器人将阻挡货架移开后，将目标货架搬运到搬运任务指定位置，包括：控制第一自驱动机器人将阻挡货架移开；并控制第二自驱动机器人将目标货架搬运到搬运任务指定位置。其中，第一自 驱动机器人将阻挡货架移开后，可以始终保持该阻挡货架为搬运状态，这样，第一自驱动机器人可以在过道位置动态移动，避免影响其他自驱动机器人的工作，这样设置的好处是无需在存储区设置暂放区域，降低占地面积所带来的成本。同时，可以在存储区有多台自驱动机器人的情况下，提高自驱动机器人的使用率，并且可以提高自驱动机器人对与目标货架搬运的效率，节省搬运时间。
在上述技术方案的基础上，若判断目标货架的位置为第二位置类型，则在基于搬运策略控制自驱动机器人搬运目标货架之后，方法还包括：通过自驱动机器人将移开的阻挡货架移回至阻挡货架的原来位置或者目标货架的原来位置。本技术方案在上述各技术方案的基础上，提供了一种将阻挡货架放回的方案，其中可以放回原来目标货架的所在位置，还可以放回到原来阻挡货架自身的所在位置。并且可以将信息同步到控制***。放回目标货架的所在位置的好处是可以在目标货架经过装载或者卸载后，可以直接放回原来阻挡货架的位置，无需再次移动阻挡货架。将阻挡货架放回原来自身所在位置的好处是可以不用对每个货架的位置进行频繁更新，避免因为货架位置频繁更新，造成控制***货架位置统计错误的情况，提高了智能仓储的运行稳定性。
图18是本申请实施例提供的物品密集存储装置的结构示意图。如图8所示，物品密集存储装置，包括目标货架确定模块1810，搬运策略确定模块1820以及搬运执行模块1830。
目标货架确定模块1810，设置为从货架阵列中确定搬运任务所指向的目标货架；所述货架阵列的任一横排和任一竖排中的货架个数至少为3个。
搬运策略确定模块1820，设置为判断所述目标货架在所述货架阵列中所处的位置类型，并根据所述位置类型确定搬运策略。
搬运执行模块1830，设置为基于所述搬运策略控制自驱动机器人搬运所述目标货架。
本申请实施例所提供的技术方案，通过从货架阵列中确定搬运任务所指向的目标货架；所述货架阵列的任一横排和任一竖排中的货架个数至少为3个；判断所述目标货架在所述货架阵列中所处的位置类型，并根据所述位置类型确定搬运策略；基于所述搬运策略控制自驱动机器人搬运所述目标货架。通过采用本申请所提供的技术方案，可以充分利用库房空间，并降低库房管理的人力成本。
在上述各实施例的基础上，搬运策略确定模块1820包括：第一搬运策略确定单元，设置为若判断目标货架的位置为第一位置类型，则根据第一位置类型，确定搬运策略为直接搬运。
搬运执行模块1830包括：第一搬运执行单元，设置为控制自驱动机器人将目标货架搬运到搬运任务指定位置。
在上述各实施例的基础上，搬运策略确定模块1820包括：第二搬运策略确定单元，设置为若判断目标货架的位置为第二位置类型，则根据第二位置类型，确定搬运策略为间接搬运。
搬运执行模块1830包括：阻挡货架确定单元，设置为根据目标货架的位置， 确定阻挡货架。
第二搬运执行单元，设置为控制自驱动机器人将阻挡货架移开后，将目标货架搬运到搬运任务指定位置。
在上述各实施例的基础上，第二搬运执行单元，设置为：控制自驱动机器人将阻挡货架移动至暂放区域；控制自驱动机器人将目标货架搬运到搬运任务指定位置。
在上述各实施例的基础上，第二搬运执行单元，设置为：控制第一自驱动机器人将阻挡货架移开；并控制第二自驱动机器人将目标货架搬运到搬运任务指定位置。
在上述各实施例的基础上，搬运执行模块1830还包括：阻挡货架移回单元，设置为控制自驱动机器人将移开的阻挡货架移回至阻挡货架的原来位置或者目标货架的原来位置。
上述产品可执行本申请任意实施例所提供的方法，具备执行方法相应的功能模块。
图19是本申请实施例中提供的一种物品密集存储***示意图。该***包括主控端1910，至少一台自驱动机器人1920和密集货架排列1930。其中，密集货架排列的任一横排和任一竖排中的货架个数至少为3个。
其中，主控端1910包括存储器，处理器及存储在存储器上并可在处理器运行的计算机程序，处理器执行上述计算机程序时实现如本申请实施例任一项所提供的物品密集存储方法。
图20是本申请实施例中提供的一种主控端的结构示意图。图20示出了适于用来实现本申请实施方式的示例性主控端2012的框图。图20显示的主控端2012仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图20所示，主控端2012以通用计算设备的形式表现。主控端2012的组件可以包括但不限于：一个或者多个处理器或者处理单元2016，存储器2028，连接不同***组件(包括存储器2028和处理单元2016)的总线2018。
总线2018表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，***总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于ISA总线，MAC总线，增强型ISA总线、VESA局域总线以及PCI总线。
