CN113415566A

CN113415566A - Cargo transportation method, device, equipment, system and storage medium

Info

Publication number: CN113415566A
Application number: CN202110790208.8A
Authority: CN
Inventors: 高玉蓉
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2021-09-21
Anticipated expiration: 2041-07-13
Also published as: CN113415566B

Abstract

The embodiment of the disclosure provides a goods transportation method, a device, equipment, a system and a storage medium, wherein the method is applied to a server in a warehousing system, and the warehousing system comprises: the system comprises a server, a goods shelf area, goods transportation devices and an aerial robot, wherein the goods transportation devices are arranged on one side of the goods shelf area, and the method comprises the following steps: if a plurality of aerial robots wait for placing goods at the goods transportation device, controlling a first aerial robot to queue at the tail positions of the aerial robots to form a queue for transferring goods; the aerial robots in the queue are controlled to sequentially transfer goods to be placed to the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device, and the goods are transmitted through the formed transmission line, so that the aerial robots do not need to move, the transportation efficiency of the goods is improved, and the conditions that the robots at the head of the queue cannot leave and the roads are congested are avoided.

Description

Cargo transportation method, device, equipment, system and storage medium

Technical Field

The present disclosure relates to the field of smart storage, and in particular, to a method, an apparatus, a device, a system, and a storage medium for transporting goods.

Background

With the continuous development of intelligent warehousing technology, the social demand for warehousing is also continuously increasing. How to ensure the rapid transportation of goods becomes a hot issue.

In current warehousing systems, intelligent devices such as robots can be utilized for transporting goods, and the robots can climb on and take goods out of the shelves, bring the goods down to the ground, and transport the goods to a target area.

Because the robot can only drive a goods to the target area once, and the robot need be ceaselessly at goods shelves and ground removal, consequently, the robot has the problem of inefficiency when the transportation goods.

Disclosure of Invention

The embodiment of the disclosure provides a cargo transportation method, a cargo transportation device, equipment, a cargo transportation system and a storage medium, which are used for solving the technical problem of low efficiency in cargo transportation.

In a first aspect, an embodiment of the present disclosure provides a cargo transportation method applied to a server in a warehousing system, where the warehousing system includes: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the method comprises the following steps:

if a plurality of aerial robots wait for placing goods at the goods transportation device, controlling a first aerial robot to queue at the tail positions of the plurality of aerial robots so that the first aerial robot and the plurality of aerial robots form a queue for transferring goods; the first aerial robot is a robot which carries goods to be placed and needs to place the goods on the goods transportation device;

and controlling the aerial robots in the queue to sequentially transfer the goods to be placed to the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device.

In one possible design, the aerial robots comprise a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; controlling aerial robots in the queue to sequentially transfer goods to be placed to the direction of the goods transportation device, including:

and controlling the aerial robots in the queue to sequentially transfer the goods to be placed to the direction of the goods transportation device through the conveying mechanism so that the goods are transferred to the storage unit along the conveying line.

In one possible design, the method further includes:

when the first aerial robot transmits goods to be placed to the second aerial robot, judging whether a third aerial robot for placing the goods exists, wherein the second aerial robot is a robot in front of the first aerial robot in the queue, and the third aerial robot is a robot behind the first aerial robot in the queue;

if not, controlling all aerial robots in the queue to leave the queue in sequence when the goods are transferred;

and if the third aerial robot exists, controlling the aerial robots in the queue to sequentially transfer the goods of the third aerial robot to the direction of the goods transportation device.

In one possible design, the method further includes:

and in the process of controlling all the aerial robots in the queue to leave the queue in sequence after the goods are transferred, if a fourth aerial robot carrying the goods to be placed joins the queue, controlling the remaining aerial robots in the queue to remain in the queue and transfer the goods of the fourth aerial robot forward in sequence.

In one possible design, the method further includes:

determining an aerial robot to be released; wherein the aerial robot to be released comprises at least one of: the method comprises the following steps that an aerial robot to be subjected to task execution, an aerial robot with electric quantity smaller than a preset threshold value and an aerial robot with abnormity exist;

controlling the aerial robot to be released to leave from a queue;

and controlling the aerial robot behind the aerial robot to be released to move the positions of one or more aerial robots in sequence towards the direction of the goods transportation device, and continuously and sequentially transferring the goods to be placed.

In one possible design, determining an aerial robot to release includes:

selecting a target aerial robot from candidate aerial robots to distribute the pick-up task according to the pick-up task to be executed; wherein the candidate aerial robots comprise aerial robots in an idle state and/or aerial robots in a queue;

when the target aerial robot is an aerial robot in the queue, determining that the target aerial robot is an aerial robot to be released.

In one possible design, selecting a target aerial robot from among the candidate aerial robots to assign the pick task includes:

determining the position of goods to be picked of the goods picking task and the positions of the candidate aerial robots;

determining the distance between the position of the goods to be picked and each candidate aerial robot, and distributing the goods picking task to the candidate aerial robot with the closest distance, wherein the candidate aerial robot with the closest distance is the target aerial robot.

In one possible design, controlling the first aerial robot to queue at a tail position of the plurality of aerial robots if there are already a plurality of aerial robots waiting to place goods at the goods transportation device, includes:

if a plurality of aerial robots wait for placing goods at the goods transportation device, judging whether the emergency degree of the goods to be placed carried by the first aerial robot meets the requirement;

and if the requirement is not met, controlling the first aerial robot to queue at the tail positions of the aerial robots.

In one possible design, the method further includes:

and if the requirement is met, controlling the aerial robot positioned at the head of the queue to leave the current position, and moving the first aerial robot to the head of the queue and placing the goods.

In one possible design, determining whether the urgency of the cargo to be placed carried by the first airborne robot meets a requirement includes:

acquiring the delivery deadline of goods carried by the first aerial robot and the delivery deadline of goods to be placed by the plurality of aerial robots;

and judging whether the emergency degree of the goods to be placed carried by the first aerial robot meets the requirement or not according to the delivery deadline of the goods carried by the first aerial robot and the delivery deadline of the goods to be placed by the plurality of aerial robots.

In one possible design, a roadway is arranged between any two goods shelves; the aerial robot is used for placing goods on the goods transportation device at a goods placing position; the put goods position is a plurality of, put goods position and include: the junction of the roadway and the cargo transportation device, and the junction of the top of the goods shelf area and the cargo transportation device; the method further comprises the following steps:

distributing goods placing positions for the goods to be placed carried by each aerial robot according to the number of the goods to be placed corresponding to each goods placing position;

and controlling the aerial robot carrying the goods to be placed to move to the corresponding goods placing position for placing the goods.

