WO2022007646A1 - 补货入库的方法、设备、仓储***及可读存储介质 - Google Patents

补货入库的方法、设备、仓储***及可读存储介质 Download PDF

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Publication number
WO2022007646A1
WO2022007646A1 PCT/CN2021/102266 CN2021102266W WO2022007646A1 WO 2022007646 A1 WO2022007646 A1 WO 2022007646A1 CN 2021102266 W CN2021102266 W CN 2021102266W WO 2022007646 A1 WO2022007646 A1 WO 2022007646A1
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Prior art keywords
goods
replenished
target
information
replenishment
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PCT/CN2021/102266
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English (en)
French (fr)
Inventor
孙宗欣
周红霞
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深圳市海柔创新科技有限公司
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Publication of WO2022007646A1 publication Critical patent/WO2022007646A1/zh

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    • 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
    • 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
    • G06Q10/083—Shipping

Definitions

  • the present disclosure relates to the technical field of warehousing and logistics, and in particular, to a method, a device, a warehousing system and a readable storage medium for replenishment and warehousing.
  • the present disclosure provides a method, equipment, storage system and readable storage medium for replenishment and warehousing, so as to solve the problem that a large amount of storage space in the warehouse is wasted due to the method of the existing warehousing system that first empty inventory and then replenishment and warehousing , the storage efficiency of the warehouse is low.
  • an embodiment of the present disclosure provides a method for replenishment and storage, including:
  • replenishment requirements include attribute information and replenishment quantities of the goods to be replenished
  • a task instruction is issued to the handling robot, and the handling robot is controlled to complete the replenishment process of storing the goods to be replenished in the target bin.
  • an embodiment of the present disclosure provides a method for replenishment and storage, including:
  • the target bins corresponding to the goods to be replenished are the bins allocated for the goods to be replenished according to the attribute information of the goods to be replenished, the replenishment quantity, and the remaining space of each bin in the storage area.
  • an embodiment of the present disclosure provides a server, including:
  • processor a memory
  • computer program stored on the memory and executable on the processor
  • an embodiment of the present disclosure provides a handling robot, including:
  • processor a memory
  • computer program stored on the memory and executable on the processor
  • an embodiment of the present disclosure provides a storage system, including: the server according to the third aspect and the handling robot according to the fourth aspect.
  • an embodiment of the present disclosure provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned method for replenishment and storage is implemented .
  • the server of the storage system in response to the storage task, obtains the replenishment requirement, where the replenishment requirement includes attribute information of the goods to be replenished and Replenishment quantity; according to the attribute information and replenishment quantity of the goods to be replenished, as well as the remaining space of each material box in the storage area, allocate target material boxes for the goods to be replenished; issue task instructions to the handling robot, Controlling the handling robot to complete the replenishment process of storing the goods to be replenished in the target bin, without waiting for all the goods in the bin to be emptied, but by replenishing the unemptied bins, To realize the warehousing of the goods in the warehousing task, it can reduce the waste of the storage space of the material box and improve the storage efficiency.
  • FIG. 1 is a flowchart of the method for replenishment and storage provided by Embodiment 1 of the present disclosure
  • FIG. 2 is a flowchart of the method for replenishment and storage provided by Embodiment 2 of the present disclosure
  • FIG. 3 is a flowchart of the method for replenishment and storage provided by Embodiment 3 of the present disclosure
  • FIG. 4 is a schematic structural diagram of a server of a storage system according to Embodiment 4 of the present disclosure
  • FIG. 5 is a schematic structural diagram of a handling robot according to Embodiment 5 of the present disclosure.
  • the embodiments of the present disclosure are specifically applied to a storage system, and the architecture of the storage system includes a material box for storing goods in a storage area, a server, and a handling robot.
  • the user's warehousing task When receiving the user's warehousing task, it obtains the attribute information and replenishment quantity of the goods to be replenished in the storage area and other replenishment requirements.
  • the remaining space of the material box is used to allocate the target material box for the goods to be replenished; the task command is issued to the handling robot, and the handling robot completes the replenishment process of storing the to-be-replenished goods in the target material box according to the task instruction.
  • FIG. 1 is a flowchart of a method for replenishment and storage provided by Embodiment 1 of the present disclosure.
  • the embodiments of the present disclosure provide a method for replenishment and storage in order to solve the problem that a large amount of storage space in the warehouse is wasted and the storage efficiency of the warehouse is low due to the method that the existing warehousing system produces empty inventory first and then replenishes the inventory.
  • the method in this embodiment is applied to the server of the storage system. As shown in Figure 1, the specific steps of the method are as follows:
  • Step S100 In response to the warehousing task, the server acquires a replenishment requirement, and the replenishment requirement includes attribute information and replenishment quantity of the goods to be replenished.
  • the operator when there are goods that need to be put into storage, the operator can submit a storage-in task to the storage system, and the server of the storage system receives the storage-in task and responds accordingly.
  • the server obtains the current replenishment demand of the warehousing system.
  • the replenishment demand includes attribute information and replenishment quantity of the goods to be replenished (that is, the goods to be replenished).
  • the server implements replenishment to the material box with remaining space in the storage area according to the replenishment demand. In this way, there is no need to wait for all the goods in the bins to be emptied, but the goods in the warehousing task can be put into the warehouse by replenishing the unemptied bins, which can reduce the waste of the storage space of the bins and improve the storage capacity. efficient.
  • the goods to be replenished may include one or more types of goods, and if there are multiple types of goods to be replenished, each type of goods may be replenished in sequence.
  • Step S101 the server allocates a target material box for the goods to be supplemented according to the attribute information and the replenishment quantity of the goods to be supplemented, and the remaining space of each material box in the storage area.
  • the attribute information includes: type, batch, whether to allow mixing of types, whether to allow mixing of batches, etc.
  • the attribute information can also include product specifications, space occupied by the material box, delivery rate, storage area The spatial distribution of the attribute information, whether it has fragile characteristics, whether it is a single product, and other information, and what information the attribute information specifically includes can be adjusted according to the actual application scenario, which is not specifically limited in this embodiment.
  • the server can obtain the remaining space of each material box in the current storage area, and allocate a material box enough to accommodate the to-be-supplemented goods as a target material box for the goods to be supplemented.
  • the server allocates a material box enough to accommodate the goods to be supplemented as a target material box for the goods to be replenished. If the goods to be replenished allow mixing of different types, the goods to be replenished and other types of goods can be mixed into one bin, that is, other types of goods may be stored in the target bin.
  • the server allocates a material box enough to accommodate the goods to be supplemented as the target material box for the goods to be supplemented. If the goods to be replenished are allowed to be mixed in different batches, the goods to be replenished can be mixed with other batches of the same type of goods into one bin, that is, the target bin may store other batches of the same type goods.
  • it can also combine the information such as the historical outgoing frequency, outgoing structure, storage distribution and other information of the goods to be replenished.
  • the information such as the historical outgoing frequency, outgoing structure, storage distribution and other information of the goods to be replenished.
  • one or more inventory combinations of the goods to be replenished can be determined, and the combination of the goods to be replenished and other types of goods can be stored in the same material box, that is, The target bins allocated for the goods to be replenished also store other goods in the inventory combination of the goods to be replenished, so that they can be combined and shipped out together.
  • the strategy adopted by the server for allocating target bins for the goods to be replenished may comprehensively consider one or more attribute information of the goods to be replenished, and adjust and optimize according to actual application scenarios and user needs.
  • This implementation For example, no specific limitation is made here.
  • Step S102 the server issues a task instruction to the handling robot.
  • the server After allocating the target bins for the goods to be replenished, the server sends a task instruction to the handling robot to control the handling robot to complete the replenishment process of storing the to-be-replenished goods in the corresponding target bins.
  • the task instruction may include multiple specific instructions, such as a handling instruction, a warehousing instruction, etc., and the handling robot is controlled to complete the replenishment process of storing the goods to be replenished into the corresponding target bins through the multiple task instructions.
  • the task instruction also includes the information required to perform the corresponding task processing, such as the location of the target material box, the replenishment location of the goods to be replenished, and so on.
  • Step S103 the handling robot receives the task instruction issued by the server.
  • Step S104 the handling robot completes the replenishment process of storing the goods to be replenished in the corresponding target bins according to the task instruction.
  • the handling robot After receiving the task instruction from the server, the handling robot completes the replenishment process of storing the goods to be replenished into the corresponding target bins according to the task instruction.
  • the server sends a handling instruction to the handling robot, and the handling robot can move the target bin with remaining space allocated for the goods to be replenished to the designated replenishment position according to the handling instruction, so that the corresponding personnel are at the replenishment position.
  • the server sends a warehousing instruction to the handling robot, and the handling robot transports the target bin containing the goods to be replenished back to the storage area according to the warehousing instruction.
  • the server issues a task instruction to the handling robot, and controls the handling robot to complete the replenishment task by itself.
  • the handling robot can move the target bins with remaining space allocated for the goods to be replenished to the designated replenishment position according to the task instructions, pick up the corresponding goods at the replenishment position, put them into the target bins, and then load the containers to be replenished.
  • the target bins of incoming goods are transported back to the storage area.
