CN113044450B

CN113044450B - Task processing method and device for conveying equipment

Info

Publication number: CN113044450B
Application number: CN201911366652.6A
Authority: CN
Inventors: 孙祎; 崔从达
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2023-01-31
Anticipated expiration: 2039-12-26
Also published as: CN113044450A

Abstract

The utility model provides a task processing method and a device for a handling device, wherein the task processing method is used for determining a target handling device from at least one handling device by responding to a cargo transportation scheduling request sent by a first controller deployed at a goods taking position; controlling the target carrying equipment to move to the goods taking position indicated by the goods transportation scheduling request for goods taking; after receiving feedback information of goods taking sent by the target carrying equipment, controlling the target carrying equipment to convey the obtained target goods to a goods delivery destination based on a moving route between a goods taking place and the goods delivery destination; the target carrying equipment is enabled to be free from manual control over the carrying equipment in the goods conveying process, the automatic task processing of the carrying equipment is achieved, the labor cost is saved, and the task processing efficiency of the carrying equipment is improved.

Description

Task processing method and device for conveying equipment

Technical Field

The disclosure relates to the technical field of logistics, in particular to a task processing method and device for carrying equipment.

Background

With the development of science and technology, the transportation equipment becomes more important in the field of logistics, for example, the transportation equipment is controlled to perform a picking task, a delivery task and the like. When the carrying equipment executes the task, the carrying equipment needs to be operated manually so as to ensure that the carrying equipment can complete the task. For example, a button may be provided on the handling device or in a preset area, and after manually triggering the button, the handling device performs the received task. However, the above-described manner of manually operating the conveyance device reduces the processing efficiency of the conveyance device.

Disclosure of Invention

The embodiment of the disclosure at least provides a task processing method and a task processing device for carrying equipment.

In a first aspect, an embodiment of the present disclosure provides a method for processing a task of a handling device, including:

determining a target handling apparatus from the at least one handling apparatus in response to a cargo transportation scheduling request sent by a first controller deployed at a pickup location;

controlling the target carrying equipment to move to a goods taking position indicated by the goods transportation scheduling request for taking goods;

after receiving the feedback information of the goods taken from the target carrying equipment, controlling the target carrying equipment to convey the obtained target goods to the delivery destination based on the moving route between the goods taking place and the delivery destination.

In an optional embodiment, the controlling the target handling apparatus to transport the obtained target cargo to the delivery destination includes:

receiving real-time position information sent by the target carrying equipment;

when detecting that the relative position relation between the real-time position indicated by the real-time position information and the position of the obstacle node in the moving route meets a preset condition, controlling the target carrying equipment to stop moving;

sending a target operation request to a second controller arranged at the obstacle node position, for requesting the second controller to remove obstacle restriction for the target carrying equipment;

and after the second controller removes the obstacle limitation for the target carrying equipment, controlling the target carrying equipment to continuously move according to the moving route.

when the target carrying equipment is detected to stop moving, acquiring real-time position information of the target carrying equipment at the current moment;

when detecting that the relative position relation between the real-time position indicated by the real-time position information and the obstacle node position in the moving route meets a preset condition, sending a target operation request to a second controller arranged at the obstacle node position, wherein the target operation request is used for requesting the second controller to remove obstacle limitation for the target carrying equipment;

In an optional embodiment, when the corresponding obstacle at the obstacle node position is a door provided at an entrance, the sending a target operation request to a second controller provided at the obstacle node position for requesting the second controller to release obstacle restriction for the target carrying apparatus includes:

and sending a door opening operation request to the second controller, wherein the door opening operation request is used for requesting the second controller to execute door opening operation, or the door opening operation request is used for requesting the second controller to execute operation equipment stop operation firstly and then execute door opening operation, and the operation equipment is equipment in a working state in an indoor area arranged at an entrance.

In an optional embodiment, when the corresponding obstacle at the obstacle node position is an elevator, the sending a target operation request to a second controller provided at the obstacle node position for requesting the second controller to release the obstacle limit for the target carrying apparatus includes:

transmitting an elevator door opening operation request to the second controller, the elevator door opening operation request being for requesting the second controller to perform an elevator door opening operation;

after receiving feedback information that the elevator door is opened, controlling the target carrying equipment to move into the elevator;

sending a door closing operation request to the second controller after detecting that the target carrying equipment moves into the elevator; the door closing operation request is for requesting the second control to close the elevator door;

and after receiving feedback information sent by the second controller that the elevator door is closed, sending a target floor corresponding to the target cargo to the second controller, so that the second controller controls the elevator to run to the target floor and performs an elevator door opening operation.

In an optional embodiment, after controlling the target carrying apparatus to move continuously according to the moving route, the method includes:

receiving the moved real-time position information sent by the target carrying equipment;

and when detecting that the relative position relation between the real-time position indicated by the moved real-time position information and the obstacle node position in the moving route does not accord with the preset condition, sending a reduction operation request to a second controller arranged at the obstacle node position for requesting the second controller to reduce obstacle limitation.

In a second aspect, an embodiment of the present disclosure further provides a task processing device for a handling apparatus, including: the system comprises a target carrying equipment determining module, a goods taking control module and a goods delivery control module;

the target handling device determination module is configured to determine a target handling device from at least one handling device in response to a cargo transportation scheduling request sent by a first controller deployed at a pickup location;

the goods taking control module is configured to control the target handling equipment to move to a goods taking position indicated by the goods transportation scheduling request for goods taking;

the delivery control module is configured to control the target carrying equipment to convey the acquired target cargo to the delivery destination based on a moving route between the pickup location and the delivery destination after receiving the feedback information of the picked cargo sent by the target carrying equipment.