In one possible design, the method for allocating the stocking positions for the goods to be stocked carried by each aerial robot according to the number of the goods to be stocked corresponding to each stocking position comprises the following steps:

and for each aerial robot, distributing goods placing positions for goods to be placed carried by the aerial robot according to the goods taking positions, the goods placing positions and the number of the goods corresponding to the goods placing positions of the aerial robot.

In one possible design, allocating a put position for a goods to be placed carried by an aerial robot according to a pick position of the aerial robot, each put position and a quantity of the goods corresponding to each put position includes:

calculating the average value of the quantity of the goods corresponding to each goods placing position according to the quantity of the goods corresponding to each goods placing position;

determining the goods placing positions with the goods quantity smaller than the average value as preset goods placing positions;

if only one preset goods placing position exists, determining the preset goods placing position as a corresponding goods placing position of the aerial robot;

and if the preset goods placing positions comprise at least two goods placing positions, selecting the goods placing position corresponding to the aerial robot from the preset goods placing positions according to the goods taking position of the aerial robot and the preset goods placing positions.

In one possible design, the warehousing system further comprises a ground transportation device; the bottom of the goods transportation device is matched with the goods taking height of the ground transportation device; the method further comprises the following steps:

when the storage unit of the goods transportation device transports the goods to the target position, the ground transportation device is controlled to take the goods from the storage unit and transport the goods to the target area, and the target position is a position suitable for the ground transportation device to take the goods.

In a second aspect, embodiments of the present disclosure provide a method for controlling the transportation of goods in a warehousing system, the warehousing system including: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the method is applied to a first aerial robot, and comprises the following steps:

if a plurality of aerial robots wait for placing goods at the goods transportation device, queuing at the tail positions of the aerial robots to form a queue for transferring goods;

transferring the goods to be placed to a second aerial robot so that the aerial robots in the queue transfer the goods in sequence in the direction of a goods transportation device until the goods are placed on a storage unit of the goods transportation device; the second aerial robot is a robot in the queue that precedes the first aerial robot.

In one possible design, the aerial robots comprise a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; transferring goods to be placed to a second aerial robot so that the aerial robots in the queue transfer the goods in sequence in the direction of a goods transportation device, comprising:

and transferring the goods to be placed to the second aerial robot through the transfer mechanism, so that the plurality of aerial robots sequentially transfer the goods to the direction of the goods transportation device through the transfer mechanism.

In one possible design, the method further includes:

after goods to be placed are transferred to a second aerial robot, whether a third aerial robot for placing the goods exists behind the first aerial robot or not is judged;

if not, leaving the queue when the goods are transferred;

and if so, receiving the goods transmitted by the third aerial robot in the queue and transmitting the goods to the second aerial robot so that the goods are sequentially transmitted to the storage unit.

In one possible design, the method further includes:

and in the process of controlling all the aerial robots in the queue to leave the queue in sequence after the goods are transferred, if a fourth aerial robot carrying the goods to be placed joins the queue, controlling the remaining aerial robots in the queue to remain in the queue and transfer the goods of the fourth aerial robot to the direction of the goods transportation device in sequence.

In one possible design, the method further includes:

if at least one of the following triggering conditions is present: and leaving the queue if the task is to be executed, the electric quantity is less than a preset threshold value and the abnormity exists.

In one possible design, if there are already a plurality of aerial robots waiting to place goods at the goods transportation device, queuing at the tail end positions of the plurality of aerial robots includes:

if a plurality of aerial robots wait for placing goods at the goods transportation device and obtain a queuing instruction sent by a server, queuing at the tail positions of the aerial robots according to the queuing instruction;

wherein the queuing instruction is sent by the server when the urgency of the goods to be placed does not meet the requirement.

In one possible design, the method further includes:

if a plurality of aerial robots wait for placing goods at the goods transportation device and obtain a queue-inserting instruction sent by a server, moving to a head position of a queue according to the queue-inserting instruction and placing the goods;

wherein the queue-inserting command is sent by the server when the urgency of the goods to be placed meets the requirement.

acquiring the goods placing position indication information sent by the server; the goods placement position indication information is determined by the server according to the quantity of goods to be placed corresponding to each goods placement position;

and moving to the corresponding goods placing position for placing goods according to the goods placing position indication information.

In a third aspect, an embodiment of the present disclosure provides a cargo transportation device applied to a server in a warehousing system, where the warehousing system includes: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the device comprises:

a first control module, configured to control the first aerial robot to queue at a queue tail position of the plurality of aerial robots if there are a plurality of aerial robots waiting for placement of goods at the goods transportation device, so that the first aerial robot and the plurality of aerial robots form a queue for transferring goods; the first aerial robot is a robot which carries goods to be placed and needs to place the goods on the goods transportation device;

and the second control module is used for controlling the aerial robots in the queue to sequentially transfer the goods to be placed to the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device.

In a fourth aspect, embodiments of the present disclosure provide a cargo transportation device for controlling the transportation of cargo in a warehousing system, the warehousing system including: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the device is applied to a first aerial robot, and comprises:

the queuing module is used for queuing at the tail positions of the plurality of aerial robots to form a queue for goods transmission if a plurality of aerial robots wait for goods to be placed at the goods transportation device;

the transfer module is used for transferring the goods to be placed to the second aerial robot so that the aerial robots in the queue transfer the goods to the direction of the goods transportation device in sequence until the goods are placed on the storage unit of the goods transportation device; the second aerial robot is a robot in the queue that precedes the first aerial robot.

In a fifth aspect, an embodiment of the present disclosure provides a control apparatus, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any one of the first aspects.

In a sixth aspect, embodiments of the present disclosure provide an aerial robot, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any of the second aspects.

In a seventh aspect, an embodiment of the present disclosure provides a robot control system, including: a shelf area, a control device for performing the method of any of the first aspect, a cargo transporter and an aerial robot;

the aerial robot is configured to perform the method of any of the second aspects.

In an eighth aspect, the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the method according to any one of the first aspect is implemented.

In a ninth aspect, the present disclosure provides a computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of the first and second aspects.

The goods transportation method, the device, the equipment, the system and the storage medium provided by the embodiment of the application are applied to a server in a warehousing system, and the warehousing system comprises: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the method comprises the following steps: if a plurality of aerial robots wait for placing goods at the goods transportation device, controlling a first aerial robot to queue at the tail positions of the plurality of aerial robots so that the first aerial robot and the plurality of aerial robots form a queue for transferring goods; the first aerial robot is a robot which carries goods to be placed and needs to place the goods on the goods transportation device; the aerial robot in the queue is controlled to sequentially transmit the goods to be placed to the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device, and the goods are transmitted through the transmission line, so that the aerial robot does not need to move, the continuity of the goods transportation process is improved, the transportation efficiency of the goods is improved, and the conditions that the robot at the head of the queue cannot leave and the road is congested are avoided.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to these drawings by those skilled in the art without inventive exercise.

