CN110794846A

CN110794846A - Shelf deployment method and device, electronic equipment and shelf deployment system

Info

Publication number: CN110794846A
Application number: CN201911154876.0A
Authority: CN
Inventors: 贺媛
Original assignee: Beijing Wide-Sighted Robot Technology Co Ltd
Current assignee: Beijing Wide-Sighted Robot Technology Co Ltd
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-02-14
Anticipated expiration: 2039-11-21
Also published as: CN110794846B

Abstract

The invention provides a shelf deployment method, a shelf deployment device, electronic equipment and a shelf deployment system, wherein the shelf deployment method comprises the following steps: receiving a task execution instruction, wherein the task execution instruction comprises a first identifier of a shelf to be deployed; determining a target robot corresponding to the task execution instruction; the control target robot reads a second identifier of the shelf to be deployed, and stores the first identifier and the second identifier in a related manner; and controlling the target robot to convey the goods shelf to be deployed to a preset position. According to the method, the target robot is used for reading the second identifier of the shelf to be deployed and then performing associated storage on the read second identifier and the first identifier of the shelf to be deployed carried in the task execution instruction, the association relation between the first identifier and the second identifier does not need to be planned in advance manually, the error rate of identifier association is reduced, and the efficiency of shelf initialization work is improved.

Description

Shelf deployment method and device, electronic equipment and shelf deployment system

Technical Field

The invention relates to the technical field of warehouse management, in particular to a goods shelf deployment method, a goods shelf deployment device, electronic equipment and a goods shelf deployment system.

Background

In an automated warehouse style warehouse, it is necessary to perform initialization work on shelves in the warehouse. In the initialization working process, the goods shelves need to be coded, as one goods shelf comprises a plurality of layers, each layer is provided with a plurality of goods positions, each goods position also needs to be coded, then the incidence relation between the code of the goods shelf and the code of each goods position in the goods shelf is planned in tables such as excel and the like, and then the codes are pasted on the goods shelf and the goods positions according to the planned incidence relation.

Disclosure of Invention

The invention aims to provide a shelf deployment method, a shelf deployment device, electronic equipment and a shelf deployment system, so as to reduce the error rate of the incidence relation of codes of shelves and goods positions and improve the work efficiency of shelf initialization.

In a first aspect, an embodiment of the present invention provides a shelf deployment method, where the method includes: receiving a task execution instruction; the task execution instruction comprises a first identification of a shelf to be deployed; determining a target robot corresponding to the task execution instruction; controlling the target robot to read a second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a related manner; and controlling the target robot to convey the goods shelf to be deployed to a preset position.

In an alternative embodiment, the shelf to be deployed comprises at least one cargo space; the first mark is used for representing a shelf code, and the second mark is used for representing a goods position code of at least one goods position; or the first mark is used for representing the goods position code of at least one goods position, and the second mark is used for representing the goods shelf code.

In an alternative embodiment, the shelf code and the cargo space code are obtained by: receiving a new goods shelf instruction; the new goods shelf establishing instruction comprises the number of goods shelves and a goods position structure of the new goods shelf; generating a shelf code of each shelf according to the number of the shelves; and generating a goods position code of the goods position in each goods shelf according to the goods position structure.

In an optional embodiment, the step of receiving a new shelf instruction includes: displaying a page of the newly-built goods shelf; receiving the shelf type, the goods position structure and the number of shelves of a newly-built shelf input on a page by a user; the goods position structure comprises the number of the goods position layers, the number of the goods positions on each layer and the number of the goods shelf surfaces; and generating a new goods shelf instruction according to the goods shelf type, the goods shelf structure and the number of the goods shelves.

In an alternative embodiment, the cargo space structure comprises the number of cargo space layers, the number of cargo spaces in each layer and the number of shelf surfaces; the goods position codes comprise goods shelf codes of goods shelves to which the current goods positions belong, goods shelf surface codes of goods shelf surfaces to which the current goods positions belong, goods position layer codes of goods position layers to which the current goods positions belong and goods position column codes of goods position columns to which the current goods positions belong; wherein, the goods shelf codes in the goods position codes of the goods positions on the same goods shelf are the same.

In an alternative embodiment, the step of generating the shelf code of each shelf according to the number of shelves includes: generating a shelf code of each shelf according to the storage area and the number of the shelves contained in the area setting instruction; the storage area is used for storing at least one shelf; the generated shelf code includes a region code of the storage region to which the shelf belongs.

In an alternative embodiment, after the step of generating the shelf code for each shelf according to the number of shelves, the method further comprises: if an area setting instruction for setting a storage area for a specified shelf is received, storing shelf codes of the specified shelf in association with the storage area contained in the area setting instruction; the storage area is for storing at least one shelf.

In an alternative embodiment, the step of controlling the target robot to read the second identification of the shelf to be deployed comprises: acquiring the current position of a shelf to be deployed; and controlling the target robot to reach the current position, and reading a second identifier of the shelf to be deployed.