In an optional embodiment, the delivery control module, when controlling the target handling apparatus to deliver the acquired target cargo to the delivery destination, is configured to:

receiving real-time position information sent by the target carrying equipment;

sending a target operation request to a second controller provided at the obstacle node position for requesting the second controller to release obstacle restriction for the target carrying apparatus;

In an alternative embodiment, when the corresponding obstacle at the obstacle node position is a door provided at an entrance, the delivery control module, when transmitting the target operation request to the second controller provided at the obstacle node position, is configured to:

In an alternative embodiment, when the corresponding obstacle at the obstacle node position is an elevator, the delivery control module, when sending the target operation request to the second controller provided at the obstacle node position, is configured to:

sending an elevator door opening operation request to the second controller, wherein the elevator door opening operation request is used for requesting the second controller to execute elevator door opening operation;

after receiving feedback information sent by the second controller that the elevator door is closed, sending a target floor corresponding to the target goods to the second controller, so that the second controller controls the elevator to run to the target floor and performs an elevator door opening operation.

In an optional implementation manner, the task processing apparatus further includes: the device comprises a position receiving module and a restoring operation module;

the position receiving module is configured to receive the moved real-time position information sent by the target carrying equipment;

the restoration operation module is configured to send a restoration operation request to a second controller arranged at the obstacle node position when detecting that the relative position relationship between the real-time position indicated by the moved real-time position information and the obstacle node position in the moving route does not meet the preset condition, and the restoration operation request is used for requesting the second controller to restore the obstacle limitation.

In a third aspect, an embodiment of the present disclosure further provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory communicate via the bus when the electronic device is running, and the machine-readable instructions, when executed by the processor, perform the steps of the method for handling tasks by a handling device according to the first aspect or any one of the possible embodiments of the first aspect.

In a fourth aspect, the disclosed embodiments further provide a computer-readable storage medium, where a computer program is stored, and the computer program is executed by a processor to perform the steps of the method for handling tasks of a handling apparatus in the first aspect or any one of the possible implementation manners of the first aspect.

The embodiment of the disclosure provides a task processing method and a task processing device for handling equipment, wherein the task processing method determines target handling equipment from at least one handling equipment by responding to a cargo transportation scheduling request sent by a first controller deployed at a goods taking position; controlling the target carrying equipment to move to the goods taking position indicated by the goods transportation scheduling request for goods taking; after receiving the feedback information of the goods taken from the target carrying equipment, controlling the target carrying equipment to convey the obtained target goods to the delivery destination based on the moving route between the goods taking place and the delivery destination; the target carrying equipment is enabled to be free from manual control over the carrying equipment in the goods conveying process, the automatic task processing of the carrying equipment is achieved, the labor cost is saved, and the task processing efficiency of the carrying equipment is improved.

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

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

Fig. 1 is a schematic structural diagram illustrating a task processing system of a handling apparatus according to an embodiment of the present disclosure;

fig. 2 is a flowchart illustrating a task processing method of a handling apparatus according to an embodiment of the present disclosure;

fig. 3 is a flowchart illustrating a specific method for controlling a target handling device to convey an acquired target cargo to a delivery destination in a task processing method for the handling device according to an embodiment of the present disclosure;

fig. 4 is a flowchart illustrating a specific method for controlling a target transporting apparatus to transport an acquired target cargo to a delivery destination in a task processing method of a transporting apparatus according to an embodiment of the present disclosure;

fig. 5 is a flowchart illustrating a specific method of sending a target operation request to a second controller provided at a position of an obstacle node in a task processing method for a handling apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram illustrating a task processing device of a handling apparatus according to an embodiment of the present disclosure;

fig. 7 shows a schematic diagram of an electronic device provided by an embodiment of the disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in 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 only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

Research shows that when the carrying equipment executes a task, the carrying equipment needs to be operated manually so as to ensure that the carrying equipment can complete the task. For example, a button may be provided on the handling apparatus or in a preset area, and after manually triggering the button, the handling apparatus executes the received task. However, the above-described manner of manually operating the conveyance device reduces the processing efficiency of the conveyance device.

Based on the above research, the present disclosure provides a task processing method of a handling apparatus, which determines a target handling apparatus from at least one handling apparatus by responding to a cargo transportation scheduling request sent by a first controller deployed at a pickup position; controlling the target carrying equipment to move to the goods taking position indicated by the goods transportation scheduling request for taking goods; after receiving feedback information of goods taking sent by the target carrying equipment, controlling the target carrying equipment to convey the obtained target goods to a goods delivery destination based on a moving route between a goods taking place and the goods delivery destination; the target carrying equipment does not need to be controlled manually in the goods conveying process, the automatic task processing of the carrying equipment is achieved, and the task processing efficiency of the carrying equipment is improved.

The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

For the convenience of understanding the embodiment of the present disclosure, a task processing method of a handling apparatus disclosed in the embodiment of the present disclosure is first described in detail.

Example one

The embodiment of the present disclosure provides a task processing method for a handling device, which may be applied to a task processing system for a handling device, and referring to a schematic structural diagram of a task processing system for a handling device shown in fig. 1, the task processing system includes a server 101 and at least one handling device 102, where the server is connected to the handling device. When the task processing system is specifically implemented, the task processing system can be applied to a warehouse shipment scene and a goods warehousing scene, and can also be applied to a scene of conveying goods by a roller line, wherein the warehouse can be a stereoscopic warehouse and a traditional warehouse.