Fig. 1 is a schematic diagram of a process of transporting goods by a robot according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of an application scenario provided in the embodiment of the present disclosure;

fig. 3 is a schematic flow chart of a cargo transportation method according to an embodiment of the present disclosure;

fig. 4A is a top view 1 of a cargo being transported by a transport line according to an embodiment of the present disclosure;

fig. 4B is a top view 2 of cargo being transported by a transport line according to an embodiment of the present disclosure;

fig. 4C is a top view 3 of a cargo being transported by a transport line according to an embodiment of the present disclosure;

fig. 5 is a schematic flowchart of a control method when an aerial robot leaves a queue according to an embodiment of the present disclosure;

fig. 6 is a schematic flowchart of another control method for an aerial robot leaving a queue according to an embodiment of the present disclosure;

FIG. 7 is a schematic flow chart diagram of another method of transporting cargo provided by embodiments of the present disclosure;

fig. 8 is a schematic flow chart of yet another cargo transportation method provided by the embodiments of the present disclosure;

FIG. 9 is a schematic structural view of a cargo transporter according to an embodiment of the present disclosure;

FIG. 10 is a schematic illustration of another alternative cargo conveyance device provided by embodiments of the present disclosure;

fig. 11 is a schematic structural diagram of a control device according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of an aerial robot according to an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Fig. 1 is a schematic diagram of a process of transporting goods by a robot according to an embodiment of the present disclosure. As shown in fig. 1, when goods 102 on a shelf 101 need to be transported, a robot 103 may go to the shelf 101 to take out a target goods, where the robot 103 here is a robot capable of climbing the shelf, and when the robot receives an instruction to transport the goods, where the instruction includes a position of the target goods on the shelf and a position of the target goods to be placed in a target area 104, the robot 103 may climb the shelf 101 and move to the position where the target goods are stored, take out the target goods and drive the target goods to move from the shelf to the ground, continue to drive the target goods to move to the target area 104, and place the target goods at the position to be placed.

In the freight transportation process, the robot needs to continuously climb on the goods shelf and climb off the goods shelf, and one robot can only transport one goods at a time, so that the efficiency of transporting the goods is low.

Fig. 2 is a schematic view of an application scenario provided in the embodiment of the present disclosure. As shown in fig. 2, a cargo transporter 201 is disposed on one side of a shelf area, a shelf 101 represents a side surface of the shelf, a top rail is disposed on a top of the shelf, that is, an aerial robot can climb the shelf and take out a target cargo, climb the top rail, and be transported to a storage unit 2011 of the cargo transporter through the top rail, the cargo transporter includes a plurality of storage units 2011, the plurality of storage units 2011 form a ring, the ring can be diversified, and is not limited herein, and is used for reciprocating motion between the top and the bottom of the cargo transporter along a preset path, the storage unit 2011 receives the cargo placed by the aerial robot and drives the cargo to be transported to the bottom, and a ground transporter 202 takes away the cargo transported to the bottom and transports the cargo to the target area 104, thereby greatly improving the transportation efficiency of the cargo. Furthermore, the plurality of storage units 2011 in the cargo transporter 201 may also be configured in a circular configuration with the top of the circular configuration being used for robotic stocking.

In order to facilitate the aerial robot to transmit the goods to the storage units, the height of a transverse transmission line formed by the storage units of the goods transportation device is flush with or slightly lower than the height of a transmission mechanism of the aerial robot, so that the goods transmitted by the aerial robot can be received conveniently.

In the process, a plurality of aerial robots place cargos on different storage units of the cargo transportation device, if the cargos are placed in a conventional mode, namely the aerial robots place the cargos in the storage units and then leave the storage units, and the next aerial robot moves to the cargo placement position to place the cargos, the problem that the cargo placement efficiency is low exists.

Based on the above-mentioned problem, further consider how to improve the efficiency of placing the goods to cargo transportation device, because aerial robot need leave the queue after having placed the goods, next aerial robot need remove to cargo transportation device's direction simultaneously, this process leads to consuming more time, the efficiency of placing the goods is lower, moreover, when there are a plurality of parallelly put the goods position, probably there is the unable circumstances of leaving because of the road jam after the aerial robot of the head of a team has placed the goods, lead to the robot at rear to be unable to place the goods. If the aerial robot does not leave the queue after placing the goods, the goods transmitted by the next aerial robot are directly received, so that the goods transportation process is more continuous, the time for placing the goods is greatly reduced, the efficiency for placing the goods is improved, and the robot at the tail of the queue can directly leave from the rear, so that the road congestion is avoided.

In the following, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and features in the following embodiments and examples may be combined with each other without conflict between the embodiments.

Fig. 3 is a schematic flow chart of a cargo transportation method according to an embodiment of the present disclosure. As shown in fig. 3, an execution subject of the method in this embodiment may be a server, and as shown in fig. 3, the cargo transportation method in this embodiment may include:

step 301, if a plurality of aerial robots wait for placing goods at the goods transportation device, controlling a first aerial robot to queue at the tail positions of the aerial robots, so that the first aerial robot and the aerial robots form a queue for transferring goods; the first aerial robot is a robot that carries goods to be placed and needs to place the goods in a goods transport device.

The goods transportation device is a position in a goods shelf or a roadway, which is convenient for placing goods to the storage unit of the goods transportation device.

The first aerial robot can determine the corresponding storage position of the goods to be placed according to the preset goods taking task information. And taking the goods out of the shelf according to the storage positions of the goods.

When the first aerial robot takes the goods out of the goods shelf, if a plurality of aerial robots wait for placing the goods at the goods transportation device, the situation that the number of the aerial robots currently queuing to place the goods to be placed is large and the goods transportation device is congested is shown, and at the moment, the goods to be placed can be transmitted by forming a transmission line between the first aerial robot and the aerial robots.

The number of the plurality of aerial robots is not limited, and may be any number greater than 1.

Specifically, the first aerial robot may be controlled to queue at the tail of the plurality of aerial robots, and the first aerial robot and the plurality of aerial robots form a queue capable of transferring goods.

And 302, controlling the aerial robots in the queue to sequentially transfer the goods to be placed to the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device.

After a queue capable of transmitting goods is formed, the aerial robot can sequentially transmit the goods to the goods transportation device according to the arrangement sequence of the goods.

