WO2021254407A1 - 仓储***、集货方法、装置、料箱移动装置及控制终端 - Google Patents

仓储***、集货方法、装置、料箱移动装置及控制终端 Download PDF

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Publication number
WO2021254407A1
WO2021254407A1 PCT/CN2021/100462 CN2021100462W WO2021254407A1 WO 2021254407 A1 WO2021254407 A1 WO 2021254407A1 CN 2021100462 W CN2021100462 W CN 2021100462W WO 2021254407 A1 WO2021254407 A1 WO 2021254407A1
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WIPO (PCT)
Prior art keywords
bin
target
storage
moving device
goods
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PCT/CN2021/100462
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English (en)
French (fr)
Inventor
周红霞
陈宇奇
Original Assignee
深圳市海柔创新科技有限公司
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Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to JP2022576049A priority Critical patent/JP7478852B2/ja
Priority to EP21824747.6A priority patent/EP4163231A4/en
Publication of WO2021254407A1 publication Critical patent/WO2021254407A1/zh
Priority to US18/067,081 priority patent/US20230122873A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present disclosure relates to the technical field of storage and collection, and in particular to a storage system, a collection method, a device, a bin moving device, a control terminal, and a storage medium.
  • picking refers to the process of taking out the goods specified in the order task from the warehouse.
  • the existing methods usually adopt a picking strategy of first collecting goods and then performing secondary sorting to improve the efficiency of picking.
  • the present disclosure provides a storage system, a collection method, a device, a bin moving device, a control terminal, and a storage medium, so as to solve the problem of low efficiency of storage collection in the prior art.
  • the present disclosure provides a storage system, including: a shelf, a bin moving device, and a control terminal;
  • the control terminal is used to send a first control instruction to the bin moving device
  • the bin moving device is used to move the target stock bin containing the target goods to the first picking area according to the first control instruction, and the first picking area is for transferring the target goods from the target
  • the storage bin is picked to the area of the collection bin;
  • the control terminal is also used to obtain free storage spaces where no bins are currently placed on the shelves, and send a second control instruction to the bin moving device;
  • the bin moving device is also used for buffering the collection bin after the target cargo selection is completed to the free storage space according to the second control instruction.
  • control terminal is also used to obtain an order task, the order task includes the target goods; based on the order task, send the first control instruction to the bin moving device.
  • each storage position on the shelf is correspondingly provided with an identifier
  • the bin moving device is further configured to, after receiving the first control instruction, obtain the first identifier of the target storage location where the target inventory bin is stored, and send the first identifier containing the first identifier to the control terminal The first notification information;
  • the control terminal is further configured to update the state of the storage location corresponding to the first identifier to an idle storage location according to the first notification information.
  • the bin moving device is further configured to obtain a second identifier of the free storage space after receiving the second control instruction, and send the second identifier containing the second identifier to the control terminal The second notification information;
  • the control terminal is further configured to update the state of the storage location corresponding to the second identifier to the used storage location according to the second notification information.
  • the bin moving device is further configured to send first query information to the control terminal after the picking of any kind of target goods is completed, and the first query information is used to query the completed target goods picking The current state of the target storage location corresponding to the target inventory bin; receiving the current state information of the target storage location fed back by the control terminal based on the first query information, if the target storage location is currently an idle storage location, Move and place the target inventory bin corresponding to the target goods that have been picked to the target storage location;
  • the bin moving device is also used to send second query information to the control terminal after the picking of any kind of target goods is completed, and the second query information is used to query the free storage space on the shelf;
  • the control terminal feeds back the free storage position information on the shelf based on the second query information. If there is an free storage position on the shelf, the target stock bin corresponding to the target goods that has been picked is moved and placed on the shelf. The free storage bits.
  • the material box After receiving the free storage position information on the shelf fed back by the control terminal based on the second query information, if there are at least two free storage positions on the shelf, the material box The mobile device is further configured to determine an idle storage location that meets a preset condition based on the at least two idle storage locations existing on the shelf, and move the target storage bin to the idle storage location that meets the preset condition;
  • the preset condition includes the shortest distance between the moving device of the bin to the idle storage position, or the shortest distance between the idle storage position and the first picking area.
  • control terminal is further configured to send a third control instruction to the bin moving device after all target goods in the order task are picked;
  • the bin moving device is also used to move all collection bins containing the target goods to the second picking area according to the third control instruction.
  • the bin moving device is further configured to, after receiving the third control instruction, obtain a third identifier that caches the storage location of the collection bin containing the target cargo, and Sending third notification information including the third identifier to the control terminal;
  • the control terminal is further configured to update the state of the storage location corresponding to the third identifier to an idle storage location according to the third notification information.
  • the present disclosure provides a cargo collection method, which is applied to the above-mentioned storage system, including:
  • the target inventory bin storing the target goods in the order task is moved to the first picking area, and the first picking area is The target goods are picked from the target inventory bin to the area of the collection bin;
  • the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
  • it further includes:
  • a notification message is used to instruct the control terminal to update the state of the storage location corresponding to the first identifier to an idle storage location.
  • it further includes:
  • the control terminal After receiving the second control instruction, acquire the second identifier of the free storage location, and send second notification information including the second identifier to the control terminal, where the second notification information is used to indicate
  • the control terminal updates the state of the storage location corresponding to the second identifier to the used storage location.
  • it further includes:
  • first query information is used to query the current state of the target storage location corresponding to the target inventory bin for which the target goods have been picked; receive;
  • the control terminal feeds back the current status information of the target storage location based on the first query information, and if the target storage location is currently an idle storage location, move the target inventory bin corresponding to the target goods that has been picked Placed in the target storage location;
  • the second query information is sent to the control terminal, and the second query information is used to query the free storage space on the shelf; the receiving control terminal is based on the second query
  • the free storage position information on the shelf is fed back by the information. If there is a free storage position on the shelf, the target inventory bin corresponding to the target goods that has been picked is moved and placed in the free storage position.
  • it further includes:
  • the free storage space determines the free storage space that meets a preset condition, and moves the target storage bin to the free storage space that meets the preset condition;
  • the preset condition includes the shortest distance between the moving device of the bin to the idle storage position, or the shortest distance between the idle storage position and the first picking area.
  • it further includes:
  • it further includes:
  • the third notification information is used to instruct the control terminal to update the state of the storage location corresponding to the third identifier to an idle storage location.
  • the present disclosure provides a cargo collection method, which is applied to the above-mentioned storage system, including:
  • the box is moved to a first picking area, where the first picking area is an area where the target goods are picked from the target inventory bin to the collection bin;
  • the second control instruction is used to instruct the bin moving device to complete the collection of target goods.
  • the cargo box is buffered to the free storage position;
  • the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
  • it further includes:
  • Receive first notification information that includes a first identifier sent by the material box moving device, where the first identifier is acquired by the material box moving device after receiving the first control instruction and stores the target inventory The identification corresponding to the target storage location of the bin;
  • the state of the storage location corresponding to the first identifier is updated to an idle storage location according to the first notification information.
  • it further includes:
  • Receive second notification information that includes a second identifier sent by the material box moving device, where the second identifier is the free storage location acquired by the material box moving device after receiving the second control instruction Corresponding logo;
  • the state of the storage location corresponding to the second identifier is updated to the used storage location according to the second notification information.
  • it further includes:
  • it further includes:
  • a third control instruction is sent to the bin moving device, and the third control instruction is used to instruct the bin moving device to contain the target goods All of the collection bins are moved to the second picking area.
  • it further includes:
  • the state of the storage location corresponding to the third identifier is updated to an idle storage location according to the third notification information.
  • a cargo collection device applied to a bin moving device including:
  • the moving module is used to move the target stock bin storing the target goods in the order task to the first picking area when the first control instruction sent by the control terminal based on the order task is received.
  • the cargo area is the area where the target goods are picked from the target inventory bin to the collection bin;
  • the cache module is used to cache the collection bin after the target cargo selection is completed to the idle storage location when receiving a second control instruction sent by the control terminal based on an idle storage location where no bins are currently placed on the shelf ;
  • the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
  • a cargo collection device applied to a control terminal including:
  • the acquisition module is used to acquire the order task containing the target goods
  • the control module is configured to send a first control instruction to the bin moving device based on the order task, where the first control instruction is used to instruct the bin moving device to move the target inventory bin storing the target goods to A first picking area, where the first picking area is an area where the target goods are picked from the target stock bin to the collection bin;
  • the acquiring module is also used to acquire free storage spaces where no bins are currently placed on the shelf;
  • the control module is further configured to send a second control instruction to the bin moving device, and the second control instruction is used to instruct the bin moving device to buffer the collection bin after the target cargo has been selected to the Free storage
  • the free storage space is a storage space on a shelf for placing storage bins, and the storage bins are used for storing goods.
  • the present disclosure provides a material box moving device, including:
  • At least one processor At least one processor
  • a memory communicatively connected with the at least one processor
  • the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the bin moving device executes the foregoing method.
  • control terminal including:
  • At least one processor At least one processor
  • a memory communicatively connected with the at least one processor
  • the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the control terminal executes the foregoing method.
  • the present disclosure provides a computer-readable storage medium in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned collection method.
  • the storage system, collection method, device, bin moving device, control terminal, and storage medium provided by the present disclosure.
  • a storage space for storing storage bins is provided on the shelf.
  • the storage space on the shelf is not When all the storage bins are placed, or the storage bin is moved out of the storage location by the bin moving device (for example, when picking goods), the storage location may be empty. In this way, during the collection process, the bin moving device is in the control terminal.
  • the collection bins after the picking of the goods are cached in the free storage space of the shelf, that is, the storage space on the shelf can be used to place the storage bins and cache the collection bins at the same time, thus, during the collection process
  • There is no need to set a specific cache area or cache shelf to cache the goods effectively improve the space utilization of the storage system, and there is no size limit for the cache area or cache shelf, so that a larger number of order tasks can be collected at the same time.
  • the efficiency of warehousing and collection operations is improved.
  • Figure 1 is a schematic diagram of a storage system in an embodiment of the disclosure
  • FIG. 2 is a schematic diagram of a shelf 10 in an embodiment of the disclosure
  • FIG. 3 is a schematic diagram of a material box moving device 20 in an embodiment of the disclosure.
  • Fig. 4 is a schematic diagram of a cargo consolidating method in an embodiment of the disclosure.
  • FIG. 5 is another schematic diagram of the cargo consolidating method in the embodiment of the disclosure.
  • FIG. 6 is a sequence diagram of the communication between the bin moving device 20 and the control terminal 30 in the storage system in the embodiment of the disclosure;
  • Figure 7 is a schematic diagram of a cargo collection device in an embodiment of the disclosure.
  • Fig. 8 is another schematic diagram of the cargo collection device in the embodiment of the disclosure.
  • Storage location also refers to target storage location, free storage location, used storage location
  • 20. Bin moving device 21. Mobile structure; 22. Bin storage area; 23. Bin grabbing Take structure; 24, camera; 30, control terminal; 41, inventory bin (also referred to as target inventory bin); 42, collection bin; P1, first picking area; P2, second picking area; 120.
  • Mobile module 140. Cache module; 220. Acquisition module; 240. Control module.