In an alternative embodiment, the step of controlling the target robot to transport the rack to be deployed to the preset position comprises: determining a preset position for parking the shelf to be deployed and a path for the shelf to be deployed to reach the preset position from the current position; and controlling the target robot to convey the shelf to be deployed to a preset position along the path.

In an alternative embodiment, the step of determining a preset position for parking the shelf to be deployed comprises: if the shelf code of the shelf to be deployed is associated with a storage area, a preset position for parking the shelf to be deployed is determined from the associated storage area.

In an alternative embodiment, after the step of controlling the target robot to transport the rack to be deployed to the preset position, the method further comprises: and storing the shelf to be deployed in association with the preset position.

In a second aspect, an embodiment of the present invention provides a shelf deployment apparatus, including: the instruction receiving module is used for receiving a task execution instruction; the task execution instruction comprises a first identification of a shelf to be deployed; the robot determining module is used for determining a target robot corresponding to the task execution instruction; the identification association module is used for controlling the target robot to read a second identification of the shelf to be deployed and storing the first identification and the second identification in an associated manner; and the goods shelf conveying module is used for controlling the target robot to convey the goods shelf to be deployed to a preset position.

In a third aspect, an embodiment of the present invention provides an electronic device, including: a processing device and a storage device; the storage device has stored thereon a computer program which, when executed by a processing apparatus, performs the shelf deployment method as described in any one of the preceding embodiments.

In a fourth aspect, an embodiment of the present invention provides a shelf deployment system, which includes a robot and the electronic device described in the foregoing embodiment; the electronic equipment is in communication connection with the robot; the electronic equipment is used for receiving a task execution instruction, determining a robot corresponding to the task execution instruction, and controlling the robot to convey the shelf to be deployed to a preset position.

In an optional embodiment, the system further includes a terminal device; the terminal equipment is used for sending a task execution instruction to the electronic equipment.

The embodiment of the invention has the following beneficial effects:

the embodiment of the invention provides a shelf deployment method, a shelf deployment device, electronic equipment and a shelf deployment system; firstly, receiving a task execution instruction, wherein the task execution instruction comprises a first identifier of a shelf to be deployed; further determining a target robot corresponding to the task execution instruction; then controlling the target robot to read a second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a related manner; and controlling the target robot to convey the goods shelf to be deployed to a preset position. According to the method, the second identifier of the shelf to be deployed is read through the target robot, the read second identifier and the first identifier of the shelf to be deployed carried in the task execution instruction are stored in an associated mode, the association relation between the first identifier and the second identifier does not need to be planned in advance manually, and then the first identifier and the second identifier are arranged on the shelf according to the association relation planned in advance, so that the error rate of identifier association is reduced, and the efficiency of shelf initialization work is improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention as set forth above.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;

FIG. 2 is a flow chart of a shelf deployment method according to an embodiment of the present invention;

FIG. 3 is a flow chart of another shelf deployment method provided by embodiments of the present invention;

FIG. 4 is a flow chart of another shelf deployment method provided by embodiments of the present invention;

FIG. 5 is a schematic structural diagram of a shelf deployment device according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a shelf deployment system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In an automated warehouse, since the shelf needs to be moved by a robot, in order to ensure that the robot can move the shelf correctly, the shelf in the warehouse needs to be initialized in a matched automatic control system in an implementation stage before normal operation. In the related art, the specific process of shelf initialization is as follows:

step 1, firstly, a worker needs to encode a shelf, namely each shelf and each goods position on each shelf, and the encoding information is usually recorded and managed in an Excel table mode; and then, printing the two-dimensional code corresponding to the coded information by using a printer, and if the warehouse management personnel have special requirements on the printed bar code and the style material, pre-typesetting by using third-party bar code printing software to facilitate the subsequent warehouse management and guide the daily operation of field workers.

Step 2, the staff assembles the shelf in the warehouse, then pastes the two-dimensional code corresponding to the representative shelf at the bottom of the shelf, and pastes the bar code corresponding to each goods location at each goods location on the side of the shelf, and the staff needs to plan the association relationship between the two-dimensional code and the bar code in the Excel table in advance, and then pastes the two-dimensional code and the bar code according to the planned association relationship.

And 3, carrying the goods shelf to a specified area or position point in the warehouse by a worker through a remote control robot or a tool such as a trailer, manually recording the finally stored position information of the goods shelf, and finally manually inputting the finally stored position information into the system.

The mode needs to plan the codes of the goods shelves and the goods positions and the incidence relation of the codes manually, then the codes of the goods shelves and the goods are arranged on the goods shelves according to the incidence relation planned in advance, errors are prone to occur, the initial work efficiency of the goods shelves is low, and meanwhile if the coding rules are disordered, the relative positions of the goods positions in the goods shelves are difficult to display, so that workers cannot find the target goods positions quickly through the codes, and the efficiency of a post-operation link is low.