If a corresponding warehouse in a warehouse shipment scene is a traditional warehouse, placing a plurality of shelves in the traditional warehouse, wherein each shelf is provided with a plurality of shelves, each shelf is internally provided with a tray, each tray is internally provided with a Stock Keeping Unit (SKU) cargo, and a warehouse system corresponding to the traditional warehouse determines a pickup position corresponding to a shipment instruction after receiving the shipment instruction, wherein the pickup instruction can be generated based on order information after a task processing system receives an order initiated by a user; the goods taking position is the position corresponding to the goods included in the order in the traditional warehouse. The warehouse system generates a cargo transportation scheduling request according to the goods taking position, sends the cargo transportation scheduling request to a server 101 of the task processing system, and the server 101 responds to the received cargo transportation scheduling request, determines target carrying equipment from at least one carrying equipment 102 and controls the target carrying equipment to move to the goods taking position indicated by the cargo transportation scheduling request to take goods; after receiving the feedback information of the picked goods sent by the target carrying equipment, controlling the target carrying equipment to convey the acquired target goods to a delivery destination based on a moving route between a pickup location and the delivery destination, wherein the delivery destination can be a preset position or a position determined based on order information.

If the corresponding warehouse in the warehouse shipment scene is a stereoscopic warehouse, the stereoscopic warehouse is provided with the shuttle car, and after the warehouse system corresponding to the stereoscopic warehouse receives the shipment instruction, the shuttle car is controlled to convey the target goods corresponding to the shipment instruction to the shipment port position, namely the target goods are conveyed to the goods taking position. In a specific implementation, the task processing system further includes a first sensor 104 and a first controller 103, and the first controller 103 is connected to the first sensor 104 and the server 101, respectively. The first sensor 104 is deployed at the goods taking position, namely the first sensor 104 is deployed at the goods outlet position and is used for detecting the goods taking position and sending the obtained detection data to the first controller 103 deployed at the goods taking position, the first controller 103 is used for determining whether target goods exist at the goods taking position or not based on the received detection data, when the target goods exist at the goods taking position, a goods transportation scheduling request is generated and sent to the server 101, the server 101 responds to the received goods transportation scheduling request, determines target carrying equipment from at least one carrying equipment 102, and controls the target carrying equipment to move to the goods taking position indicated by the goods transportation scheduling request for goods taking; and after receiving the feedback information of the taken goods sent by the target carrying equipment, controlling the target carrying equipment to carry the obtained target goods to the delivery destination based on the moving route between the goods taking place and the delivery destination.

In a scene that the roller line conveys goods, a goods temporary storage area and goods placing equipment are arranged at an inlet of the roller line, and the goods placing equipment can be a robot; the outlet of the roller line is provided with a goods taking position, and the goods taking position is provided with a first sensor 104 and a first controller 103. The detection sensor is arranged on the roller line and used for detecting the roller line and sending goods detection data to the first controller 103 in real time, the first controller 103 generates a goods placing request and sends the goods placing request to the server 101 when determining that no goods exist on the roller line based on the goods detection data sent by the detection sensor, the server 101 responds to the goods placing request, the goods placing equipment is controlled to obtain goods from the goods temporary storage area, the obtained goods are placed on the roller line and conveyed to a goods taking position through the roller line; or the goods placing request is sent to the goods placing device, the goods placing device responds to the goods placing request, goods are obtained from the goods temporary storage area, placed on the roller line and conveyed to the goods taking position through the roller line. The working processes of the first sensor 104 and the first controller 103 disposed at the pickup position are the same as those in the stereoscopic warehouse shipment scene, and reference may be made to the above description, which is not repeated herein.

Or in a scene that the roller line conveys goods, a goods temporary storage area and goods placing equipment are arranged at an inlet of the roller line, and the goods placing equipment can be a robot; the outlet of the roller line is provided with a goods taking position, and the goods taking position is provided with a first sensor 104 and a first controller 103. The first sensor 104 is used for detecting the goods taking position and sending detection data to the first controller 103, if the first controller 103 determines that goods do not exist at the goods taking position based on the received detection data, a goods placing request is sent to the server, the server responds to the goods placing request, the control goods placing device obtains the goods from the goods temporary storage area, places the obtained goods on the roller line and conveys the goods to the goods taking position through the roller line; if the first controller 103 determines that goods exist at the goods taking position based on the received detection data, sending a goods transportation scheduling request to the server; the execution process of the server responding to the cargo transportation scheduling request may refer to the description in the warehouse shipment scene, and is not described herein again.

In a cargo warehousing scene, the cargos can be placed at a warehousing temporary storage position before warehousing, and the server controls the target carrying equipment to carry the cargos to a warehouse from the warehousing temporary storage position, so that warehousing operation of the cargos is realized. In specific implementation, a first sensor 104 in the task processing system is deployed at a warehousing temporary storage position (i.e., a goods taking position) and is used for detecting the warehousing temporary storage position and sending obtained detection data to a first controller 103 deployed at the goods taking position, the first controller 103 is used for generating a goods transportation scheduling request when determining that goods exist at the warehousing temporary storage position based on the received detection data and sending the goods transportation scheduling request to a server 101, the server 101 responds to the received goods transportation scheduling request, determines a target transporting device from at least one transporting device 102 and controls the target transporting device to move to the warehousing position indicated by the goods transportation scheduling request for goods taking; and after receiving the feedback information of the taken goods sent by the target carrying equipment, the server controls the target carrying equipment to carry the obtained goods to the warehouse based on the moving route between the warehousing temporary storage position and the warehouse position.

In specific implementation, the task processing system further includes a second controller 105 and a second sensor 106, the second controller 105 is connected to the second sensor 106 and the server 101, respectively, wherein the second sensor 106 is disposed on the obstacle, detects the state of the obstacle, and sends the detection data to the second controller 105; the second controller 105 is disposed at a node position of an obstacle, and is configured to determine a state of the obstacle according to the received detection data, where the obstacle is any one of obstacles that the target handling device encounters during moving along the moving route, the obstacle may be an elevator, and the obstacle may be a door disposed at an entrance/exit position, and the door may be a roller door, a shutter door, an opening/closing door, or the like.