  • the words “if” and “if” as used herein can be interpreted as “when” or “when” or “in response to determination” or “in response to detection”.
  • the phrase “if determined” or “if detected (statement or event)” can be interpreted as “when determined” or “in response to determination” or “when detected (statement or event) )” or “in response to detection (statement or event)”.
  • the warehousing system When the warehousing system receives multiple order tasks, it can first count the total quantity of the same type of goods in the multiple order tasks, and then directly select a sufficient quantity of the same type of goods corresponding to multiple orders at one time. Reduce the number of picking goods.
  • the warehousing system needs to choose 3 times to complete order 1, and 4 times to complete both orders 2 and 3. That is, the warehousing system needs to choose 11 times in total to complete the above three order tasks.
  • the warehousing system adopts multi-order tasks for common collection processing, only one collection selection of cargo A, cargo B, cargo C, and cargo D is required.
  • the four kinds of goods that are picked each correspond to 5 pieces of goods. , 11, 5, and 9, a total of only 4 selections are required, so that the efficiency of cargo selection can be improved through the collection of cargo.
  • the warehousing system sorts the corresponding types and quantities of goods from the goods selected by the collection according to the needs of different order tasks for subsequent packaging and transportation.
  • Inventory bin A bin used to store goods in the storage system. A large number of the same type of goods are stored in a single inventory bin, so that a corresponding amount of the same type of goods can be picked from the inventory bin.
  • 100 goods A are stored in a certain storage bin
  • 150 goods B are stored in another storage bin.
  • the material box used to buffer the picked goods in the storage system can be understood as a turnover box, and a single type of goods is stored in a single collecting box.
  • 5 goods A are stored in a certain container
  • 11 goods B are stored in another container
  • 5 goods C are stored in another container
  • 9 goods D are stored in the box.
  • the storage system provided by the present disclosure aims to solve the above technical problems of the prior art.
  • the present disclosure provides a warehousing system, which caches the collection bins after picking the goods in the idle storage positions of the shelves, that is, the storage positions on the shelves can be used for both the storage bins and the cache collection bins at the same time. Therefore, there is no need to set a specific area or shelf to store the goods during the collection process, and there is no area or shelf size limitation, so that a larger number of order tasks can be collected at the same time, thereby improving the storage and collection operations efficient.
  • FIG. 1 is a schematic diagram of a storage system in an embodiment of the disclosure. As shown in FIG. 1, the storage system includes: a shelf 10, a bin moving device 20 and a control terminal 30.
  • the shelf 10 is a shelf for storing goods in a warehouse
  • the bin moving device 20 may specifically be a cargo transportation robot, etc.
  • the control terminal 30 may specifically be a computer device or a server.
  • first picking area P1 in FIG. 1 is an area for performing collection processing
  • second picking area P2 is an area for performing secondary sorting of goods.
  • FIG. 2 is a schematic diagram of the shelf 10 in the embodiment of the disclosure.
  • a single shelf 10 is provided with a plurality of storage positions 11 for placing storage bins 41, which can be specifically, for example, N storage positions 11 arranged horizontally.
  • M storage positions 11 are arranged longitudinally, that is, a total of M ⁇ N storage positions 11 are set, and the storage material box 41 is used for storing goods.
  • the number of shelves 10 can be multiple, that is, the storage system includes multiple shelves 10, and the arrangement and number of storage positions 11 on each shelf 10 can be the same or different.
  • the number of shelves 10 and the number of storage spaces 11 on a single shelf 10 can be determined according to the number of storage bins 41 storing goods. For example, the total number of storage spaces 11 of all shelves 10 can be equal to or greater than the storage bins 41. quantity.
  • each storage bin 41 is provided with a corresponding first bin label
  • the first bin label may correspond to the type of goods stored in the storage bin 41, so as to be based on the first bin label set on the storage bin 41.
  • the container label can determine the type of goods stored in the container.
  • the first bin label may specifically be, for example, a barcode or a two-dimensional code, or may be any one or a combination of at least two of text, letters, numbers, and symbols.
  • the material box moving device 20 can communicate with the control terminal 30 wirelessly, and the material box moving device 20 is used to move the material box according to the control instruction sent by the control terminal 30.
  • the control terminal 30 is used to obtain an order task containing the target goods, and based on the order task, send a first control instruction to the bin moving device 20.
  • the first control instruction includes information about the type of goods to be picked and the location information of the goods, and the location information of the goods. Specifically, it is the position information of the goods on the shelf 10, so that the bin moving device 20 can move to a corresponding position according to the position information of the goods, so as to perform the subsequent movement of the bin.
  • the bin moving device 20 is used to move the target inventory bin 41 containing the target goods to the first picking area P1 according to the first control instruction sent by the control terminal 30, and the first picking area P1 is for removing the target goods from the target inventory
  • the bin 41 is picked to the area of the collection bin 42, that is, the area where the collection processing is performed.
  • the way of picking goods in the first picking area P1 can be manual picking and/or automatic machine picking, etc.
  • FIG. 3 is a schematic diagram of the material box moving device 20 in an embodiment of the disclosure.
  • the material box moving device 20 includes a moving structure 21 (for example, rollers, or crawlers, etc.) and a material box storage area 22.
  • the moving structure 21 It can be used for moving, and the bin storage area 22 can be used for storing bins.
  • the number of the material box storage areas 22 may be one or more.
  • the material box moving device 20 can move multiple material boxes at the same time.
  • the material box moving device 20 is further provided with a material box grasping structure 23, and the material box grasping structure 23 is used to grasp the material box and put it into the material box storage area 22.
  • the bin moving device 20 is further provided with a camera 24, which is used to capture and obtain the bin label and perform identification processing on the bin label, so as to determine the type of goods stored in the bin.
  • each collection material box 42 is provided with a corresponding second material box label, and the second material box label may correspond to the type of goods stored in the collection material box 42. Therefore, based on the setting on the collection material box 42
  • the label of the second container can determine the type of goods stored in the container.
  • the second bin label may specifically be, for example, a barcode or a two-dimensional code, or may be any one or a combination of at least two of text, letters, numbers, and symbols.
  • control terminal 30 also stores current status information of each storage location 11, and the current status includes at least two types: idle and used. After the picking of the target goods is completed, the control terminal 30 is also used to obtain the free storage space 11 where no bin is currently placed on the shelf 10, and send a second control instruction to the bin moving device 20, the second control instruction includes the free storage location 11 Position information on the shelf 10.
  • the bin moving device 20 is also used for buffering the collection bin 42 after the selection of the target goods to the free storage position 11 according to the second control instruction.
  • the collection container 42 can be manually moved into the container storage area 22.
  • it can also be a material
  • the box moving device 20 automatically puts the collection box 42 into the box storage area 22 through the box grabbing structure 23.
  • the box grabbing structure 23 directly takes out the collection box 42 on the conveying line and puts it in. Box storage area 22 and so on.
  • the collection material box 42 when the collection material box 42 after the selection of the target goods is cached in the free storage location 11, the collection material box 42 can be cached in any free storage location 11, or it can be cached until a certain condition is satisfied.
  • the free storage position 11 can make the buffer location of the collection bin 42 more flexible and changeable.
  • storage places 11 for storing storage boxes are provided on the shelves 10.
  • the storage places 11 on the shelves 10 are not all the storage boxes 41, or the storage boxes 41 are
  • the bin moving device 20 moves out of the storage location 11 (for example, when picking goods)
  • the picked collection material box 42 is cached on the free storage space 11 of the shelf 10, that is, the storage space 11 on the shelf 10 can be used to place the storage material box 41 and the cache collection material box 42 at the same time, thus, the collection process There is no need to set a specific cache area or cache shelf to cache the goods, which effectively improves the space utilization of the storage system, and there is no size limit for the cache area or cache shelf, so that a larger number of order tasks can be collected at the same time. , Thereby improving the efficiency of warehousing and collection operations.
  • each storage location 11 on the shelf 10 is correspondingly provided with an identifier (not shown in the figure).
  • the logo can be set in the corresponding position of each storage location 11 by means such as spraying, hand-painting, pasting, welding, detachable connection, etc.
  • the logo can specifically be, for example, a barcode or a two-dimensional code, or it can be in words, letters, numbers, and symbols. Any one or a combination of at least two, etc.
  • the bin moving device 20 is also used to obtain the first identification of the target storage location 11 of the storage target storage bin 41 through the camera 24 after receiving the first control instruction, and send the first identification containing the first identification to the control terminal 30 Notification information.
  • the control terminal 30 is further configured to update the storage location 11 corresponding to the first identifier to the idle storage location 11 according to the first notification information.
  • the target storage position 11 corresponding to the target inventory material box 41 does not have a material box, that is, the target storage position 11 becomes an idle storage position 11.
  • the free storage location 11 can be used for buffering the collection material box 42.
  • the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating subsequent storage positions 11 allocation and making the storage management more scientific and reasonable.
  • the bin moving device 20 may first obtain the first identification and send the first notification message, and then move the target inventory bin; or it may first obtain the first identification, and then execute the sending at the same time.
  • the first notification message and the operation of moving the target inventory bin it can also be to obtain the first identifier first, then move the target inventory bin, and finally send the first notification message; it can also be to move the target inventory bin first, and then obtain the first notification message. Identify and send the first notification message, etc.
  • the bin moving device 20 is further configured to obtain the second identifier of the free storage location 11 through the camera 24 after receiving the second control instruction, and send a second notification containing the second identifier to the control terminal 30 information.
  • the control terminal 30 is further configured to update the state of the storage location 11 corresponding to the second identifier to the used storage location 11 according to the second notification information.
  • the control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage location 11, making the storage management more scientific Reasonable.
  • this embodiment does not strictly limit the sequence of the above operations.
  • the container moving device 20 may first obtain the second identifier and send the second notification message, and then cache the collection container; or it may first obtain the second identifier and then execute the sending at the same time.
  • the second notification message and the operation of caching the collection box it can also be to obtain the second identifier first, then cache the collection box, and finally send the second notification message; it can also be to cache the collection box first, and then obtain the second notification message. Identify and send the second notification message, etc.
  • the bin moving device 20 is further configured to send first query information to the control terminal 30 after the picking of any kind of target goods is completed, and the first query information is used to query the target inventory materials that have completed the picking of the target goods.
  • the current state of the target storage location 11 corresponding to the box that is, the original storage location corresponding to the target inventory bin).
  • the receiving control terminal 30 feeds back the current status information of the target storage location 11 based on the first query information. If the current status of the target storage location 11 is idle, the target inventory bin 41 corresponding to the target goods that has been picked is moved and placed on the target Store bit 11.
  • the bin moving device 20 sends corresponding notification information to the control terminal 30 after moving and placing the target stock bin 41 in the target storage location 11 to instruct the control terminal 30 to update the state of the target storage location 11.
  • the bin moving device 20 can The target stock bin 41 is cached in the bin storage area 22 of the bin moving device 20 itself until the target storage location 11 is changed to the free storage location 11, and then the target stock bin 41 is moved and placed in the target storage location 11.
  • the bin moving device 20 can continue Obtain free storage positions 11 other than the target storage position 11 from the control terminal 30, and move the target stock bin 41 to the free storage position 11.