Based on the above problems, embodiments of the present invention provide a shelf deployment method, device, electronic device, and shelf deployment system, and the technology can be applied to an automated warehouse management scenario, especially a shelf initialization scenario. The following describes embodiments of the present invention in detail.

The first embodiment is as follows:

an example electronic device 100 for implementing an embodiment of the invention is described with reference to FIG. 1.

As shown in FIG. 1, an electronic device 100 includes one or more processing devices 102, one or more memory devices 104, an input device 106, and an output device 108, which are interconnected via a bus system 110 and/or other form of connection mechanism (not shown). It should be noted that the components and structure of the electronic device 100 shown in fig. 1 are only exemplary and not limiting, and the electronic device may also have some of the components shown in fig. 1 and may also have other components and structures not shown in fig. 1, as desired.

The processing device 102 may be an intelligent terminal or a device comprising a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, may process data of other components in the electronic device 100, and may control other components in the electronic device 100 to perform desired functions.

The storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processing device 102 to implement client functionality (implemented by the processing device) and/or other desired functionality in embodiments of the present invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.

The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like.

Example two:

the embodiment provides a shelf deployment method, which is applied to the electronic equipment; as shown in fig. 2, the method comprises the steps of:

step S202, receiving a task execution instruction; the task execution instruction includes a first identification of a shelf to be deployed.

The first identifier may be used to represent coded information on the shelf to be deployed. For example, the first identifier may be used to indicate a shelf identifier of the shelf to be deployed, or a location identifier of a location in the shelf to be deployed, such as a cargo space identifier of a cargo space. The first identifier may be a two-dimensional code, a barcode, an identifier in other encoding forms, or a Radio Frequency Identification (RFID) tag. In a specific implementation, each shelf in the warehouse is provided with a unique first identifier, that is, a corresponding shelf can be found through the first identifier.

The task execution instruction may be an instruction issued by the shelf deployment system according to the received order task. The task execution instruction may also be an instruction input by a user through a client, which may be understood as an application installed on a mobile terminal (e.g., a mobile phone, a tablet computer, etc.) or a computer of the user. The task execution instruction may also be a website accessed through a browser on a mobile terminal or a computer, for example, a user inputs a first identifier corresponding to a shelf to be deployed in a client, and triggers a corresponding sending control, so that the task execution instruction may be sent. The task execution instruction may also be a task execution instruction sent by the user to the electronic device through a terminal device, where the terminal device may be a handheld device, and the handheld device may be a Personal Digital Assistant (PDA), and common PDAs include a barcode scanner, a Radio Frequency Identification (RFID) reader/writer, and the like; the terminal device may also be a terminal fixedly arranged at a designated position in the warehouse, and the terminal may be a mobile phone, a tablet computer, a wearable device, a notebook computer, a computer, or the like. During specific implementation, the terminal device may scan the first identifier corresponding to the shelf to be deployed, and after the scanning is completed, the task execution instruction may be sent.

And step S204, determining a target robot corresponding to the task execution command.

A plurality of robots may be included in the warehouse, and the robots may be mobile robots, which may refer to robots equipped with automatic guiding devices such as electromagnetic, optical, or visual devices, capable of traveling along a navigation path, having safety protection, and having a moving function, and the mobile robots may be transportation vehicles having various functions of transferring or carrying articles, such as AGVs (Automated Guided vehicles). When the electronic equipment receives a task execution instruction, one robot can be automatically selected from a plurality of robots as a target robot by a preset scheduling algorithm, one robot can also be automatically randomly selected from a plurality of robots which do not execute the task at the current moment as the target robot, and the target robot can also be determined according to the electric quantity of the robot.

And step S206, controlling the target robot to read the second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a related manner.

The second identifier may be an identifier on the shelf to be deployed, other than the first identifier, for example, if the first identifier is a shelf identifier of the shelf to be deployed, the second identifier is an identifier of a certain shelf in the shelf to be deployed, that is, the second identifier is used to represent a shelf code; if the first identifier is the identifier of a certain goods grid in the goods shelf to be deployed, the second identifier is the goods shelf identifier of the goods shelf to be deployed, namely the second identifier is used for representing the goods shelf code. The second identifier may be a two-dimensional code, a barcode, an identifier in other coding forms, or a radio frequency identification tag. The second identification code may be affixed to the bottom or side of the shelf to be deployed. The target robot can acquire the second identifier of the shelf to be deployed through a sensor (such as a scanner, a camera or an RFID reader) arranged on the robot body, so as to read the second identifier, and upload the second identifier to the electronic device. After receiving the second identifier, the electronic equipment associates the second identifier with the first identifier corresponding to the task execution instruction; and storing the first identifier and the second identifier in an associated manner, or establishing an association relationship between the first identifier and the second identifier, or determining that the first identifier and the second identifier belong to the same shelf to be deployed, and storing the associated information of the first identifier and the second identifier in the shelf deployment system.