  • the handling robot can also go to the designated replenishment location to pick up the goods to be replenished according to the task instructions, transport the goods to be replenished to the storage area where the target bins with remaining space are allocated for the goods to be replenished, and store the goods to be replenished.
  • the incoming goods are placed in the target bin.
  • the server of the warehousing system in response to a warehousing task, obtains a replenishment requirement, and the replenishment requirement includes attribute information and replenishment quantity of the goods to be replenished; according to the attribute information and replenishment quantity of the goods to be replenished, and The remaining space of each bin in the storage area is used to allocate target bins for the goods to be replenished; send task instructions to the handling robot to control the handling robot to complete the replenishment process of storing the to-be-replenished goods in the target bin without waiting. All the goods in the bins are emptied, but by replenishing the unemptied bins, the goods in the warehousing task are put into the warehouse, which can reduce the waste of the storage space of the bins and improve the storage efficiency.
  • FIG. 2 is a flowchart of the method for replenishment and storage according to Embodiment 2 of the present disclosure.
  • the server sends a handling instruction to the handling robot, and the handling robot can allocate the target bins with remaining space for the goods to be replenished according to the handling instruction. Transport to the designated replenishment location, so that the corresponding personnel can complete the replenishment operation at the replenishment location.
  • the server sends a warehousing instruction to the handling robot, and the handling robot sends the warehousing instruction according to the warehousing instruction.
  • the target container containing the goods to be replenished is transported back to the storage area; for example, the replenishment task is realized. Into the cargo distribution target bin, and explain in detail.
  • the server is used to issue task instructions to the handling robot and control the handling robot to complete the replenishment task by itself, when the replenishment task is realized in this way, according to the attribute information and replenishment quantity of the goods to be replenished, as well as the information of each material box in the storage area
  • the remaining space is the same as the implementation manner of allocating target bins for the goods to be replenished, which will not be repeated here in this embodiment.
  • Step S201 in response to the received warehousing task, the server obtains a replenishment requirement, and the replenishment requirement includes the goods to be replenished and the replenishment quantity.
  • the operator when there are goods that need to be put into storage, the operator can submit a storage-in task to the storage system, and the server of the storage system receives the storage-in task and responds accordingly.
  • the server obtains the current replenishment demand of the warehousing system.
  • the replenishment demand includes attribute information and replenishment quantity of the goods to be replenished (that is, the goods to be replenished).
  • the server implements replenishment to the material box with remaining space in the storage area according to the replenishment demand. In this way, there is no need to wait for all the goods in the bins to be emptied, but the goods in the warehousing task can be put into the warehouse by replenishing the unemptied bins, which can reduce the waste of the storage space of the bins and improve the storage capacity. efficient.
  • the goods to be replenished may include one or more types of goods. If there are multiple types of goods to be replenished, the replenishment process of steps S202-S208 may be performed for each type of goods in sequence.
  • Step S202 the server allocates a target material box for the goods to be supplemented according to the attribute information and the replenishment quantity of the goods to be supplemented, and the remaining space of each material box in the storage area.
  • the attribute information includes: type, batch, whether to allow mixing of types, whether to allow mixing of batches, etc.
  • the attribute information can also include product specifications, space occupied by the material box, delivery rate, storage area The spatial distribution of the attribute information, whether it has fragile characteristics, whether it is a single product, and other information, and what information the attribute information specifically includes can be adjusted according to the actual application scenario, which is not specifically limited in this embodiment.
  • the target material box allocated for the goods to be supplemented is the material box to which the goods to be supplemented are added, and may also be referred to as the supplementary material box of the goods to be supplemented.
  • the server may allocate a target bin with enough remaining space to accommodate the goods to be replenished according to the type of the goods to be replenished and the quantity of the replenishment to be replenished, which may be implemented in any of the following ways: :
  • the first implementation method is: the server can scan each material box in turn according to the type of goods to be replenished and the replenishment quantity, and determine the first material container whose remaining space is sufficient to accommodate the quantity of the type of goods is greater than or equal to the replenishment quantity; The first bin with the smallest remaining space is used as the target bin.
  • a material box with the smallest remaining space that is, the remaining space that is closest to the replenishment quantity, can be selected as the goods to be replenished.
  • the target material box which can improve the space utilization rate of the material box.
  • the storage area stores material box a and material box b of goods A, and the remaining space of material box a and material box b can accommodate 100 pieces and 40 pieces of goods A respectively; when the quantity of goods A to be replenished is When there are 90 pieces, the material box a can be assigned as the target material box to the goods A, and the goods A to be replenished can be supplemented into the material box a.
  • the second implementation method is: the server can scan each material box in turn according to the type of goods to be replenished and the replenishment quantity, and determine the first material container whose remaining space is sufficient to accommodate the quantity of goods of the type is greater than or equal to the replenishment quantity; The first bin with the largest remaining space is used as the target bin.
  • the material box with the largest remaining space can be selected as the target material box of the goods to be replenished, so that the The remaining space is relatively balanced, and the distribution of goods in each bin is generally more balanced.
  • the storage area stores material box a, material box b and material box c of goods A, and the remaining space of material box a, material box b and material box c can accommodate 100 pieces, 40 pieces and 200 pieces of goods A respectively.
  • the material box c can be allocated to the goods A as the target material box, and the goods A to be supplemented are supplemented into the material box c.
  • the third implementation method is: the server can scan each material box in turn according to the type of the goods to be replenished and the replenishment quantity, and determine the first material container whose remaining space is sufficient to accommodate the quantity of the type of goods is greater than or equal to the replenishment quantity; The first bin scanned first is used as the target bin.
  • the first material box with sufficient remaining space to accommodate the goods to be replenished is used as the target material box , which can improve the efficiency of allocating bins for the goods to be replenished, and improve the efficiency of replenishment and storage.
  • the attribute information may include types and whether mixing of different types is allowed. When allocating target bins for goods to be replenished, it can also be considered whether different types of goods to be replenished are allowed to be mixed.
  • the type of the goods to be replenished is allocated to the goods to be replenished and the type of the goods to be replenished is the same as the type of the goods to be replenished. And the remaining space is enough to accommodate the target bin of the goods to be replenished.
  • At least one target material box is allocated for the goods to be replenished according to the replenishment quantity, and the remaining space of at least one target material box is sufficient to accommodate the to-be-replenished goods. into the goods.
  • the attribute information may also include the types that are allowed to be mixed. Then other types of goods can be stored in the target bin allocated for the goods to be replenished, as long as the goods to be replenished and the goods already stored in the target bin can be mixed.
  • the storage area there is a container d that stores goods B and a container e that stores goods c. If the attributes of the goods to be replenished include, different types of goods are allowed to be mixed, and the types of mixed goods that are allowed to be mixed include goods B. Then, when allocating a material box for the goods A to be replenished, if the remaining space of the material box d can meet the demand for accommodating the goods A to be supplemented, the material box d can be allocated to the goods A to be supplemented as a target material box.
  • the goods to be replenished allow mixing of different types, it is also supported to replenish the goods to be replenished into multiple target bins according to the replenishment quantity of the goods to be replenished.
  • the attribute information may further include batches, and whether different batches are allowed to be mixed.
  • the attribute information may further include batches, and whether different batches are allowed to be mixed.
  • the batches of the goods to be replenished are allocated to be consistent with the batches of the goods to be replenished. And the remaining space is enough to accommodate the target bin of the goods to be replenished.
  • bins a and b that store goods A in the storage area
  • the batch attributes of goods A stored in bins a and b are "xx" and "cc" respectively.
  • Goods A is not allowed to mix different batches, and when the batch of goods A to be replenished is "cc", then the material box b is assigned as the target material box to the goods A to be supplemented, and the material box a cannot be used as a target material box.
  • the goods to be replenished allow mixing of different batches, according to the replenishment quantity, at least one target whose type of the goods to be replenished is the same as the type of the goods to be replenished is allocated to the goods to be replenished.
  • the remaining space of at least one target material box is sufficient to accommodate the goods to be replenished.
  • bins a and b that store goods A in the storage area
  • the batch attributes of goods A stored in bins a and b are "xx" and "cc" respectively.
  • Goods A can be mixed in different batches, and when the batch of goods A to be replenished is "cc", if the remaining space of material box a meets the requirements, material box a can be allocated as the target material box to the goods to be supplemented A. .
  • the target bins allocated for the goods to be replenished can store goods of the same type but different batches.
  • the attribute information may further include the batches that are allowed to be mixed.
  • the target bins allocated for the goods to be replenished can store goods of the same type and different batches, but the batches of goods stored in the target bins must be batches that are allowed to be mixed with the batches of the goods to be replenished. Second-rate.
  • the historical outgoing information includes at least one of the following: historical outgoing frequency and outgoing structure information.
  • the outbound structure information may be the information on which other types of goods to be supplemented in the historical outbound order are combined for outbound.
  • the storage distribution information may include the distribution in the storage area of the shelves where the bins that store the goods to be replenished are located in the storage area, the distribution of the bins where the goods to be replenished are stored on the shelves, etc., which can reflect the storage area of the goods to be replenished. Which areas are more densely distributed and which areas are more scattered.