  • the bin moving device 20 is also used to send the second query information to the control terminal 30 after the picking of any kind of target goods is completed, and the second query information is used to query the free storage space 11 on the shelf 10.
  • the receiving control terminal 30 feedbacks the free storage position 11 information on the shelf 10 based on the second query information. If there is an free storage position 11 on the shelf 10, the bin moving device 20 will select the target stock bin corresponding to the target goods that have been picked. 41 moves and places it in the free storage position 11.
  • the bin moving device 20 may first determine the free storage location 11 that meets the preset condition, and then move the target inventory bin 41 to the free storage location 11 that meets the preset condition.
  • the preset condition may be, for example, the shortest distance between the bin moving device 20 to the idle storage position 11, or the shortest distance between the idle storage position 11 and the first picking area P1, etc., so as to improve collection efficiency.
  • the bin moving device 20 may store the target storage bin 41 in the bin moving The material box storage area 22 of the device 20 itself, until a free storage space 11 appears on the shelf 10, and then the target storage material box 41 is moved and placed in the free storage space 11.
  • the storage of goods can be made more flexible and the collection efficiency can be improved.
  • control terminal 30 is also used to send a third control instruction to the bin moving device 20 after all the target goods in the order task are picked, and the bin moving device 20 is also used to send a third control instruction according to the third control instruction Move all the collection bins 42 containing the target goods to the second picking area P2.
  • the second picking area P2 is the area where the second sorting of goods is performed, such as a seeding wall or a conveyor line, etc.
  • the second picking area P2 can be manually sorted and/or machined. Automatic sorting, etc.
  • the control terminal 30 controls the bin moving device 20 to move all the collection bins 42 containing the target goods to the second picking area P2, thereby facilitating the subsequent secondary sorting and packing Wait for processing.
  • the container moving device 20 is further configured to obtain the third identifier of the storage location 11 of the collection container 42 in which the target goods are cached after receiving the third control instruction, and send it to the control terminal 30 Send the third notification message including the third identifier.
  • the control terminal 30 is further configured to update the storage location 11 corresponding to the third identifier to the idle storage location 11 according to the third notification information.
  • the target storage position 11 corresponding to the target inventory material box 41 does not have a material box, that is, the current state of the target storage position 11 becomes idle.
  • the free storage location 11 can be used for buffering the collection material box 42.
  • the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating subsequent storage positions 11 allocation and making the storage management more scientific and reasonable.
  • this embodiment does not strictly limit the sequence of the above operations.
  • the container moving device 20 may first obtain the third identifier and send the third notification message, and then move the collection container; or it may first obtain the third identifier and then execute the sending at the same time.
  • the third notification message and the operation of moving the collection container it can also be to obtain the third identifier first, then move the collection container, and finally send the third notification message; it can also be to move the collection container first, and then obtain the third Identify and send the third notification message, etc.
  • the material box moving device 20 determines the corresponding identity information of the material box and the storage position
  • the material box label set on the material box and the identification set corresponding to the storage position may also be electronic tags.
  • the camera 24 on the box moving device 20 can be correspondingly adjusted to an electronic tag identification device.
  • the electronic tag identification device can use, for example, RFID (Radio Frequency Identification, radio frequency identification technology) to identify the electronic tag to obtain the container and storage location. ’S identity information.
  • the bin moving device 20 when the bin moving device 20 sends notification information to the control terminal 30, it may also take an image of the storage location 11 through the camera 24, and then send the captured storage location image to the control terminal 30.
  • the control terminal 30 can perform image processing (such as image recognition, separation, classification, etc.) on the storage bit image to determine whether the storage bit in the storage bit image currently has a bin, and then update the state of the storage bit according to the image processing result .
  • image processing such as image recognition, separation, classification, etc.
  • the bin moving device 20 may not perform the step of obtaining the identification of the storage location, that is, the bin moving device 20
  • the notification information sent by the control terminal 30 does not include the identifier corresponding to the storage location.
  • FIG. 4 is a schematic diagram of a cargo collection method in an embodiment of the disclosure.
  • the cargo collection method is applied to the above-mentioned storage system, and may be specifically applied to the processor in the bin moving device 20. As shown in Figure 4, the collection method includes:
  • the free storage space 11 is a storage space 11 on the shelf 10 for placing a storage material box 41, and the storage material box 41 is used for storing goods.
  • the bin moving device 20 under the control of the control terminal 30, buffers the collection bin 42 after the picking of the goods is completed on the free storage position 11 of the shelf 10, that is, the storage on the shelf 10 Bit 11 can be used to place both the storage bin 41 and the cache collection bin 42.
  • the bin moving device 20 under the control of the control terminal 30, buffers the collection bin 42 after the picking of the goods is completed on the free storage position 11 of the shelf 10, that is, the storage on the shelf 10 Bit 11 can be used to place both the storage bin 41 and the cache collection bin 42.
  • the collection method further includes: after receiving the first control instruction, acquiring the first identifier of the target storage location 11 storing the target inventory bin 41, and sending the first identifier containing the first identifier to the control terminal 30 A notification information.
  • the first notification information is used to instruct the control terminal 30 to update the state of the storage location 11 corresponding to the first identifier to the idle storage location 11.
  • control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
  • the collection method further includes: after receiving the second control instruction, acquiring the second identifier of the free storage location 11, and sending second notification information including the second identifier to the control terminal 30, the second notification The information is used to instruct the control terminal 30 to update the state of the storage bit 11 corresponding to the second identifier to the used storage bit 11.
  • control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
  • the collection method further includes: sending first query information to the control terminal 30 after the picking of any kind of target goods is completed, the first query information is used to query the target inventory bin corresponding to the completed target goods picking
  • the target stores the current state of bit 11.
  • the current status information of the target storage location 11 fed back by the receiving control terminal 30 based on the first query information. If the target storage location 11 is currently an idle storage location 11, the target inventory bin 41 corresponding to the target goods that has been picked is moved and placed in Target storage location 11.
  • the collection method further includes: sending second query information to the control terminal 30 after the picking of any kind of target goods is completed, and the second query information is used to query the free storage space 11 on the shelf 10.
  • the receiving control terminal 30 feeds back the information of the free storage space 11 on the shelf 10 based on the second query information. If there is an free storage space 11 on the shelf 10, the target inventory bin 41 corresponding to the target goods that has been picked is moved and placed in the free space. Store bit 11.
  • the storage of goods can be made more flexible and the collection efficiency can be improved.
  • the collection method further includes: after receiving the free storage position information on the shelf fed back by the control terminal based on the second query information, if there are at least two free storage positions on the shelf, based on the at least Two free storage locations determine the free storage location that meets the preset conditions, and move the target storage bin to the free storage location that meets the preset conditions; the preset conditions include the shortest distance from the bin moving device to the free storage location, or , The distance between the free storage space and the first picking area is the shortest, which can improve the collection efficiency.
  • the collection method further includes: when receiving a third control instruction sent by the control terminal 30 after all the target goods in the order task have been picked, placing all the collection bins 42 containing the target goods Move to the second picking area P2 to facilitate subsequent sorting and packing and other processing.
  • the collection method further includes: after receiving the third control instruction, obtaining the third identifier of the storage location 11 of the collection bin 42 in which the target cargo is stored in the buffer, and sending to the control terminal 30 the third identifier containing the first The third notification information identified by the three.
  • the third notification information is used to instruct the control terminal 30 to update the storage location 11 corresponding to the third identifier to the idle storage location 11.
  • control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
  • FIG. 5 is a schematic diagram of a cargo collection method in an embodiment of the disclosure.
  • the cargo collection method is applied to the above-mentioned storage system, and may be specifically applied to the control terminal 30. As shown in Figure 5, the collection method includes:
  • S220 Obtain an order task containing the target goods, and send a first control instruction to the bin moving device 20 based on the order task.
  • the first control instruction is used to instruct the bin moving device 20 to move the target inventory bin 41 storing the target goods to
  • the first picking area P1 and the first picking area P1 are areas where the target goods are picked from the target stock bin 41 to the collection bin 42.
  • the free storage space 11 is a storage space 11 on the shelf 10 for placing a storage material box 41, and the storage material box 41 is used for storing goods.
  • the control terminal 30 controls the bin moving device 20 to buffer the collection bin 42 after the picking of the goods is completed on the free storage position 11 of the shelf 10, that is, the storage positions 11 on the shelf 10 can be stored at the same time. It is used to place the storage bin 41 and the cache collection bin 42. There is no need to set a specific area or shelf 10 to store the goods during the collection process, and there is no size limitation of the area or shelf 10, so that more quantities can be carried out at the same time Consolidation operations of order tasks, thereby improving the efficiency of warehousing collection operations.
  • the collection method further includes: receiving first notification information sent by the container moving device 20 and including a first identifier, the first identifier being acquired by the container moving device 20 after receiving the first control instruction , Store the identifier corresponding to the target storage position 11 of the target inventory material box 41. The state of the storage location 11 corresponding to the first identifier is updated to the idle storage location 11 according to the first notification information.
  • the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage positions 11 and making the storage management more scientific and reasonable.
  • the collection method further includes: receiving second notification information sent by the container moving device 20 and containing a second identifier, the second identifier being acquired by the container moving device 20 after receiving the second control instruction , The identifier corresponding to the free storage location 11.
  • the storage location 11 corresponding to the second identifier is updated to the used storage location 11 according to the second notification information.
  • control terminal 30 can update the status information of the storage location 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage location 11 and making the storage management more scientific and reasonable.
  • the collection method further includes: receiving the first query information sent by the bin moving device 20 after picking any kind of target goods, and feeding back the completed target goods to the bin moving device 20 based on the first query information The current status information of the target storage location 11 corresponding to the picked target inventory bin.
  • the collection method further includes: receiving the second query information sent by the bin moving device 20 after picking any kind of target goods, and feeding back the information on the shelf 10 to the bin moving device 20 based on the second query information Free storage bit 11 related information.
  • the storage of goods can be made more flexible and the collection efficiency can be improved.
  • the collection method further includes: after all the target goods in the order task have been picked, sending a third control instruction to the bin moving device 20.
  • the third control instruction is used to instruct the bin moving device 20 to All the collection bins 42 loaded with the target goods are moved to the second picking area P2, so as to facilitate subsequent sorting and packing and other processing.
  • the collection method further includes: receiving third notification information sent by the container moving device 20 and containing a third identifier, the third identifier being acquired by the container moving device 20 after receiving the third control instruction , Cache the identifier corresponding to the storage location 11 of the collection bin 42 containing the target goods.
  • the state of the storage location 11 corresponding to the third identifier is updated to the idle storage location 11 according to the third notification information.
  • the control terminal 30 can update the status information of the storage positions 11 on the shelf 10, thereby facilitating the subsequent allocation of the storage positions 11 and making the storage management more scientific and reasonable.