Referring to fig. 2, a flowchart of a task processing method of a conveying apparatus according to a first embodiment of the present disclosure is described by taking an example that the task processing method is applied to a server, where the task processing method includes steps S201 to S203, where:

s201: a target handling apparatus is determined from the at least one handling apparatus in response to a cargo transportation scheduling request sent by a first controller deployed at the pickup location.

In the embodiment of the disclosure, the target transporting device may be determined from the at least one transporting device according to the pickup position carried in the cargo transportation scheduling request. In a specific implementation, the distance between the current position of each transport apparatus in the idle state and the pickup position may be determined, and the transport apparatus closest to the current position may be selected as the target transport apparatus.

In the embodiment of the disclosure, a first controller may be disposed at the pickup position, and when detecting that goods exist at the pickup position, the first controller generates a goods transportation scheduling request and sends the goods transportation scheduling request to a server, and the server determines a target handling device from at least one handling device in response to the goods transportation scheduling request. When the goods taking device is specifically implemented, a first sensor can be arranged at the goods taking position, the first sensor is used for detecting the goods taking position and sending detection data to a first controller, and the first controller detects whether goods exist at the goods taking position according to the received detection data.

By way of example, the task processing method can be applied to the scene of warehouse-out. When the goods taking device is specifically implemented, the goods taking position can be the position of a goods outlet corresponding to a vertical warehouse, the first controller can be arranged at any position of the vertical warehouse, the first sensor is arranged at the goods outlet corresponding to the vertical warehouse, if the number corresponding to the goods outlet is multiple, the first sensor can be arranged at each goods outlet, each goods outlet corresponds to one goods taking position, the first sensor is used for detecting whether goods exist in the corresponding goods outlet or not, obtained detection data are sent to the first controller in real time, the first controller detects whether goods exist in the goods outlet or not based on the received detection data corresponding to each goods outlet, and when goods exist in the goods outlet is detected, a goods transportation scheduling request is generated.

For example, if the number of the corresponding outlets of the warehouse is 3, that is, the first outlet, the second outlet, and the third outlet, the first outlet corresponds to a pickup position and may be a first pickup position, the second outlet corresponds to a pickup position and may be a second pickup position, and the third outlet corresponds to a pickup position and may be a third pickup position; the first sensor can be arranged for the first goods outlet, the first sensor can be arranged for the second goods outlet, and the first sensor can be arranged for the third goods outlet; the first controller receives detection data sent by the plurality of first sensors, and generates a cargo transportation scheduling request if detecting that the first cargo outlet has cargo; if the first shipment port and the second shipment port are detected to have cargos, a first cargo transportation scheduling request is generated based on a first pickup position corresponding to the first shipment port, and a second cargo transportation scheduling request is generated based on a second pickup position corresponding to the second shipment port, so that the server responds to the received first cargo transportation scheduling request, determines a first target carrying device from the at least one carrying device, and responds to the received second cargo transportation scheduling request, and determines a second target carrying device from the at least one carrying device.

In the embodiment of the present disclosure, a target transporting device may be determined from at least one transporting device in response to a cargo transportation scheduling request sent by the warehouse system, where the cargo transportation scheduling request is generated after the warehouse system receives a shipment instruction. The warehouse system is a system for managing a warehouse, for example, managing a specific location of each goods existing in the warehouse, managing the kind, number, and the like of goods included in the warehouse. After receiving the shipment instruction, the warehouse system determines a pickup position corresponding to the shipment instruction, generates a cargo transportation scheduling request based on the determined pickup position, and sends the cargo transportation scheduling request to the server. Wherein, the shipment instruction can be sent to the warehouse system by the server.

S202: and controlling the target carrying equipment to move to the goods taking position indicated by the goods transportation scheduling request for taking goods.

In the embodiment of the disclosure, after the target carrying equipment is determined, the target carrying equipment is controlled to move to the goods taking position corresponding to the goods transportation scheduling request for taking goods. In specific implementation, the server may determine, based on the current real-time position of the target carrying device and the pickup position determination, a pickup route along which the target carrying device moves to the pickup position; and controlling the target carrying equipment to move to the goods taking position based on the determined goods taking route. Alternatively, the server may determine, based on the current real-time position of the target carrying device and the pickup position determination, a pickup route along which the target carrying device moves to the pickup position; and sending the determined goods taking route to the target carrying equipment, so that the target carrying equipment moves to the goods taking position according to the received moving route. Or, in specific implementation, the server may send the pickup position to the target transport apparatus, and the target transport apparatus determines the pickup route according to the current real-time position and the received pickup position, and moves to the pickup position according to the determined pickup route.

In the embodiment of the present disclosure, the current real-time position of the target transporting apparatus may be obtained in real time according to a positioning module arranged on the target transporting apparatus, where the positioning module may be positioning software arranged on the target transporting apparatus, or/and a positioning sensor, and the like.

S203: and after receiving the feedback information of the goods taken, which is sent by the target carrying equipment, controlling the target carrying equipment to convey the obtained target goods to the delivery destination based on the moving route between the goods taking place and the delivery destination.

In the embodiment of the disclosure, after receiving the feedback information of the taken goods sent by the first controller, the target carrying device may be further controlled to transport the obtained target goods to the delivery destination based on the moving route between the pickup location and the delivery destination. In specific implementation, the first controller generates feedback information of the taken goods after judging that the target goods at the goods taking position are taken away based on the detection data sent by the first sensor, and sends the information to the server.