In order to realize that the aerial robot can transfer goods, the aerial robot needs to be correspondingly improved. A specific implementation is given below.

Optionally, the aerial robots comprise a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; controlling aerial robots in the queue to sequentially transfer goods to be placed to the direction of the goods transportation device, including:

Wherein, aerial robot is for containing moving mechanism (like the wheel) and the flexible robot that snatchs the mechanism, can realize climbing in the side of goods shelves, perhaps, along the tunnel climbing between two goods shelves, perhaps, moves at the top of goods shelves to can take out the goods, and drive the goods and remove.

In addition, aerial robot still includes transport mechanism, and transport mechanism is used for depositing the goods that the flexible mechanism of grabbing taken out, can transmit the goods simultaneously, and transport mechanism can be conveyer belt or transfer. The conveying mechanism of the aerial robot can be arranged inside the robot or on the top of the robot.

When transferring goods by forming a transfer line, the transfer mechanism of each aerial robot may form a transfer line so that the transferred goods may be transferred along the transfer line.

The conveying mechanism is convenient to form a conveying line for conveying goods, and then the goods are conveyed based on the conveying line.

The process of transferring goods based on the transmission line will be explained.

Fig. 4A is a top view 1 of a cargo being transported by a transport line according to an embodiment of the present disclosure; fig. 4B is a top view 2 of cargo being transported by a transport line according to an embodiment of the present disclosure; fig. 4C is a top view 3 of cargo being transported by a transport line according to an embodiment of the disclosure.

Assuming that when there are 2 airborne robots in line, the cargo is transferred by forming a transmission line. Referring to fig. 4A, robot 3 is a first aerial robot, and robots 1 and 2 are queued aerial robots, each carrying goods to be placed. The storage units 1 and 2 are storage units in a freight transport device. Wherein when it is determined that there are 2 airborne robots at the cargo transporter, then the robot 3 may be controlled to queue behind the robot 2.

Referring to fig. 4B, when the storage unit 1 is an empty unit and moves to a position corresponding to the robot 1, the robot 1 is controlled to place the goods to be placed (i.e., the goods 1) carried at this time in the storage unit 1. When the robot 1 finishes placing the goods into the storage unit 1, the goods 2 transferred by the robot 2 can be received, similarly, the goods 3 transferred by the robot 3 can be received after the robot 2 is idle, and at this time, the robot 3 has no goods and can leave the queue.

Referring to fig. 4C, when the storage unit 2 is an idle unit and moves to a position corresponding to the robot 1, the robot 1 is controlled to place the goods 2 carried at this time in the storage unit 2, and the robot 1 is in an idle state and can receive the goods 3 transferred by the robot 2, and at this time, no goods in the robot 2 can leave the queue.

In addition, in order to further improve the transmission efficiency, each aerial robot can simultaneously forward transfer goods, for example, when the robot 1 transfers goods to the storage unit, the robot 1 has a part of idle positions, and can simultaneously receive the goods transferred by the robot 2, and when the robot 1 finishes transferring the goods 1, the action of simultaneously receiving the goods 2 is also finished, so that the transmission efficiency is further improved.

In addition, after the preset time after the previous aerial robot starts to transfer goods, the aerial robot starts to transfer goods to the previous aerial robot, so that the goods are transferred without errors, and the transmission efficiency is improved.

After the goods are transported to the target position by the goods transporting device, the goods need to be transported to the target position, and the process of transporting to the target position will be described in detail below.

Optionally, the warehousing system further comprises a ground transportation device; the bottom of the goods transportation device is matched with the goods taking height of the ground transportation device; the method further comprises the following steps:

Wherein, after the goods is placed in the unit of depositing, the goods can be along with the unit motion of depositing of freight transportation device, when the server detects that the goods is transported to the target location, can send the instruction of getting the goods to ground conveyer, ground conveyer is after receiving the instruction of getting the goods, takes off the goods from depositing the unit to with freight to the target location.

The ground transportation device can be various ground robots, the ground robots can be robots provided with mechanical arms or forks, and the ground robots can also be provided with a plurality of pack baskets for taking out a plurality of cargos. The ground transport device may also be a transmission line through which the goods are directly transmitted to the target location.

In the cargo transportation method provided by this embodiment, if there are a plurality of aerial robots waiting to place a cargo at the cargo transportation device, a first aerial robot is controlled to queue at the tail positions of the plurality of aerial robots, so that the first aerial robot and the plurality of aerial robots form a queue for transferring the cargo, and the first aerial robot is a robot that carries the cargo to be placed and needs to place the cargo on the cargo transportation device; the aerial robots in the queue are controlled to sequentially transfer goods to be placed to the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device, when the aerial robots place the goods on the goods transportation device, the aerial robots do not need to leave the current position, the aerial robots behind the aerial robots do not need to move, and the transmission efficiency can be improved through a mode of sequentially transmitting the goods.

Fig. 5 is a schematic flow chart of a control method for an aerial robot leaving a queue according to an embodiment of the present disclosure, and this embodiment describes in detail a process of leaving the queue of the aerial robot on the basis of the technical solutions provided in the foregoing embodiments. As shown in fig. 5, the method includes:

step 501, when the first aerial robot transfers goods to be placed to the second aerial robot, determining whether a third aerial robot for placing the goods exists, wherein the second aerial robot is a robot in front of the first aerial robot in the queue, and the third aerial robot is a robot behind the first aerial robot in the queue.

After the first aerial robot transfers goods to the second aerial robot, the aerial robots may or may not leave the queue, and the determination needs to be made according to whether queued aerial robots exist behind the first aerial robot. Therefore, it is necessary to first determine whether or not the third airborne robot is present.

Specifically, the server may obtain position information of all the aerial robots, and determine whether a third aerial robot exists according to the position information.

And 502, if the goods do not exist, controlling all the aerial robots in the queue to leave the queue in sequence when the goods are completely transferred.

The acquired position information may be coordinate values, and the description is given by taking a positive direction in which the aerial robots are queued along the horizontal axis and the head-of-line robot approaches the horizontal axis as an example. And when detecting that the ordinate of the coordinate value of the first aerial robot is the same as that of the coordinate value of the other aerial robot, the abscissa of the other aerial robot is smaller than that of the first aerial robot, and the difference between the abscissas is a preset value (such as the length of one aerial robot), determining that a third aerial robot exists, otherwise, determining that the third aerial robot does not exist.

When it is determined that the third airborne robot is not present, then the first airborne robot may leave the queue after placing the goods.

