CN114516505A

CN114516505A - Goods sorting method, equipment, warehousing system and storage medium

Info

Publication number: CN114516505A
Application number: CN202111335602.9A
Authority: CN
Inventors: 赵虎; 艾鑫; 喻润方
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2022-05-20
Also published as: CN112407723B; CN112407723A; WO2022105762A1; CN114516506A

Abstract

The application provides a goods sorting method, equipment, a warehousing system and a storage medium, wherein the goods sorting method comprises the following steps: determining a target robot capable of executing a library management task; determining a first target shelf of the target robot for executing the library management operation according to the state attribute of the target robot; and controlling the target robot to perform a library management operation on the first target shelf. To the goods shelves that adopt dynamic position in storehouse mechanism, the target robot of executing reason storehouse task is confirmed at first to this application, then for the corresponding first target goods shelves of target robot distribution based on the state attribute of target robot, and control target robot carries out reason storehouse operation to first target goods shelves, thereby, manage the storehouse through warehouse management equipment control robot, can realize warehouse system's automatic reason storehouse, it is efficient to manage the storehouse, the degree of accuracy is high, and then help improving warehouse system's storage efficiency.

Description

Goods sorting method, equipment, warehousing system and storage medium

Technical Field

The application relates to the technical field of intelligent warehousing, in particular to a goods sorting method, equipment, a warehousing system and a storage medium.

Background

The intelligent warehousing system based on the warehousing robot adopts an intelligent operating system, realizes automatic taking out and storage of goods through system instructions, can continuously run for 24 hours, replaces manual management and operation, improves the warehousing efficiency, and is widely applied and favored.

In order to improve the warehousing efficiency of the warehousing system, the goods stored on the goods shelves of the warehousing system need to be sorted, that is, the warehousing system needs to be managed, and for dynamic warehouse locations, the warehousing is especially important for ensuring the reasonable and ordered storage of the goods on the goods shelves.

The existing formulation of the warehouse arranging strategy mostly depends on human participation, needs professional warehouse arranging personnel to determine the corresponding warehouse arranging strategy according to the storage condition of a shelf of the warehouse system, and is low in warehouse arranging efficiency, so that the space utilization rate of the warehouse system is unreasonable, and the warehouse efficiency is low.

Disclosure of Invention

The application provides a goods arranging method, equipment, a warehousing system and a storage medium, which realize automatic warehouse arrangement of the warehousing system, have high warehouse arranging efficiency and high accuracy and improve the warehousing efficiency of the warehousing system.

In a first aspect, the present application provides a cargo sorting method applied to warehouse management equipment, including:

determining a target robot capable of executing a library management task;

determining a first target shelf for the target robot to execute the warehouse organizing operation according to the state attribute of the target robot, wherein the storage space of each cargo on the first target shelf is determined according to the size information of the cargo and the dynamic storage space of the cargo on the shelf;

and controlling the target robot to perform a library organizing operation on the first target shelf.

In some embodiments, the determining a target robot that can perform a rational library task comprises:

determining that a first robot currently in an idle state is the target robot; and/or the presence of a gas in the gas,

and determining that the second robot which is currently executing the goods taking and placing task and has the execution time length shorter than the distribution time length is the target robot.

In some embodiments, the target robot is the second robot, the determining a first target shelf for the target robot to perform a physical library operation based on the state attribute of the target robot comprises:

and determining the goods shelf corresponding to the goods taking and placing task as a first target goods shelf for the target robot to execute the warehouse managing operation.

In some embodiments, the target robot is the first robot or the second robot, the determining a first target shelf for the target robot to perform a library management operation according to the state attribute of the target robot, comprises:

determining the first target shelf from a plurality of shelves according to a shelf inventory priority; or the like, or, alternatively,

determining the first target shelf from the plurality of shelves based on a distance of the target robot from the shelf; or the like, or, alternatively,

determining the first target shelf from the plurality of shelves based on a shelf library priority and a distance of the target robot from the shelf.

In some embodiments, further comprising:

determining a shelf arrangement library priority corresponding to each shelf in the plurality of shelves according to one or more of shelf area priority, shelf occupancy and shelf arrangement library interval;

the shelf area priority is the priority of the area where the shelf is located, the shelf area priority is in direct proportion to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is in direct proportion to the sorting frequency of the shelf;

the shelf occupancy is the ratio of the total length of the fragment space of the shelf to the total length of the goods, the total length of the fragment space is the sum of the lengths of the fragment space on the shelf, the length of the fragment space is the length of the interval between the adjacent first goods and the adjacent second goods, the interval length is smaller than a preset value, and the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy is in direct proportion to the priority of the shelf organization;

the shelf arranging interval is the time interval between the time node of the last time of arranging the shelf and the current time.

In some embodiments, the determining the shelving allocation priority corresponding to each shelf in the plurality of shelves according to one or more of a shelf area priority, a shelf occupancy, and a shelving allocation interval includes:

according to the shelf area priority, the shelf occupancy and the shelf reason library interval, calculating the shelf reason library priority corresponding to each shelf through the following formula:

Q_i＝O_i×a+P_i×b+T_i×c

wherein Q is_iThe shelving allocation base priority of the ith shelf is 1, 2, 3 … N, and N is the total number of shelves; o is_iThe shelf occupancy of the ith shelf; p_iThe shelf area priority of the ith shelf; t is_iA shelf storage interval for the ith shelf; a is a weight coefficient corresponding to the shelf occupancy, b is a weight coefficient corresponding to the shelf area priority, and c is a weight coefficient corresponding to the shelf reason library interval.

In some embodiments, said determining said first target shelf from said plurality of shelves based on said target robot's distance from the shelves comprises:

and determining the first target shelf as a shelf which has a distance with the target robot smaller than a first preset distance threshold value and has no operation performed by other robots except the target robot.

In some embodiments, the determining the first target shelf from the plurality of shelves based on the shelf library priority and the distance of the target robot from the shelf comprises:

and determining that the distance between the target robot and the goods shelf is smaller than a second preset distance threshold, the priority of the goods shelf library is larger than a preset priority threshold, and the goods shelf on which other robots except the target robot do not execute operation is the first target goods shelf.

In some embodiments, said controlling said target robot to perform a library of operations on said first target shelf comprises:

determining a corresponding library management strategy of the first target shelf based on the stored goods on the first target shelf;

and controlling the target robot to execute the library management operation according to the library management strategy.