Illustratively, the delivery destination may be a predetermined at least one location. If the delivery destination is a preset position, the delivery destination is a preset fixed position, namely, each target cargo is conveyed to the preset fixed position; if the delivery destination is one of the preset positions, the delivery destination corresponding to the target cargo may be determined based on the order information received by the server, for example, if the preset positions include a position one, a position two, and a position three, if the delivery address corresponding to the order information is located in province a, the delivery destination may be determined as position one, and if the delivery address corresponding to the order information is located in province B, the delivery destination may be determined as position two.

In a specific implementation, the moving route between the pickup location and the delivery destination may be generated at any time point within a target time period, where the target time period is a time period from the time point when the cargo transportation scheduling request is received to the time point when the target transporting device is controlled to transport the target cargo. For example, after the target transporting apparatus is determined from the at least one transporting apparatus, a moving route between the pickup location and the delivery destination may be generated before the target transporting apparatus is controlled to move to the pickup position indicated by the cargo transportation scheduling request for pickup; alternatively, the movement route between the pickup location and the delivery destination may be generated before the control target transporting apparatus transports the target cargo after the control target transporting apparatus moves to the pickup position indicated by the cargo transportation scheduling request to pick up the cargo.

According to the task processing method for the handling equipment, the target handling equipment is determined from at least one handling equipment by responding to the received cargo transportation scheduling request; controlling the target carrying equipment to move to the goods taking position indicated by the goods transportation scheduling request for taking goods; after receiving feedback information of goods taking sent by the target carrying equipment, controlling the target carrying equipment to convey the obtained target goods to a goods delivery destination based on a moving route between a goods taking place and the goods delivery destination; the target carrying equipment does not need to be manually controlled in the goods conveying process, the automatic task processing of the carrying equipment is realized, the labor cost is saved, and the task processing efficiency of the carrying equipment is improved.

In one possible embodiment, referring to fig. 3, the controlling the target transporting apparatus to transport the obtained target cargo to the delivery destination includes:

s301, receiving real-time position information sent by target carrying equipment;

s302, when detecting that the relative position relation between the real-time position indicated by the real-time position information and the position of the obstacle node in the moving route meets a preset condition, controlling the target carrying equipment to stop moving;

s303, sending a target operation request to a second controller arranged at the position of the obstacle node, wherein the target operation request is used for requesting the second controller to remove obstacle limitation for the target carrying equipment;

and S304, after the second controller releases the obstacle limitation for the target transport equipment, controlling the target transport equipment to continuously move according to the moving route.

For example, the preset condition may be that a distance between the real-time position indicated by the real-time position information and the position of the obstacle node in the moving route is detected to be less than or equal to a preset length. Or, the position of the node of the obstacle is used as the center, the preset length is used as the radius, and the preset area is determined, where the preset condition may be that the real-time position indicated by the real-time position information is in the determined preset area. When the real-time implementation is performed, the preset length can be determined according to the area of the site, the volume of the target carrying equipment, the moving speed of the target carrying equipment and the like.

In the embodiment of the disclosure, in the process of controlling the target carrying equipment to convey the obtained target cargo to the delivery destination, receiving real-time position information of the target carrying equipment, and judging whether a relative position relation between a real-time position indicated by the received real-time position information and a barrier node position in the moving route meets a preset condition, when detecting that the relative position relation between the real-time position indicated by the real-time position information and the barrier node position in the moving route meets the preset condition, controlling the target carrying equipment to stop moving; transmitting a target operation request to a second controller provided at the obstacle node position; the second controller removes the obstacle restriction for the target carrying equipment after receiving the target operation request, generates feedback information with the obstacle information removed, and sends the feedback information with the obstacle information removed to the server; and after receiving the feedback information that the obstacle information is removed, namely after the second controller removes the obstacle limitation for the target carrying equipment, the server controls the target carrying equipment to continue moving according to the moving route.

In one possible embodiment, referring to fig. 4, the step of controlling the target handling device to transport the acquired target cargo to the delivery destination includes:

s401, when the target carrying equipment is detected to stop moving, acquiring real-time position information of the target carrying equipment at the current moment;

s402, when detecting that the relative position relation between the real-time position indicated by the real-time position information and the obstacle node position in the moving route meets a preset condition, sending a target operation request to a second controller arranged at the obstacle node position, wherein the target operation request is used for requesting the second controller to remove obstacle limitation for target carrying equipment;

and S403, after the second controller releases the obstacle limitation for the target transport equipment, controlling the target transport equipment to continuously move according to the moving route.

In the disclosed embodiment, the target handling device stops moving when encountering an obstacle or obstacle. The method comprises the steps that when the target carrying equipment is detected to stop moving, real-time position information of the target carrying equipment is obtained, whether the relative position relation between the real-time position indicated by the real-time position information and the position of an obstacle node in a moving route meets a preset condition or not is detected, and if yes, the target carrying equipment is determined to be an obstacle; if the target handling equipment is not in accordance with the preset target handling equipment, the target handling equipment is determined to encounter the obstacle. If the target conveying equipment meets the obstacle, whether the obstacle at the real-time position disappears or not can be detected through a visual sensor arranged on the target conveying equipment, and after the obstacle disappears, the target conveying equipment is controlled to continue to move according to the moving route; or/and if the obstacle is not disappeared within a preset time, the moving route can be planned for the target carrying equipment again according to the detection data of the visual sensor, so as to avoid the collision between the target carrying equipment and the obstacle.

In particular implementations, the barrier may be a handling device in operation, a person walking, a stationary cargo, or the like. For example, if the obstacle is a walking person, whether the obstacle at the real-time position has disappeared may be detected by a visual sensor provided on the target transport apparatus, and after the obstacle disappears, the target transport apparatus is controlled to continue to move along the moving route; if the obstacle is fixed goods, the moving route of the target transporting equipment can be planned again according to the detection data of the sensor, so that the target transporting equipment can move continuously around the obstacle based on the re-planned moving route.