It should also be understood that if the first identifier is used to represent a cargo space code, when a plurality of first identifiers are provided on the shelf to be deployed, there is an association relationship between the plurality of first identifiers. The second identifier read by the target robot is associated with the first identifier included in the task execution instruction for storage, which means that the second identifier is associated with the plurality of first identifiers on the shelf to be deployed. Namely, any first identifier and the second identifier on the shelf to be deployed have an association relationship.

And step S208, controlling the target robot to convey the shelf to be deployed to a preset position.

The preset position can be a designated area or a position point in the warehouse which is set by a user in advance, or can be a position which is automatically allocated to the shelf to be deployed by the electronic equipment according to the arrangement position of the shelf on the warehouse site.

The embodiment of the invention provides a shelf deployment method, which comprises the steps of firstly receiving a task execution instruction, wherein the task execution instruction comprises a first identifier of a shelf to be deployed; further determining a target robot corresponding to the task execution instruction; then controlling the target robot to read a second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a related manner; and controlling the target robot to convey the goods shelf to be deployed to a preset position. According to the method, the second identifier of the shelf to be deployed is read through the target robot, and then the read second identifier and the first identifier of the shelf to be deployed carried in the task execution instruction are stored in an associated mode.

Example three:

the embodiment of the invention also provides another shelf deployment method, which is realized on the basis of the method in the embodiment; the method mainly describes a specific process of controlling the target robot to read the second identifier of the shelf to be deployed (specifically, the specific process is realized by the following steps S306-S308); as shown in fig. 3; the method comprises the following specific steps:

step S302, receiving a task execution instruction; the task execution instruction includes a first identification of a shelf to be deployed.

The shelf to be deployed comprises at least one goods position; the first mark is used for representing a shelf code, and the second mark is used for representing a cargo space code of at least one cargo space; alternatively, the first identifier is used to represent a cargo space code of at least one cargo space, and the second identifier is used to represent a shelf code.

The goods shelves to be deployed can comprise at least one layer, each layer is provided with at least one goods position, each goods shelf to be deployed corresponds to a unique goods shelf code during specific implementation, each goods position corresponds to a unique goods position code, and the goods shelf codes and the goods position codes can be identified in the form of two-dimensional codes or bar codes. The label of the goods shelf code can be pasted at the bottom of the goods shelf, and the label of the goods space code can be pasted at the corresponding position of the goods space.

The shelf code and the cargo space code can be obtained by the following steps S30-32:

step 30, receiving a new shelf building instruction; the new shelf command comprises the number of shelves and the goods position structure of the new shelf.

The instruction for newly building the shelf may be input by a user at a client, where the instruction for newly building the shelf includes the number of shelves and a goods location structure, the number of shelves may be multiple, and the goods location structure corresponding to each shelf may be the same or different, and the goods location structure includes the number of goods location layers, the number of goods locations on each layer, specifications (e.g., length, width, height, etc.) of the shelf, and the number of shelf surfaces (i.e., surfaces on which goods can be placed, such as front and back surfaces, etc.). In a specific implementation, the instruction for creating a new rack further includes a rack type, for example, an AGV light rack, an AGV heavy rack, and the like.

For example, the cargo space code may be xxxx-oy-zz, and the cargo space code is composed of three parts, wherein xxxx represents the shelf code, oy represents the shelf face code, the shelf face can be divided into a front face and a back face, the shelf face code on the front face can be represented by A, the back face can be represented by B, that is, o can be A or B, y represents the cargo space layer code, and zz represents the cargo space column code, such as the cargo space with the cargo space code 1234-A1-0, and can be represented as the 2 nd cargo space of the 1 st layer on the A face of the shelf with the shelf code 1234.

In a specific implementation, the above step 30 can be implemented by the following steps 40-42:

step 40, displaying a page of the newly-built goods shelf; the page of the new shelf may be an operation page of the new shelf provided by the client, and as shown in table 1, the page is information displayed in the operation page. For example, a page for a new shelf may be displayed upon receiving a user request to create the new shelf.

TABLE 1

Step 41, receiving the shelf type, the goods position structure and the number of the shelves of the newly-built shelf input by the user on the page; the goods position structure comprises the number of goods position layers, the number of goods positions on each layer and the number of goods shelf surfaces.

A user may input or select information such as a shelf type, a shelf space structure, and a shelf number of a shelf to be deployed in an operation page of a newly-built shelf provided by a client, where the information generally needs to be input or selected at a position corresponding to MM, NN, QQ, XX, YY, and ZZ in table 1.

And step 42, generating a new shelf building instruction according to the type of the shelves, the goods position structure and the number of the shelves. For example, after receiving a confirmation instruction input by the user on the page, a new shelf instruction may be generated according to the shelf type, the cargo space structure, and the number of shelves.