主控端2012典型地包括多种计算机***可读介质。这些介质可以是任何能够被主控端2012访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
存储器2028可以包括易失性存储器形式的计算机***可读介质，例如RAM)2030和/或高速缓存存储器2032。主控端2012可以包括其它可移动/不可移动的、易失性/非易失性计算机***存储介质。仅作为举例，存储***2034可以设置为读写不可移动的、非易失性磁介质(图20未显示，通常称为“硬盘驱动器”)。尽管图20中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM，DVD-ROM或者 其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线2018相连。存储器2028可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请各实施例的功能。
具有一组(至少一个)程序模块2042的程序/实用工具2040，可以存储在例如存储器2028中，这样的程序模块2042包括但不限于操作***、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块2042通常执行本申请所描述的实施例中的功能和/或方法。
主控端2012也可以与一个或多个外部设备2014(例如键盘、指向设备、显示器2024等)通信，还可与一个或者多个使得用户能与主控端2012交互的设备通信，和/或与使得该主控端2012能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过I/O接口2022进行。并且，主控端1012还可以通过网络适配器2020与一个或者多个网络(例如LAN，WAN和/或公共网络，例如因特网)通信。如图所示，网络适配器1020通过总线1018与主控端2012的其它模块通信。应当明白，尽管图20中未示出，可以结合主控端2012使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID***、磁带驱动器以及数据备份存储***等。
处理单元2016通过运行存储在存储器2028中的程序，从而执行各种功能应用以及数据处理，例如实现本申请实施例提供的物品密集存储方法，包括：从货架阵列中确定搬运任务所指向的目标货架；所述货架阵列的任一横排和任一竖排中的货架个数至少为3个；判断所述目标货架在所述货架阵列中所处的位置类型，并根据所述位置类型确定搬运策略；基于所述搬运策略控制自驱动机器人搬运所述目标货架。
本申请实施例还提供一种包含计算机可执行指令的存储介质，计算机可执行指令在由计算机处理器执行时设置为执行一种物品密集存储方法，该方法包括：从货架阵列中确定搬运任务所指向的目标货架；所述货架阵列的任一横排和任一竖排中的货架个数至少为3个；判断所述目标货架在所述货架阵列中所处的位置类型，并根据所述位置类型确定搬运策略；基于所述搬运策略控制自驱动机器人搬运所述目标货架。
存储介质——任何的各种类型的存储器设备或存储设备。术语“存储介质”旨在包括：安装介质，例如CD-ROM、软盘或磁带装置；计算机***存储器或随机存取存储器，诸如动态随机存取存储器(Dynamic Random Access Memory，DRAM)、双通道同步动态随机存取存储器(Double Data Rate Random Access Memory，DDR RAM)、静态随机存取存储器(Static Random Access Memory，SRAM)、动态随机存取存储器(Extended Data Output Random Access Memory，EDO RAM)，兰巴斯(Rambus)RAM等；非易失性存储器，诸如闪存、磁介质(例如硬盘或光存储)；寄存器或其它相似类型的存储器元件等。存储介质可以还包 括其它类型的存储器或其组合。另外，存储介质可以位于程序在其中被执行的计算机***中，或者可以位于不同的第二计算机***中，第二计算机***通过网络(诸如因特网)连接到计算机***。第二计算机***可以提供程序指令给计算机用于执行。术语“存储介质”可以包括可以驻留在不同位置中(例如在通过网络连接的不同计算机***中)的两个或更多存储介质。存储介质可以存储可由一个或多个处理器执行的程序指令(例如具体实现为计算机程序)。
当然，本申请实施例所提供的一种包含计算机可执行指令的存储介质，其计算机可执行指令不限于如上的物品密集存储操作，还可以执行本申请任意实施例所提供的物品密集存储方法中的相关操作。