In one possible embodiment, when the corresponding obstacle at the obstacle node position is a door provided at the doorway, a target operation request is sent to a second controller provided at the obstacle node position for requesting the second controller to release obstacle restriction for a target transporting apparatus, including:

and sending a door opening operation request to a second controller, wherein the door opening operation request is used for requesting the second controller to execute door opening operation, or the door opening operation request is used for requesting the second controller to execute operation of stopping working equipment and then executing door opening operation, and the working equipment is equipment in a working state in an indoor area arranged at an entrance.

In the embodiment of the disclosure, if the door arranged at the entrance does not include the equipment in the working state, a door opening operation request is sent to a second controller arranged at the door position to request the second controller to execute the door opening operation; if the equipment in the working state is included in the door arranged at the entrance and exit, a door opening operation request is sent to a second controller arranged at the door position to request the second controller to execute the operation of stopping the working equipment firstly and then execute the door opening operation.

For example, if the door disposed at the doorway may be a grating door, and the mechanical arm in the grating door is in a working state in an area, it is necessary to control the mechanical arm to stop working before performing the door opening operation in order to avoid collision between the target transport apparatus and the working mechanical arm, so that a door opening operation request may be sent to a second controller disposed at the grating door to request the second controller to perform the operation of stopping the working apparatus first and then perform the door opening operation, that is, the second controller controls the mechanical arm to stop working and then controls the grating door to open after receiving the door opening operation request.

In specific implementation, a second sensor may be further disposed on the door, and the second sensor is configured to detect a state of the door and send detection data to the second controller, and the second controller determines whether the door is in an open state or a closed state based on the received detection data.

In specific implementation, the second controller executes a door opening operation after receiving a door opening operation request, or the second controller executes a door opening operation after receiving the door opening operation request, the second sensor determines whether the door is successfully opened based on received detection data after executing the door opening operation request, if the door is successfully opened, a feedback message that the door is opened is generated and sent to the server, the server controls the target carrying device to continue to move along the moving route after receiving the feedback message that the door is opened, and when detecting that a relative position relationship between a real-time position indicated by real-time position information after the target carrying device moves and an obstacle node position in the moving route does not meet a preset condition, a door closing operation request for requesting the second controller to execute a door closing operation is sent to the second controller, or the door closing operation request is used for requesting the second controller to execute a door closing operation first and execute a door closing operation when executing the working operation of the working device.

In the embodiment of the disclosure, the second controller is arranged on the door arranged at the entrance and exit, so that when the target carrying equipment moves to the position of the barrier node according to the moving route, the door opening operation or/and the door closing operation can be realized by controlling the second controller, the door opening or/and the door closing operation do not need to be carried out manually, and the efficiency of processing tasks by the carrying equipment is improved.

In a possible embodiment, referring to a flowchart of a specific method of sending a target operation request to a second controller provided at an obstacle node position in a task processing method of a conveying apparatus shown in fig. 5, when an obstacle corresponding to the obstacle node position is an elevator, the method of sending the target operation request to the second controller provided at the obstacle node position for requesting the second controller to release obstacle restriction for the target conveying apparatus includes:

s501, sending an elevator door opening operation request to a second controller, wherein the elevator door opening operation request is used for requesting the second controller to execute elevator door opening operation;

s502, after receiving the feedback information that the elevator door is opened, controlling the target carrying equipment to move into the elevator;

s503, after the target carrying equipment is detected to move into the elevator, a door closing operation request is sent to the second controller; a door closing operation request for requesting a second control to close the elevator door;

and S504, after receiving the feedback information that the elevator door is closed and sent by the second controller, sending the target floor number corresponding to the target goods to the second controller, so that the second controller controls the elevator to run to the target floor number and executes the operation of opening the elevator door.

In the embodiment of the disclosure, when the obstacle corresponding to the position of the obstacle node is an elevator, a second controller may be disposed on the elevator, and the second controller is used to control the elevator door to open or close and control the elevator to run to the target floor number. In a specific implementation, a second sensor may be further disposed on the elevator door, and the second sensor sends the detected detection data to the second controller, so that the second controller determines the state of the elevator door based on the received detection data, that is, detects whether the elevator door is in an open state or a closed state.

In the embodiment of the disclosure, after the target floor corresponding to the target cargo is sent to the second controller, the second controller controls the elevator to run to the target floor, and controls the elevator door to be opened after the target floor is reached, after the second controller determines that the elevator door is opened based on the detection data sent by the second sensor, the feedback information that the elevator door is opened is sent to the server, and after the server receives the feedback information that the elevator door is opened, the target carrying equipment is controlled to continue to move according to the moving route. Meanwhile, after controlling the target carrying equipment to move according to the moving route, when detecting that the relative position relation between the real-time position indicated by the real-time position information after the target carrying equipment moves and the obstacle node position in the moving route does not accord with a preset condition, the server sends an elevator door closing operation request to the second controller, and after receiving the elevator door closing operation request, the second controller controls the elevator door to be closed.

In the embodiment of the disclosure, the second controller is arranged on the elevator, so that the elevator is controlled, namely the number of running layers of the elevator and the opening and closing of the elevator door are controlled, when the target carrying equipment moves to the position of the elevator according to the moving route, the automatic control of the elevator is realized, manual operation is not needed, and the task processing efficiency of the target carrying equipment is improved.