A confirmation button or a confirmation control can be arranged in an operation page provided by the client, and a user can trigger the confirmation button or the confirmation control to generate a corresponding new shelf instruction.

And step 31, generating a shelf code of each shelf according to the number of the shelves.

According to the number of the shelves, a shelf code of each shelf can be generated in sequence, the shelf code can be coded according to a preset rule, the code can comprise the type and the type of the shelf and the sequencing number, for example, there are 3 shelves, and the sequencing number of the 3 shelves is set to be 01, 02 and 03.

And 32, generating a goods position code of the goods position in each goods shelf according to the goods position structure.

In a specific implementation, the coding rules of the goods location codes on the same shelf to be deployed may be the same, and the goods location codes of the shelf to be deployed may be generated according to the number of the goods location layers, the number of the goods locations on each layer, and the number of the faces of the shelf of the goods location structure. Specifically, the goods position code comprises a goods shelf code of a goods shelf to which the current goods position belongs, a goods shelf surface code of a goods shelf surface to which the current goods position belongs, a goods position layer code of a goods position layer to which the current goods position belongs, and a goods position column code of a goods position column to which the current goods position belongs; wherein, the goods shelf codes in the goods position codes of the goods positions on the same goods shelf are the same. The goods position codes with the same shelf code are a group of goods position codes, and the same group of goods position codes need to be pasted on the same shelf.

After the goods shelf code and the goods position code of the goods shelf to be deployed are generated, the electronic equipment can automatically print the goods position identification and the goods shelf identification, such as a two-dimensional code or a bar code, corresponding to the goods shelf of the type in batches. Then after the shelf of the type is assembled, the shelf mark is fixed (e.g. pasted) at a designated position on the shelf, and a plurality of goods position marks of the same shelf are respectively fixed (e.g. pasted) on the goods positions of the shelf which conform to the goods position coding rule. In this process, there is no requirement that the shelf identifier have any relationship with the cargo space identifier.

In some embodiments, step S31 above includes: generating a shelf code of each shelf according to the storage area and the number of the shelves contained in the area setting instruction; the storage area is used for storing at least one shelf; the generated shelf code includes a region code of the storage region to which the shelf belongs. The region code may be represented by a character string or letters, for example, the number of shelves is 5, the storage region code is a, and the shelf codes may be a01, a02, a03, a04, and a 05.

In some embodiments, after the step S31, the shelf initialization method further includes: if an area setting instruction for setting a storage area for a specified shelf is received, storing the shelf code of the specified shelf in association with the storage area contained in the area setting instruction; the storage area is for storing at least one shelf.

The storage area may be a designated area set in the warehouse, the size and the position of the designated area may be set in advance, and the warehouse may include a plurality of storage areas, for example, a storage area a, a storage area B, a storage area C, and the like. Each storage area can store one or a shelf, and in a specific implementation, the shelf number of a specific shelf to be placed in the storage area needs to be associated with the storage area and stored, as shown in the corresponding relationship between the storage area and the shelf number in table 2.

TABLE 2

Storage area name	Shelf numbering
		Storage area A	G666、T777、R888
Storage area B	H111、H112
		Storage area C	G888、G999

And step S304, determining the target robot corresponding to the task execution command.

Step S304 may refer to the description related to step S204 in the above embodiment, and is not described here again.

And S306, acquiring the current position of the shelf to be deployed.

The current position of the shelf to be deployed may be an initial position of the shelf in the warehouse, that is, a position where the user places the shelf to be deployed after the shelf to be deployed is assembled. The electronic device may determine the current position of the rack to be deployed in the warehouse based on the camera or user input.

In a specific implementation, a plurality of entry points may be set in the warehouse, where the entry points are initial positions set in the warehouse, and the entry points may be formed by pasting distinctive paper label marks around the ground, for example, entry point names or two-dimensional codes corresponding to the entry points, so as to perform positioning operations on the warehouse on site; in order to accurately and quickly place the shelf at the entry point, the two-dimensional code of the entry point can be used as a central point, and the positions of four edges or four corners of the shelf to be deployed are limited on the ground in a line drawing or pasting mode. In some embodiments, the user may discharge the shelf to be deployed at the point of entry after the shelf has been assembled.

And step S308, controlling the target robot to reach the current position, and reading the second identifier of the shelf to be deployed.

When the target robot reaches the current position of the shelf to be deployed, the second identification on the bottom of the shelf to be deployed or other positions is read, the incidence relation between the shelf identification and the goods position identification does not need to be planned in advance in the process, the target robot does not need to be manually controlled by a user to reach the current position in a remote control mode, the target robot can reach the appointed position according to the current system control, the second identification on the shelf to be deployed is read, the actual incidence relation between the shelf identification and the goods position identification is obtained and stored, and therefore the operation efficiency can be improved.