And 503, if the third aerial robot exists, controlling the aerial robots in the queue to sequentially transfer the goods of the third aerial robot to the direction of the goods transportation device.

And when a third aerial robot exists, controlling the first aerial robot not to leave the queue and continuously transferring the goods of the third aerial robot. At this time, the third aerial robot can be prevented from moving, and time waste is avoided.

By the method, the state of the aerial robot after goods are transferred to other aerial robots can be controlled, so that the efficiency of overall goods transmission is improved.

Further, it is also considered that when the aerial robot leaves the queue, if the aerial robot joins the queue, the control strategy may be adjusted.

The method further comprises the following steps: and in the process of controlling all the aerial robots in the queue to leave the queue in sequence after the goods are transferred, if a fourth aerial robot carrying the goods to be placed joins the queue, controlling the remaining aerial robots in the queue to remain in the queue and transfer the goods of the fourth aerial robot to the direction of the goods transportation device in sequence.

The aerial robots receive tasks, take goods out and transport goods in real time, so that when each aerial robot leaves the queue, a fourth aerial robot carrying goods may join the queue, and at the moment, the aerial robots not leaving the queue can be controlled to continuously stay in the queue and sequentially transfer the goods carried by the fourth aerial robot.

The state of the aerial robot when the aerial robot leaves the queue can be further controlled by the method, and the transmission efficiency of the goods of the fourth aerial robot is improved by continuously forming the transmission line.

Fig. 6 is a schematic flowchart of another control method for an aerial robot leaving a queue according to an embodiment of the present disclosure, and as shown in fig. 6, the method further includes:

601, determining an aerial robot to be released; wherein the aerial robot to be released comprises at least one of: the system comprises an aerial robot to be subjected to a task, an aerial robot with the electric quantity smaller than a preset threshold value and an aerial robot with an abnormality.

The air robot leaving the queue is called a released air robot, and the air robot to be released can be determined before the air robot is released. The air robot leaving the queue may be an air robot at any position in the queue, such as at the head of the queue, the middle of the queue, or the tail of the queue.

The aerial robot to be executed is the aerial robot distributed with the goods taking task. If the aerial robot has been assigned a task it needs to be released in time in order to transport the next goods in time.

In addition, the aerial robot to be released can also be an aerial robot with the electric quantity smaller than a preset threshold value, and when the electric quantity of the robot is smaller than the preset threshold value, the next goods to be released cannot be transported. The aerial robot can send the electric quantity of the aerial robot to the server in real time, the server judges the size of the obtained electric quantity and a preset threshold value, and if the electric quantity is smaller than the preset threshold value, the aerial robot is determined to be the aerial robot to be released.

In addition, the aerial robot to be released can also be an aerial robot with abnormity, if a conveying mechanism is in fault, the goods cannot be transferred to the next aerial robot; or, the telescopic grabbing mechanism fails, so that goods cannot be taken out of the shelf. The aerial robot can also be provided with a detection mechanism for detecting whether a conveying mechanism or a telescopic grabbing mechanism of the aerial robot can work normally or not, if the conveying mechanism or the telescopic grabbing mechanism cannot work normally, a message indicating that the aerial robot is in an abnormal state is sent to the server, and when the server receives the message, the aerial robot is determined to be the aerial robot to be released.

The following is a detailed description of a process of determining that the aerial robot to be released is an aerial robot to perform a task.

Determining an aerial robot to be released, comprising:

selecting a target aerial robot from candidate aerial robots to distribute the pick-up task according to the pick-up task to be executed; wherein the candidate aerial robots comprise aerial robots in an idle state and/or aerial robots in a queue; when the target aerial robot is an aerial robot in the queue, determining that the target aerial robot is an aerial robot to be released.

The aerial robot to be released can be an aerial robot to perform a task. Specifically, the determining process may be: the server acquires a goods taking task to be executed, wherein the goods taking task comprises a goods taking position, the candidate aerial robot refers to a robot capable of executing the goods taking task at any time, the server can acquire information of the candidate aerial robot and determine a target aerial robot according to the goods taking position and the information of the candidate aerial robot. After the target aerial robot is determined, if the target aerial robot is an aerial robot in the queue, the aerial robot is an aerial robot to be released.

The aerial robot to be released is determined as the aerial robot to be subjected to the task, so that the aerial robot can be reasonably planned, and the cargo transmission efficiency is improved.

A specific method of determining a target aerial robot is provided below.

Selecting a target aerial robot from the candidate aerial robots to assign the pick task, comprising:

determining the position of goods to be picked of the goods picking task and the positions of the candidate aerial robots; determining the distance between the position of the goods to be picked and each candidate aerial robot, and distributing the goods picking task to the candidate aerial robot with the closest distance, wherein the candidate aerial robot with the closest distance is the target aerial robot.

The server actively obtains or passively receives the position of the goods to be taken in the goods taking task and the positions of the idle candidate aerial robots, screens out the aerial robot closest to the position of the goods to be taken, namely the target aerial robot from the idle candidate aerial robots, and distributes the goods taking task to the target aerial robot.

The aerial robot corresponding to the goods taking task is determined according to the distance, and the aerial robot suitable for the goods taking task can be distributed, so that the goods transmission efficiency is improved.

Step 602, controlling the air robot to be released to leave from the queue.

After determining the aerial robot to be released, the server may send an instruction to leave the queue to the aerial robot, so that the aerial robot to be released leaves the queue after receiving the instruction to leave the queue.

When the robot in the air to be released is the robot at the tail of the queue, the robot can leave the queue along any direction except the queuing direction; when the air robot to be released is a robot in a position other than the tail of the queue, the robot can leave the queue in a direction perpendicular to the queuing direction.

Step 603, controlling the aerial robot behind the aerial robot to be released to move the positions of one or more aerial robots in sequence towards the direction of the goods transportation device, and continuously and sequentially transferring the goods to be placed.

When the aerial robot to be released leaves the queue, an idle position appears in the queue, and the aerial robot behind the aerial robot to be released moves forwards in sequence. Front here refers to the direction towards the goods transport means and rear refers to the direction away from the goods transport means.

The number of the aerial robots to be released can be one or more, and the number of the aerial robots positioned behind the aerial robots to be released can be one or more.

When the robot in the air to be released moves a certain distance to the goods transportation device, the transmission line can be formed again, and the goods to be placed can be continuously transmitted.

The aerial robot to be released is determined to be the aerial robot in three special states, so that the normal operation of the aerial robot can be ensured, the condition that goods are failed to be transmitted is avoided, and the goods transmission efficiency is improved.