In the embodiment of the present disclosure, after the target handling apparatus is controlled to place the acquired target cargo at the specified position of the delivery destination, and after a feedback message that the target cargo has been delivered to the destination is received from the target handling apparatus, or after a feedback message that the target cargo has been delivered to the destination is received from a third controller disposed at the delivery destination, the target processing apparatus is determined, and the target processing apparatus is controlled to move to the delivery destination to perform the target operation on the target cargo. In a specific implementation, the target processing device may be another transporting device or another type of transporting device, the server determines the target transporting device, controls the target transporting device to move to the delivery destination, and performs a target operation on the target cargo, for example, the target operation may be performing cargo packaging processing on the target cargo, or performing sorting processing on the target cargo, and after performing the target operation on the target cargo, may further control the target transporting device to transport the target cargo from the delivery destination to a next destination, where the target operation may be determined according to an actual scene, and the embodiment of the present disclosure is only an exemplary description. The task is processed cooperatively by the target carrying equipment and other types of carrying equipment, so that the task is automatically processed, and the task processing efficiency is improved.

In one possible embodiment, after controlling the target handling apparatus to move continuously according to the movement route, the method includes:

and when detecting that the relative position relation between the real-time position indicated by the moved real-time position information and the obstacle node position in the moving route does not accord with a preset condition, sending a restoration operation request to a second controller arranged at the obstacle node position for requesting the second controller to restore obstacle limitation.

In the embodiment of the disclosure, after the second controller contacts the obstacle limitation, and controls the target carrying device to move continuously according to the moving route, the server may receive real-time moved position information sent by the target carrying device in real time, or the server may obtain the real-time moved position information of the target carrying device at the current time after a preset time period is set, and when it is detected that a relative position relationship between a real-time position indicated by the real-time moved position information and an obstacle node position in the moving route does not meet a preset condition, a reduction operation request is sent to the second controller set at the obstacle node position to request the second controller to reduce the obstacle limitation, where the preset time period may be 3 seconds, 5 seconds, or the like, and the preset time period may be set according to a moving speed of the target carrying device.

For example, when it is detected that the real-time position indicated by the moved real-time position information is not within the determined preset area, or it is detected that the distance between the real-time position indicated by the real-time position information and the position of the obstacle node in the moving route is greater than a preset length, it is determined that the relative position relationship between the real-time position indicated by the moved real-time position information and the position of the obstacle node in the moving route does not meet the preset condition. In specific implementation, when the obstacle corresponding to the position of the obstacle node is a door arranged at the entrance and exit, after the target carrying equipment moves from the position of the entrance side of the door to the other side of the door, the relative position relationship between the real-time position indicated by the real-time position information of the moved target carrying equipment and the position of the obstacle node in the moving route is detected and determined to be not in accordance with the preset condition. When the corresponding barrier at the position of the barrier node is an elevator, after the target carrying equipment moves to the external area of the elevator, detecting and determining that the relative position relationship between the real-time position indicated by the real-time position information of the moved target carrying equipment and the position of the barrier node in the moving route does not accord with the preset condition.

In this disclosure, when the obstacle corresponding to the obstacle node position is a door disposed at the entrance, the restoration operation request may be a door closing operation request, where the door closing operation request is used to request the second controller to perform a door closing operation, or the door closing operation request is used to request the second controller to perform a door closing operation first and then perform a working operation of the working device. In specific implementation, if the door arranged at the entrance does not include equipment in a working state, sending a door closing operation request to a second controller arranged at a door position for requesting the second controller to execute door closing operation; if the equipment in the working state is included in the door arranged at the entrance, a door closing operation request is sent to a second controller arranged at the door position to request the second controller to firstly execute the door closing operation and then execute the working equipment working operation.

In the embodiment of the present disclosure, when the obstacle corresponding to the obstacle node position is an elevator, the restoration operation request may be an elevator door closing operation request, and the elevator door closing operation request is used to request the second controller to perform an elevator door closing operation. In specific implementation, when detecting that the relative position relationship between the real-time position indicated by the real-time position information after the movement of the target carrying equipment and the position of the obstacle node in the movement route does not accord with the preset condition, sending an elevator door closing operation request to the second controller, and after receiving the elevator door closing operation request, the second controller controls the elevator door to be closed.

In the embodiment of the disclosure, when it is detected that the relative position relationship between the real-time position indicated by the moved real-time position information and the obstacle node position in the moving route does not meet the preset condition, a reduction operation request is sent to the second controller arranged at the obstacle node position to request the second controller to reduce the obstacle limitation, for example, the door at the obstacle position may be closed, or the elevator door may be closed, so that it may be avoided that other transporting equipment except the target transporting equipment travels to the corresponding area behind the obstacle, and the other transporting equipment travels into the elevator by mistake or travels to the area at the other side of the door, thereby reducing the efficiency of the other transporting equipment in executing tasks.

It will be understood by those skilled in the art that, in the above task processing method of the specific embodiment, the writing order of each step does not mean a strict execution order and constitutes any limitation to the implementation process, and the specific execution order of each step should be determined by its function and possible inherent logic.

Based on the same inventive concept, the embodiment of the present disclosure further provides a task processing device of a handling device corresponding to the task processing method of the handling device, and since the principle of the task processing device in the embodiment of the present disclosure for solving the problem is similar to the task processing method in the embodiment of the present disclosure, the implementation of the task processing device may refer to the implementation of the task processing method, and repeated details are omitted.

Example two

Referring to fig. 6, a schematic structural diagram of a task processing device of a conveying apparatus according to a second embodiment of the present disclosure is shown, where the task processing device includes: a target carrying equipment determining module 601, a goods taking control module 602 and a goods delivery control module 603; wherein the content of the first and second substances,

the target handling device determining module 601 is configured to determine a target handling device from at least one handling device in response to a cargo transportation scheduling request sent by a first controller deployed at a pickup location;

the goods taking control module 602 is configured to control the target handling equipment to move to the goods taking position indicated by the goods transportation scheduling request for goods taking;

the delivery control module 603 is configured to, after receiving the feedback information of the picked-up goods sent by the target transporting apparatus, control the target transporting apparatus to transport the acquired target goods to the delivery destination based on the moving route between the pickup location and the delivery destination.