Claims (16)

  1. 一种基于密集存储的物品搬移方法，包括：
    在检测到目标货架被至少一个阻挡货架阻挡的情况下，指示第一自驱动机器人移出所述阻挡货架和/或阻挡置物箱，以使所述目标货架不被所述阻挡货架阻挡或所述目标货架上的目标置物箱不被所述阻挡置物箱阻挡；
    指示所述第一自驱动机器人搬运所述阻挡货架和/或所述阻挡置物箱在机器人行驶通道上进行绕圈移动；
    指示第二自驱动机器人将所述目标货架从当前位置搬移至工作站，或者，指示第二自驱动机器人从所述目标货架上取出所述目标置物箱，将取出的所述目标置物箱搬移至工作站。
  2. 根据权利要求1所述的方法，还包括：
    指示第一自驱动机器人移出所述目标货架上的阻挡置物箱；其中，所述目标货架为双向开口货架，所述双向开口货架的两侧分别设置有一个开口，且所述目标置物箱位于背离所述阻挡货架的一侧，与所述阻挡货架邻近的一侧的置物箱为阻挡置物箱。
  3. 根据权利要求1或2所述的方法，其中，所述阻挡货架为双向开口货架。
  4. 根据权利要求2所述的方法，其中，指示第二自驱动机器人按照所述第一预设通道将所述目标货架从所述当前位置运输至所述工作站，包括：
    在检测到所述阻挡货架和所述目标货架中至少一种的阻挡置物箱被搬移的情况下，指示第二自驱动机器人行驶至所述阻挡货架所在的货架区，并经过所述阻挡货架两侧的两个开口从所述目标货架上取出目标置物箱；
    指示第二自驱动机器人按照所述第一预设通道将取出的所述目标置物箱，从所述当前位置搬移至所述工作站；其中，所述目标物品存放于所述目标置物箱中，所述目标置物箱放置于所述目标货架上。
  5. 根据权利要求1-4中任一项所述的方法，还包括：
    在检测到目标物品已被拣选的情况下，指示第二自驱动机器人将所述目标货架或所述目标货架上的目标置物箱放回原始位置，并指示第一自驱动机器人将所述阻挡货架和/或所述阻挡置物箱放回原始位置。
  6. 一种计算机设备，所述计算机设备包括：
    至少一个处理器；
    存储装置，设置为存储至少一个程序，
    当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如上权利要求1-5中任一所述的基于密集存储的物品搬移方法。
  7. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述程序被处理器执行时实现如上权利要求1-5中任一所述的基于密集存储的物品搬移方法。
  8. 一种密集存储***，包括：
    第一自驱动机器人，配置为根据控制***的指令，移出阻挡货架和/或阻挡置物箱；
    第二自驱动机器人，配置为根据控制***的指令，搬运目标货架或目标货 架上的目标置物箱；
    货架区，包括多个货架，货架用于存储物品并供自驱动机器人搬运，多个货架中包括目标货架，目标货架的四周被阻挡货架包围，所述自驱动机机器人包括第一自驱动机器人和第二自驱动机器人；
    控制***，配置为在检测到目标货架被至少一个阻挡货架阻挡住的情况下，指示第一自驱动机器人移出所述阻挡货架和/或阻挡置物箱，以使所述目标货架不被所述阻挡货架阻挡或所述目标货架上的目标置物箱不被所述阻挡置物箱阻挡；指示第二自驱动机器人将所述目标货架从当前位置搬移至工作站，或者，指示第二自驱动机器人从所述目标货架上取出所述目标置物箱，将取出的所述目标置物箱搬移至工作站。
  9. 根据权利要求8所述的***，其中，在货架区，多个货架被分为多个货架组，每个货架组由多行和多列的货架排列组成，每个货架组的每行或每列的货架之间不存在供自驱动机器人行驶的通道，多个货架组之间由通道隔开。
  10. 根据权利要求8所述的***，所述控制***还配置为，指示所述第一自驱动机器人搬运所述阻挡货架和/或所述阻挡置物箱在机器人行驶通道上进行绕圈移动。
  11. 根据权利要求8所述的***，其中，所述目标货架为双向开口货架，所述双向开口货架的两侧分别设置有一个开口，且所述目标置物箱位于背离所述阻挡货架的一侧，与所述阻挡货架邻近的一侧的置物箱为阻挡置物箱。
  12. 根据权利要求11所述的***，所述控制***还配置为，指示第一自驱动机器人移出所述目标货架上的阻挡置物箱。
  13. 根据权利要求8或11所述的***，其中，所述阻挡货架为双向开口货架。
  14. 根据权利要求13所述的***，所述控制***还配置为，在检测到目标物品已被拣选的情况下，指示第二自驱动机器人将所述目标货架或所述目标货架上的目标置物箱放回原始位置，并指示第一自驱动机器人将所述阻挡货架和/或所述阻挡置物箱放回原始位置。
  15. 根据权利要求8所述的***，其中，在货架区，多个货架排列成多行和多列，多个货架之间不存在供自驱动机器人行驶的通道，所述密集存储***还设置有货架临时放置区，所述货架临时放置区包括多个货架位。
  16. 根据权利要求15所述的***，所述控制***还配置为，指示第一自驱动机器人将所述阻挡货架搬运到所述货架临时放置区中的货架位，被移出的所述阻挡货架的原始位置形成通道。
PCT/CN2019/099860 2018-08-10 2019-08-08 基于密集存储的物品搬移方法、设备、存储介质以及密集存储*** WO2020030063A1 (zh)