  • FIG. 6 is a sequence diagram of the communication between the bin moving device 20 and the control terminal 30 in the storage system. As shown in FIG. 6, the communication between the bin moving device 20 and the control terminal 30 includes the following steps:
  • control terminal 30 obtains the order task containing the target goods, and sends the first control instruction to the bin moving device 20;
  • the bin moving device 20 obtains the first identifier of the target storage position 11 storing the target stock bin 41, moves the target stock bin 41 storing the target goods to the first picking area P1; and sends it to the control terminal 30 Sending the first notification information including the first identifier;
  • the control terminal 30 updates the state of the storage location 11 corresponding to the first identifier to the idle storage location 11 according to the first notification information
  • the control terminal 30 obtains the free storage space 11 where no bin is currently placed, and sends a second control instruction to the bin moving device 20;
  • the bin moving device 20 obtains the second identifier of the free storage location 11, and caches the collection bin 42 after the selection of the target goods is completed in the free storage location 11; and sends the second identifier containing the second identifier to the control terminal 30 Notification information
  • the control terminal 30 updates the storage location 11 corresponding to the second identifier to the used storage location 11 according to the second notification information;
  • the bin moving device 20 sends the first query information to the control terminal 30; after the control terminal 30 obtains the current status information of the target storage location 11 based on the first query information, The box moving device 20 feeds back the current status information of the target storage location 11; if the target storage location 11 is currently an idle storage location 11, the bin moving device 20 moves the target inventory bin 41 corresponding to the target goods that has been picked to the target Storage bit 11;
  • the bin moving device 20 sends the second query information to the control terminal 30; the control terminal 30 obtains the information of the free storage space 11 on the shelf 10 based on the second query information, and then moves to the bin The device 20 feeds back information about the free storage space 11 on the shelf 10; if there is an free storage space 11 on the shelf 10, the bin moving device 20 moves the target stock bin 41 corresponding to the target goods that has been picked and places it in the free storage location 11. ;
  • control terminal 30 sends a third control instruction to the bin moving device 20;
  • the bin moving device 20 obtains the third identifier of the storage location 11 of the storage bin 42 that stores the target goods, and moves each bin 42 containing the target goods to the second picking area P2; And send the third notification information including the third identifier to the control terminal 30;
  • the control terminal 30 updates the storage location 11 corresponding to the third identifier to the free storage location 11 according to the third notification information.
  • a cargo collection device is provided, and the cargo collection device is applied to a bin moving device.
  • Fig. 7 is a schematic diagram of a cargo collecting device in an embodiment of the disclosure. As shown in Fig. 7, the cargo collecting device includes:
  • the moving module 120 is configured to move the target inventory bin storing the target goods in the order task to the first picking area when the first control instruction sent by the control terminal based on the order task is received, where the first picking area is Pick the target goods from the target stock bin to the area of the collection bin;
  • the buffer module 140 is configured to, when receiving a second control instruction sent by the control terminal based on the free storage space where no bins are currently placed on the shelf, buffer the collection bin after the target goods have been selected to the free storage location;
  • the free storage space is the storage space on the shelf for placing the storage bins, and the storage bins are used for storing goods.
  • Each module in the above cargo collection device can be implemented in whole or in part by software, hardware and a combination thereof.
  • the foregoing modules may be embedded in the form of hardware or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the foregoing modules.
  • a cargo collection device is provided, and the cargo collection device is applied to a control terminal.
  • Fig. 8 is a schematic diagram of a cargo collection device in an embodiment of the disclosure. As shown in Fig. 8, the cargo collection device includes:
  • the obtaining module 220 is used to obtain the order task containing the target goods
  • the control module 240 is configured to send a first control instruction to the bin moving device based on the order task.
  • the first control instruction is used to instruct the bin moving device to move the target inventory bin storing the target goods to the first picking area.
  • a picking area is the area where the target goods are picked from the target stock bin to the collection bin;
  • the obtaining module 220 is also used to obtain free storage spaces where no bins are currently placed on the shelf;
  • the control module 240 is further configured to send a second control instruction to the bin moving device, and the second control instruction is used to instruct the bin moving device to buffer the collection bin after the target cargo has been selected to a free storage location;
  • the free storage space is the storage space on the shelf for placing the storage bins, and the storage bins are used for storing goods.
  • Each module in the above cargo collection device can be implemented in whole or in part by software, hardware and a combination thereof.
  • the foregoing modules may be embedded in the form of hardware or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the foregoing modules.
  • a bin moving device including: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are at least A processor is executed to make the bin moving device execute the collection method applied to the bin moving device.