In one possible embodiment, the delivery control module 603, when controlling the target handling apparatus to deliver the acquired target cargo to the delivery destination, is configured to:

receiving real-time position information sent by the target carrying equipment;

In one possible implementation, when the corresponding obstacle at the obstacle node position is a door provided at an entrance, the delivery control module 603, when sending a target operation request to a second controller provided at the obstacle node position, is configured to:

In one possible embodiment, when the corresponding obstacle at the obstacle node position is an elevator, the delivery control module 603, when sending the target operation request to the second controller provided at the obstacle node position, is configured to:

In a possible implementation manner, the task processing apparatus further includes: the device comprises a position receiving module and a restoring operation module;

the restoration operation module is configured to send a restoration operation request to a second controller arranged at the position of the obstacle node when detecting that the relative position relationship between the real-time position indicated by the moved real-time position information and the position of the obstacle node in the moving route does not meet a preset condition, and the restoration operation request is used for requesting the second controller to restore the obstacle limit.

In some embodiments, the functions of the task processing device or the included templates provided in the embodiment of the present disclosure may be used to execute the task processing method described in the above method embodiment, and specific implementation thereof may refer to the description of the above method embodiment, and for brevity, details are not described here again.

EXAMPLE III

Based on the same technical concept, the embodiment of the disclosure also provides an electronic device. Referring to fig. 7, a schematic structural diagram of an electronic device 700 provided in the embodiment of the present disclosure includes a processor 701, a memory 702, and a bus 703. The memory 702 is used for storing execution instructions and includes a memory 7021 and an external memory 7022; the memory 7021 is also referred to as an internal memory, and is used to temporarily store operation data in the processor 701 and data exchanged with an external memory 7022 such as a hard disk, the processor 701 exchanges data with the external memory 7022 through the memory 7021, and when the electronic device 700 is operated, the processor 701 and the memory 702 communicate with each other through the bus 703, so that the processor 701 executes the following instructions:

controlling the target carrying equipment to move to the goods taking position indicated by the goods transportation scheduling request for goods taking;

In one possible design, the instructions that may be executed by processor 701 further include:

receiving real-time position information sent by the target carrying equipment;

In one possible design, the instructions that may be executed by the processor 701 further include:

Example four

The embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the task processing method of the conveying equipment in the above method embodiment. The storage medium may be a volatile or non-volatile computer-readable storage medium.

The computer program product of the task processing method for the handling device provided in the embodiment of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute steps of the task processing method for the handling device in the above method embodiment, which may be specifically referred to in the above method embodiment and are not described herein again.

The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK) or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some communication interfaces, indirect coupling or communication connection between devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units 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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

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 non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, but not to limit the technical solutions, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes and substitutions do not depart from the spirit and scope of the embodiments disclosed herein, and they should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A task processing method of a conveying device is characterized by comprising the following steps:

after receiving feedback information of goods taking sent by the target carrying equipment, controlling the target carrying equipment to convey the obtained target goods to a delivery destination based on a moving route between the goods taking position and the delivery destination;

the controlling the target carrying equipment to convey the acquired target cargo to the delivery destination includes:

receiving real-time position information sent by the target carrying equipment;

2. The task processing method according to claim 1, wherein the controlling the target carrying apparatus to convey the acquired target cargo to the delivery destination includes:

3. The task processing method according to claim 1 or 2, wherein the sending of the target operation request to the second controller provided at the obstacle node position for requesting the second controller to release the obstacle restriction for the target carrying apparatus when the corresponding obstacle at the obstacle node position is a door provided at an entrance/exit includes:

and sending a door opening operation request to the second controller, wherein the door opening operation request is used for requesting the second controller to execute door opening operation, or the door opening operation request is used for requesting the second controller to execute operation equipment stop operation before executing door opening operation, wherein the operation equipment is equipment in a working state in an indoor area arranged at an entrance.

4. The task processing method according to claim 1 or 2, wherein, when the obstacle corresponding to the obstacle node position is an elevator, the sending of the target operation request to the second controller provided at the obstacle node position for requesting the second controller to release the obstacle restriction for the target conveyance device includes:

5. The task processing method according to claim 1 or 2, comprising, after controlling the target carrier device to continue moving according to the movement route:

6. A task processing device of a conveyance apparatus, comprising: the system comprises a target carrying equipment determining module, a goods taking control module and a goods delivery control module;

the goods delivery control module is configured to control the target carrying equipment to deliver the obtained target goods to the goods delivery destination based on a moving route between the goods taking position and the goods delivery destination after receiving the feedback information of the taken goods sent by the target carrying equipment;

the delivery control module, when controlling the target handling device to deliver the acquired target cargo to the delivery destination, is configured to:

receiving real-time position information sent by the target carrying equipment;

7. The task processing device of the conveying apparatus according to claim 6, wherein the delivery control module, when controlling the target conveying apparatus to convey the acquired target cargo to the delivery destination, is configured to:

8. The task processing device of a carrying apparatus according to claim 6 or 7, wherein when the corresponding obstacle at the obstacle node position is a door provided at an entrance, the delivery control module, when transmitting the target operation request to the second controller provided at the obstacle node position, is configured to:

9. The task processing device for a conveyance apparatus according to claim 6 or 7, wherein when the obstacle corresponding to the obstacle node position is an elevator, the delivery control module, when transmitting the target operation request to a second controller provided at the obstacle node position, is configured to:

10. The task processing device of the conveyance apparatus according to claim 6 or 7, further comprising: the device comprises a position receiving module and a restoring operation module;

11. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the method of task processing of a handling device according to any of claims 1 to 5.

12. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of a method for handling tasks of a handling device according to any of the claims 1 to 5.