  • At least one target material box is allocated for the goods to be supplemented, and the remaining space of the at least one target material box is sufficient to accommodate Goods to be replenished.
  • the goods B and C will be stored preferentially.
  • the bin of C is allocated to the cargo A, so that the cargo A is replenished into the bin in which the cargo B and the cargo C are stored.
  • the server can combine and store the goods to be replenished and other types of goods in the same bin according to the result of continuous learning of historical data, so that they can be combined and shipped out together when they are out of the warehouse.
  • the material box of Goods C is assigned to Goods A as the target material box, and is used as the supplementary material box of Goods A, so as to facilitate the combination and delivery.
  • the current outbound plan when allocating target bins for the goods to be replenished, the current outbound plan may also be considered.
  • the goods that need to be picked out together with goods A to be replenished are goods B and C; then when selecting the replenishment bin for cargo A, the bins for storing cargo B and cargo C can be prioritized as The target bin is assigned to Goods A as a replenishment bin for Goods A.
  • the outbound plan may be a pre-booked outbound plan, which may be customized by the user through the storage system, which is not specifically limited in this embodiment.
  • the strategy adopted by the server for allocating target bins for the goods to be replenished may comprehensively consider one or more attribute information of the goods to be replenished, historical outbound information, storage distribution information, and outbound plans, etc. , and adjust and optimize according to actual application scenarios and user requirements, which are not specifically limited in this embodiment.
  • Step S203 the server issues a transport instruction to the transport robot.
  • step S203 can be used. -S208 implementation.
  • the handling instruction may include information such as the identification and location of the target container, the replenishment location of the goods to be replenished, and the like.
  • the server may detect the actual space information of the target material box, and when the actual space information of the target material box detected by the server does not match the space record information, an alternative operation is started.
  • the space record information includes size information of the goods in the target container, information on the space occupied by the goods in the target container, information on the remaining space in the target container, and information on the accommodating space in the target container, one or more of them The combination.
  • the actual space information of the target material box refers to the actual space information of the target material box
  • the space record information refers to the space information of the target material box recorded by the server.
  • the way for the server to detect the actual space information of the target bin includes:
  • the internal space of the target bin is photographed by the vision sensor, and the actual information of the space is obtained by analyzing the photographed image.
  • analyzing the captured image to obtain the actual spatial information includes: analyzing at least one of multi-dimensionality and depth information of the captured image.
  • the way for the server to detect the actual space information of the target bin includes:
  • the interior space of the target bin is sensed by the distance sensor, and the actual information of the space is obtained by analyzing the sensing results.
  • the distance sensor is a combination of one or more of an infrared sensor, a laser sensor, and an acoustic wave sensor.
  • the alternative operation is at least one of controlling the handling robot to adjust the position of the goods in the target bin through the mechanical arm, and to issue a warning message.
  • the warning information may be sent by the server, or may be sent by the server controlling the handling robot.
  • the server can also detect the actual information of the goods in the target material box, and when the server detects that the actual information of the goods in the target material box does not match the goods record information, it controls the handling robot to start the alternative operation.
  • the actual cargo information of the target bin refers to the cargo information actually placed in the target bin
  • the cargo record information refers to the cargo information placed in the target bin recorded by the server.
  • each target container may have corresponding label information, and by identifying the label information, the actual information of the goods in the target container can be obtained.
  • the tag information includes at least one of the following: a one-dimensional code, a two-dimensional code, and a radio frequency tag. Through the identification of one or more of one-dimensional code, two-dimensional code and radio frequency tag, the actual information of the goods in the target container is obtained.
  • Step S204 the transporting robot receives the transporting instruction issued by the server.
  • Step S205 the transport robot transports the target material box from the storage area to the replenishment position of the goods to be replenished according to the transport instruction.
  • the goods to be replenished can be manually replenished into the target material box, and a replenishment completion instruction can be submitted.
  • the server may also send a reminder message to remind the technician to manually replenish the goods to be replenished into the target material box.
  • Step S206 in response to the replenishment completion instruction, the server sends a warehouse-in instruction to the handling robot.
  • the server When receiving the replenishment completion instruction, the server sends a warehouse-in instruction to the handling robot to instruct the handling robot to transport the target material box back to the corresponding position in the storage area.
  • the warehousing instruction may include the position of the target material box in the storage area, and the like.
  • Step S207 the handling robot receives the storage instruction issued by the server.
  • Step S208 the transporting robot transports the target material box containing the goods to be replenished from the replenishment position to the storage area.
  • the embodiment of the present disclosure comprehensively considers attribute information such as the type and batch of goods to be replenished, whether mixing of different types is allowed, whether mixing of different batches is allowed, historical outbound information, storage distribution information in the storage area, and Outbound planning, etc. Allocate at least one target container for the goods to be replenished, which can not only realize the warehousing of goods by replenishing the unemptied containers, reduce the waste of container storage space, and improve the storage capacity. In addition, it can realize reasonable combination storage or intensive storage of goods within the allowable range, which is convenient for combining goods out of the warehouse or batch out of the warehouse, and can improve the efficiency of warehouse out.
  • FIG. 3 is a flowchart of the method for replenishment and storage provided by Embodiment 3 of the present disclosure.
  • a task instruction is issued to the handling robot, and the handling robot is controlled to complete the replenishment process of storing the goods to be replenished in the target bin, including: issuing a task to the handling robot Instructions, control the handling robot to complete the replenishment task by itself.
  • the specific steps of the method are as follows:
  • Step S301 in response to the received warehousing task, the server obtains a replenishment requirement, and the replenishment requirement includes the goods to be replenished and the replenishment quantity.
  • This step is consistent with the implementation manner of the above-mentioned step S201, which is not repeated here in this embodiment.
  • Step S302 the server allocates a target material box for the goods to be supplemented according to the attribute information and the replenishment quantity of the goods to be supplemented, and the remaining space of each material box in the storage area.
  • This step is consistent with the implementation manner of the foregoing step S202, which is not repeated here in this embodiment.
  • Step S303 sending a task instruction to the handling robot.
  • the server After allocating the target bins for the goods to be replenished, the server sends a task instruction to the handling robot to control the handling robot to complete the replenishment process of storing the goods to be replenished in the corresponding target bins.
  • step S303 can be used.
  • Step S304 the handling robot receives the task instruction issued by the server.
  • Step S305 the handling robot completes the replenishment task by itself according to the task instruction.
  • the handling robot can move the target bins with remaining space allocated for the goods to be replenished to the designated replenishment position according to the task instructions, pick up the corresponding goods at the replenishment position, put them into the target bins, and then load the containers to be replenished.
  • the target bins of incoming goods are transported back to the storage area.
  • the handling robot can also go to the designated replenishment location to pick up the goods to be replenished according to the task instructions, transport the goods to be replenished to the storage area where the target bins with remaining space are allocated for the goods to be replenished, and store the goods to be replenished.
  • the incoming goods are placed in the target bin.
  • the task instruction may include space record information of the target bin.
  • the handling robot can also detect the actual space information of the target material box, and start the alternative operation when the detected actual space information of the target material box does not match the space record information.
  • the space record information includes size information of the goods in the target container, information on the space occupied by the goods in the target container, information on the remaining space in the target container, and information on the accommodating space in the target container, one or more of them The combination.
  • the actual space information of the target material box refers to the actual space information of the target material box
  • the space record information refers to the space information of the target material box recorded by the server.
  • the manner in which the handling robot detects the actual space information of the target bin may include:
  • the internal space of the target bin is photographed by the vision sensor, and the actual information of the space is obtained by analyzing the photographed image.
  • the handling robot analyzes the captured image to obtain the actual spatial information, which can be realized by analyzing at least one of the multi-dimensional and depth information of the captured image.
  • the manner in which the handling robot detects the actual space information of the target container may include: sensing the inner space of the target container through a distance sensor, and analyzing the sensing result to obtain the actual space information.
  • the distance sensor is a combination of one or more of an infrared sensor, a laser sensor, and an acoustic wave sensor.
  • the alternative operation is at least one of reporting to the server, adjusting the position of the goods in the target container through the robotic arm, and issuing warning information.
  • the task instruction includes cargo record information of the target container.
  • the handling robot Before executing the replenishment task, the handling robot can also detect the actual cargo information of the target bin. When the current handling robot detects that the actual cargo information of the target bin does not match the cargo record information, it will start the alternative operation.
  • the actual cargo information of the target bin refers to the cargo information actually placed in the target bin
  • the cargo record information refers to the cargo information placed in the target bin recorded by the server.
  • each target container may have corresponding label information, and through identifying the label information, the actual information of the goods in the target container can be obtained.
  • the tag information includes at least one of the following: a one-dimensional code, a two-dimensional code, and a radio frequency tag. Through the identification of one or more of one-dimensional code, two-dimensional code and radio frequency tag, the actual information of the goods in the target container is obtained.