  • a control terminal including: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are processed by at least one processor.
  • the device executes so that the control terminal executes the collection method applied to the control terminal.
  • a computer-readable storage medium is provided, and computer-executable instructions are stored in the computer-readable storage medium.
  • the computer-executable instructions are executed by a processor, they are used to implement the steps of the method embodiments of the present disclosure. .
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

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Abstract

本公开提供一种仓储***、集货方法、装置、料箱移动装置、控制终端及存储介质，在该仓储***中，货架上设置有用于放置存货料箱的存储位，当货架上的存储位未全部放置存货料箱，或者存货料箱被料箱移动装置移出存储位时，可能发生存储位空闲的情况，这样，在集货过程中，料箱移动装置在控制终端的控制下，将完成货物挑拣后的集货料箱缓存于货架的空闲存储位上，即，货架上的存储位可以同时用于放置存货料箱以及缓存集货料箱，从而，集货过程中无需设定特定的缓存区域或缓存货架来缓存货物，有效提高仓储***的空间利用率，且不存在缓存区域或缓存货架的大小限制，从而可以同时进行更多数量的订单任务的集货操作，进而提高仓储集货的作业效率。

Description

仓储***、集货方法、装置、料箱移动装置及控制终端
本申请要求于2020年06月17日提交中国专利局、申请号为202010553288.0、申请名称为“仓储***、集货方法、装置、料箱移动装置及控制终端”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及仓储集货技术领域，尤其涉及一种仓储***、集货方法、装置、料箱移动装置、控制终端及存储介质。
背景技术
随着社会的发展和科学技术的进步，仓储管理水平也在不断提高，合理设计的仓储管理***可以有助于提高仓储集货的作业效率，以满足庞大的集货业务需求。
在仓储操作中，拣货是指将订单任务中指定的货物从仓库中取出的处理过程，现有方法通常采取先集货、再进行二次分拣的拣货策略，以提高拣货效率。
在现有的拣货策略下，需要设定特定的缓存区域或缓存货架来缓存集货过程中挑拣的货物，这会导致仓库资源被占用，且由于特定区域或货架的大小有限，导致缓存的货物数量有限，使得同时进行的订单任务数量受限，从而，最终导致仓储集货的作业效率较低。
发明内容
本公开提供一种仓储***、集货方法、装置、料箱移动装置、控制终端及存储介质，用以解决现有技术存在的仓储集货的作业效率较低的问题。
一方面，本公开提供一种仓储***，包括：货架、料箱移动装置以及控制终端；
所述控制终端用于向所述料箱移动装置发送第一控制指令；
所述料箱移动装置用于根据所述第一控制指令将存放有目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述 目标存货料箱挑拣至集货料箱的区域；
所述控制终端还用于获取所述货架上当前未放置有料箱的空闲存储位，并向所述料箱移动装置发送第二控制指令；
所述料箱移动装置还用于根据所述第二控制指令将完成目标货物挑选后的集货料箱缓存至所述空闲存储位。
在一些实施例中，所述控制终端还用于获取订单任务，所述订单任务包含所述目标货物；基于所述订单任务向所述料箱移动装置发送所述第一控制指令。
在一些实施例中，所述货架上的各所述存储位对应设置有标识；
所述料箱移动装置还用于在接收到所述第一控制指令后，获取存放所述目标存货料箱的目标存储位的第一标识，并向所述控制终端发送包含所述第一标识的第一通知信息；
所述控制终端还用于根据所述第一通知信息将所述第一标识对应的存储位的状态更新为空闲存储位。
在一些实施例中，所述料箱移动装置还用于在接收到所述第二控制指令后，获取所述空闲存储位的第二标识，并向所述控制终端发送包含所述第二标识的第二通知信息；
所述控制终端还用于根据所述第二通知信息将所述第二标识对应的存储位的状态更新为已用存储位。
在一些实施例中，所述料箱移动装置还用于在任意一种目标货物挑拣完成后，向所述控制终端发送第一查询信息，所述第一查询信息用于查询已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态；接收所述控制终端基于所述第一查询信息反馈的所述目标存储位的当前状态信息，若所述目标存储位当前为空闲存储位，则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述目标存储位；
或者，
所述料箱移动装置还用于在任意一种目标货物挑拣完成后，向所述控制终端发送第二查询信息，所述第二查询信息用于查询所述货架上的空闲存储位；接收所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息，若所述货架上存在空闲存储位，则将已完成挑拣的目标货物对应的 目标存货料箱移动放置于所述空闲存储位。
在一些实施例中，在接收到所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息后，若所述货架上存在至少两个空闲存储位，所述料箱移动装置还用于基于所述货架上存在的至少两个空闲存储位确定满足预设条件的空闲存储位，将所述目标存货料箱移动放置于所述满足预设条件的空闲存储位；
所述预设条件包括所述料箱移动装置移动至空闲存储位的距离最短，或者，空闲存储位与所述第一拣货区域的距离最短。
在一些实施例中，所述控制终端还用于在所述订单任务中的所有目标货物都挑拣完成后，向所述料箱移动装置发送第三控制指令；
所述料箱移动装置还用于根据所述第三控制指令将装有所述目标货物的所有集货料箱移动至第二拣货区域。
在一些实施例中，所述料箱移动装置还用于在接收到所述第三控制指令后，获取缓存所述装有所述目标货物的集货料箱的存储位的第三标识，并向所述控制终端发送包含所述第三标识的第三通知信息；
所述控制终端还用于根据所述第三通知信息将所述第三标识对应的存储位的状态更新为空闲存储位。
另一方面，本公开提供一种集货方法，应用于上述的仓储***，包括：
当接收到控制终端基于订单任务发送的第一控制指令时，将存放有所述订单任务中的目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
当接收到所述控制终端基于货架上当前未放置有料箱的空闲存储位发送的第二控制指令时，将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
在一些实施例中，还包括：
在接收到所述第一控制指令后，获取存放所述目标存货料箱的目标存储位的第一标识，并向所述控制终端发送包含所述第一标识的第一通知信息， 所述第一通知信息用于指示所述控制终端将所述第一标识对应的存储位的状态更新为空闲存储位。
在一些实施例中，还包括：
在接收到所述第二控制指令后，获取所述空闲存储位的第二标识，并向所述控制终端发送包含所述第二标识的第二通知信息，所述第二通知信息用于指示所述控制终端将所述第二标识对应的存储位的状态更新为已用存储位。
在一些实施例中，还包括：
在任意一种目标货物挑拣完成后，向所述控制终端发送第一查询信息，所述第一查询信息用于查询已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态；接收所述控制终端基于所述第一查询信息反馈的所述目标存储位的当前状态信息，若所述目标存储位当前为空闲存储位，则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述目标存储位；
或者，
在任意一种目标货物挑拣完成后，向所述控制终端发送第二查询信息，所述第二查询信息用于查询所述货架上的空闲存储位；接收所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息，若所述货架上存在空闲存储位，则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述空闲存储位。
在一些实施例中，还包括：
在接收到所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息后，若所述货架上存在至少两个空闲存储位，基于所述货架上存在的至少两个空闲存储位确定满足预设条件的空闲存储位，将所述目标存货料箱移动放置于所述满足预设条件的空闲存储位；
所述预设条件包括料箱移动装置移动至空闲存储位的距离最短，或者，空闲存储位与所述第一拣货区域的距离最短。
在一些实施例中，还包括：
当接收到所述控制终端在所述订单任务中的所有目标货物都挑拣完成后发送的第三控制指令时，将装有所述目标货物的所有集货料箱移动至第二拣货区域。
在一些实施例中，还包括：
在接收到所述第三控制指令后，获取缓存所述装有所述目标货物的集货料箱的存储位的第三标识，并向所述控制终端发送包含所述第三标识的第三通知信息；所述第三通知信息用于指示所述控制终端将所述第三标识对应的存储位的状态更新为空闲存储位。
另一方面，本公开提供一种集货方法，应用于上述的仓储***，包括：
获取包含目标货物的订单任务，基于所述订单任务向料箱移动装置发送第一控制指令，所述第一控制指令用于指示所述料箱移动装置将存放有所述目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
获取货架上当前未放置有料箱的空闲存储位，并向所述料箱移动装置发送第二控制指令，所述第二控制指令用于指示所述料箱移动装置将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
在一些实施例中，还包括：
接收所述料箱移动装置发送的、包含第一标识的第一通知信息，所述第一标识为所述料箱移动装置在接收到所述第一控制指令后获取的、存放所述目标存货料箱的目标存储位对应的标识；
根据所述第一通知信息将所述第一标识对应的存储位的状态更新为空闲存储位。
在一些实施例中，还包括：
接收所述料箱移动装置发送的、包含第二标识的第二通知信息，所述第二标识为所述料箱移动装置在接收到所述第二控制指令后获取的、所述空闲存储位对应的标识；
根据所述第二通知信息将所述第二标识对应的存储位的状态更新为已用存储位。
在一些实施例中，还包括：
接收所述料箱移动装置在任意一种目标货物挑拣完成后发送的第一查询信息，基于所述第一查询信息向所述料箱移动装置反馈已完成目标货物挑拣 的目标存货料箱对应的目标存储位的当前状态信息；
或者，
接收所述料箱移动装置在任意一种目标货物挑拣完成后发送的第二查询信息，基于所述第二查询信息向所述料箱移动装置反馈所述货架上的空闲存储位信息。
在一些实施例中，还包括：
在所述订单任务中的所有目标货物都挑拣完成后，向所述料箱移动装置发送第三控制指令，所述第三控制指令用于指示所述料箱移动装置将装有所述目标货物的所有集货料箱移动至第二拣货区域。
在一些实施例中，还包括：
接收所述料箱移动装置发送的、包含第三标识的第三通知信息，所述第三标识为所述料箱移动装置在接收到所述第三控制指令后获取的、缓存所述装有所述目标货物的集货料箱的存储位对应的标识；
根据所述第三通知信息将所述第三标识对应的存储位的状态更新为空闲存储位。
另一方面，本公开提供一种集货装置，应用于料箱移动装置，包括：
移动模块，用于当接收到控制终端基于订单任务发送的第一控制指令时，将存放有所述订单任务中的目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
缓存模块，用于当接收到所述控制终端基于货架上当前未放置有料箱的空闲存储位发送的第二控制指令时，将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
另一方面，本公开提供一种集货装置，应用于控制终端，包括：
获取模块，用于获取包含目标货物的订单任务；
控制模块，用于基于所述订单任务向料箱移动装置发送第一控制指令， 所述第一控制指令用于指示所述料箱移动装置将存放有所述目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
所述获取模块还用于获取货架上当前未放置有料箱的空闲存储位；
所述控制模块还用于向所述料箱移动装置发送第二控制指令，所述第二控制指令用于指示所述料箱移动装置将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
另一方面，本公开提供一种料箱移动装置，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；
其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述料箱移动装置执行上述的方法。
另一方面，本公开提供一种控制终端，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；
其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述控制终端执行上述的方法。
另一方面，本公开提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现上述的集货方法。