In the specific implementation, if the target robot is a lifting robot, after the lifting robot reaches the current position, the lifting robot can drill into the position below the goods shelf to be deployed, and a second identifier at the bottom of the goods shelf to be deployed is read; if the target robot is a traction robot, after the traction robot reaches the current position, the second identification on the side face of the shelf to be deployed can be read, wheels are installed on the shelf to be deployed, and the traction robot can drag the shelf to be deployed to move through a connecting mechanism such as a hook.

Step S310, the first identification and the second identification are stored in an associated mode.

And storing the first identifier and the second identifier in an associated manner, or establishing an association relationship between the first identifier and the second identifier, or determining that the first identifier and the second identifier belong to the same shelf to be deployed, and storing the associated information of the first identifier and the second identifier in the shelf deployment system.

And step S312, controlling the target robot to convey the shelf to be deployed to a preset position.

When concrete realization, when a plurality of goods shelves that wait to deploy need transport, because set up a plurality of points of going into the scene in the warehouse, wait to deploy when goods shelves at target robot liftoff ground, electronic equipment can another target robot liftoff another and wait to deploy goods shelves and transport, until all wait to deploy goods shelves to go into to transport and finish, the concurrent operation that goods shelves transported can be realized to this mode to goods shelves initialization's efficiency has been promoted.

The shelf deployment method comprises the steps of firstly receiving a task execution instruction, wherein the task execution instruction comprises a first identifier of a shelf to be deployed; further determining a target robot corresponding to the task execution instruction; then obtaining the current position of the shelf to be deployed, controlling the target robot to reach the current position, reading a second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a correlation manner; and controlling the target robot to convey the goods shelf to be deployed to a preset position. According to the mode, manual remote control of a user is not needed, the target robot can automatically jack the goods shelf to be deployed to the designated position, the read second identification and the read first identification are stored in a correlation mode, operation efficiency can be improved, error rate of identification correlation is reduced, and efficiency of goods shelf initialization work is improved.

Example four:

the embodiment of the invention also provides another shelf deployment method, which is realized on the basis of the method in the embodiment; the method mainly describes a specific process of controlling a target robot to convey a shelf to be deployed to a preset position (specifically realized by the following steps S408-S410); as shown in fig. 4; the method comprises the following specific steps:

step S402, receiving a task execution instruction; the task execution instruction includes a first identification of a shelf to be deployed.

And step S404, determining a target robot corresponding to the task execution command.

The steps S402 to S404 may refer to the descriptions of the steps S202 to S204 and the steps S302 to S304 in the above embodiments, and are not described herein again.

And step S406, controlling the target robot to read the second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a related manner. Step S406 may refer to the description related to step S206 in the above embodiment, and is not described herein again.

Step S408, determining a preset position for parking the shelf to be deployed and a path of the shelf to be deployed from the current position to the preset position.

The preset position may be a designated area or a position point in the warehouse set by a user in advance, or may be a position allocated to the shelf to be deployed by the electronic device according to the arrangement position of the shelf on the warehouse site. When the current position and the preset position of the shelf to be deployed are determined, the electronic equipment can find the optimal path for the target robot according to the path planning algorithm, and the optimal path or the optimal shelf placing mode can be found through the optimal path or the optimal shelf placing mode, so that the time for the target robot to put the shelf to be deployed into a warehouse is saved, and the efficiency of subsequent operation is improved.

In a specific implementation, the step of determining the preset position for parking the shelf to be deployed may be obtained by: if the shelf code of the shelf to be deployed is associated with a storage area, a preset position for parking the shelf to be deployed is determined from the associated storage area. For example, if the shelf code of the shelf to be deployed is associated with the storage area a, the placing position of the shelf to be deployed (corresponding to the preset position) is determined in the storage area a, and this way, the ordered management of the shelf position and the storage area of the warehouse can be realized.

And step S410, controlling the target robot to convey the shelf to be deployed to a preset position along the path.

And step S412, storing the shelf to be deployed in association with a preset position.

After the shelf to be deployed and the preset position are stored in a correlated manner, the state of the shelf to be deployed for storing goods can be monitored in real time, for example, the identifier of the shelf to be deployed on the preset position and which goods positions of the shelf to be deployed for storing goods can be displayed in a graphical display interface of the client, and if a certain goods position stores goods, the display color of the goods position can be different from that of other goods positions.

The shelf deployment method comprises the steps of firstly receiving a task execution instruction, wherein the task execution instruction comprises a first identifier of a shelf to be deployed; further determining a target robot corresponding to the task execution instruction; and then determining a preset position for parking the shelf to be deployed and a path for the shelf to be deployed to reach the preset position from the current position, controlling the target robot to convey the shelf to be deployed to the preset position along the path, and storing the shelf to be deployed and the preset position in a related manner after the conveyance is finished. The optimal path of arriving at the preset position can be found for the target robot through the mode, so that the time for the target robot to convey the shelf to be deployed is saved, the efficiency of shelf initialization is improved, the shelf to be deployed is stored in association with the preset position, the shelf state can be monitored in time, and the shelf in a follow-up management warehouse is facilitated.