Priority Applications (7)

Application Number Priority Date Filing Date Title
MX2021001667A MX2021001667A (es) 2018-08-10 2019-08-08 Metodo y dispositivo para el movimiento de articulos en funcion de un almacenamiento denso, medio de almacenamiento y sistema de almacenamiento denso.
CA3109329A CA3109329C (en) 2018-08-10 2019-08-08 Dense storage-based article moving method and device, storage medium and dense storage system
JP2020521352A JP6799198B1 (ja) 2018-08-10 2019-08-08 高密度格納に基づく物品移載方法、デバイス、記憶媒体および高密度格納システム
EP19847180.7A EP3835236A4 (en) 2018-08-10 2019-08-08 DENSE REGISTRATION BASED ARTICLE MOVEMENT METHOD AND DEVICE, STORAGE MEDIA AND DENSE REGISTRATION SYSTEM
AU2019318657A AU2019318657B2 (en) 2018-08-10 2019-08-08 Dense storage-based article moving method and device, storage medium and dense storage system
KR1020217007275A KR102321857B1 (ko) 2018-08-10 2019-08-08 고밀도 보관 기반의 물품 이송 방법과 기기, 보관 매체 및 고밀도 보관 시스템
US16/926,457 US11104003B2 (en) 2018-08-10 2020-07-10 Method and device for moving an article based on dense storage, storage medium, and dense storage system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201810911672.6 2018-08-10
CN201810911672.6A CN109178743A (zh) 2018-08-10 2018-08-10 基于密集存储的物品搬移方法、装置、设备和存储介质
CN201811208950.8 2018-10-17
CN201811208950.8A CN109279249B (zh) 2018-10-17 2018-10-17 一种货物密集存储方法、装置、***及存储介质

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/926,457 Continuation-In-Part US11104003B2 (en) 2018-08-10 2020-07-10 Method and device for moving an article based on dense storage, storage medium, and dense storage system

Publications (1)

Publication Number Publication Date
WO2020030063A1 true WO2020030063A1 (zh) 2020-02-13

Family

ID=69413937

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/099860 WO2020030063A1 (zh) 2018-08-10 2019-08-08 基于密集存储的物品搬移方法、设备、存储介质以及密集存储***

Country Status (8)

Country Link
US (1) US11104003B2 (zh)
EP (1) EP3835236A4 (zh)
JP (1) JP6799198B1 (zh)
KR (1) KR102321857B1 (zh)
AU (1) AU2019318657B2 (zh)
CA (1) CA3109329C (zh)
MX (1) MX2021001667A (zh)
WO (1) WO2020030063A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111890369A (zh) * 2020-08-07 2020-11-06 深圳市海柔创新科技有限公司 机器人控制方法、装置、***、控制设备及机器人
CN113371380A (zh) * 2021-06-25 2021-09-10 深圳市库宝软件有限公司 路径生成方法、装置、设备、存储介质及程序产品
EP4160347A4 (en) * 2020-05-29 2024-05-15 Beijing Geekplus Tech Co Ltd INVENTORY MANAGEMENT METHOD AND SYSTEM