  • the embodiment of the present disclosure comprehensively considers attribute information such as the type and batch of goods to be replenished, whether mixing of different types is allowed, whether mixing of different batches is allowed, historical outbound information, storage distribution information in the storage area, and Outbound planning, etc. Allocate at least one target container for the goods to be replenished, which can not only realize the warehousing of goods by replenishing the unemptied containers, reduce the waste of container storage space, and improve the storage capacity. In addition, it can realize reasonable combined storage or intensive storage of goods within the allowable range, which is convenient for goods to be combined out of warehouse or batch out of warehouse, which can improve the efficiency of warehouse out, and automatically complete replenishment tasks through handling robots, which can reduce labor costs and improve replenishment efficiency.
  • FIG. 4 is a schematic structural diagram of a server of a storage system according to Embodiment 4 of the present disclosure.
  • the server 100 includes: a processor 1001 , a memory 1002 , and a computer program stored in the memory 1002 and executed on the processor 1001 .
  • the server of the warehousing system in response to a warehousing task, obtains a replenishment requirement, and the replenishment requirement includes attribute information and replenishment quantity of the goods to be replenished; according to the attribute information and replenishment quantity of the goods to be replenished, and The remaining space of each bin in the storage area is used to allocate target bins for the goods to be replenished; send task instructions to the handling robot to control the handling robot to complete the replenishment process of storing the to-be-replenished goods in the target bin without waiting. All the goods in the bins are emptied, but by replenishing the unemptied bins, the goods in the warehousing task are put into the warehouse, which can reduce the waste of the storage space of the bins and improve the storage efficiency.
  • FIG. 5 is a schematic structural diagram of a handling robot according to Embodiment 5 of the present disclosure.
  • the device 110 includes a processor 1101 , a memory 1102 , and a computer program stored on the memory 1102 and executable on the processor 1101 .
  • the server of the warehousing system in response to a warehousing task, obtains a replenishment requirement, and the replenishment requirement includes attribute information and replenishment quantity of the goods to be replenished; according to the attribute information and replenishment quantity of the goods to be replenished, and The remaining space of each bin in the storage area is used to allocate target bins for the goods to be replenished; send task instructions to the handling robot to control the handling robot to complete the replenishment process of storing the to-be-replenished goods in the target bin without waiting. All the goods in the bins are emptied, but by replenishing the unemptied bins, the goods in the warehousing task are put into the warehouse, which can reduce the waste of the storage space of the bins and improve the storage efficiency.
  • An embodiment of the present disclosure further provides a storage system, including the server in the fourth embodiment and the handling robot in the fifth embodiment.
  • an embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method for replenishment and warehousing provided by any of the foregoing method embodiments is implemented.

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Abstract

提供一种补货入库的方法、设备、仓储***及可读存储介质。响应于入库任务，仓储***的服务器获取补货需求，补货需求包括待补入货物的属性信息及补货数量(S100)；根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱(S101)；向搬运机器人下发任务指令(S102)，控制搬运机器人完成将待补入货物存放至目标料箱内的补货处理，无需等待料箱中的货物全部出空，而是通过向未出空的料箱补货，来实现将入库任务中的货物进行入库，可以减少料箱存储空间的浪费，提高存储效率。

Description

补货入库的方法、设备、仓储***及可读存储介质
本申请要求于2020年07月07日提交中国专利局、申请号为202010644249.1、申请名称为“补货入库的方法、设备、仓储***及可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及仓储物流技术领域，尤其涉及一种补货入库的方法、设备、仓储***及可读存储介质。
背景技术
物流行业囿于仓库租金因素，仓库的存储效率成为实现低成本的重要因素之一。
货到人场景的存储中，通常是将货物入库后，通过订单或盘点需求，出空库存，随后补货入库。先出空再入库的灵活性不高，在库存逐渐出空的过程中，直到补充货物重新入库之前，会有大量的存储空间被浪费，导致仓库的存储效率低。
发明内容
本公开提供一种补货入库的方法、设备、仓储***及可读存储介质，用以解决现有的仓储***先出空库存然后在补货入库的方法导致仓库中大量存储空间被浪费，仓库的存储效率低的问题。
第一方面，本公开实施例提供一种补货入库的方法，包括：