本公开提供的仓储***、集货方法、装置、料箱移动装置、控制终端及存储介质，在该仓储***中，货架上设置有用于放置存货料箱的存储位，当货架上的存储位未全部放置存货料箱，或者存货料箱被料箱移动装置移出存储位(例如进行货物拣选)时，可能发生存储位空闲的情况，这样，在集货过程中，料箱移动装置在控制终端的控制下，将完成货物挑拣后的集货料箱缓存于货架的空闲存储位上，即，货架上的存储位可以同时用于放置存货料箱以及缓存集货料箱，从而，集货过程中无需设定特定的缓存区域 或缓存货架来缓存货物，有效提高仓储***的空间利用率，且不存在缓存区域或缓存货架的大小限制，从而可以同时进行更多数量的订单任务的集货操作，进而提高仓储集货的作业效率。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1为本公开实施例中仓储***的示意图；
图2为本公开实施例中货架10的示意图；
图3为本公开实施例中料箱移动装置20的示意图；
图4为本公开实施例中集货方法的示意图；
图5为本公开实施例中集货方法的另一示意图；
图6为本公开实施例中仓储***中的料箱移动装置20与控制终端30进行通信的时序图；
图7为本公开实施例中集货装置的示意图；
图8为本公开实施例中集货装置的另一示意图。
附图标记说明：
10、货架；11、存储位(也指代目标存储位、空闲存储位、已用存储位)；20、料箱移动装置；21、移动结构；22、料箱存放区；23、料箱抓取结构；24、摄像头；30、控制终端；41、存货料箱(也指代目标存货料箱)；42、集货料箱；P1、第一拣货区域；P2、第二拣货区域；120、移动模块；140、缓存模块；220、获取模块；240、控制模块。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于 本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本公开实施例中所使用的单数形式的“一种”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者***不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者***所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的商品或者***中还存在另外的相同要素。
首先对本公开涉及的专业名词进行解释说明：
1、集货：仓储***在接收到多个订单任务时，可以先统计多个订单任务中同类型货物的总数量，然后直接一次性挑选出多个订单对应的足够数量的同类型货物，以减少货物挑选次数。
例如：假设仓储***当前接收到三个订单任务，其对应的货物类型及数量分别为：
  货物A 货物B 货物C 货物D
订单1 1 3 2 0
订单2 2 4 1 6
订单3 2 4 2 3
若按照不同订单任务分别挑选对应货物，则仓储***完成订单1需要挑 选3次，完成订单2和订单3都需要挑选4次，即仓储***完成上述三个订单任务总共需要挑选11次。
若仓储***采用多订单任务共同集货处理，则仅需要分别对货物A、货物B、货物C、货物D各进行1次集货挑选，挑拣的四种货物各自对应的货物数量分别为5个、11个、5个、9个，总共仅需要挑选4次，从而，通过集货可以提高货物挑选效率。
2、二次分拣：在完成集货处理后，仓储***根据不同订单任务的需要，分别从集货挑选的货物中分拣对应类型以及对应数量的货物，以进行后续的打包运输等处理。
例如：参考上述示例，在通过集货处理得到5个货物A、11个货物B、5个货物C及9个货物D后，分别挑选订单1、订单2及订单3的对应数量的对应货物，并将同一订单任务的所有货物进行打包即可。
3、存货料箱：仓储***中用于存放货物的料箱，单个存货料箱中存放较多数量的同一种货物，从而，可以从存货料箱中挑拣相应数量的同一类型的货物。
例如：某一个存货料箱中存放100个货物A，另一个存货料箱中存放150个货物B等。
4、集货料箱：仓储***中用于缓存挑拣出来的货物的料箱，可以理解为周转料箱，单个集货料箱中缓存单种类型的货物。
例如：参考上述示例，某一个集货料箱中缓存5个货物A，另一个集货料箱中缓存11个货物B，另一个集货料箱中缓存5个货物C，另一个集货料箱中缓存9个货物D。
在现有的拣货策略下，在使用集货料箱进行集货时，需要设定特定的缓存区域或缓存货架来缓存集货料箱，这会导致仓库资源被占用。此外，订单任务的数量越多，集货过程中需要缓存的货物数量越多，缓存需要占用的空间也越大，而由于特定缓存区域或缓存货架的大小有限，其存放的集货料箱的数量有限，使得同时进行的订单任务数量受限，从而，最终导致仓储集货的作业效率较低。
本公开提供的仓储***，旨在解决现有技术的如上技术问题。本公开提 供一种仓储***，是将完成货物挑拣后的集货料箱缓存于货架的空闲存储位上，即，货架上的存储位可以同时用于放置存货料箱以及缓存集货料箱，从而，集货过程中无需设定特定的区域或货架来缓存货物，且不存在区域或货架的大小限制，从而可以同时进行更多数量的订单任务的集货操作，进而提高仓储集货的作业效率。
下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
图1为本公开实施例中仓储***的示意图，如图1所示，该仓储***包括：货架10、料箱移动装置20以及控制终端30。
其中，货架10为仓库中用于存放货物的货架，料箱移动装置20具体可以是运货机器人等，控制终端30具体可以是计算机设备或者服务器等。
另外，图1中的第一拣货区域P1为执行集货处理的区域；第二拣货区域P2为执行货物的二次分拣的区域。
图2为本公开实施例中货架10的示意图，如图2所示，单个货架10上设置有多个用于放置存货料箱41的存储位11，具体可以是例如横向设置N个存储位11、纵向设置M个存储位11，即总共设置M×N个存储位11，存货料箱41用于存放货物。本公开的仓储***中，货架10的数量可以是多个，即仓储***包含多个货架10，每个货架10上的存储位11的排布方式及排布数量可以相同或者不同。货架10的数量以及单个货架10上的存储位11的数量可以根据存放货物的存货料箱41的数量来确定，例如，所有货架10的存储位11的总数量可以是等于或者大于存货料箱41的数量。
可选的，各存货料箱41上设置有对应的第一料箱标签，第一料箱标签可以与存货料箱41中存放的货物类型对应，从而，基于存货料箱41上设置的第一料箱标签可以确定料箱内存放的货物类型。第一料箱标签具体可以是例如条形码或者二维码，也可以是文字、字母、数字、符号中的任一种或者至少两种的组合等。
参考图1，料箱移动装置20可以与控制终端30进行无线通信，料箱移 动装置20用于根据控制终端30发送的控制指令对料箱进行移动。
具体的，控制终端30用于获取包含目标货物的订单任务，基于订单任务向料箱移动装置20发送第一控制指令，第一控制指令包含需要挑拣的货物类型信息以及货物位置信息，货物位置信息具体为货物在货架10上的位置信息，从而，料箱移动装置20可以根据该货物位置信息移动至对应位置，以进行后续的料箱移动操作。
料箱移动装置20用于根据控制终端30发送的第一控制指令将存放有目标货物的目标存货料箱41移动至第一拣货区域P1，第一拣货区域P1为将目标货物由目标存货料箱41挑拣至集货料箱42的区域，即执行集货处理的区域。第一拣货区域P1的货物挑拣方式可以采取人工挑拣和/或机器自动挑拣等。
图3为本公开实施例中料箱移动装置20的示意图，如图3所示，料箱移动装置20包括移动结构21(例如滚轮，也可以履带等)以及料箱存放区22，移动结构21可以用于进行移动，料箱存放区22可以用于存放料箱。料箱存放区22的数量可以是一个或者多个，当料箱移动装置20设置有多个料箱存放区22时，料箱移动装置20可以同时移动多个料箱。
可选的，参考图3，料箱移动装置20还设置有料箱抓取结构23，该料箱抓取结构23用于抓取料箱并放入料箱存放区22中。
可选的，参考图3，料箱移动装置20还设置有摄像头24，该摄像头24用于拍摄获取料箱标签并对料箱标签进行识别处理，从而确定料箱内存放的货物类型。
可以理解，料箱移动装置20中还设置有处理器、通信模块等其他结构(图中未示出)，使得料箱移动装置20可以与控制终端30进行通信等。
可选的，各集货料箱42上设置有对应的第二料箱标签，第二料箱标签可以与集货料箱42中存放的货物类型对应，从而，基于集货料箱42上设置的第二料箱标签可以确定料箱内存放的货物类型。第二料箱标签具体可以是例如条形码或者二维码，也可以是文字、字母、数字、符号中的任一种或者至少两种的组合等。
此外，控制终端30还存储有各存储位11的当前状态信息，当前状态至少包括空闲和已用两种。在目标货物挑拣完成后，控制终端30还用于获取货架10上当前未放置有料箱的空闲存储位11，并向料箱移动装置20发送第二 控制指令，第二控制指令包含空闲存储位11在货架10上的位置信息。
料箱移动装置20还用于根据第二控制指令将完成目标货物挑选后的集货料箱42缓存至空闲存储位11。
可选的，在料箱移动装置20移动完成目标货物挑选后的集货料箱42时，可以采取人工搬运的方式将集货料箱42放入料箱存放区22，此外，也可以是料箱移动装置20通过料箱抓取结构23自动将集货料箱42放入料箱存放区22，例如，通过料箱抓取结构23直接在输送线上取出集货料箱42并放入料箱存放区22等。
可选的，在将完成目标货物挑选后的集货料箱42缓存至空闲存储位11时，可以是将集货料箱42缓存至任意的空闲存储位11，也可以是缓存至满足一定条件的空闲存储位11，从而，可以使得集货料箱42的缓存位置更加灵活多变。
本公开提供的仓储***，在该仓储***中，货架10上设置有用于放置存货料箱的存储位11，当货架10上的存储位11未全部放置存货料箱41，或者存货料箱41被料箱移动装置20移出存储位11(例如进行货物拣选)时，可能发生存储位11空闲的情况，这样，在集货过程中，料箱移动装置20在控制终端30的控制下，将完成货物挑拣后的集货料箱42缓存于货架10的空闲存储位11上，即，货架10上的存储位11可以同时用于放置存货料箱41以及缓存集货料箱42，从而，集货过程中无需设定特定的缓存区域或缓存货架来缓存货物，有效提高仓储***的空间利用率，且不存在缓存区域或缓存货架的大小限制，从而可以同时进行更多数量的订单任务的集货操作，进而提高仓储集货的作业效率。
在一些实施例中，货架10上的各存储位11对应设置有标识(图中未示出)。标识可以是采取例如喷涂、手绘、粘贴、焊接、可拆卸连接等方式设置于各存储位11的对应位置，标识具体可以是例如条形码或者二维码，也可以是文字、字母、数字、符号中的任一种或者至少两种的组合等。
料箱移动装置20还用于在接收到第一控制指令后，通过摄像头24获取存放目标存货料箱41的目标存储位11的第一标识，并向控制终端30发送包含第一标识的第一通知信息。控制终端30还用于根据第一通知信息将第一标 识对应的存储位11更新为空闲存储位11。
具体的，料箱移动装置20在对目标存货料箱41进行移动后，目标存货料箱41对应的目标存储位11未放置有料箱，即该目标存储位11变为空闲存储位11，此时，该空闲存储位11可以用于缓存集货料箱42。从而，通过料箱移动装置20与控制终端30的通信，控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
需要说明的是，对于料箱移动装置20执行获取第一标识的操作、执行发送第一通知消息的操作以及执行移动目标存货料箱的操作，本实施例并不严格限定以上操作的先后顺序。
例如，料箱移动装置20在接收到第一控制指令后，可以是先获取第一标识并发送第一通知消息，再移动目标存货料箱；也可以是先获取第一标识，再同时执行发送第一通知消息以及移动目标存货料箱的操作；还可以是先获取第一标识，再移动目标存货料箱，最后发送第一通知消息；还可以是先移动目标存货料箱，再获取第一标识并发送第一通知消息等。
在一些实施例中，料箱移动装置20还用于在接收到第二控制指令后，通过摄像头24获取空闲存储位11的第二标识，并向控制终端30发送包含第二标识的第二通知信息。控制终端30还用于根据第二通知信息将第二标识对应的存储位11的状态更新为已用存储位11。
具体的，料箱移动装置20根据第二控制指令将集货料箱42缓存至空闲存储位11后，该空闲存储位11的当前状态变为已用，此时该存储位11无法放置其他料箱，从而，通过料箱移动装置20与控制终端30的通信，控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
需要说明的是，对于料箱移动装置20执行获取第二标识的操作、执行发送第二通知消息的操作以及执行缓存集货料箱的操作，本实施例并不严格限定以上操作的先后顺序。
例如，料箱移动装置20在接收到第二控制指令后，可以是先获取第二标识并发送第二通知消息，再缓存集货料箱；也可以是先获取第二标识，再同 时执行发送第二通知消息以及缓存集货料箱的操作；还可以是先获取第二标识，再缓存集货料箱，最后发送第二通知消息；还可以是先缓存集货料箱，再获取第二标识并发送第二通知消息等。
在一些实施例中，料箱移动装置20还用于在任意一种目标货物挑拣完成后，向控制终端30发送第一查询信息，第一查询信息用于查询已完成目标货物挑拣的目标存货料箱对应的目标存储位11(即目标存货料箱对应的原存储位)的当前状态。接收控制终端30基于第一查询信息反馈的目标存储位11的当前状态信息，若目标存储位11的当前状态为空闲，则将已完成挑拣的目标货物对应的目标存货料箱41移动放置于目标存储位11。
可选的，料箱移动装置20在将目标存货料箱41移动放置于目标存储位11后，向控制终端30发送相应的通知信息，以指示控制终端30对目标存储位11的状态进行更新。
可选的，若已完成目标货物挑拣的目标存货料箱对应的目标存储位11的当前状态为已用，说明目标存储位11当前放置有其他料箱，此时，料箱移动装置20可以将目标存货料箱41缓存于料箱移动装置20本身的料箱存放区22，直至目标存储位11变更为空闲存储位11，再将目标存货料箱41移动放置于目标存储位11。
可选的，若已完成目标货物挑拣的目标存货料箱对应的目标存储位11的当前状态为已用，说明目标存储位11当前放置有其他料箱，此时，料箱移动装置20可以继续向控制终端30获取除目标存储位11以外的其他空闲存储位11，并将目标存货料箱41移动放置于空闲存储位11。
从而，通过优先将完成挑拣的目标存货料箱41放回至对应的目标存储位11，可以保证货物存放位置严格固定，便于进行后续的补货处理。
在一些实施例中，料箱移动装置20还用于在任意一种目标货物挑拣完成后，向控制终端30发送第二查询信息，第二查询信息用于查询货架10上的空闲存储位11。接收控制终端30基于第二查询信息反馈的货架10上的空闲存储位11信息，若货架10上存在空闲存储位11，则料箱移动装置20将已完成挑拣的目标货物对应的目标存货料箱41移动放置于空闲存储位11。
可选的，料箱移动装置20可以先确定满足预设条件的空闲存储位11，再将目标存货料箱41移动放置于该满足预设条件的空闲存储位11。预设条件可以是例如料箱移动装置20移动至空闲存储位11的距离最短，或者，空闲存储位11与第一拣货区域P1的距离最短等，从而可以提高集货效率。