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013167907A1 (en) * 2012-05-11 2013-11-14 Ocado Limited Storage systems and methods for retrieving units from a storage system
CN103723422A (zh) * 2013-12-20 2014-04-16 东南大学 一种多深度双向流动式货架及其布局存取方法
CN108137229A (zh) * 2015-09-04 2018-06-08 自动存储科技股份有限公司 用于提取存储在存储***中的目标箱的方法
CN108806115A (zh) * 2018-08-21 2018-11-13 北京极智嘉科技有限公司 无人的自助式操作***、方法和操作门
CN109178743A (zh) * 2018-08-10 2019-01-11 北京极智嘉科技有限公司 基于密集存储的物品搬移方法、装置、设备和存储介质
CN109279249A (zh) * 2018-10-17 2019-01-29 北京极智嘉科技有限公司 一种货物密集存储方法、装置、***及存储介质

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5427444A (en) * 1993-06-09 1995-06-27 Spacesaver Corporation Bi-directional motion sensor for mobile storage systems
JP5429570B2 (ja) * 2010-03-08 2014-02-26 株式会社ダイフク 物品搬送設備
CN102096865A (zh) 2011-02-01 2011-06-15 武汉理工大学 移动式货架自动仓库的动态管理方法和***
WO2012147261A1 (ja) * 2011-04-28 2012-11-01 村田機械株式会社 物品収容システム、物品収容搬出方法
CN102602643B (zh) * 2012-03-02 2014-01-29 无锡普智联科高新技术有限公司 一种高密度自动立体仓储***
WO2014011459A1 (en) 2012-07-11 2014-01-16 Mercury Capital Management L.L.C. Lift automated guided vehicle for warehouse tray handling
US9663293B2 (en) * 2012-10-08 2017-05-30 Amazon Technologies, Inc. Replenishing a retail facility
US9572426B1 (en) * 2013-11-11 2017-02-21 Amazon Technologies, Inc. Fabric pods
WO2015097736A1 (ja) 2013-12-24 2015-07-02 株式会社日立製作所 ピッキングシステム
WO2015125217A1 (ja) 2014-02-18 2015-08-27 株式会社日立製作所 搬送車制御装置および搬送車制御システム
US9111251B1 (en) * 2014-03-31 2015-08-18 Amazon Technologies, Inc. Shuffling inventory holders
US9452883B1 (en) * 2014-09-26 2016-09-27 Amazon Technologies, Inc. Re-arrange stored inventory holders
US9809384B2 (en) * 2014-11-24 2017-11-07 Amazon Technologies, Inc. Inventory system with efficient operator handling of inventory items
US9378484B1 (en) * 2014-12-02 2016-06-28 Amazon Technologies, Inc. Management of inventory items
CN104828450B (zh) 2015-04-16 2017-03-08 昆山华恒工程技术中心有限公司 智能搬运车及智能搬运车用交叉口防撞***
US10133276B1 (en) * 2015-06-19 2018-11-20 Amazon Technologies, Inc. Object avoidance with object detection and classification
WO2017090108A1 (ja) 2015-11-25 2017-06-01 株式会社日立製作所 棚配置システム、搬送ロボット及び棚配置方法
CN106064717A (zh) 2016-07-20 2016-11-02 苏州小喇叭信息科技有限公司 一种分拣搬运agv车
CN106395218B (zh) 2016-09-13 2018-11-13 北京京东尚科信息技术有限公司 货架单元、货架、货物分拣***和货物分拣方法
JP6739299B2 (ja) * 2016-09-13 2020-08-12 株式会社日立製作所 搬送システム及び搬送方法
JP2018052670A (ja) * 2016-09-28 2018-04-05 株式会社Apt 自動倉庫
US10528061B2 (en) * 2016-10-25 2020-01-07 Amazon Technologies, Inc. Robotic ad hoc network
CN106347919A (zh) 2016-11-10 2017-01-25 杭州南江机器人股份有限公司 一种自动仓储***
CN106379684A (zh) 2016-11-11 2017-02-08 杭州南江机器人股份有限公司 一种潜入式agv对接方法及***以及潜入式agv
JP7019295B2 (ja) * 2017-01-20 2022-02-15 東芝テック株式会社 情報収集装置および情報収集システム
CN207001433U (zh) 2017-03-17 2018-02-13 上海快仓智能科技有限公司 仓储货架、用于仓储货架的托盘以及仓储货架***
CN107256468A (zh) 2017-04-21 2017-10-17 仓智（上海）智能科技有限公司 基于智能机器人的仓库管理***及管理方法
JP6838512B2 (ja) * 2017-07-20 2021-03-03 株式会社ダイフク 搬送車及び搬送設備