响应于入库任务，获取补货需求，所述补货需求包括待补入货物的属性信息及补货数量；
根据所述待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为所述待补入货物分配目标料箱；
向搬运机器人下发任务指令，控制所述搬运机器人完成将所述待补入货物存放至所述目标料箱内的补货处理。
第二方面，本公开实施例提供一种补货入库的方法，包括：
接收服务器下发的任务指令；
根据所述任务指令，完成将待补入货物存放至对应的目标料箱内的补货处理；
其中，所述待补入货物对应的目标料箱是根据待补入货物的属性信息和补货数量以及存储区内各个料箱的剩余空间为所述待补入货物分配的料箱。
第三方面，本公开实施例提供一种服务器，包括：
处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；
其中，所述处理器运行所述计算机程序时实现上述所述的补货入库的方法。
第四方面，本公开实施例提供一种搬运机器人，包括：
处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；
其中，所述处理器运行所述计算机程序时实现上述所述的补货入库的方法。
第五方面，本公开实施例提供一种仓储***，包括：如上述第三方面所述的服务器和如上述第四方面所述的搬运机器人。
第六方面，本公开实施例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程序，所述计算机程序被处理器执行时实现上述所述的补货入库的方法。
本公开提供的补货入库的方法、设备、仓储***及可读存储介质，响应于入库任务，仓储***的服务器获取补货需求，所述补货需求包括待补入货物的属性信息及补货数量；根据所述待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为所述待补入货物分配目标料箱；向搬运机器人下发任务指令，控制所述搬运机器人完成将所述待补入货物存放至所述目标料箱内的补货处理，无需等待料箱中的货物全部出空，而是通过向未出空的料箱补货，来实现将入库任务中的货物进行入库，可以减少料箱存储空间的浪费，提高存储效率。
附图说明
图1为本公开实施例一提供的补货入库的方法流程图；
图2为本公开实施例二提供的补货入库的方法流程图；
图3为本公开实施例三提供的补货入库的方法流程图；
图4为本公开实施例四提供的仓储***的服务器的结构示意图；
图5为本公开实施例五提供的搬运机器人的结构示意图。
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
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
本公开所涉及的术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。在以下各实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
本公开实施例具体应用于仓储***，仓储***的架构包括存储区中用于存放货物的料箱，服务器和搬运机器人。当接收到用户的入库任务时，获取存储区内需要补入的货物的属性信息和补货数量等补货需求，服务器根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱；向搬运机器人下发任务指令，搬运机器人根据任务指令完成将待补入货物存放至目标料箱内的补货处理。本实施例中无需等待料箱出空，而是直接向有剩余存储空间的料箱中补货，分配给补货入库的方法、设备、***及计算机可读存储介质，可以减少料箱存储空间的浪费，提高存储区的存储效率。
下面以具体地实施例对本公开的技术方案以及本申请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为本公开实施例一提供的补货入库的方法流程图。本公开实施例针对现有的仓储***先出空库存然后在补货入库的方法导致仓库中大量存储空间被浪费，仓库的存储效率低的问题，提供了补货入库的方法。本实施例中的方法应用于仓储***的服务器。如图1所示，该方法具体步骤如下：
步骤S100、响应于入库任务，服务器获取补货需求，补货需求包括待补入货物的属性信息及补货数量。
本实施例中，有货物需要入库时，操作人员可以向仓储***提交入库任务，仓储***的服务器接收入库任务，并做出相应响应。
响应于接收到的入库任务，服务器获取仓储***当前的补货需求。其中补货需求包括需要补入的货物(也即是待补入货物)的属性信息及补货数量。
服务器通过后续步骤S101-S104实现根据补货需求向存储区中有剩余空间的料箱中进行补货。这样，无需等待料箱中的货物全部出空，而是通过向未出空的料箱补货，来实现将入库任务中的货物进行入库，可以减少料箱存储空间的浪费，提高存储效率。
另外，待补入货物可以包括一种或者多种货物，如果待补货货物有多种，可以依次对每种货物进行补货。
步骤S101、服务器根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱。
其中，属性信息包括：类型、批次、是否允许类型混放、是否允许批次混放等，另外属性信息还可以包括产品规格、所占用料箱的空间、出库率、在存储区内的空间分布、是否具有易碎特性、是否为单品等其他信息，属性信息具体包括哪些信息可以根据实际应用场景进行调整，本实施例此处不做具体限定。
本实施例中，服务器可以获取当前存储区内各个料箱的剩余空间，为待补入货物分配足够容纳待补入货物的料箱作为目标料箱。
可选地，还可以结合待补入货物的类型，以及是否允许不同类型混放的属性，来确定待补入货物是否允许与不同类型的货物混放到同一料箱中。服务器根据当前存储区内各个料箱的剩余空间，以及料箱内已有货物的类型， 为待补入货物分配足够容纳待补入货物的料箱作为目标料箱。如果待补入货物允许不同类型混放，可以将待补入货物与其他类型的货物混放到一个料箱中，也就是目标料箱中可能存储有其他类型的货物。
可选地，还可以结合待补入货物的类型和批次，以及是否允许不同批次混放的属性，来确定待补入货物是否允许与不同批次的同类型货物混放到同一料箱中。服务器根据当前存储区内各个料箱的剩余空间，以及料箱内已有货物的类型和批次，为待补入货物分配足够容纳待补入货物的料箱作为目标料箱。如果待补入货物允许不同批次混放，可以将待补入货物与其他批次的同类型货物混放到一个料箱中，也就是目标料箱中可能存储有其他不同批次的同类型货物。
可选地，还可以结合待补入货物的历史出库频次、出库结构、存储分布等信息，服务器可以根据对历史数据不断地学习的结果，将待补入货物与其他类型的货物组合存储到同一料箱中；或者还可以根据当前的出库计划，确定待补入货物的一种或者多种库存组合，将待补入货物与其他类型的货物组合存储到同一料箱中，也就是为待补入货物分配的目标料箱中还存储有待补入货物的库存组合中的其他货物，以便于出库时一起组合出库。
本实施例中，服务器为待补入货物分配目标料箱所采用的策略，可以综合考虑待补入货物的一种或者多种属性信息，根据实际应用场景以及用户需求进行调整和优化，本实施例此处不做具体限定。
步骤S102、服务器向搬运机器人下发任务指令。
在为待补入货物分配好目标料箱之后，服务器向搬运机器人下发任务指令，以控制搬运机器人完成将待补入货物存放至对应的目标料箱内的补货处理。
其中，任务指令可以包括多个具体的指令，例如搬运指令，入库指令等，通过多个任务指令控制搬运机器人完成将待补入货物存放至对应的目标料箱内的补货处理。
任务指令中还包括执行对应的任务处理所需的信息，例如目标料箱所在位置，以及待补入货物的补货位置等等。
步骤S103、搬运机器人接收服务器下发的任务指令。
步骤S104、搬运机器人根据任务指令，完成将待补入货物存放至对应的 目标料箱内的补货处理。
搬运机器人接收到服务器的任务指令后，根据任务指令完成将待补入货物存放至对应的目标料箱内的补货处理。
示例性地，服务器向搬运机器人下发搬运指令，搬运机器人根据搬运指令可以将为待补入货物分配的尚有剩余空间的目标料箱搬运到指定补货位置，以使对应人员在补货位置完成补货操作，待人工补货完成，响应于补货完成指令，服务器向搬运机器人下发入库指令，搬运机器人根据入库指令将装有待补入货物的目标料箱搬运回存储区。
示例性地，服务器向搬运机器人下发任务指令，控制搬运机器人自行完成补货任务。
搬运机器人可以根据任务指令将为待补入货物分配的尚有剩余空间的目标料箱搬运到指定补货位置，并在补货位置拿取相应货物，置入目标料箱，然后将装有待补入货物的目标料箱搬运回存储区。
搬运机器人还可以根据任务指令到指定补货位置拿取待补入货物，将待补入货物搬运至为待补入货物分配的尚有剩余空间的目标料箱所在的存储区，并将待补入货物置入目标料箱。
本公开实施例中响应于入库任务，仓储***的服务器获取补货需求，补货需求包括待补入货物的属性信息及补货数量；根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱；向搬运机器人下发任务指令，控制搬运机器人完成将待补入货物存放至目标料箱内的补货处理，无需等待料箱中的货物全部出空，而是通过向未出空的料箱补货，来实现将入库任务中的货物进行入库，可以减少料箱存储空间的浪费，提高存储效率。
图2为本公开实施例二提供的补货入库的方法流程图。在上述实施例一的基础上，本实施例中，以采用以下方式：服务器向搬运机器人下发搬运指令，搬运机器人根据搬运指令可以将为待补入货物分配的尚有剩余空间的目标料箱搬运到指定补货位置，以使对应人员在补货位置完成补货操作，待人工补货完成，响应于补货完成指令，服务器向搬运机器人下发入库指令，搬运机器人根据入库指令将装有待补入货物的目标料箱搬运回存储区；来实现 补货任务为例，对根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱，进行详细地说明。
若采用服务器向搬运机器人下发任务指令，控制搬运机器人自行完成补货任务，这一方式实现补货任务时，根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱的实现方式一致，本实施例此处不再赘述。
如图2所示，该方法具体步骤如下：
步骤S201、响应于接收到的入库任务，服务器获取补货需求，补货需求包括待补入货物及补货数量。
本实施例中，有货物需要入库时，操作人员可以向仓储***提交入库任务，仓储***的服务器接收入库任务，并向做出相应响应。