Example five:

corresponding to the above method embodiment, an embodiment of the present invention provides a shelf deployment apparatus, as shown in fig. 5, the apparatus including:

an instruction receiving module 50, configured to receive a task execution instruction; the task execution instruction includes a first identification of a shelf to be deployed.

And a robot determining module 51, configured to determine a target robot corresponding to the task execution instruction.

And the identifier association module 52 is configured to control the target robot to read a second identifier of the shelf to be deployed, and store the first identifier and the second identifier in an associated manner.

And a rack transport module 53, configured to control the target robot to transport the rack to be deployed to a preset position.

Specifically, the shelf to be deployed comprises at least one goods space; the first mark is used for representing a shelf code, and the second mark is used for representing a goods position code of at least one goods position; alternatively, the first identifier is used to represent a cargo space code of at least one cargo space and the second identifier is used to represent a shelf code.

Further, the apparatus further includes an encoding module configured to: receiving a new goods shelf instruction; the new goods shelf establishing instruction comprises the number of goods shelves and a goods position structure of the new goods shelf; generating a shelf code of each shelf according to the number of the shelves; and generating a goods position code of the goods position in each goods shelf according to the goods position structure.

Further, the encoding module is further configured to: displaying a page of the newly-built goods shelf; receiving the shelf type, the goods position structure and the number of shelves of the newly-built shelf input on the page by a user; the goods position structure comprises the number of the goods position layers, the number of the goods positions on each layer and the number of the goods shelf surfaces; and generating a new goods shelf instruction according to the goods shelf type, the goods shelf structure and the number of the goods shelves.

Specifically, the goods position structure comprises the number of the goods position layers, the number of the goods positions on each layer and the number of the goods shelf surfaces; the goods position codes comprise goods shelf codes of goods shelves to which the current goods positions belong, goods shelf surface codes of goods shelf surfaces to which the current goods positions belong, goods position layer codes of goods position layers to which the current goods positions belong and goods position column codes of goods position columns to which the current goods positions belong; wherein, the goods shelf codes in the goods position codes of the goods positions on the same goods shelf are the same.

The encoding module is further configured to: generating a shelf code of each shelf according to the storage area and the number of the shelves contained in the area setting instruction; wherein the storage area is used for storing at least one shelf; the generated shelf code includes a region code of the storage region to which the shelf belongs.

Further, after the step of generating the shelf code of each shelf according to the number of shelves, the apparatus further includes an area storage module for: if an area setting instruction for setting a storage area for a specified shelf is received, storing shelf codes of the specified shelf in association with the storage area contained in the area setting instruction; the storage area is for storing at least one shelf.

Further, the identifier associating module 52 is configured to: acquiring the current position of a shelf to be deployed; and controlling the target robot to reach the current position, and reading the second identification of the shelf to be deployed.

Further, the rack transport module 53 is configured to: determining a preset position for parking a shelf to be deployed and a path of the shelf to be deployed from the current position to the preset position; the target robot is controlled to transport the rack to be deployed to a preset position along the path.

Further, the rack transport module 53 is further configured to: if the shelf code of the shelf to be deployed is associated with a storage area, a preset position for parking the shelf to be deployed is determined from the associated storage area.

Further, after the rack transport module 53, the apparatus further includes a storage module for: and storing the shelf to be deployed in association with the preset position.

The shelf deployment device firstly receives a task execution instruction, wherein the task execution instruction comprises a first identifier of a shelf to be deployed; further determining a target robot corresponding to the task execution instruction; then controlling the target robot to read a second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a related manner; and controlling the target robot to convey the goods shelf to be deployed to a preset position. According to the method, the second identification of the shelf to be deployed is read through the target robot, the read second identification and the first identification of the shelf to be deployed carried in the task execution instruction are stored in an associated mode, the mode does not need to manually plan the association relationship between the first identification and the second identification in advance, then the first identification and the second identification are arranged on the shelf according to the association relationship planned in advance, the error rate of identification association is reduced, and therefore the efficiency of shelf initialization work is improved.

Example six:

an embodiment of the present invention provides an electronic device, including: a processing device and a storage device; the storage device has stored thereon a computer program which, when run by a processing apparatus, performs the above-described shelf deployment method.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the electronic device described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

Further, an embodiment of the present invention further provides a shelf deployment system, as shown in fig. 6, the system includes a robot 60 and the electronic device 100; the electronic device 100 is in communication connection with the robot 60; the electronic device 100 is configured to receive a task execution instruction, determine a robot 60 corresponding to the task execution instruction, and control the robot 60 to transport the shelf to be deployed to a preset position.

Further, the system also comprises terminal equipment; the terminal device is configured to send a task execution instruction to the electronic device 100. The terminal device may be a handheld device, or may be a terminal fixedly disposed at a designated position in a warehouse, and the terminal may be a mobile phone, a tablet computer, a wearable device, a notebook computer, a computer, or the like.