可选的，若所有货架10上不存在空闲存储位11，即所有货架10上所有存储位11均已被占用，此时，料箱移动装置20可以将目标存货料箱41缓存于料箱移动装置20本身的料箱存放区22，直至货架10上出现空闲存储位11，再将目标存货料箱41移动放置于空闲存储位11。
从而，通过优先将完成挑拣的目标存货料箱41放回至任意空闲存储位11，可以使得货物存放更加灵活，提高集货效率。
在一些实施例中，控制终端30还用于在订单任务中的所有目标货物都挑拣完成后，向料箱移动装置20发送第三控制指令，料箱移动装置20还用于根据第三控制指令将装有目标货物的所有集货料箱42移动至第二拣货区域P2。
具体的，第二拣货区域P2为执行货物的二次分拣的区域，例如播种墙或者输送线等，第二拣货区域P2的货物二次分拣方式可以采取人工分拣和/或机器自动分拣等。在所有目标货物都挑拣完成后，控制终端30控制料箱移动装置20将装有目标货物的所有集货料箱42移动至第二拣货区域P2，从而便于进行后续的二次分拣以及打包等处理。
在一些实施例中，料箱移动装置20还用于在在接收到第三控制指令后，获取缓存装有目标货物的集货料箱42的存储位11的第三标识，并向控制终端30发送包含第三标识的第三通知信息。控制终端30还用于根据第三通知信息将第三标识对应的存储位11更新为空闲存储位11。
具体的，料箱移动装置20在对目标存货料箱41进行移动后，目标存货料箱41对应的目标存储位11未放置有料箱，即该目标存储位11的当前状态变为空闲，此时，该空闲存储位11可以用于缓存集货料箱42。从而，通过料箱移动装置20与控制终端30的通信，控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓 储管理更加科学合理。
需要说明的是，对于料箱移动装置20执行获取第三标识的操作、执行发送第三通知消息的操作以及执行移动集货料箱的操作，本实施例并不严格限定以上操作的先后顺序。
例如，料箱移动装置20在接收到第三控制指令后，可以是先获取第三标识并发送第三通知消息，再移动集货料箱；也可以是先获取第三标识，再同时执行发送第三通知消息以及移动集货料箱的操作；还可以是先获取第三标识，再移动集货料箱，最后发送第三通知消息；还可以是先移动集货料箱，再获取第三标识并发送第三通知消息等。
在一些实施例中，料箱移动装置20在确定料箱以及存储位的对应的身份信息时，料箱上设置的料箱标签以及存储位对应设置的标识也可以是电子标签，此时，料箱移动装置20上的摄像头24可以对应调整为电子标签识别设备，该电子标签识别设备可以采用例如RFID(Radio Frequency Identification，射频识别技术)等对电子标签进行身份识别，从而获取料箱以及存储位的身份信息。
在一些实施例中，料箱移动装置20在向控制终端30发送通知信息时，也可以是通过摄像头24拍摄存储位11的图像，然后将拍摄的存储位图像发送至控制终端30。
控制终端30可以对存储位图像进行图像处理(例如图像识别、分隔、分类等)，以确定该存储位图像中的存储位当前是否放置有料箱，进而根据图像处理结果对存储位的状态进行更新。
可以理解，在控制终端30可以基于存储位图像识别存储位状态的情况下，本实施例的方案中，料箱移动装置20可以不执行获取存储位的标识的步骤，即料箱移动装置20向控制终端30发送的通知信息不包括存储位对应的标识。
图4为本公开实施例中集货方法的示意图，该集货方法应用于上述的仓储***，具体可以是应用于料箱移动装置20中的处理器。如图4所示，该集货方法包括：
S120、当接收到控制终端30基于订单任务发送的第一控制指令时，将存放有订单任务中的目标货物的目标存货料箱41移动至第一拣货区域P1，第一拣货区域P1为将目标货物由目标存货料箱41挑拣至集货料箱42的区域。
S140、当接收到控制终端30基于货架10上当前未放置有料箱的空闲存储位11发送的第二控制指令时，将完成目标货物挑选后的集货料箱42缓存至空闲存储位11。
其中，空闲存储位11为货架10上用于放置存货料箱41的存储位11，存货料箱41用于存放货物。
从而，在集货过程中，料箱移动装置20在控制终端30的控制下，将完成货物挑拣后的集货料箱42缓存于货架10的空闲存储位11上，即，货架10上的存储位11可以同时用于放置存货料箱41以及缓存集货料箱42，集货过程中无需设定特定的区域或货架10来缓存货物，且不存在区域或货架10的大小限制，从而可以同时进行更多数量的订单任务的集货操作，进而提高仓储集货的作业效率。
在一些实施例中，集货方法还包括：在接收到第一控制指令后，获取存放目标存货料箱41的目标存储位11的第一标识，并向控制终端30发送包含第一标识的第一通知信息，第一通知信息用于指示控制终端30将第一标识对应的存储位11的状态更新为空闲存储位11。
从而，通过与控制终端30进行通信，使得控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
在一些实施例中，集货方法还包括：在接收到第二控制指令后，获取空闲存储位11的第二标识，并向控制终端30发送包含第二标识的第二通知信息，第二通知信息用于指示控制终端30将第二标识对应的存储位11的状态更新为已用存储位11。
从而，通过与控制终端30进行通信，使得控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
在一些实施例中，集货方法还包括：在任意一种目标货物挑拣完成后，向控制终端30发送第一查询信息，第一查询信息用于查询已完成目标货物挑 拣的目标存货料箱对应的目标存储位11的当前状态。接收控制终端30基于第一查询信息反馈的目标存储位11的当前状态信息，若目标存储位11当前为空闲存储位11，则将已完成挑拣的目标货物对应的目标存货料箱41移动放置于目标存储位11。
从而，通过优先将完成挑拣的目标存货料箱41放回至对应的目标存储位11，可以保证货物存放位置严格固定，便于进行后续的补货处理。
在一些实施例中，集货方法还包括：在任意一种目标货物挑拣完成后，向控制终端30发送第二查询信息，第二查询信息用于查询货架10上的空闲存储位11。接收控制终端30基于第二查询信息反馈的货架10上的空闲存储位11信息，若货架10上存在空闲存储位11，则将已完成挑拣的目标货物对应的目标存货料箱41移动放置于空闲存储位11。
从而，通过优先将完成挑拣的目标存货料箱41放回至任意空闲存储位11，可以使得货物存放更加灵活，提高集货效率。
在一些实施例中，集货方法还包括：在接收到控制终端基于第二查询信息反馈的货架上的空闲存储位信息后，若货架上存在至少两个空闲存储位，基于货架上存在的至少两个空闲存储位确定满足预设条件的空闲存储位，将目标存货料箱移动放置于满足预设条件的空闲存储位；预设条件包括料箱移动装置移动至空闲存储位的距离最短，或者，空闲存储位与第一拣货区域的距离最短，从而可以提高集货效率。
在一些实施例中，集货方法还包括：当接收到控制终端30在订单任务中的所有目标货物都挑拣完成后发送的第三控制指令时，将装有目标货物的所有集货料箱42移动至第二拣货区域P2，从而便于进行后续的分拣打包等处理。
在一些实施例中，集货方法还包括：在接收到第三控制指令后，获取缓存装有目标货物的集货料箱42的存储位11的第三标识，并向控制终端30发送包含第三标识的第三通知信息。第三通知信息用于指示控制终端30将第三标识对应的存储位11更新为空闲存储位11。
从而，通过与控制终端30进行通信，使得控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
图5为本公开实施例中集货方法的示意图，该集货方法应用于上述的仓储***，具体可以是应用于控制终端30。如图5所示，该集货方法包括：
S220、获取包含目标货物的订单任务，基于订单任务向料箱移动装置20发送第一控制指令，第一控制指令用于指示料箱移动装置20将存放有目标货物的目标存货料箱41移动至第一拣货区域P1，第一拣货区域P1为将目标货物由目标存货料箱41挑拣至集货料箱42的区域。
S240、获取货架10上当前未放置有料箱的空闲存储位11，并向料箱移动装置20发送第二控制指令，第二控制指令用于指示料箱移动装置20将完成目标货物挑选后的集货料箱42缓存至空闲存储位11。
其中，空闲存储位11为货架10上用于放置存货料箱41的存储位11，存货料箱41用于存放货物。
从而，在集货过程中，控制终端30控制料箱移动装置20将完成货物挑拣后的集货料箱42缓存于货架10的空闲存储位11上，即，货架10上的存储位11可以同时用于放置存货料箱41以及缓存集货料箱42，集货过程中无需设定特定的区域或货架10来缓存货物，且不存在区域或货架10的大小限制，从而可以同时进行更多数量的订单任务的集货操作，进而提高仓储集货的作业效率。
在一些实施例中，集货方法还包括：接收料箱移动装置20发送的、包含第一标识的第一通知信息，第一标识为料箱移动装置20在接收到第一控制指令后获取的、存放目标存货料箱41的目标存储位11对应的标识。根据第一通知信息将第一标识对应的存储位11的状态更新为空闲存储位11。
从而，通过与料箱移动装置20进行通信，控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
在一些实施例中，集货方法还包括：接收料箱移动装置20发送的、包含第二标识的第二通知信息，第二标识为料箱移动装置20在接收到第二控制指令后获取的、空闲存储位11对应的标识。根据第二通知信息将第二标识对应的存储位11更新为已用存储位11。
从而，通过与料箱移动装置20进行通信，控制终端30可以对货架10上 的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
在一些实施例中，集货方法还包括：接收料箱移动装置20在任意一种目标货物挑拣完成后发送的第一查询信息，基于第一查询信息向料箱移动装置20反馈已完成目标货物挑拣的目标存货料箱对应的目标存储位11的当前状态信息。
从而，通过优先将完成挑拣的目标存货料箱41放回至对应的目标存储位11，可以保证货物存放位置严格固定，便于进行后续的补货处理。
在一些实施例中，集货方法还包括：接收料箱移动装置20在任意一种目标货物挑拣完成后发送的第二查询信息，基于第二查询信息向料箱移动装置20反馈货架10上的空闲存储位11的相关信息。
从而，通过优先将完成挑拣的目标存货料箱41放回至任意空闲存储位11，可以使得货物存放更加灵活，提高集货效率。
在一些实施例中，集货方法还包括：在订单任务中的所有目标货物都挑拣完成后，向料箱移动装置20发送第三控制指令，第三控制指令用于指示料箱移动装置20将装有目标货物的所有集货料箱42移动至第二拣货区域P2，从而便于进行后续的分拣打包等处理。
在一些实施例中，集货方法还包括：接收料箱移动装置20发送的、包含第三标识的第三通知信息，第三标识为料箱移动装置20在接收到第三控制指令后获取的、缓存装有目标货物的集货料箱42的存储位11对应的标识。根据第三通知信息将第三标识对应的存储位11的状态更新为空闲存储位11。
从而，通过与料箱移动装置20进行通信，控制终端30可以对货架10上的存储位11的状态信息进行更新，从而便于进行后续的存储位11分配，使得仓储管理更加科学合理。
图6为仓储***中料箱移动装置20与控制终端30进行通信的时序图，如图6所示，料箱移动装置20与控制终端30的通信包括以下步骤：
(1)在开始挑拣目标货物时，控制终端30获取包含目标货物的订单任务，并向料箱移动装置20发送第一控制指令；
(2)料箱移动装置20获取存放目标存货料箱41的目标存储位11的第 一标识，将存放有目标货物的目标存货料箱41移动至第一拣货区域P1；并向控制终端30发送包含第一标识的第一通知信息；
(3)控制终端30根据第一通知信息将第一标识对应的存储位11的状态更新为空闲存储位11；
(4)控制终端30获取当前未放置有料箱的空闲存储位11，并向料箱移动装置20发送第二控制指令；
(5)料箱移动装置20获取空闲存储位11的第二标识，将完成目标货物挑选后的集货料箱42缓存至空闲存储位11；并向控制终端30发送包含第二标识的第二通知信息；
(6)控制终端30根据第二通知信息将第二标识对应的存储位11更新为已用存储位11；
(7)在任意一种目标货物挑拣完成后，料箱移动装置20向控制终端30发送第一查询信息；控制终端30在基于第一查询信息获取目标存储位11的当前状态信息后，向料箱移动装置20反馈目标存储位11的当前状态信息；若目标存储位11当前为空闲存储位11，则料箱移动装置20将已完成挑拣的目标货物对应的目标存货料箱41移动放置于目标存储位11；
或者，
在任意一种目标货物挑拣完成后，料箱移动装置20向控制终端30发送第二查询信息；控制终端30在基于第二查询信息获取货架10上的空闲存储位11信息后，向料箱移动装置20反馈货架10上的空闲存储位11信息；若货架10上存在空闲存储位11，则料箱移动装置20将已完成挑拣的目标货物对应的目标存货料箱41移动放置于空闲存储位11；
(8)在订单任务中的所有目标货物都挑拣完成后，控制终端30向料箱移动装置20发送第三控制指令；
(9)料箱移动装置20获取缓存装有目标货物的集货料箱42的存储位11的第三标识，将各装有目标货物的集货料箱42移动至第二拣货区域P2；并向控制终端30发送包含第三标识的第三通知信息；
(10)控制终端30根据第三通知信息将第三标识对应的存储位11更新为空闲存储位11。
应该理解的是，虽然上述实施例中的流程图中的各个步骤按照箭头的指 示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，其可以以其他的顺序执行。而且，图中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，其执行顺序也不必然是依次进行，而是可以与其他步骤或者其他步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一些实施例中，提供一种集货装置，该集货装置应用于料箱移动装置。
图7为本公开实施例中集货装置的示意图，如图7所示，该集货装置包括：
移动模块120，用于当接收到控制终端基于订单任务发送的第一控制指令时，将存放有订单任务中的目标货物的目标存货料箱移动至第一拣货区域，第一拣货区域为将目标货物由目标存货料箱挑拣至集货料箱的区域；
缓存模块140，用于当接收到控制终端基于货架上当前未放置有料箱的空闲存储位发送的第二控制指令时，将完成目标货物挑选后的集货料箱缓存至空闲存储位；
其中，空闲存储位为货架上用于放置存货料箱的存储位，存货料箱用于存放货物。
关于集货装置的具体限定可以参见上文中对于应用于料箱移动装置的集货方法的限定，在此不再赘述。上述集货装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一些实施例中，提供一种集货装置，该集货装置应用于控制终端。