响应于接收到的入库任务，服务器获取仓储***当前的补货需求。其中补货需求包括需要补入的货物(也即是待补入货物)的属性信息及补货数量。
服务器通过后续步骤S202-S208实现根据补货需求向存储区中有剩余空间的料箱中进行补货。这样，无需等待料箱中的货物全部出空，而是通过向未出空的料箱补货，来实现将入库任务中的货物进行入库，可以减少料箱存储空间的浪费，提高存储效率。
另外，待补入货物可以包括一种或者多种货物，如果待补货货物有多种，可以依次对每种货物分别进行步骤S202-S208的补货流程。
步骤S202、服务器根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱。
其中，属性信息包括：类型、批次、是否允许类型混放、是否允许批次混放等，另外属性信息还可以包括产品规格、所占用料箱的空间、出库率、在存储区内的空间分布、是否具有易碎特性、是否为单品等其他信息，属性信息具体包括哪些信息可以根据实际应用场景进行调整，本实施例此处不做具体限定。
本实施例中，为待补入货物分配的目标料箱也就是要将待补入货物的补入到的料箱，也可以称作待补入货物的补入料箱。
一种可能的实施方式中，服务器可以根据待补入货物的类型和补货数量，为待补入货物分配剩余空间足够容纳待补入货物的目标料箱，具体可以采用 如下任意一种方式实现：
第一种实现方式为：服务器可以根据待补入货物的类型和补货数量，依次扫描各个料箱，确定剩余空间足够容纳类型的货物的数量大于或者等于补货数量的第一料箱；将剩余空间最小的第一料箱作为目标料箱。
这种实现方式中，在确定剩余空间足够容纳待补入货物的第一料箱之后，可以从中选择剩余空间最小，也即是剩余空间与补货数量最接近的料箱，作为待补货货物的目标料箱，这样可以提高料箱空间利用率。
例如，存储区存储有货物A的料箱a和料箱b，料箱a和料箱b的剩余空间能够容纳货物A的件数分别是100件和40件；当待补入货物A的数量为90件时，可以将料箱a作为目标料箱分配给货物A，将待补入货物A补入料箱a中。
第二种实现方式为：服务器可以根据待补入货物的类型和补货数量，依次扫描各个料箱，确定剩余空间足够容纳类型的货物的数量大于或者等于补货数量的第一料箱；将剩余空间最大的第一料箱作为目标料箱。
这种实现方式中，在确定剩余空间足够容纳待补入货物的第一料箱之后，可以从中选择剩余空间最大的料箱，作为待补货货物的目标料箱，这样可以使得各个料箱的剩余空间相对均衡，货物在各个料箱的分布总体上更加均衡。
例如，存储区存储有货物A的料箱a、料箱b和料箱c，料箱a、料箱b和料箱c的剩余空间能够容纳货物A的件数分别是100件、40件和200件；当待补入货物A的数量为90件时，可以将料箱c作为目标料箱分配给货物A，将待补入货物A补入料箱c中。
第三种实现方式为：服务器可以根据待补入货物的类型和补货数量，依次扫描各个料箱，确定剩余空间足够容纳类型的货物的数量大于或者等于补货数量的第一料箱；将最先扫描到的第一料箱作为目标料箱。
这种实现方式中，在扫描查找剩余空间足够容纳待补入货物的第一料箱的过程中，将查找到的第一个剩余空间足够容纳待补入货物的第一料箱作为目标料箱，可以提高为待补入货物分配料箱的效率，提高补货入库的效率。
在另一种可能的实施方式中，属性信息可以包括类型，以及是否允许不同类型混放。在为待补入货物分配目标料箱时，还可以考虑待补入货物是否允许不同类型混放。
具体地，根据待补入货物的属性信息，若待补入货物不允许不同类型混放，则根据补货数量，为待补入货物分配所容纳货物的类型与待补入货物的类型一致，且剩余空间足够容纳待补入货物的目标料箱。
根据待补入货物的属性信息，若待补入货物允许不同类型混放，则根据补货数量，为待补入货物分配至少一个目标料箱，至少一个目标料箱的剩余空间足够容纳待补入货物。
如果待补入货物允许不同类型混放，属性信息还可以包括允许混放的类型。那么为待补入货物分配的目标料箱中可以存储有其他类型的货物，只要待补入货物和目标料箱中已存储的货物可以混放就可以。
例如，存储区内有存储有货物B的料箱d和存储有货物c的料箱e，如果待补入货物A的属性包括，允许不同类型混放，且允许混放的类型包括货物B，那么，为待补入货物A分配料箱时，若料箱d的剩余空间可以满足容纳待补入货物A的需求，可以将料箱d作为目标料箱分配给待补入货物A。
另外，如果待补入货物允许不同类型混放，还支持根据待补入货物的补货数量，将待补入货物分别补入多个目标料箱中。
另一种可能的实施方式中，属性信息还可以包括批次，以及是否允许不同批次混放。在为待补入货物分配目标料箱时，还可以考虑待补入货物是否允许不同批次混放。
根据待补入货物的属性信息，若待补入货物不允许不同批次混放，则根据补货数量，为待补入货物分配所容纳货物的批次与待补入货物的批次一致，且剩余空间足够容纳待补入货物的目标料箱。
例如，存储区内有存储有货物A的料箱a和料箱b，料箱a和料箱b中存储的货物A的批次属性分别是“xx”与“cc”，当待补入补货A不允许不同批次混放，且待补入货物A的批次为“cc”时，则将料箱b作为目标料箱分配给待补入货物A，而料箱a不可用作为目标料箱。
根据待补入货物的属性信息，若待补入货物允许不同批次混放，则根据补货数量，为待补入货物分配至少一个所容纳货物的类型与待补入货物的类型一致的目标料箱，至少一个目标料箱的剩余空间足够容纳待补入货物。
例如，存储区内有存储有货物A的料箱a和料箱b，料箱a和料箱b中存储的货物A的批次属性分别是“xx”与“cc”，当待补入补货A允许不同 批次混放，且待补入货物A的批次为“cc”时，如果料箱a的剩余空间满足需要，可以将料箱a作为目标料箱分配给待补入货物A。
如果待补入货物允许不同批次混放，那么为待补入货物分配的目标料箱中可以存储有同类型但是不同批次的货物。
可选地，如果待补入货物允许不同批次混放，属性信息还可以包括允许混放的批次。那么，为待补入货物分配的目标料箱中可以存储有同类型不同批次的货物，但是目标料箱中存储的货物的批次必须是与待补入货物的批次允许混放的批次。
另一种可能的实施方式中，在为待补入货物分配目标料箱时，还可以考虑待补入货物的历史出库信息，以及待补入货物在存储区内的存储分布信息。
其中，历史出库信息包括以下至少一种：历史出库频次、出库结构信息。出库结构信息可以是历史出库订单中待补入货物与哪些其他类型的货物一起组合出库的信息。
存储分布信息可以包括存储有待补入货物的料箱所在的货架在存储区内的分布，存储有待补入货物的料箱在所在货架上的分布等等，能够体现待补入货物的在存储区内的哪些区域内分布较密集，哪些区域内分布较分散。
具体地，根据待补入货物的历史出库信息，以及待补入货物在存储区内的存储分布信息，为待补入货物分配至少一个目标料箱，至少一个目标料箱的剩余空间足够容纳待补入货物。
例如，当出库频次高、出库订单结构复杂的货物A作为待补入货物时，可以为货物A分配多个目标料箱，还可以为货物A分配混放有多种不同类型货物的料箱作为目标料箱。
例如，当待补入货物A的高频组合出库货物为B、C时在考虑货物A的属性信息、历史订单数量、本次的补货数量的基础上，优先将存储有货物B、货物C的料箱分配给货物A，以将货物A补入存储有货物B、货物C的料箱。
这种实施方式中，服务器可以根据对历史数据不断地学习的结果，将待补入货物与其他类型的货物组合存储到同一料箱中，以便于出库时一起组合出库。
例如，根据对历史数据的学习结果，如果确定待补入货物A通常大批量出库，则可以为待补入货物A分配位置较集中的几个料箱作为目标料箱，从 而使得将货物A补货入库后能够密集地分布在一个区域内，便于出货。
例如，根据对历史数据的学习结果，如果确定待补入货物A与货物B和货物C一起出库的概率很大，那么在选择货物A的补入料箱时，可以优先将存放货物B、货物C的料箱作为目标料箱分配给货物A，作为货物A的补入料箱，以便于组合出库。
另一种可能的实施方式，在为待补入货物分配目标料箱时，还可以考虑当前的出库计划。
如果存在包含待补入货物的出库计划，根据包含待补入货物的出库计划，确定待补入货物的组合出库货物；为待补入货物分配至少一个目标料箱，至少一个目标料箱的剩余空间足够容纳待补入货物，且至少一个目标料箱中存储有组合出库货物。
例如，出库计划中需要与待补入货物A一起拣出的货物是货物B、货物C；那么在选择货物A的补入料箱时，可以优先将存放货物B、货物C的料箱作为目标料箱分配给货物A，作为货物A的补入料箱。
其中，出库计划可以是预先订好的出库计划，可以由用户通过仓储***进行个性化地订制，本实施例此处不做具体限定。
另一种实施方式中，还可以结合待补入货物的需要单独存储的特性信息，例如易碎、独一无二的单品、指定单独存放等信息，为待补入货物分配空闲的料箱。
本实施例中，服务器为待补入货物分配目标料箱所采用的策略，可以综合考虑待补入货物的一种或者多种属性信息，历史出库信息，存储分布信息，以及出库计划等，根据实际应用场景以及用户需求进行调整和优化，本实施例此处不做具体限定。
步骤S203、服务器向搬运机器人下发搬运指令。
在为待补入货物分配好目标料箱之后，服务器向搬运机器人下发任务指令，以控制搬运机器人完成将待补入货物存放至对应的目标料箱内的补货处理，具体可以通过步骤S203-S208实现。
其中，搬运指令可以包括目标料箱的标识和位置，待补入货物的补货位置等信息。
本实施例的另一实施方式中，服务器可以检测目标料箱的空间实际信息， 当服务器检测的目标料箱的空间实际信息与空间纪录信息不匹配时，启动备选作业。
其中，空间纪录信息包括目标料箱内货物的尺寸信息、目标料箱内货物的占用料箱空间信息、目标料箱的剩余空间信息、与目标料箱的可容置空间信息中，一者以上的组合。
目标料箱的空间实际信息是指目标料箱实际的空间信息，空间纪录信息是指服务器所记录的目标料箱的空间信息。当目标料箱的空间实际信息与空间纪录信息不一致时，可能无法正常向目标料箱中补货，因此启动备选作业。
作为一种可能的实施方式，服务器检测目标料箱的空间实际信息的方式包括：
通过视觉传感器拍摄目标料箱内部空间，并分析拍摄图像取得空间实际信息。
其中，分析拍摄图像取得空间实际信息包括：分析拍摄图像的多维度与深度信息至少一者。
作为一种可能的实施方式，服务器检测目标料箱的空间实际信息的方式包括：
通过距离传感器感知目标料箱内部空间，并分析感知结果取得空间实际信息。
其中，距离传感器为红外传感器、激光传感器、声波传感器中一者以上的组合。