The shelf deployment method, the shelf deployment apparatus, the electronic device, and the computer program product of the shelf deployment system provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art 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 the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of shelf deployment, the method comprising:

receiving a task execution instruction; the task execution instruction comprises a first identifier of a shelf to be deployed;

determining a target robot corresponding to the task execution instruction;

controlling the target robot to read a second identifier of the shelf to be deployed, and storing the first identifier and the second identifier in a related manner;

and controlling the target robot to convey the shelf to be deployed to a preset 2-position.

2. The method of claim 1, wherein the shelf to be deployed comprises at least one cargo space;

the first identifier is used for representing a shelf code, and the second identifier is used for representing a goods position code of at least one goods position; or the first identifier is used for representing a goods space code of at least one goods space, and the second identifier is used for representing a goods shelf code.

3. The method of claim 2, wherein the shelf code and the cargo space code are obtained by:

receiving a new goods shelf instruction; the new goods shelf establishing instruction comprises the number of goods shelves and a goods position structure of the new goods shelf;

generating a shelf code of each shelf according to the number of the shelves;

and generating a goods position code of the goods position in each goods shelf according to the goods position structure.

4. The method of claim 3, wherein the step of receiving a new shelf command comprises:

displaying a page of the newly-built goods shelf;

receiving the shelf type, the goods position structure and the number of shelves of the newly-built shelf input on the page by a user; the goods position structure comprises the number of goods position layers, the number of goods positions on each layer and the number of goods shelf surfaces;

and generating a new shelf building instruction according to the type of the shelf, the goods position structure and the number of the shelves.

5. The method of claim 3, wherein the cargo space structure comprises a number of cargo space layers, a number of cargo spaces per layer, and a number of shelf surfaces;

the goods position codes comprise goods shelf codes of goods shelves to which the current goods positions belong, goods shelf surface codes of goods shelf surfaces to which the current goods positions belong, goods position layer codes of goods position layers to which the current goods positions belong and goods position column codes of goods position columns to which the current goods positions belong; wherein, the goods shelf codes in the goods position codes of the goods positions on the same goods shelf are the same.

6. The method of claim 3, wherein the step of generating a shelf code for each shelf based on the number of shelves comprises:

generating a shelf code of each shelf according to a storage area contained in the area setting instruction and the number of the shelves; wherein the storage area is used for storing at least one shelf; the generated shelf code includes a region code of a storage region to which the shelf belongs.

7. The method of claim 3, wherein after the step of generating a shelf code for each shelf based on the number of shelves, the method further comprises:

if an area setting instruction for setting a storage area for a specified shelf is received, storing the shelf code of the specified shelf in association with the storage area contained in the area setting instruction; the storage area is used for storing at least one shelf.

8. The method of any one of claims 1 to 7, wherein the step of controlling the target robot to read the second identification of the shelf to be deployed comprises:

acquiring the current position of the shelf to be deployed;

and controlling the target robot to reach the current position, and reading the second identifier of the shelf to be deployed.

9. The method of claim 1, wherein the step of controlling the target robot to transport the shelf to be deployed to a preset position comprises:

determining a preset position for parking the shelf to be deployed and a path of the shelf to be deployed from the current position to the preset position;

and controlling the target robot to convey the shelf to be deployed to a preset position along the path.

10. The method of claim 9, wherein the step of determining a preset position for parking the shelf to be deployed comprises:

and if the shelf code of the shelf to be deployed is associated with a storage area, determining a preset position for parking the shelf to be deployed from the associated storage area.

11. The method of claim 1, wherein after the step of controlling the target robot to transport the to-be-deployed rack to a preset position, the method further comprises: and storing the shelf to be deployed in association with the preset position.

12. A shelf deployment device, the device comprising:

the instruction receiving module is used for receiving a task execution instruction; the task execution instruction comprises a first identifier of a shelf to be deployed;

the robot determining module is used for determining a target robot corresponding to the task execution instruction;

the identification association module is used for controlling the target robot to read a second identification of the shelf to be deployed and storing the first identification and the second identification in an associated manner;

and the goods shelf conveying module is used for controlling the target robot to convey the goods shelf to be deployed to a preset position.

13. An electronic device, characterized in that the electronic device comprises: a processing device and a storage device; the storage device has stored thereon a computer program which, when executed by the processing apparatus, performs the shelf deployment method of any of claims 1 to 11.

14. A shelf deployment system, characterized in that the system comprises a robot and the electronic device of claim 13; the electronic equipment is in communication connection with the robot; the electronic equipment is used for receiving a task execution instruction, determining a robot corresponding to the task execution instruction, and controlling the robot to convey the goods shelf to be deployed to a preset position.

15. The system of claim 14, wherein the system further comprises a terminal device; the terminal equipment is used for sending a task execution instruction to the electronic equipment.