In some embodiments, the determining a warehousing policy corresponding to the first target shelf based on the deposited goods on the first target shelf includes:

determining a warehouse management strategy for sorting the stored goods on the first target shelf according to one or more of the goods heat of the stored goods on the first target shelf, the goods interval and a preset safety interval, wherein the goods heat represents the frequency of taking out the stored goods.

In some embodiments, the determining the inventory management policy corresponding to the first target shelf based on the stored goods on the first target shelf includes:

and determining a warehouse management strategy corresponding to the first target shelf according to the goods distance of the goods stored on the first target shelf and a preset safety distance.

and determining a warehouse management strategy corresponding to the first target shelf according to the goods heat degree of the goods stored on the first target shelf, so that the goods with the goods heat degree higher than the preset heat degree are placed in the first row of each layer of the first target shelf.

In some embodiments, the library management policy comprises at least one of:

adjusting the storage positions of the stored cargos to enable the distance between the cargos to be a preset safety distance;

adjusting the storage positions of the stored goods to enable the storage positions of the goods with the same size or with the size difference value within a preset range to be adjacent;

in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods.

In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one set of single-fork robots, each set of single-fork robots including at least two single-fork robots;

when the target robot is a multi-storage-unit robot, the target robot includes at least one multi-storage-unit robot.

In some embodiments, further comprising:

detecting whether a library managing condition is met;

and when the situation that the reason library condition is met is determined, starting to execute the step of determining the target robot capable of executing the reason library task.

In some embodiments, further comprising:

and allocating the goods taking and placing task to a target robot which is executing the warehouse managing operation, controlling the target robot to stop executing the warehouse managing operation, and executing the goods taking and placing task.

In some embodiments, further comprising:

when the area of the target robot for performing the warehouse-arranging operation on the first target shelf is detected to have an overlapping area with the area of the second robot for performing the goods picking and placing tasks, a second target shelf different from the first target shelf is determined, and the target robot is controlled to perform the warehouse-arranging operation on the second target shelf.

In a second aspect, the present application provides a cargo sorting method applied to a robot, including:

receiving a first control instruction sent by warehouse management equipment, wherein the first control instruction is sent to a target robot after the warehouse management equipment determines the target robot capable of executing a warehouse arranging task and determines a first target shelf for the target robot to execute a warehouse arranging operation according to the state attribute of the target robot, and the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf;

and executing library management operation on the first target shelf according to the first control instruction.

In some embodiments, the first control instruction includes a warehousing policy corresponding to the first target shelf determined by the warehouse management device based on the deposited goods on the first target shelf;

according to the first control instruction, executing library management operation on the first target shelf, wherein the library management operation comprises the following steps:

and executing library management operation on the first target shelf according to the library management strategy corresponding to the first target shelf in the first control instruction.

In some embodiments, the performing a library management operation on the first target shelf according to the first control instruction includes:

and executing library management operation on the first target shelf according to the library management strategy corresponding to the first target shelf.

In some embodiments, the determining of the library management policy corresponding to the first target shelf includes the following steps:

In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the determining process of the library management policy corresponding to the first target shelf includes the following steps:

In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the determining process of the library management policy corresponding to the first target shelf includes the following steps:

In some embodiments, the library management policy comprises at least one of:

adjusting the storage positions of the stored goods to enable the distance between the goods to be a preset safety distance;

In some embodiments, the adjusting the storage positions of the stored goods to make the distance between the goods be the preset safe distance includes:

determining datum point information of the stored goods;

and adjusting the storage positions of the stored cargos according to the datum point information so as to enable the distance between the cargos to be a preset safety distance.

In some embodiments, the reference points comprise one or more of: the column of the first target shelf, the mark point of the first target shelf, and one or more goods placed on the adjacent position of the stored goods.

In some embodiments, further comprising:

receiving a second control instruction sent by warehouse management equipment, wherein the second control instruction comprises a goods taking and placing task;

and stopping executing the library arranging operation according to the second control instruction, and executing the goods taking and placing task.

In some embodiments, further comprising:

receiving a third control instruction sent by warehouse management equipment, wherein the third control instruction is sent to the target robot after the warehouse management equipment determines a second target shelf different from the first target shelf when detecting that an overlapping area exists between an area where the target robot performs a warehouse managing operation on the first target shelf and an area where the second robot performs a goods picking and placing task, and the third control instruction comprises information of the second target shelf;

and executing library management operation on the second target shelf according to the third control instruction.

In a third aspect, the present application provides a warehouse management apparatus, comprising: a memory and at least one processor;

the memory stores computer execution instructions;

the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the cargo collating method described above.

In a fourth aspect, the present application provides a robot comprising: a memory and at least one processor;

the memory stores computer-executable instructions;

In some embodiments, the robot includes a mobile chassis, a handling device, a storage rack, and a lift assembly; the storage shelf, the carrying device and the lifting assembly are mounted on the mobile chassis.

In some embodiments, the handling device comprises one or more of: telescopic arm component, sucking disc and arm.

In some embodiments, the handling device includes a pallet and a steering structure for changing the orientation of the cargo placed on the pallet.

In a fifth aspect, the present application provides a warehousing system comprising: the warehouse management device and the robot.

In a sixth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the cargo finishing method is implemented.

In some embodiments, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the above-described method of collating goods.

The application provides a goods sorting method, equipment, a warehousing system and a storage medium, wherein the goods sorting method comprises the following steps: determining a target robot capable of executing a library management task; determining a first target shelf for the target robot to execute the warehouse arranging operation according to the state attribute of the target robot, wherein the storage space of each cargo on the first target shelf is determined according to the size information of the cargo and the dynamic cargo storage space on the shelf; and controlling the target robot to perform a library-organizing operation on the first target shelf. To the goods shelves that adopt dynamic position in storehouse mechanism, the target robot of executing reason storehouse task is confirmed at first to this application, then for the corresponding first target goods shelves of target robot distribution based on the state attribute of target robot, and control target robot carries out reason storehouse operation to first target goods shelves, thereby, manage the storehouse through warehouse management equipment control robot, can realize warehouse system's automatic reason storehouse, it is efficient to manage the storehouse, the degree of accuracy is high, and then help improving warehouse system's storage efficiency.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