备选作业为控制搬运机器人通过机械手臂调整目标料箱内货物的位置、发出警示信息中至少一者。其中，警示信息可以由服务器发出，或者可以由服务器控制搬运机器人发出。
进一步地，服务器还可以检测目标料箱内的货物实际信息，服务器检测目标料箱的货物实际信息与货物纪录信息不匹配时，控制搬运机器人启动备选作业。
其中，目标料箱的货物实际信息是指目标料箱内实际放置的货物信息，货物纪录信息是指服务器所记录的目标料箱内放置的货物信息。当目标料箱内的货物实际信息与货物纪录信息不一致时，可能无法正常向目标料箱中补货，因此启动备选作业。
示例性地，每个目标料箱上可以有对应的标签信息，通过对标签信息的识别，取得目标料箱的货物实际信息。其中，标签信息包括以下至少一种：一维码、二维码、射频标签。通过对一维码、二维码、射频标签中一者以上的识别，取得目标料箱的货物实际信息。
步骤S204、搬运机器人接收服务器下发的搬运指令。
步骤S205、搬运机器人根据搬运指令，将目标料箱从存储区搬运至待补入货物的补货位置。
在搬运机器人将目标料箱搬运到指定的补货位置之后，可以由人工将待补入货物补入目标料箱中，并提交补货完成指令。
可选地，在搬运机器人将目标料箱搬运到指定的补货位置之后，服务器还可以发出提醒信息，以提醒技术人员人工将待补入货物补入目标料箱中。
步骤S206、响应于补货完成指令，服务器向搬运机器人下发入库指令。
在接收到补货完成指令时，服务器向搬运机器人下发入库指令，以指示搬运机器人将目标料箱搬运回存储区内对应位置。
其中，入库指令可以包括目标料箱在存储区内的位置等。
步骤S207、搬运机器人接收服务器下发的入库指令。
步骤S208、搬运机器人根据入库指令，将装有待补入货物的目标料箱由补货位置搬运至存储区。
本公开实施例通过综合考虑待补入货物的类型、批次、是否允许不同类型混放、是否允许不同批次混放等属性信息，历史出库信息，在存储区内的存储分布信息，以及出库计划等，为待补入货物分配足够容纳待补入货物至少一个目标料箱，不仅能够通过向未出空的料箱补货实现货物入库，减少料箱存储空间的浪费，提高存储效率，而且可以在允许范围内实现货物合理地组合存储或者密集存储，便于货物组合出库或者批次出库，能够提高出库效率。
图3为本公开实施例三提供的补货入库的方法流程图。在上述实施例一的基础上，本实施例中，向搬运机器人下发任务指令，控制搬运机器人完成将待补入货物存放至目标料箱内的补货处理，包括：向搬运机器人下发任务指令，控制搬运机器人自行完成补货任务。如图3所示，该方法具体步骤如 下：
步骤S301、响应于接收到的入库任务，服务器获取补货需求，补货需求包括待补入货物及补货数量。
该步骤与上述步骤S201实现方式一致，本实施例此处不再赘述。
步骤S302、服务器根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱。
该步骤与上述步骤S202实现方式一致，本实施例此处不再赘述。
步骤S303、向搬运机器人下发任务指令。
在为待补入货物分配好目标料箱之后，服务器向搬运机器人下发任务指令，以控制搬运机器人完成将待补入货物存放至对应的目标料箱内的补货处理，具体可以通过步骤S303-S305实现。
步骤S304、搬运机器人接收服务器下发的任务指令。
步骤S305、搬运机器人根据任务指令，自行完成补货任务。
具体地，该步骤的一种可能的实施方式为：
搬运机器人可以根据任务指令将为待补入货物分配的尚有剩余空间的目标料箱搬运到指定补货位置，并在补货位置拿取相应货物，置入目标料箱，然后将装有待补入货物的目标料箱搬运回存储区。
该步骤的另一种可能的实施方式为：
搬运机器人还可以根据任务指令到指定补货位置拿取待补入货物，将待补入货物搬运至为待补入货物分配的尚有剩余空间的目标料箱所在的存储区，并将待补入货物置入目标料箱。
作为一种可能的实施方式，任务指令可以包括目标料箱的空间纪录信息。在执行补货任务之前，搬运机器人还可以检测目标料箱的空间实际信息，当检测的目标料箱的空间实际信息与空间纪录信息不匹配时，启动备选作业。
其中，空间纪录信息包括目标料箱内货物的尺寸信息、目标料箱内货物的占用料箱空间信息、目标料箱的剩余空间信息、与目标料箱的可容置空间信息中，一者以上的组合。
目标料箱的空间实际信息是指目标料箱实际的空间信息，空间纪录信息是指服务器所记录的目标料箱的空间信息。当目标料箱的空间实际信息与空间纪录信息不一致时，可能无法正常向目标料箱中补货，因此启动备选作业。
示例性地，搬运机器人检测目标料箱的空间实际信息的方式可以包括：
通过视觉传感器拍摄目标料箱内部空间，并分析拍摄图像取得空间实际信息。
进一步地，搬运机器人分析拍摄图像取得空间实际信息，可以通过分析拍摄图像的多维度与深度信息至少一者来实现。
示例性地，搬运机器人检测目标料箱的空间实际信息的方式可以包括：通过距离传感器感知目标料箱内部空间，并分析感知结果取得空间实际信息。
其中，距离传感器为红外传感器、激光传感器、声波传感器中一者以上的组合。
示例性地，备选作业为上报服务器、通过机械手臂调整目标料箱内货物的位置、发出警示信息中至少一者。
作为一种可能的实施方式，任务指令包括目标料箱的货物纪录信息。在执行补货任务之前，搬运机器人还可以检测目标料箱的货物实际信息，当前搬运机器人检测目标料箱的货物实际信息与货物纪录信息不匹配时，启动备选作业。
其中，目标料箱的货物实际信息是指目标料箱内实际放置的货物信息，货物纪录信息是指服务器所记录的目标料箱内放置的货物信息。当目标料箱内的货物实际信息与货物纪录信息不一致时，可能无法正常向目标料箱中补货，因此启动备选作业。
示例性地，每个目标料箱上可以有对应的标签信息，通过对标签信息的识别，取得目标料箱的货物实际信息。其中，标签信息包括以下至少一种：一维码、二维码、射频标签。通过对一维码、二维码、射频标签中一者以上的识别，取得目标料箱的货物实际信息。
本公开实施例通过综合考虑待补入货物的类型、批次、是否允许不同类型混放、是否允许不同批次混放等属性信息，历史出库信息，在存储区内的存储分布信息，以及出库计划等，为待补入货物分配足够容纳待补入货物至少一个目标料箱，不仅能够通过向未出空的料箱补货实现货物入库，减少料箱存储空间的浪费，提高存储效率，而且可以在允许范围内实现货物合理地组合存储或者密集存储，便于货物组合出库或者批次出库，能够提高出库效率，通过搬运机器人自动完成补货任务，能够减少人工成本，提高补货效率。
图4为本公开实施例四提供的仓储***的服务器的结构示意图。如图4所示，该服务器100包括：处理器1001，存储器1002，以及存储在存储器1002上并可在处理器1001上运行的计算机程序。
其中，处理器1001运行计算机程序时实现上述任一方法实施例提供的补货补入的方法。
本公开实施例中响应于入库任务，仓储***的服务器获取补货需求，补货需求包括待补入货物的属性信息及补货数量；根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱；向搬运机器人下发任务指令，控制搬运机器人完成将待补入货物存放至目标料箱内的补货处理，无需等待料箱中的货物全部出空，而是通过向未出空的料箱补货，来实现将入库任务中的货物进行入库，可以减少料箱存储空间的浪费，提高存储效率。
图5为本公开实施例五提供的搬运机器人的结构示意图。如图5所示，该设备110包括：处理器1101，存储器1102，以及存储在存储器1102上并可在处理器1101上运行的计算机程序。
其中，处理器1101运行计算机程序时实现上述任一方法实施例提供的补货入库的方法。
本公开实施例中响应于入库任务，仓储***的服务器获取补货需求，补货需求包括待补入货物的属性信息及补货数量；根据待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为待补入货物分配目标料箱；向搬运机器人下发任务指令，控制搬运机器人完成将待补入货物存放至目标料箱内的补货处理，无需等待料箱中的货物全部出空，而是通过向未出空的料箱补货，来实现将入库任务中的货物进行入库，可以减少料箱存储空间的浪费，提高存储效率。
本公开实施例还提供一种仓储***，包括上述实施例四中的服务器和实施例五中的搬运机器人。
另外，本公开实施例还提供一种计算机可读存储介质，计算机可读存储 介质中存储有计算机程序，计算机程序被处理器执行时实现上述任一方法实施例提供的补货入库的方法。
本领域技术人员在考虑说明书及实践这里公开的发明后，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 (41)

  1. 一种补货入库的方法，其特征在于，应用于仓储***的服务器，包括：
    响应于入库任务，获取补货需求，所述补货需求包括待补入货物的属性信息及补货数量；
    根据所述待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为所述待补入货物分配目标料箱；
    向搬运机器人下发任务指令，控制所述搬运机器人完成将所述待补入货物存放至所述目标料箱内的补货处理。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述待补入货物的属性信息和补货数量，以及存储区内各个料箱的剩余空间，为所述待补入货物分配目标料箱，包括：
    根据所述待补入货物的类型和补货数量，为所述待补入货物分配剩余空间足够容纳所述待补入货物的目标料箱。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述待补入货物的类型和补货数量，为所述待补入货物分配剩余空间足够容纳所述待补入货物的目标料箱，包括：
    根据所述待补入货物的类型和补货数量，依次扫描各个料箱，确定剩余空间足够容纳所述类型的货物的数量大于或者等于所述补货数量的第一料箱；
    将剩余空间最小的所述第一料箱作为所述目标料箱；
    或者，将剩余空间最大的所述第一料箱作为所述目标料箱；
    或者，将最先扫描到的所述第一料箱作为所述目标料箱。
  4. 根据权利要求2所述的方法，其特征在于，所述属性信息包括类型和是否允许不同类型混放，所述方法还包括：
    根据所述待补入货物的属性信息，若所述待补入货物不允许不同类型混放，则根据所述补货数量，为所述待补入货物分配所容纳货物的类型与所述待补入货物的类型一致，且剩余空间足够容纳所述待补入货物的目标料箱。
  5. 根据权利要求2所述的方法，其特征在于，还包括：