Fig. 7 is a schematic flow chart of another cargo transportation method according to the embodiment of the present disclosure, and each step in fig. 7 is a detailed description of the queuing position of the first aerial robot in step 301 in fig. 3. As shown in fig. 7, if there are a plurality of aerial robots waiting for placing goods at the goods transportation device, controlling the first aerial robot to queue at the tail end of the plurality of aerial robots includes:

step 701, if a plurality of aerial robots wait for placing goods at the goods transportation device, determining whether the emergency degree of the goods to be placed carried by the first aerial robot meets the requirement.

Wherein when the first airborne robot is joining the queue, an appropriate location may be selected and joined. Specifically, the emergency degree of the carried goods to be placed can be determined. The higher the urgency of the cargo indicates that the cargo needs to be timely transferred to the target location. Thus, the position of the first airborne robot in the queue may be selected according to the urgency of the cargo.

Whether the emergency degree of the goods meets the requirement is judged, whether the goods need to be transported to the target position in time can be judged according to the emergency degree of the goods, when the goods need to be transported in time, the requirement is met, and when the goods do not need to be transported in time, the requirement is not met.

Specifically, the server can actively acquire or passively receive the emergency degree of the goods carried by the aerial robot, and judge the received emergency degree to obtain a judgment result.

A specific method for determining whether the urgency of the cargo satisfies the requirement is given below.

Judging whether the emergency degree of the goods to be placed carried by the first aerial robot meets the requirements or not, and the method comprises the following steps:

acquiring the delivery deadline of goods carried by the first aerial robot and the delivery deadline of goods to be placed by the plurality of aerial robots; and judging whether the emergency degree of the goods to be placed carried by the first aerial robot meets the requirement or not according to the delivery deadline of the goods carried by the first aerial robot and the delivery deadline of the goods to be placed by the plurality of aerial robots.

Specifically, the emergency degree of the goods can be judged according to the delivery deadline of the goods, and the more the delivery deadline of the goods is, the more the goods need to be transported in time.

The server can obtain the delivery time of the goods carried by the first aerial robot and the delivery deadline time of the goods carried by each robot in the queue, judge the relation of each deadline time, and if the delivery time of the goods carried by the first aerial robot is earlier than the delivery time of the goods carried by any aerial robot in the queue, indicate that the emergency degree of the goods carried by the first aerial robot to be placed meets the requirement. Otherwise, the emergency degree of the goods to be placed carried by the first aerial robot is not satisfied.

By judging the delivery deadline of the goods corresponding to each aerial robot, the emergency degree of the goods can be accurately measured, and the position of the first aerial robot in the queue can be accurately determined.

And 702, if the requirement is not met, controlling the first aerial robot to queue at the tail positions of the aerial robots.

After the judgment result is obtained, if the result is that the requirement is not met, the goods are transported without urgency, and the goods can be arranged at the tail position of the queue. The server can send a command queued at the tail of the queue to the first control robot, and the first aerial robot moves to the tail of the queue after receiving the command.

Further, if the requirement is met, the aerial robot located at the head of the queue in the plurality of aerial robots is controlled to leave the current position, and the first aerial robot moves to the head of the queue and places the goods.

In addition, when goods to be placed carried by the aerial robot meet requirements, namely need to be transported to a target position in time, the first aerial robot can be controlled to be inserted into the team.

Specifically, the server may send a command to leave the queue to the control robot located at the head of the queue, so that the head of the queue is in an idle state, and send a queue-inserting command to the first aerial robot, so that the first aerial robot is arranged at the head of the queue.

According to the difference of the emergency degree of the goods, different positions for inserting the queues are set for the aerial robot, so that the goods needing to be transported in time are transported to the goods transporting device, and the goods can be delivered out of the warehouse before the delivery deadline as much as possible.

The above-described procedure is a case where there is only one put location, and a case where there are a plurality of put locations will be described below.

A roadway is arranged between any two goods shelves; the aerial robot is used for placing goods on the goods transportation device at a goods placing position; the put goods position is a plurality of, put goods position and include: the junction of the roadway and the cargo transportation device, and the junction of the top of the goods shelf area and the cargo transportation device; the method further comprises the following steps:

distributing goods placing positions for the goods to be placed carried by each aerial robot according to the number of the goods to be placed corresponding to each goods placing position; and controlling the aerial robot carrying the goods to be placed to move to the corresponding goods placing position for placing the goods.

Wherein, the mode setting that cargo transportation device is square, circular, door font or several fonts is in one side of goods shelves region, and cargo transportation device is including the horizontal transmission line that the unit of depositing that is located the top is constituteed and set up the vertical transmission line in horizontal transmission line one side, and the position of putting goods does the tunnel with cargo transportation device's juncture goods shelves region top with cargo transportation device's juncture, consequently, the number of the position of putting goods can be a plurality ofly. When there are multiple put locations, the put locations may be assigned for goods to be placed carried by the aerial robot.

Specifically, the stocking position of the aerial robot can be determined according to the number of goods to be stocked corresponding to each stocking position. The server can determine the quantity of the goods at each putting position in real time, for example, for the putting position A, when a queue leaving instruction is sent to the aerial robot, the quantity of the goods is reduced by one; when an order to join the queue is sent to the airborne robot, the number of loads is increased by one. After the aerial robot 1 takes the goods, the server determines the goods placing positions of the goods to be placed carried by the aerial robot 1 according to the goods number corresponding to each goods placing position. For example, when there are two put locations and the server determines that the quantity of goods at put location 1 is 3 and the quantity of goods at put location 2 is 5, put location 1 is determined to be the put location.

After the goods placement position is determined, the server can send goods placement instructions to the aerial robot, the goods placement instructions at least comprise the goods placement position, and the aerial robot can move to the goods placement position and execute goods placement actions when receiving the instructions.

One particular method of assigning stocking locations is given below.

When the goods to be placed of the aerial robot are determined to be the goods placing positions, the goods quantity corresponding to each goods placing position is related, the goods taking positions and the goods placing positions of the aerial robot are related, and the goods placing positions can be accurately distributed by comprehensively considering the goods taking positions, the goods placing positions and the goods quantity corresponding to each goods placing position.

Optionally, according to the picking position of the aerial robot, each putting position and the number of goods corresponding to each putting position, allocating the putting position for the goods to be placed carried by the aerial robot, including:

calculating the average value of the quantity of the goods corresponding to each goods placing position according to the quantity of the goods corresponding to each goods placing position; determining the goods placing positions with the goods quantity smaller than the average value as preset goods placing positions; if only one preset goods placing position exists, determining the preset goods placing position as a corresponding goods placing position of the aerial robot; and/or if the preset goods placing positions comprise at least two goods placing positions, selecting the goods placing position corresponding to the aerial robot from the preset goods placing positions according to the goods taking position of the aerial robot and the preset goods placing positions.