FIG. 1A is a schematic illustration of a storage situation in a one-dimensional configuration according to an embodiment of the present application;

FIG. 1B is a schematic illustration of the embodiment of the present application shown in FIG. 1A after placement of cargo;

FIG. 1C is a schematic illustration of a two-dimensional configuration for storage according to an embodiment of the present application;

FIG. 1D is a schematic view of the embodiment of the present application corresponding to FIG. 1C after placement of cargo;

FIG. 1E is a schematic illustration of the embodiment of the present application corresponding to FIG. 1C after placement of cargo;

fig. 1F is a schematic structural diagram of a robot provided in an embodiment of the present application;

FIG. 1G is a schematic diagram of a handling apparatus according to the embodiment of the present application shown in FIG. 1F;

FIG. 1H shows a configuration of a robot and a handling device thereof according to the embodiment of FIG. 1F;

FIG. 1I is a schematic structural diagram of a handling apparatus according to the embodiment of FIG. 1F;

FIG. 1J is a schematic view of another embodiment of a handling apparatus of the present application shown in FIG. 1I;

FIG. 1K is a schematic structural diagram of another carrying device according to the embodiment of the present application shown in FIG. 1F;

FIG. 1L is a schematic structural diagram of another carrying device according to the embodiment of the present application shown in FIG. 1F;

fig. 2A is an application scenario diagram of a cargo storage method according to an embodiment of the present application;

fig. 2B is a diagram of another application scenario of the cargo storage method according to the embodiment of the present application;

fig. 3 is a flowchart of a cargo collating method according to an embodiment of the present application;

FIG. 4 is an exemplary illustration of the storage of goods on shelves in an embodiment of the subject application;

FIG. 5 is a flow chart of another cargo collating method provided in accordance with an embodiment of the present application;

FIG. 6 is a schematic diagram of a problem cargo storage situation in an embodiment of the present application;

FIG. 7 is a schematic view of another problem in the embodiment of the present application in the storage of goods;

FIG. 8 is a schematic view of an embodiment of the present application illustrating the storage of cargo;

fig. 9 is a schematic structural diagram of a cargo collating device according to an embodiment of the present application;

FIG. 10 is a schematic illustration of another cargo hold-down device according to an embodiment of the present application;

FIG. 11 is a schematic view of a robot according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of a warehouse management device according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a warehousing system according to an embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

The following explains an application scenario of the embodiment of the present application:

the application is applied to a scene of dynamically configuring the goods storage space, and provides a goods placing method for dynamically configuring the goods storage space, which is different from a fixed storage position.

The dynamic configuration of the goods storage space means that: after the system determines goods to be stored, according to the size of the goods, allocating a first storage space matched with the size of the goods from the existing unoccupied space, wherein the unoccupied space can be any space, and the unoccupied space does not comprise divided fixed storage spaces; the first storage space can contain the goods to be stored, the fixed storage position refers to a preset storage position in a warehouse, and the fixed storage position is fixed in position and determined in size.

The dynamic goods storage space may be a space through which the goods storage space is dynamically configured.

Illustratively, dynamically configuring the cargo storage space includes at least one and/or two-dimensional configuration.

For example, fig. 1A is a schematic view of a storage situation in a one-dimensional configuration manner provided in an embodiment of the present application, and understood by matching with an X-Y coordinate system, the one-dimensional configuration manner means that goods at each layer in a goods storage space can be placed in only one row in a depth Y direction, wherein in the one-dimensional configuration manner, the goods storage space includes a first unoccupied space and/or a first occupied space, and specifically, the first occupied space is a space where goods have been placed in a goods entering and exiting direction.

For example, fig. 1C is a schematic diagram of a two-dimensional arrangement mode provided in an embodiment of the present application, and as understood by referring to an X-Y coordinate system, the two-dimensional arrangement mode means that the goods at each layer in the goods storage space may be placed in a row, multiple rows, or a mixture of rows and multiple rows in the depth Y direction. The goods in the goods storage space are allowed to be placed in a plurality of rows in the depth Y direction in the two-dimensional configuration mode, wherein the goods storage space comprises a second unoccupied space and/or a second occupied space in the two-dimensional configuration mode, and specifically, the second unoccupied space comprises a space which is not occupied by the goods in the goods entering and exiting direction.

For example, fig. 1A is a schematic view of a one-dimensional configuration of the storage situation provided in an embodiment of the present application, in which an unoccupied space in the cargo storage space is dynamically configured as shown in fig. 1A, that is, the

spaces

101A, 101b, and 101c in fig. 1A. After the system confirms that the cargo 100a is to be stored, the first storage space, such as the space 101c, most suitable for the cargo 100a is found from the unoccupied spaces, i.e., the

spaces

101a, 101b, and 101 c.

Fig. 1B is a schematic view of a storage situation after placing the goods according to the embodiment shown in fig. 1A, as shown in fig. 1B, after placing the goods 100a, the current unoccupied spaces are spaces 101A, 101B, and 101d, where the space 101d is a newly defined unoccupied space after the space 101c is partially occupied by the goods 100 a.

Fig. 1C is a schematic diagram of a two-dimensional arrangement of the storage situation according to an embodiment of the present application, as shown in fig. 1C, in consideration of the two-dimensional arrangement, the unoccupied spaces on the shelves are the same as the

spaces

101e and 101f in fig. 1C. After the system confirms that the goods 100b is to be stored, the first storage space, such as the space 101e, most suitable for the goods 100b is found from the unoccupied spaces, i.e., the space 101e and the space 101 f.

Fig. 1D is a schematic view of a storage situation after placing the goods according to the embodiment shown in fig. 1C, and as shown in fig. 1D, after placing the goods 100b, the current unoccupied spaces are a space 101f and a space 101 g. The space 101g is an unoccupied space newly defined by the space 101e after being partially occupied by the cargo 100 b.

Fig. 1E is a schematic view of the storage situation of the embodiment corresponding to fig. 1C of the present application after placing the goods, and as can be seen by referring to fig. 1C, 1D and 1E, the goods 100b in fig. 1D and 1E are placed in different orientations, that is, the goods 100b can be turned when placed, that is, the orientation of the goods to be stored can be changed when placed, and after placing the goods 100b, the currently unoccupied spaces are

spaces

101f and 101 h. The space 101h is a newly defined unoccupied space of the space 101e after being partially occupied by the cargo 100 b.