    根据所述待补入货物的属性信息，若所述待补入货物允许不同类型混放，则根据所述补货数量，为所述待补入货物分配至少一个目标料箱，所述至少一个目标料箱的剩余空间足够容纳所述待补入货物。
  6. 根据权利要求2所述的方法，其特征在于，所述属性信息还包括批次和是否允许不同批次混放，所述方法还包括：
    根据所述待补入货物的属性信息，若所述待补入货物不允许不同批次混放，则根据所述补货数量，为所述待补入货物分配所容纳货物的批次与所述待补入货物的批次一致，且剩余空间足够容纳所述待补入货物的目标料箱。
  7. 根据权利要求2所述的方法，其特征在于，还包括：
    根据所述待补入货物的属性信息，若所述待补入货物允许不同批次混放，则根据所述补货数量，为所述待补入货物分配至少一个所容纳货物的类型与所述待补入货物的类型一致的目标料箱，所述至少一个目标料箱的剩余空间足够容纳所述待补入货物。
  8. 根据权利要求2所述的方法，其特征在于，还包括：
    根据所述待补入货物的历史出库信息，以及所述待补入货物在所述存储区内的存储分布信息，为所述待补入货物分配至少一个目标料箱，所述至少一个目标料箱的剩余空间足够容纳所述待补入货物；其中所述历史出库信息包括以下至少一种：历史出库频次、出库结构信息。
  9. 根据权利要求2所述的方法，其特征在于，还包括：
    根据包含所述待补入货物的出库计划，确定所述待补入货物的组合出库货物；为所述待补入货物分配至少一个目标料箱，所述至少一个目标料箱的剩余空间足够容纳所述待补入货物，且所述至少一个目标料箱中存储有所述组合出库货物。
  10. 根据权利要求1-9中任一项所述的方法，其特征在于，所述向搬运机器人下发任务指令，控制所述搬运机器人完成将所述待补入货物存放至所述料箱内的补货处理，包括：
    向搬运机器人下发搬运指令，控制所述搬运机器人将所述目标料箱从所述存储区搬运至所述待补入货物的补货位置，以使对应人员在所述补货位置完成补货操作；
    响应于补货完成指令，向所述搬运机器人下发入库指令，控制所述搬运机器人将装有所述待补入货物的所述目标料箱由所述补货位置搬运至所述存储区。
  11. 根据权利要求1-9中任一项所述的方法，其特征在于，所述向搬运 机器人下发任务指令，控制所述搬运机器人完成将所述待补入货物存放至所述目标料箱内的补货处理，包括：
    向搬运机器人下发任务指令，控制所述搬运机器人自行完成补货任务。
  12. 根据权利要求1所述的方法，其特征在于，还包括：
    所述服务器检测的所述目标料箱的空间实际信息与空间纪录信息不匹配时，启动备选作业。
  13. 根据权利要求12所述的方法，其特征在于，所述空间纪录信息包括所述目标料箱内货物的尺寸信息、所述目标料箱内货物的占用料箱空间信息、所述目标料箱的剩余空间信息、与所述目标料箱的可容置空间信息中，一者以上的组合。
  14. 根据权利要求12所述的方法，其特征在于，所述服务器检测所述目标料箱的空间实际信息的方式包括：
    通过视觉传感器拍摄所述目标料箱内部空间，并分析拍摄图像取得所述空间实际信息。
  15. 根据权利要求14所述的方法，其特征在于，所述分析拍摄图像取得所述空间实际信息包括：
    分析所述拍摄图像的多维度与深度信息至少一者。
  16. 根据权利要求12所述的方法，其特征在于，所述服务器检测所述目标料箱的空间实际信息的方式包括：
    通过距离传感器感知所述目标料箱内部空间，并分析感知结果取得所述空间实际信息。
  17. 根据权利要求16所述的方法，其特征在于，所述距离传感器为红外传感器、激光传感器、声波传感器中一者以上的组合。
  18. 根据权利要求12所述的方法，其特征在于，所述备选作业为控制搬运机器人通过机械手臂调整所述目标料箱内货物的位置、发出警示信息中至少一者。
  19. 根据权利要求12所述的方法，其特征在于，还包括：
    所述服务器检测所述目标料箱的货物实际信息与货物纪录信息不匹配时，控制所述搬运机器人启动备选作业。
  20. 根据权利要求19所述的方法，其特征在于，通过对一维码、二维码、 射频标签中一者以上的识别，取得所述目标料箱的货物实际信息。
  21. 一种补货入库的方法，其特征在于，应用于搬运机器人，包括：
    接收服务器下发的任务指令；
    根据所述任务指令，完成将待补入货物存放至对应的目标料箱内的补货处理；
    其中，所述待补入货物对应的目标料箱是根据待补入货物的属性信息和补货数量以及存储区内各个料箱的剩余空间为所述待补入货物分配的料箱。
  22. 根据权利要求21所述的方法，其特征在于，接收服务器下发的任务指令；根据所述任务指令，完成将待补入货物存放至对应的目标料箱内的补货处理，包括：
    接收所述服务器下发的搬运指令，根据所述搬运指令，将所述目标料箱从所述存储区搬运至所述待补入货物的补货位置；
    接收所述服务器下发的入库指令，根据所述入库指令，将装有所述待补入货物的所述目标料箱由所述补货位置搬运至所述存储区。
  23. 根据权利要求21所述的方法，其特征在于，
    所述待补入货物对应的料箱是根据所述待补入货物的类型和补货数量，为所述待补入货物分配的剩余空间足够容纳所述待补入货物的目标料箱。
  24. 根据权利要求23所述的方法，其特征在于，
    所述待补入货物对应的料箱是剩余空间足够容纳所述类型的货物的数量大于或者等于所述补货数量的第一料箱中剩余空间最小的料箱；
    或者，所述待补入货物对应的料箱是剩余空间足够容纳所述类型的货物的数量大于或者等于所述补货数量的第一料箱中剩余空间最大的料箱；
    或者，所述待补入货物对应的料箱是通过依次扫描各个料箱确定剩余空间足够容纳所述类型的货物的数量大于或者等于所述补货数量的第一料箱过程中最先扫描到的第一料箱。
  25. 根据权利要求23所述的方法，其特征在于，所述属性信息包括类型和是否允许不同类型混放，
    若所述待补入货物不允许不同类型混放，所述待补入货物对应的料箱是所容纳货物的类型与所述待补入货物的类型一致且剩余空间足够容纳所述待补入货物的目标料箱；
    若所述待补入货物允许不同类型混放，所述待补入货物对应的料箱包括剩余空间足够容纳所述待补入货物的至少一个目标料箱。
  26. 根据权利要求23所述的方法，其特征在于，所述属性信息还包括批次和是否允许不同批次混放，
    若所述待补入货物不允许不同批次混放，则所述待补入货物对应的料箱是所容纳货物的批次与所述待补入货物的批次一致，且剩余空间足够容纳所述待补入货物的目标料箱；
    若所述待补入货物允许不同批次混放，则所述待补入货物对应的料箱包括至少一个所容纳货物的类型与所述待补入货物的类型一致的目标料箱，所述至少一个目标料箱的剩余空间足够容纳所述待补入货物。
  27. 根据权利要求23所述的方法，其特征在于，
    所述待补入货物对应的料箱是根据所述待补入货物的历史出库信息，以及所述待补入货物在所述存储区内的存储分布信息，为所述待补入货物分配的至少一个目标料箱，所述至少一个目标料箱的剩余空间足够容纳所述待补入货物；其中所述历史出库信息包括以下至少一种：历史出库频次、出库结构信息。
  28. 根据权利要求23所述的方法，其特征在于，
    所述待补入货物对应的料箱是根据包含所述待补入货物的出库计划，为所述待补入货物分配的至少一个目标料箱，所述至少一个目标料箱的剩余空间足够容纳所述待补入货物，且所述至少一个目标料箱中存储有所述待补入货物的组合出库货物，所述待补入货物的组合出库货物根据所述待补入货物的出库计划确定。
  29. 根据权利要求21所述的方法，其特征在于，所述任务指令包括所述目标料箱的空间纪录信息，所述搬运机器人检测的所述目标料箱的空间实际信息与所述空间纪录信息不匹配时，启动备选作业。
  30. 根据权利要求29所述的方法，其特征在于，所述空间纪录信息包括所述目标料箱内货物的尺寸信息、所述目标料箱内货物的占用料箱空间信息、所述目标料箱的剩余空间信息、与所述目标料箱的可容置空间信息中，一者以上的组合。
  31. 根据权利要求29所述的方法，其特征在于，所述搬运机器人检测所 述目标料箱的空间实际信息的方式包括：
    通过视觉传感器拍摄所述目标料箱内部空间，并分析拍摄图像取得所述空间实际信息。
  32. 根据权利要求31所述的方法，其特征在于，所述分析拍摄图像取得所述空间实际信息包括：
    分析所述拍摄图像的多维度与深度信息至少一者。
  33. 根据权利要求29所述的方法，其特征在于，所述搬运机器人检测所述目标料箱的空间实际信息的方式包括：
    通过距离传感器感知所述目标料箱内部空间，并分析感知结果取得所述空间实际信息。
  34. 根据权利要求33所述的方法，其特征在于，所述距离传感器为红外传感器、激光传感器、声波传感器中一者以上的组合。
  35. 根据权利要求29所述的方法，其特征在于，所述备选作业为上报服务器、通过机械手臂调整所述目标料箱内货物的位置、发出警示信息中至少一者。
  36. 根据权利要求29所述的方法，其特征在于，所述任务指令包括所述目标料箱的货物纪录信息，所述搬运机器人检测所述目标料箱的货物实际信息与所述货物纪录信息不匹配时，启动备选作业。
  37. 根据权利要求36所述的方法，其特征在于，通过对一维码、二维码、射频标签中一者以上的识别，取得所述目标料箱的货物实际信息。
  38. 一种服务器，其特征在于，包括：
    处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；
    其中，所述处理器运行所述计算机程序时实现如权利要求1至20中任一项所述的方法。
  39. 一种搬运机器人，其特征在于，包括：
    处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；
    其中，所述处理器运行所述计算机程序时实现如权利要求21至37中任一项所述的方法。
  40. 一种仓储***，其特征在于，包括：如权利要求38所述的服务器和如权利要求39所述的搬运机器人。
  41. 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程序，所述计算机程序被处理器执行时实现如权利要求1至20或21至37中任一项所述的方法。
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