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013167907A1 (en) * 2012-05-11 2013-11-14 Ocado Limited Storage systems and methods for retrieving units from a storage system
CN103723422A (zh) * 2013-12-20 2014-04-16 东南大学 一种多深度双向流动式货架及其布局存取方法
CN108137229A (zh) * 2015-09-04 2018-06-08 自动存储科技股份有限公司 用于提取存储在存储***中的目标箱的方法
CN109178743A (zh) * 2018-08-10 2019-01-11 北京极智嘉科技有限公司 基于密集存储的物品搬移方法、装置、设备和存储介质
CN110239873A (zh) * 2018-08-10 2019-09-17 北京极智嘉科技有限公司 基于密集存储的物品搬移方法、设备、存储介质及***
CN108806115A (zh) * 2018-08-21 2018-11-13 北京极智嘉科技有限公司 无人的自助式操作***、方法和操作门
CN109279249A (zh) * 2018-10-17 2019-01-29 北京极智嘉科技有限公司 一种货物密集存储方法、装置、***及存储介质

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3835236A4 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4160347A4 (en) * 2020-05-29 2024-05-15 Beijing Geekplus Tech Co Ltd INVENTORY MANAGEMENT METHOD AND SYSTEM
CN111890369A (zh) * 2020-08-07 2020-11-06 深圳市海柔创新科技有限公司 机器人控制方法、装置、***、控制设备及机器人
CN113371380A (zh) * 2021-06-25 2021-09-10 深圳市库宝软件有限公司 路径生成方法、装置、设备、存储介质及程序产品
CN113371380B (zh) * 2021-06-25 2022-11-22 深圳市库宝软件有限公司 路径生成方法、装置、设备、存储介质及程序产品

Also Published As

Publication number Publication date
MX2021001667A (es) 2021-05-12
CA3109329A1 (en) 2020-02-13
US11104003B2 (en) 2021-08-31
JP2020536824A (ja) 2020-12-17
KR20210035902A (ko) 2021-04-01
AU2019318657B2 (en) 2022-03-10
KR102321857B1 (ko) 2021-11-09
AU2019318657A1 (en) 2021-03-11
JP6799198B1 (ja) 2020-12-09
EP3835236A1 (en) 2021-06-16
CA3109329C (en) 2022-06-21
EP3835236A4 (en) 2022-08-10
US20200377299A1 (en) 2020-12-03

Similar Documents

Publication Publication Date Title
CN110239873B (zh) 基于密集存储的物品搬移方法、设备、存储介质及***
CN109279249B (zh) 一种货物密集存储方法、装置、***及存储介质
US11053075B2 (en) Inventory system with efficient operator handling of inventory items
CN111361908B (zh) 仓储装置、***、控制方法
WO2022017164A1 (zh) 货物搬运方法、装置、服务器以及搬运机器人
US20210395008A1 (en) Goods transport system and method
US11104003B2 (en) Method and device for moving an article based on dense storage, storage medium, and dense storage system
JP7419432B2 (ja) ロボット制御システム、方法、計算装置、および記憶媒体
WO2022095835A1 (zh) 仓储管理***及方法
JP6885644B2 (ja) 倉庫管理収容・取出システムおよび方法
CN111977244A (zh) 一种仓库搬运调度***及方法
EP3971114A1 (en) Warehouse operation system and method
CN114620386B (zh) 仓储***及其控制方法
WO2020082881A1 (zh) 集备货和拣选为一体的库存区域、库存管理***及方法
CN111724104A (zh) 库存***及方法
CN109753039B (zh) 可自定义的物品处理方法、装置、电子设备及存储介质
WO2023061009A1 (zh) 一种立体仓库调度***
JP2003285906A (ja) 搬送システム
EP4160347A1 (en) Inventory management method and system
WO2021228158A1 (zh) 库存***及方法
CN113003086B (zh) 货物搬运方法、设备及存储介质
CN109720770B (zh) 一种加工货物的搬运方法、装置、计算机设备及存储介质
CN219448079U (zh) 一种仓储***
JP7507210B2 (ja) 貨物搬送方法、貨物搬送装置、サーバ及び記憶媒体
TW202317446A (zh) 一種倉儲調度系統及方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19847180

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020521352

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 3109329

Country of ref document: CA

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20217007275

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019318657

Country of ref document: AU

Date of ref document: 20190808

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019847180

Country of ref document: EP

Effective date: 20210310