For example, fig. 1F is a schematic structural diagram of a robot provided in an embodiment of the present application; as shown in fig. 1F, the transfer robot 80 includes a moving chassis 83, a storage rack 82, a transfer device 84, and a lifting assembly 81. The storage rack 82, the carrying device 84 and the lifting assembly 81 are all mounted on the moving chassis 83, and a plurality of storage units are arranged on the storage rack 82. The lifting assembly 81 is used to drive the handling device 84 to move up and down, so that the handling device 84 is aligned with any one of the storage units on the storage rack 82, or with the rack and/or the goods. The handling device 84 can be rotated about a vertical axis to adjust its orientation for alignment to a storage unit or for alignment with a rack and/or goods. The handling device 84 is used to perform loading or unloading of goods for handling of goods between the racks and the storage units.

For example, the storage shelves 82 may be selectively configurable or non-configurable, and when the storage shelves 82 are not configured, the robot 80 may store the goods in the receiving space of the handling device 84 during the handling of the goods.

The robot 80 in the above embodiments may perform the goods storage method described in this application, so as to realize goods transportation between the shelves and the operation platform.

During the task of storing the goods performed by the robot 80, the robot 80 moves to a position of a storage space where the goods are designated, and the goods are transferred from the storage units of the storage shelves 82 to the shelves by the lifting assembly 81 in cooperation with the transfer device 84.

For example, fig. 1G is a schematic structural diagram of a carrying device in the embodiment shown in fig. 1F of the present application.

Illustratively, the handling device 84 is mounted to the carriage 86 by a rotation mechanism 85, and the rotation mechanism 85 is configured to rotate the handling device 84 relative to the carriage 86 about a vertical axis to align the storage units, or to align the racks and/or the goods. The handling device 84 is used for handling goods between the storage units and the shelves. If the handling device 84 is not aligned with the rack and/or the goods, the handling device 84 can be rotated relative to the bracket 86 by the rotating mechanism 85 to ensure that the handling device 84 is aligned with the rack and/or the goods.

Fig. 1H shows a structure of a robot and a carrying device thereof according to the embodiment shown in fig. 1F. As can be understood from fig. 1F and 1G, the rotating mechanism 85 may be omitted, for example, the transfer robot 80 may move on a fixed track, and after moving to the vicinity of the rack, the transfer device 84 may be aligned with the rack and/or the goods, and the goods may be arranged in the pick-and-place direction of the transfer device 84.

For example, fig. 1I is a schematic structural diagram of a carrying device in the embodiment shown in fig. 1F of the present application, please refer to fig. 1G for understanding. As shown in fig. 1I, the handling device 84 includes a pallet 841, a telescopic arm assembly. The tray 841 is used for placing goods and may be a horizontally disposed plate. The telescopic arm assembly is used to push goods placed by the pallet 841 out of the pallet 841 or pull goods to the pallet 841. The telescoping arm assembly includes a telescoping arm 843, a stationary pushrod 842, and a movable pushrod 844. The telescopic arm 843 includes a left telescopic arm and a right telescopic arm, the telescopic arm 843 can horizontally extend, and the telescopic arm 843 is located on one side of the supporting plate 841 in a direction perpendicular to the extending direction of the telescopic arm 843 and parallel to the supporting plate 841. The telescopic arm 843 is powered by a motor and is driven by a chain wheel mechanism, and the chain wheel mechanism can be replaced by a driving mechanism such as a belt wheel mechanism and a lead screw mechanism according to actual conditions. The fixed push rod 842 and the movable push rod 844 are both installed on the telescopic arm 843, and the fixed push rod 842 and the movable push rod 844 can extend out along with the telescopic arm 843. The fixed push rod 842 is located on the same side of the telescopic arm 843 as the support plate 841, and the fixed push rod 842 is used for pushing the goods out of the support plate 841 when the telescopic arm 843 is extended. The movable push rod 844 can be retracted into the telescopic arm 843, when the movable push rod 844 is not retracted into the telescopic arm 843, the movable push rod 844, the fixed push rod 842 and the supporting plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is located on the extending direction of the fixed push rod 842 along the telescopic arm 843. The movable push rod 844 can be directly driven by a motor, and according to actual conditions, power can be transmitted through transmission mechanisms such as gear sets, link mechanisms and the like. When movable push rod 844 is not retracted into the telescopic arm and telescopic arm 843 is retracted, movable push rod 844 is used to pull cargo to pallet 841.

For example, the fixed push rod 842 of the carrying device 84 can be designed to have a finger structure like the movable push rod 844.

For example, the handling device 84 may be designed such that the pitch width of the telescopic arm assemblies is adjustable. When goods are stored/taken, the distance width of the telescopic arm component can be adjusted according to the size of the goods.

Illustratively, the handling device 84 may also include a diverter structure, such as a turntable, which may be used to change the orientation of the cargo placed on its pallet 841. Fig. 1J is a schematic view of another conveying device according to the embodiment shown in fig. 1I, and as can be seen from fig. 1J and 1I, the conveying device 84 may further include a steering structure, i.e., a turntable 845 in fig. 1I, for changing the orientation of the goods placed on the supporting plate 841.

For example, fig. 1K is a schematic structural view of another handling device according to the embodiment shown in fig. 1F of the present application, the handling device 84a includes one or more suction cups 846 disposed on the fixed push rod 842, and the fixed push rod 842 may be rod-shaped or plate-shaped. The stationary push rod 842 is driven to move in a forward/backward direction toward the product and/or the shelf during the loading/unloading of the product. The suction cup 846 is used for sucking the goods, and the displacement of the fixing push rod 842 is matched to convey the goods to a shelf or convey the goods to a supporting plate 841.

For example, in FIG. 1L, which is another example of the structure of the handling device of the present application shown in FIG. 1F, the handling device 84b includes one or more robotic arms 847 disposed at suitable locations on the stationary ram 842 and/or the handling device 84 b. The stationary push rod 842 is driven to move in a forward/backward direction toward the product and/or the shelf during the loading/unloading of the product. The mechanical arm 847 captures/hooks the load and moves the load to a shelf or a pallet 841 in response to the movement of the stationary push rod 842.

Illustratively, the handling device (84a, 84b) may also include a diverting structure, such as a turntable 845 in fig. 1J, 1K, to change the orientation of the cargo placed on its pallet 841.