The server can calculate an average value according to the quantity of the goods corresponding to each goods release position, judge whether the quantity of the goods at each goods release position is smaller than the average value, and determine the goods release position as a preset goods release position if the quantity of the goods at each goods release position is smaller than the average value. If the average value is 4 and the stock quantity of the stock position 1 is 3, the stock position 1 is the preset stock position.

The number of the preset goods placing positions can be one or at least two, when the number of the preset goods placing positions is one, the position relation between the goods placing positions and the goods taking positions does not need to be continuously judged, and the preset goods placing positions are directly determined to be the corresponding goods placing positions of the aerial robot.

When the number of the preset goods placing positions is at least two, the preset goods placing position closest to the goods taking position can be determined as the goods placing position corresponding to the aerial robot according to the position relation between the goods placing position and the goods taking position.

By the method, the suitable goods placing positions can be allocated for the goods to be placed of the aerial robot, and the goods transportation efficiency can be improved by selecting the goods placing positions with fewer goods and closer distances.

Fig. 8 is a schematic flow chart of another cargo transportation method provided in an embodiment of the present disclosure, and as shown in fig. 8, the method is used for controlling cargo transportation in a warehousing system, where the warehousing system includes: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the method is applied to a first aerial robot, and comprises the following steps:

step 801, if a plurality of aerial robots wait for placing goods at the goods transportation device, queuing at the tail positions of the aerial robots to form a queue for transferring goods;

step 802, transferring the goods to be placed to a second aerial robot so that the aerial robots in the queue transfer the goods in sequence in the direction of a goods transportation device until the goods are placed on a storage unit of the goods transportation device; the second aerial robot is a robot in the queue that precedes the first aerial robot.

Optionally, the aerial robots comprise a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; transferring goods to be placed to a second aerial robot so that the aerial robots in the queue transfer the goods in sequence in the direction of a goods transportation device, comprising:

Optionally, the method further includes:

if not, leaving the queue when the goods are transferred;

Optionally, the method further includes:

Optionally, if there are a plurality of aerial robots waiting to place goods at the goods transportation device, queuing at the tail of the plurality of aerial robots includes:

Optionally, the method further includes:

Optionally, a tunnel is arranged between any two goods shelves; the aerial robot is used for placing goods on the goods transportation device at a goods placing position; the put goods position is a plurality of, put goods position and include: the junction of the roadway and the cargo transportation device, and the junction of the top of the goods shelf area and the cargo transportation device; the method further comprises the following steps:

In addition, the execution process of the hollow robot in this embodiment corresponds to the execution process of the server in the above embodiments, and the implementation principle and the technical effect thereof are similar, and are not described herein again.

Fig. 9 is a schematic structural diagram of a cargo transportation device according to an embodiment of the present disclosure, applied to a server in a warehousing system, where the warehousing system includes: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; as shown in fig. 9, the apparatus includes:

a first control module 901, configured to control the first aerial robot to queue at a queue tail position of the plurality of aerial robots if there are a plurality of aerial robots waiting for placing goods at the goods transportation device, so that the first aerial robot and the plurality of aerial robots form a queue for transferring goods; the first aerial robot is a robot which carries goods to be placed and needs to place the goods on the goods transportation device;

and the second control module 902 is used for controlling the aerial robots in the queue to sequentially transfer the goods to be placed to the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device.

Optionally, the aerial robots comprise a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; the second control module 902 is specifically configured to:

Optionally, the second control module 902 is further configured to:

controlling the aerial robot to be released to leave from a queue;

Optionally, the second control module 902 is specifically configured to, when determining the aerial robot to be released:

Optionally, when the second control module 902 selects a target aerial robot from the candidate aerial robots to allocate the pick-up task, it is specifically configured to:

Optionally, the first control module 901 is specifically configured to:

Optionally, the first control module 901 is further configured to:

Optionally, when determining whether the emergency degree of the goods to be placed carried by the first aerial robot meets the requirement, the first control module 901 is specifically configured to:

Optionally, a tunnel is arranged between any two goods shelves; the aerial robot is used for placing goods on the goods transportation device at a goods placing position; the put goods position is a plurality of, put goods position and include: the junction of the roadway and the cargo transportation device, and the junction of the top of the goods shelf area and the cargo transportation device; the first control module 901 is further configured to:

Optionally, the first control module 901 is further configured to:

In one possible design, the first control module 901 is further configured to:

if only one preset goods placing position exists, determining the preset goods placing position as a corresponding goods placing position of the aerial robot; and/or the presence of a gas in the gas,

Optionally, the warehousing system further comprises a ground transportation device; the bottom of the goods transportation device is matched with the goods taking height of the ground transportation device; the apparatus also includes a third control module to:

The apparatus provided in this embodiment may be used to implement the technical solutions of the method embodiments shown in fig. 1 to fig. 7, and the implementation principles and technical effects are similar, which are not described herein again.

Fig. 10 is a schematic structural diagram of another cargo transportation device according to an embodiment of the present disclosure, in which the method is used for controlling the transportation of cargo in a warehousing system, the warehousing system includes: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the device is applied to a first aerial robot, and comprises:

a queuing module 1001, configured to queue at a queue tail of a plurality of aerial robots to form a queue for transferring goods if the plurality of aerial robots wait for placing goods at the goods transportation device;

a transfer module 1002, configured to transfer goods to be placed to a second aerial robot, so that the aerial robots in the queue sequentially transfer the goods in the direction of the goods transportation device until the goods are placed on the storage unit of the goods transportation device; the second aerial robot is a robot in the queue that precedes the first aerial robot.

Optionally, the aerial robots comprise a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; the transfer module 1002 is specifically configured to:

Optionally, the transferring module 1002 is further configured to:

if not, leaving the queue when the goods are transferred;

Optionally, the transferring module 1002 is further configured to:

Optionally, the apparatus further includes a leaving module, specifically configured to:

Optionally, the queuing module 1001 is specifically configured to:

Optionally, the apparatus further includes a queue insertion module, configured to:

Optionally, a tunnel is arranged between any two goods shelves; the aerial robot is used for placing goods on the goods transportation device at a goods placing position; the put goods position is a plurality of, put goods position and include: the junction of the roadway and the cargo transportation device, and the junction of the top of the goods shelf area and the cargo transportation device; the device further comprises:

the acquisition module is used for acquiring the stocking position indication information sent by the server; the goods placement position indication information is determined by the server according to the quantity of goods to be placed corresponding to each goods placement position;

and the moving module is used for moving to the corresponding goods placing position for placing goods according to the goods placing position indication information.