图8为本公开实施例中集货装置的示意图，如图8所示，该集货装置包括：
获取模块220，用于获取包含目标货物的订单任务；
控制模块240，用于基于订单任务向料箱移动装置发送第一控制指令，第一控制指令用于指示料箱移动装置将存放有目标货物的目标存货料箱移动 至第一拣货区域，第一拣货区域为将目标货物由目标存货料箱挑拣至集货料箱的区域；
获取模块220还用于获取货架上当前未放置有料箱的空闲存储位；
控制模块240还用于向料箱移动装置发送第二控制指令，第二控制指令用于指示料箱移动装置将完成目标货物挑选后的集货料箱缓存至空闲存储位；
其中，空闲存储位为货架上用于放置存货料箱的存储位，存货料箱用于存放货物。
关于集货装置的具体限定可以参见上文中对于应用于控制终端的集货方法的限定，在此不再赘述。上述集货装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一些实施例中，提供一种料箱移动装置，包括：至少一个处理器；以及与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使料箱移动装置执行应用于料箱移动装置的集货方法。
在一些实施例中，提供一种控制终端，包括：至少一个处理器；以及与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使控制终端执行应用于控制终端的集货方法。
在一个实施例中，提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现本公开各方法实施例的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本公开所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可 编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
本领域技术人员在考虑说明书及实践这里公开的申请后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (26)

  1. 一种仓储***，其特征在于，包括：货架、料箱移动装置以及控制终端；
    所述货架设置有多个用于放置存货料箱的存储位，所述存货料箱用于存放货物；
    所述控制终端用于向所述料箱移动装置发送第一控制指令；
    所述料箱移动装置用于根据所述第一控制指令将存放有目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
    所述控制终端还用于获取所述货架上当前未放置有料箱的空闲存储位，并向所述料箱移动装置发送第二控制指令；
    所述料箱移动装置还用于根据所述第二控制指令将完成目标货物挑选后的集货料箱缓存至所述空闲存储位。
  2. 根据权利要求1所述的仓储***，其特征在于，所述控制终端还用于获取订单任务，所述订单任务包含所述目标货物；基于所述订单任务向所述料箱移动装置发送所述第一控制指令。
  3. 根据权利要求1所述的仓储***，其特征在于，所述货架上的各所述存储位对应设置有标识；
    所述料箱移动装置还用于在接收到所述第一控制指令后，获取存放所述目标存货料箱的目标存储位的第一标识，并向所述控制终端发送包含所述第一标识的第一通知信息；
    所述控制终端还用于根据所述第一通知信息将所述第一标识对应的存储位的状态更新为空闲存储位。
  4. 根据权利要求3所述的仓储***，其特征在于，所述料箱移动装置还用于在接收到所述第二控制指令后，获取所述空闲存储位的第二标识，并向所述控制终端发送包含所述第二标识的第二通知信息；
    所述控制终端还用于根据所述第二通知信息将所述第二标识对应的存储位的状态更新为已用存储位。
  5. 根据权利要求3所述的仓储***，其特征在于，所述料箱移动装置还用于在任意一种目标货物挑拣完成后，向所述控制终端发送第一查询信息， 所述第一查询信息用于查询已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态；接收所述控制终端基于所述第一查询信息反馈的所述目标存储位的当前状态信息，若所述目标存储位当前为空闲存储位，则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述目标存储位；
    或者，
    所述料箱移动装置还用于在任意一种目标货物挑拣完成后，向所述控制终端发送第二查询信息，所述第二查询信息用于查询所述货架上的空闲存储位；接收所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息，若所述货架上存在空闲存储位，则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述空闲存储位。
  6. 根据权利要求5所述的仓储***，其特征在于，在接收到所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息后，若所述货架上存在至少两个空闲存储位，所述料箱移动装置还用于基于所述货架上存在的至少两个空闲存储位确定满足预设条件的空闲存储位，将所述目标存货料箱移动放置于所述满足预设条件的空闲存储位；
    所述预设条件包括所述料箱移动装置移动至空闲存储位的距离最短，或者，空闲存储位与所述第一拣货区域的距离最短。
  7. 根据权利要求2所述的仓储***，其特征在于，所述控制终端还用于在所述订单任务中的所有目标货物都挑拣完成后，向所述料箱移动装置发送第三控制指令；
    所述料箱移动装置还用于根据所述第三控制指令将装有所述目标货物的所有集货料箱移动至第二拣货区域。
  8. 根据权利要求7所述的仓储***，其特征在于，所述料箱移动装置还用于在接收到所述第三控制指令后，获取缓存所述装有所述目标货物的集货料箱的存储位的第三标识，并向所述控制终端发送包含所述第三标识的第三通知信息；
    所述控制终端还用于根据所述第三通知信息将所述第三标识对应的存储位的状态更新为空闲存储位。
  9. 一种集货方法，应用于权利要求1-8任一项的仓储***，其特征在于， 包括：
    当接收到控制终端基于订单任务发送的第一控制指令时，将存放有所述订单任务中的目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
    当接收到所述控制终端基于货架上当前未放置有料箱的空闲存储位发送的第二控制指令时，将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
    其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
  10. 根据权利要求9所述的集货方法，其特征在于，还包括：
    在接收到所述第一控制指令后，获取存放所述目标存货料箱的目标存储位的第一标识，并向所述控制终端发送包含所述第一标识的第一通知信息，所述第一通知信息用于指示所述控制终端将所述第一标识对应的存储位的状态更新为空闲存储位。
  11. 根据权利要求9所述的集货方法，其特征在于，还包括：
    在接收到所述第二控制指令后，获取所述空闲存储位的第二标识，并向所述控制终端发送包含所述第二标识的第二通知信息，所述第二通知信息用于指示所述控制终端将所述第二标识对应的存储位的状态更新为已用存储位。
  12. 根据权利要求9所述的集货方法，其特征在于，还包括：
    在任意一种目标货物挑拣完成后，向所述控制终端发送第一查询信息，所述第一查询信息用于查询已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态；接收所述控制终端基于所述第一查询信息反馈的所述目标存储位的当前状态信息，若所述目标存储位当前为空闲存储位，则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述目标存储位；
    或者，
    在任意一种目标货物挑拣完成后，向所述控制终端发送第二查询信息，所述第二查询信息用于查询所述货架上的空闲存储位；接收所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息，若所述货架上存在空闲存储位，则将已完成挑拣的目标货物对应的目标存货料箱移动放置于所述空闲存储位。
  13. 根据权利要求12所述的集货方法，其特征在于，还包括：
    在接收到所述控制终端基于所述第二查询信息反馈的所述货架上的空闲存储位信息后，若所述货架上存在至少两个空闲存储位，基于所述货架上存在的至少两个空闲存储位确定满足预设条件的空闲存储位，将所述目标存货料箱移动放置于所述满足预设条件的空闲存储位；
    所述预设条件包括料箱移动装置移动至空闲存储位的距离最短，或者，空闲存储位与所述第一拣货区域的距离最短。
  14. 根据权利要求9所述的集货方法，其特征在于，还包括：
    当接收到所述控制终端在所述订单任务中的所有目标货物都挑拣完成后发送的第三控制指令时，将装有所述目标货物的所有集货料箱移动至第二拣货区域。
  15. 根据权利要求14所述的集货方法，其特征在于，还包括：
    在接收到所述第三控制指令后，获取缓存所述装有所述目标货物的集货料箱的存储位的第三标识，并向所述控制终端发送包含所述第三标识的第三通知信息；所述第三通知信息用于指示所述控制终端将所述第三标识对应的存储位的状态更新为空闲存储位。
  16. 一种集货方法，应用于权利要求1-8任一项的仓储***，其特征在于，包括：
    获取包含目标货物的订单任务，基于所述订单任务向料箱移动装置发送第一控制指令，所述第一控制指令用于指示所述料箱移动装置将存放有所述目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
    获取货架上当前未放置有料箱的空闲存储位，并向所述料箱移动装置发送第二控制指令，所述第二控制指令用于指示所述料箱移动装置将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
    其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
  17. 根据权利要求16所述的集货方法，其特征在于，还包括：
    接收所述料箱移动装置发送的、包含第一标识的第一通知信息，所述第 一标识为所述料箱移动装置在接收到所述第一控制指令后获取的、存放所述目标存货料箱的目标存储位对应的标识；
    根据所述第一通知信息将所述第一标识对应的存储位的状态更新为空闲存储位。
  18. 根据权利要求16所述的集货方法，其特征在于，还包括：
    接收所述料箱移动装置发送的、包含第二标识的第二通知信息，所述第二标识为所述料箱移动装置在接收到所述第二控制指令后获取的、所述空闲存储位对应的标识；
    根据所述第二通知信息将所述第二标识对应的存储位的状态更新为已用存储位。
  19. 根据权利要求16所述的集货方法，其特征在于，还包括：
    接收所述料箱移动装置在任意一种目标货物挑拣完成后发送的第一查询信息，基于所述第一查询信息向所述料箱移动装置反馈已完成目标货物挑拣的目标存货料箱对应的目标存储位的当前状态信息；
    或者，
    接收所述料箱移动装置在任意一种目标货物挑拣完成后发送的第二查询信息，基于所述第二查询信息向所述料箱移动装置反馈所述货架上的空闲存储位信息。
  20. 根据权利要求16所述的集货方法，其特征在于，还包括：
    在所述订单任务中的所有目标货物都挑拣完成后，向所述料箱移动装置发送第三控制指令，所述第三控制指令用于指示所述料箱移动装置将装有所述目标货物的所有集货料箱移动至第二拣货区域。
  21. 根据权利要求20所述的集货方法，其特征在于，还包括：
    接收所述料箱移动装置发送的、包含第三标识的第三通知信息，所述第三标识为所述料箱移动装置在接收到所述第三控制指令后获取的、缓存所述装有所述目标货物的集货料箱的存储位对应的标识；
    根据所述第三通知信息将所述第三标识对应的存储位的状态更新为空闲存储位。
  22. 一种集货装置，应用于料箱移动装置，其特征在于，包括：
    移动模块，用于当接收到控制终端基于订单任务发送的第一控制指令时，将存放有所述订单任务中的目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
    缓存模块，用于当接收到所述控制终端基于货架上当前未放置有料箱的空闲存储位发送的第二控制指令时，将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
    其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
  23. 一种集货装置，应用于控制终端，其特征在于，包括：
    获取模块，用于获取包含目标货物的订单任务；
    控制模块，用于基于所述订单任务向料箱移动装置发送第一控制指令，所述第一控制指令用于指示所述料箱移动装置将存放有所述目标货物的目标存货料箱移动至第一拣货区域，所述第一拣货区域为将所述目标货物由所述目标存货料箱挑拣至集货料箱的区域；
    所述获取模块还用于获取货架上当前未放置有料箱的空闲存储位；
    所述控制模块还用于向所述料箱移动装置发送第二控制指令，所述第二控制指令用于指示所述料箱移动装置将完成目标货物挑选后的集货料箱缓存至所述空闲存储位；
    其中，所述空闲存储位为货架上用于放置存货料箱的存储位，所述存货料箱用于存放货物。
  24. 一种料箱移动装置，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；
    其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述料箱移动装置执行如权利要求9-15任一项所述的方法。
  25. 一种控制终端，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；
    其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述控制终端执行如权利要求16-21任一项所述的方法。
  26. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如权利要求9-21任一项所述的集货方法。
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