The structure of the carrying device according to the embodiment of the present application may include a combination of one or more of the above examples.

The storage system has the beneficial effects that for the telescopic arm, the structures such as the sucking discs and the mechanical arm are adopted, so that the safety interval between the goods can be reduced, the goods density on the goods shelf of the storage system is further improved, the space utilization rate is improved, and the storage cost is reduced.

Fig. 2A and fig. 2B are application scenario diagrams of the cargo collating method according to the embodiment of the present application, and as shown in fig. 2A and fig. 2B, the cargo collating method according to the embodiment of the present application may be executed by the warehouse management device 230 or the robot 210 of the warehousing system 200. The warehousing system 200 adopts the robot 210 to extract and/or store goods on the shelves 220 and adjust the goods storage positions, so as to achieve the purpose of managing the shelves 220, adopts the warehouse management device 230 to perform path planning, state monitoring, scheduling and the like on the robot 210, so that the robot 210 moves to a set position, so as to extract and/or store corresponding goods and adjust the goods storage positions, and also stores the storage information of each storage space of the shelves 220 and the basic information of each goods in the warehouse management device 230, so as to facilitate warehouse management.

Referring to fig. 2A, in order to place the goods 221 to be stored at the target position 222, generally, the goods 221 to be stored are first placed in the storage unit of the robot 210 or on the handling device 211, when the robot 210 receives a storage instruction of the warehouse management device 230, the robot 210 moves to the corresponding position P1 according to the storage instruction, and then the goods 221 to be stored are placed at the target position 222 of the shelf 220 corresponding to the storage instruction, thereby completing the storage or warehousing of the goods 221 to be stored.

Referring to fig. 2B, when the warehouse management device 230 controls the robot 210 to perform a warehouse managing operation, the warehouse management device 230 may send a warehouse managing instruction to the robot 210, and when the robot 210 receives the warehouse managing instruction of the warehouse management device 230, the robot 210 moves to the corresponding position P2 according to the warehouse managing instruction, and then the robot 210 performs a warehouse managing operation on shelves on the shelves 220 that need to perform a warehouse managing operation according to the warehouse managing instruction, specifically, the goods storage positions on the shelves 220 are determined according to the above method for dynamically configuring the goods storage spaces.

In the prior art, the formulation of the warehouse arranging strategy mostly depends on human participation, and needs professional warehouse arranging personnel to determine the corresponding warehouse arranging strategy according to the storage condition of a shelf of the warehouse system, so that the warehouse arranging efficiency is low, the space utilization rate of the warehouse system is unreasonable, and the warehouse efficiency is low.

In order to improve the warehouse arranging efficiency, the embodiment of the application provides a goods arranging method, aiming at a goods shelf adopting a dynamic warehouse location mechanism, firstly, a target robot for executing a warehouse arranging task is determined, then, a corresponding first target goods shelf is distributed for the target robot based on the state attribute of the target robot, and the target robot is controlled to carry out the warehouse arranging operation on the first target goods shelf, so that the robot is controlled to carry out the warehouse arranging through warehouse management equipment, the automatic warehouse arranging of a warehouse system can be realized, the warehouse arranging efficiency is high, the accuracy is high, and further, the warehouse efficiency of the warehouse system is improved.

Fig. 3 is a flowchart of a cargo sorting method according to an embodiment of the present application, and the cargo sorting method may be performed by a warehouse management device of a warehousing system as shown in fig. 3. The goods sorting method provided by the embodiment comprises the following steps:

and S110, determining a target robot capable of executing the reason library task.

The warehouse management equipment confirms a robot capable of executing a warehouse managing task from a plurality of robots in the warehousing system when goods are needed to be sorted, and determines the robot as the target robot.

And S120, determining a first target shelf for the target robot to execute the library organizing operation according to the state attribute of the target robot, wherein the storage space of each cargo on the first target shelf is determined according to the size information of the cargo and the dynamic cargo storage space on the shelf.

The state attribute is attribute information representing the state of the target robot, and the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf, that is, the first target shelf for executing the library arrangement operation is a shelf for storing the goods based on the dynamically configured goods storage space rule.

When the warehouse management device determines the target robot, the target robot may be in different states, for example, in an idle state where no task is performed, or in an operating state where a task of picking and placing goods is being performed, or the like. When the state attributes of the robots are different, the target shelves on which the robot performs the library management operation may also be different, and thus the warehouse management apparatus determines the first target shelf on which the target robot performs the library management operation according to the state attributes of the target robot.

And S130, controlling the target robot to perform library management operation on the first target shelf.

After determining the first target shelf corresponding to the target robot, the warehouse management device may send a library management instruction to the target robot, so as to control the target robot to perform a library management operation on the first target shelf. When the robot receives a warehouse arranging instruction of the warehouse management equipment, the robot moves to the position of the first target shelf according to the warehouse arranging instruction, and then the robot performs warehouse arranging operation on the first target shelf according to the warehouse arranging instruction, so that automatic warehouse arranging is achieved.

Specifically, the content of the library management instruction may be various, for example, the library management instruction includes an identifier and a position of a first target shelf, and after the robot moves to the first target shelf according to the library management instruction, the robot detects a placement pose of stored goods on the first target shelf and a distance between the stored goods and adjacent goods through a sensor, so as to determine goods to be subjected to library management operation, and perform the library management operation on the goods; or the warehouse managing instruction comprises a taking instruction of any goods to be sorted on the first target shelf and/or a placing instruction of the goods, the placing instruction can comprise a placing position of the goods to be sorted, and the robot performs warehouse managing operation on any goods according to the taking instruction and/or the placing instruction. Wherein the sensor comprises at least one of a laser sensor, a 2D camera, and a 3D camera.

The embodiment provides a goods arrangement method, to the goods shelves that adopt dynamic position of storehouse mechanism, warehouse management equipment at first confirms the target robot who carries out the reason storehouse task, then for the corresponding first target goods shelves of target robot distribution based on the state attribute of target robot, and control target robot to carry out reason storehouse operation to first target goods shelves, thereby, manage the storehouse through warehouse management equipment control robot, can realize warehouse system's automatic reason storehouse, it is efficient to manage the storehouse, the degree of accuracy is high, and then help improving warehouse system's storage efficiency.