The apparatus provided in this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 8, and the implementation principle and technical effect are similar, which are not described herein again.

Fig. 11 is a schematic structural diagram of a control device according to an embodiment of the present disclosure. As shown in fig. 11, the control apparatus of the present embodiment may include: at least one processor 1101 and memory 1102;

the memory 1102 stores computer-executable instructions;

the at least one processor 1101 executes the computer-executable instructions stored by the memory 1102 to cause the at least one processor 1101 to perform a method according to any one of the embodiments described above.

Alternatively, the memory 1102 may be separate or integrated with the processor 1101.

For the implementation principle and the technical effect of the control device provided by this embodiment, reference may be made to the foregoing embodiments, and details are not described here.

Fig. 12 is a schematic structural diagram of an aerial robot according to an embodiment of the present disclosure. As shown in fig. 12, the control apparatus of the present embodiment may include: at least one processor 1201 and memory 1202;

the memory 1202 stores computer-executable instructions;

the at least one processor 1201 executes computer-executable instructions stored by the memory 1202 to cause the at least one processor 1201 to perform a method as described in any of the embodiments above.

Alternatively, the memory 1202 may be separate or integrated with the processor 1201.

The implementation principle and technical effect of the aerial robot provided by the present embodiment may be referred to the foregoing embodiments, and are not described herein again.

The embodiment of the present disclosure further provides a robot control system, including: a shelf area, a control device cargo transporter and an aerial robot, the control device being adapted to perform the method of the above-described embodiment with the server as the executing subject.

The aerial robot is used for executing the method of the embodiment of the main body executed by the aerial robot.

In the warehousing system provided by the embodiment of the present disclosure, reference may be made to the foregoing embodiments for specific working principles, processes, and beneficial effects of the control device and the aerial robot, which are not described herein again.

The embodiment of the present disclosure further provides a computer-readable storage medium, in which a computer executing instruction is stored, and when a processor executes the computer executing instruction, the method according to any one of the foregoing embodiments is implemented.

The disclosed embodiments also provide a computer program product comprising a computer program that, when executed by a processor, implements the method according to any of the preceding embodiments.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the solution of the present embodiment.

In addition, functional modules in the embodiments of the present disclosure may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods according to the embodiments of the present disclosure.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present disclosure are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A method for transporting goods, which is applied to a server in a warehousing system, the warehousing system comprising: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the method comprises the following steps:

2. The method of claim 1, wherein the aerial robots include a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; controlling aerial robots in the queue to sequentially transfer goods to be placed to the direction of the goods transportation device, including:

3. The method of claim 1, further comprising:

4. The method of claim 3, further comprising:

5. The method of claim 1, further comprising:

controlling the aerial robot to be released to leave from a queue;

6. The method of claim 5, wherein determining the aerial robot to release comprises:

7. The method of claim 6, wherein selecting a target aerial robot from the candidate aerial robots to assign the pick task comprises:

8. The method of claim 1, wherein controlling the first aerial robot to queue at a tail position of the plurality of aerial robots if there are already a plurality of aerial robots waiting to place a good at the goods transportation device comprises:

9. The method of claim 8, further comprising:

10. The method of claim 8, wherein determining whether the urgency of the cargo to be placed carried by the first airborne robot meets requirements comprises:

11. The method of claim 1, wherein a roadway is provided between any two shelves; the aerial robot is used for placing goods on the goods transportation device at a goods placing position; the put goods position is a plurality of, put goods position and include: the junction of the roadway and the cargo transportation device, and the junction of the top of the goods shelf area and the cargo transportation device; the method further comprises the following steps:

12. The method of claim 11, wherein assigning stocking locations for the goods to be placed carried by each aerial robot based on the number of goods to be placed corresponding to each stocking location comprises:

13. The method of claim 12, wherein assigning put locations for the items to be placed carried by the aerial robot based on the pick locations of the aerial robot, each put location, and the quantity of items corresponding to each put location comprises:

14. The method of any one of claims 1-13, wherein the warehousing system further comprises a ground transport device; the bottom of the goods transportation device is matched with the goods taking height of the ground transportation device; the method further comprises the following steps:

15. A method of cargo transportation, the method being for controlling the transportation of cargo in a warehousing system, the warehousing system comprising: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the method is applied to a first aerial robot, and comprises the following steps:

16. The method of claim 15, wherein the aerial robots include a transfer mechanism, the transfer mechanisms of the plurality of aerial robots forming a transfer line for transferring goods; transferring goods to be placed to a second aerial robot so that the aerial robots in the queue transfer the goods in sequence in the direction of a goods transportation device, comprising:

17. The method of claim 15, further comprising:

if not, leaving the queue when the goods are transferred;

18. The method of claim 15, further comprising:

19. The method of claim 15, wherein queuing at a tail end location of a plurality of aerial robots if there are already a plurality of aerial robots waiting to place a good at the goods transportation device comprises:

wherein the queuing instruction is sent by the server when the urgency of the goods to be placed meets the requirement.

20. The method of claim 19, further comprising:

wherein the queue-inserting command is sent by the server when the urgency of the goods to be placed does not meet the requirement.

21. The method of claim 15, wherein a roadway is provided between any two shelves; the aerial robot is used for placing goods on the goods transportation device at a goods placing position; the put goods position is a plurality of, put goods position and include: the junction of the roadway and the cargo transportation device, and the junction of the top of the goods shelf area and the cargo transportation device; the method further comprises the following steps:

22. A cargo transporter, adapted for use with a server in a warehousing system, the warehousing system comprising: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the device comprises:

23. A cargo conveyance apparatus for controlling the conveyance of cargo in a warehousing system, the warehousing system comprising: a server, a shelf area, a cargo transport device and an aerial robot; wherein the shelf area comprises at least one shelf for storing goods, a goods transporting device is provided at one side of the shelf area, the goods transporting device comprises a plurality of storing units for reciprocating between the top and the bottom of the goods transporting device along a preset path to transport the goods taken out of the shelf by the aerial robot and placed on the storing units to the ground; the device is applied to a first aerial robot, and comprises:

24. A control apparatus, characterized by comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any one of claims 1-14.

25. An aerial robot, comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any one of claims 15-21.

26. A robotic control system, comprising: a shelf area, a control device for performing the method of any one of claims 1-14, a cargo transporter, and an aerial robot;

the aerial robot is configured to perform the method of any of claims 15-21.

27. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1-21.

28. A computer program product, comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-21.