In some embodiments, determining a target robot that can perform a rational library task comprises: determining that a first robot in an idle state is a target robot; and/or determining that the second robot which is currently executing the pick-and-place task and has the execution time length shorter than the distribution time length is the target robot.

Specifically, the warehouse management apparatus may use a robot in a different state as the target robot when determining the target robot. The first robot in the idle state may specifically refer to a robot that does not currently execute any task, and since the first robot does not currently execute any task, the warehouse management device may control the first robot to execute the library managing task.

In addition, when it is determined that the second robot executing the pick-and-place task is the target robot, the second robot needs to meet the condition that the pick-and-place task execution time length is shorter than the allocation time length, wherein the pick-and-place task execution time length refers to the actual time length for the second robot to execute the pick-and-place task, and the allocation time length refers to the time length for the warehouse management equipment to allocate to the second robot to execute the pick-and-place task according to the task priority corresponding to the pick-and-place task, and/or the time efficiency of the order corresponding to the pick-and-place task. When the execution time of the goods taking and placing task is shorter than the distribution time, the second robot can execute the goods taking and placing task and the warehouse arranging task in the distribution time, and the sum of the execution time of the two tasks does not exceed the distribution time of the goods taking and placing task.

For example, when a second robot is currently executing a pick-and-place task, the execution time of the corresponding pick-and-place task is 3 minutes, the allocation time is 5 minutes, and the remaining time is 2 minutes, the second robot may execute a library management task by using the remaining time.

It is to be understood that, in this embodiment, the warehouse management device may determine only the first robot as the target robot, may determine only the second robot as the target robot, or may determine both the first robot and the second robot as the target robot.

In this embodiment, the warehouse management device determines that the first robot currently in an idle state is a target robot, and/or determines that the second robot currently executing the pick-and-place task and having a duration shorter than the allocation duration is the target robot, and the target robot has a condition for managing the warehouse, thereby implementing automatic warehouse management of the warehousing system.

In some embodiments, the target robot is a second robot, determining a first target shelf on which the target robot performs the library management operation based on a status attribute of the target robot, comprising: and determining the goods shelf corresponding to the goods taking and placing task as a first target goods shelf for the target robot to execute the warehouse managing operation.

Specifically, when the target robot is currently executing the pick-and-place goods task and the pick-and-place goods task execution time is shorter than the second robot with the allocation time, the warehouse management device can take the goods shelf corresponding to the pick-and-place goods task as the first target goods shelf corresponding to the second robot, so that the target robot can directly perform the warehouse arranging operation on the goods shelf after completing the pick-and-place goods task, thereby the time for the target robot to move to the corresponding first target goods shelf can be greatly reduced, and the warehouse arranging efficiency is improved.

In some embodiments, the target robot is the first robot or the second robot, determining a first target shelf on which the target robot performs the physical library operation based on the state attribute of the target robot, comprising: determining a first target shelf from the plurality of shelves according to the shelf reason library priority; or, determining a first target shelf from the plurality of shelves according to the distance between the target robot and the shelf; or, determining a first target shelf from the plurality of shelves according to the priority of the shelf manager and the distance between the target robot and the shelf.

The shelf management library priority represents the priority of library management operation on the shelf, and the higher the shelf management library priority of the shelf is, the shelf is preferentially determined as a first target shelf for the target robot to execute the library management operation.

The first target shelf may be determined based on the distance between the target robot and the shelf, and specifically, the shelf may be preferentially determined as the first target shelf on which the target robot performs the organizing operation as the distance between the shelf and the target robot is shorter.

Alternatively, the first target shelf may be determined by combining the priority of the shelf manager and the distance between the target robot and the shelf.

Specifically, the implementation manner of determining the first target shelf by simultaneously combining the priority of the shelf manager and the distance between the target robot and the shelf may be various, for example, a reference shelf with a high priority, for example, a plurality of reference shelves with a priority within a first priority range, may be selected, and then the reference shelf closest to the target robot may be selected as the first target shelf according to the distances between the plurality of reference shelves and the target robot; or the first target shelf may be determined by first determining a plurality of reference shelves within a preset range of the target robot, and then determining a shelf with the highest priority level among the plurality of reference shelves as the first target shelf, which is not limited herein.

In this embodiment, warehouse management equipment can confirm the first target goods shelves that this target robot corresponds in a plurality of goods shelves of warehouse system according to the distance of goods shelves reason storehouse priority and/or target robot and goods shelves when confirming the first target goods shelves that the target robot carries out reason storehouse operation according to the state attribute of target robot, is favorable to promoting validity and the rationality that the robot carries out reason storehouse operation.

In some embodiments, further comprising: and determining the shelf management library priority corresponding to each shelf in the plurality of shelves according to one or more of the shelf area priority, the shelf occupancy and the shelf management library interval.

The shelf area priority is the priority of the area where the shelf is located, the priority of the shelf area is in direct proportion to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is in direct proportion to the sorting frequency of the shelf;

the shelf occupancy is the ratio of the total length of the fragment space of the shelf to the total length of the goods, the total length of the fragment space is the sum of the lengths of the fragment space on the shelf, the length of the fragment space is the length of the interval between the adjacent first goods and the adjacent second goods, the interval length is smaller than a preset value, and the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy is in direct proportion to the priority of the shelf library;

the shelf arranging interval is the time interval between the time node of the latest shelf arranging operation and the current time.

Specifically, the heat degree of different goods shelves is different, and then to the difference in goods shelves place region, the reason storehouse demand of goods shelves is different, and goods shelves that regional heat degree is high, reason storehouse frequency can be high, and goods shelves that regional heat degree is low, reason storehouse frequency is lower.

Specifically, the preset value may be an average value of total lengths of all the goods on the shelf, or may be an average value of total lengths of all the goods in the warehouse, or may be an average value of total lengths of all the stored goods on a single-layer shelf where the first goods and the second goods are located, and the like, and is not limited herein.

For example, fig. 4 is an exemplary diagram of goods stored on a shelf in an embodiment of the present application, as shown in fig. 4, 4 goods are placed on a shelf 220, lengths of the goods are a1, a2, a3 and a4, lengths of debris spaces between two adjacent goods are b1, b2 and b3, where a preset value refers to an average value of total lengths of 4 goods, and as can be seen from fig. 4, b1, b2 and b3 are all smaller than a preset value, which means that none of b1, b2 and b3 can place goods, and these three spaces are wasted, so that the space needs to be sorted out, total length of goods is represented by D, total length of debris space is represented by D, and shelf occupancy is represented by P, then the shelf occupancy P can be calculated by the following formula:

P＝d/D＝(b1+b2+b3)/(a1+a2+a3+a4)

specifically, the higher the shelf occupancy, the more distributed the boxes on the shelf are, and the higher the sorting priority corresponding to the shelf is.

Specifically, the larger the shelf sorting interval is, the higher the sorting priority corresponding to the shelf is, which indicates that the shelf has not been subjected to the sorting operation for a long time.

Specifically, when determining the shelving allocation priority corresponding to each shelf of the plurality of shelves, the warehouse management device may determine the shelving allocation priority based on only one of the shelf area priority, the shelf occupancy, and the shelving allocation interval. For example, the shelving allocation priority corresponding to each of the plurality of shelves may be determined based only on the shelf area priority, or the shelving allocation priority corresponding to each of the plurality of shelves may be determined based only on the shelf occupancy, or the shelving allocation priority corresponding to each of the plurality of shelves may be determined based only on the shelving allocation interval.

Alternatively, the shelving allocation priority may be determined according to a combination of any two of the shelving area priority, the shelf occupancy, and the shelving allocation interval, for example, the shelving allocation priority corresponding to each of the plurality of shelves may be determined according to the shelving area priority and the shelving allocation interval.

For example, the shelf sort order corresponding to each of the plurality of shelves is determined based on the shelf area priority and the shelf occupancy, and for example, a shelf with a high area heat may be preferentially selected, and a shelf with a high occupancy in the area may be selected to perform a sort operation.

For example, the shelf sorting priority corresponding to each shelf in the multiple shelves is determined according to the shelf area priority and the shelf sorting interval, for example, a shelf which is not sorted for a long time is preferentially selected, the system records the last sorting time of each shelf, if a certain shelf is not sorted for a long time, the shelf is preferentially sorted, and if the time that the multiple shelves are not sorted is the same, the shelf in which the shelf is located is preferentially sorted.

Alternatively, the shelving allocation priority may be determined based on the shelf area priority, the shelf occupancy, and the shelving allocation interval.

In this embodiment, the warehouse management device determines the shelf organization library priority corresponding to each shelf in the multiple shelves according to one or more of the shelf area priority, the shelf occupancy, and the shelf organization library interval, so that the shelf organization library priority corresponding to each shelf is more scientific and reasonable.

In some embodiments, determining a shelving allocation priority for each shelf in the plurality of shelves based on one or more of a shelf area priority, a shelf occupancy, and a shelving allocation interval comprises:

Q_i＝O_i×a+P_i×b+T_i×c

wherein Q is_iThe shelving allocation base priority of the ith shelf is 1, 2, 3 … N, and N is the total number of shelves; o is_iThe shelf occupancy of the ith shelf; p_iThe shelf area priority of the ith shelf; t is_iA shelf inventory interval for the ith shelf; a is a weight coefficient corresponding to the shelf occupancy, b is a weight coefficient corresponding to the shelf area priority, and c is a weight coefficient corresponding to the shelf reason library interval.

Specifically, the weighting coefficients a, b, and c are dynamic coefficients, which are not limited uniquely, and the warehouse management device may dynamically adjust the values of the weighting coefficients a, b, and c according to the current number of orders and the number of robots.

In addition, the warehouse management device can adjust the types of influencing factors used for determining the priority of the shelf management library corresponding to each shelf in the plurality of shelves by adjusting the values of the weight coefficients a, b and c. For example, when only one of the weighting factors a, b, c is a non-zero value, this indicates that the shelving allocation priority is determined based on only one of the shelf area priority, the shelf occupancy, and the shelving allocation interval; when all three values of the weight coefficients a, b and c are non-zero values, the method indicates that the shelving allocation priority is determined according to the shelving area priority, the shelving occupancy and the shelving allocation interval.

In this embodiment, the warehouse management device calculates the shelf organization library priority corresponding to each shelf through a corresponding formula according to the shelf area priority, the shelf occupancy, and the shelf organization library interval, so that the shelf organization library priority corresponding to each shelf is more scientific and reasonable.

In some embodiments, determining a first target rack from the plurality of racks based on the distance of the target robot from the rack comprises: and determining a goods shelf, which is smaller than a first preset distance threshold value and has no operation executed by other robots except the target robot, as a first target goods shelf.

The goods shelves of other robots except the target robot for executing the operation do not exist, specifically, the goods shelves of other robots for executing the warehouse arranging operation do not exist, or the goods shelves of other robots for executing the goods taking and placing operation do not exist, that is, each goods shelf only has one robot for executing the operation, so that the operation conflicts of the robots can be avoided.

In this embodiment, when the warehouse management device determines the first target rack according to the distance between the target robot and the rack, the distance between the warehouse management device and the target robot may be smaller than a first preset distance threshold, and the rack on which no other robot other than the target robot performs an operation is the first target rack, thereby, the distance is smaller than the first preset distance threshold by limiting, the problem that the path of the target robot to the first target rack is too long can be avoided, so as to shorten the moving time of the target robot, and the warehouse management efficiency is improved.

In addition, each goods shelf is simultaneously operated by only one robot, and the condition that the working areas of different robots are overlapped can be avoided, so that the operation of the robots can be prevented from being influenced by mutual conflict.

In some embodiments, determining a first target rack from the plurality of racks based on the rack library priority and the distance of the target robot from the rack comprises: and determining that the distance between the target robot and the shelf is smaller than a second preset distance threshold value, the priority of the shelf library is larger than a preset priority threshold value, and the shelf on which other robots except the target robot do not execute the operation is the first target shelf.

In this embodiment, when determining the first target shelf, the warehouse management device may determine the first target shelf by combining the distance between the shelf and the target robot, the priority of the shelf management library, and the shelf operation conditions of other robots, so that the determination result of the first target shelf is more scientific and reasonable.

In some embodiments, controlling the target robot to perform a library of operations on the first target shelf comprises:

determining a corresponding warehouse management strategy of the first target shelf based on the stored goods on the first target shelf;

Specifically, based on the stored goods on the first target shelf, a specific implementation manner of determining the library organizing policy corresponding to the first target shelf may be various, for example, the specific implementation manner may be that the goods to be organized are determined according to detection information, returned by the robot, of the stored goods on the first target shelf, and then the library organizing policy is determined, which is the same as the principle of determining the library organizing policy by the robot, and is not described herein again, or the library organizing policy that the fragmented space is determined according to the stored positions of the stored goods, or the library organizing policy is determined according to whether the stored goods are corresponding to the storage area or not, or the library organizing policy that how to place the goods with the same size in the stored goods are placed together is determined according to the size of the stored goods, and the like, and is not limited herein.

Specifically, when the warehouse management device controls the target robot to perform the warehouse managing operation on the first target shelf, the warehouse management device can firstly acquire information of stored goods on the first target shelf, determine a warehouse managing strategy corresponding to the first target shelf, and then control the target robot to perform the warehouse managing operation according to the warehouse managing strategy, so that the warehouse managing efficiency is improved.

In some embodiments, determining a warehousing policy corresponding to the first target shelf based on the deposited goods on the first target shelf comprises: determining a warehouse management strategy for sorting the stored goods on the first target shelf according to one or more of the goods heat degree, the goods interval and the preset safety interval of the stored goods on the first target shelf, wherein the goods heat degree represents the frequency of taking out the stored goods.

The preset safe interval can be determined according to the type or the size of the carrying device of the robot, and for the carrying device comprising the suction cups, the preset safe interval can be very small, such as 3cm, even ignored; for a carrying device comprising a left telescopic arm and a right telescopic arm, the preset safety distance is at least the width of the telescopic arms; for a handling device comprising a robot arm or a robotic arm, the predetermined safety margin should be at least the width of the gripping or hooking portion of the robotic arm.

Specifically, the goods with high heat degree can be sorted from the first target goods shelf to the goods shelf in the region with high heat degree, or the goods with high heat degree can be sorted to the position where the robot can conveniently take out.

Specifically, when the warehouse management device determines the warehouse-organizing policy corresponding to the first target shelf based on the stored goods on the first target shelf, the warehouse-organizing policy may be determined according to one or more of the heat of the stored goods on the first target shelf, the goods interval, and the preset safety interval, for example, the warehouse-organizing policy may be determined only according to any one of the heat of the stored goods, the goods interval, and the preset safety interval, or a combination of at least two of the heat of the stored goods, the goods interval, and the preset safety interval, so that the warehouse-organizing policy may be more scientific and reasonable, and the warehouse-organizing efficiency may be improved.

In some embodiments, the determining the inventory strategy corresponding to the first target shelf based on the stored goods on the first target shelf includes: and determining a warehouse management strategy corresponding to the first target shelf according to the goods distance of the goods stored on the first target shelf and the preset safety distance.

Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration manner, the warehouse management device may determine the warehouse-managing policy corresponding to the first target shelf according to the goods distance between the goods stored on the first target shelf and the preset safety distance.

The goods spacing of the stored goods is the spacing between two adjacent goods.

In this embodiment, the warehouse management device may determine the warehouse management strategy corresponding to the first target shelf according to the goods distance of the stored goods on the first target shelf and the preset safety distance, so that the warehouse management strategy is more scientific and reasonable, and the warehouse management efficiency is improved.

In some embodiments, the determining the library management policy corresponding to the first target shelf based on the stored goods on the first target shelf includes: according to the goods heat degree of the goods stored on the first target shelf, determining a library management strategy corresponding to the first target shelf, so that the goods with the goods heat degree higher than the preset heat degree are placed in the first row of each layer of the first target shelf.

Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration manner, the warehouse management device may determine, according to the heat of the stored goods on the first target shelf, a storage management policy corresponding to the first target shelf, so that the goods with the heat of the goods higher than the preset heat are placed on the outermost row of each layer of the first target shelf.

The goods heat represents the frequency of taking out the stored goods, the goods heat is higher than the preset heat, and the frequency of taking out the goods is high, so that the goods can be regarded as hot goods, the goods can be placed at the outermost row of each layer of the first target goods shelf, and the robot can take the goods more conveniently.

In some embodiments, the library management policy comprises: and adjusting the storage positions of the stored cargos to enable the distance between the cargos to be a preset safety distance. Therefore, the goods spacing can be shortened as much as possible on the premise that the robot can normally take goods, and more goods can be placed.

In some embodiments, the library management policy comprises: and adjusting the storage positions of the stored goods so that the storage positions of the goods with the same size or the size difference value within a preset range are adjacent. Therefore, goods with the same size or close to the goods are adjacently placed, the goods can be more reasonably arranged, and the goods placing positions are more standard and reasonable.

In some embodiments, the library management policy comprises: in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods. Specifically, when the warehouse is managed, the positions of small-sized cargos are preferentially adjusted, and for cargos with larger sizes, the positions are not adjusted or are adjusted as few as possible, so that the warehouse managing workload of the robot can be reduced, and the warehouse managing efficiency is improved.

In some embodiments, when the target robot is a single-pallet fork robot, the target robot comprises at least one set of single-pallet fork robots, each set of single-pallet fork robots comprising at least two single-pallet fork robots; when the target robot is a multi-storage-unit robot, the target robot includes at least one multi-storage-unit robot.

Specifically, if the target robot is a single-fork robot, at least two single-fork robots are assigned to form a group, the target robot comprises at least one group of single-fork robots, and the single-fork robots in each group are matched with each other to complete the warehouse management work.

For example, the goods to be sorted are in the internal storage of the goods shelf, and are blocked by the obstacle, so that the obstacle needs to be moved out by the single-fork robot a, and the goods to be sorted are taken out by the single-fork robot B to be sorted for goods sorting.

If the target robot is a multi-storage-unit robot (e.g., a multi-basket robot), the single multi-storage-unit robot can perform the library management work independently, so that the robot grouping is not required, and the single multi-storage-unit robot can be directly allocated to perform the library management.

In some embodiments, further comprising:

detecting whether a library managing condition is met;

upon determining that the reason base condition is satisfied, the step of determining a target robot that can perform the reason base task is started.

Specifically, a library management condition for executing the library management operation may be preset, and when the warehouse management device detects that the library management condition is currently satisfied, the step of executing the goods sorting method is started, so that the library management is performed.

For example, it may be set that the warehouse managing device performs the warehouse managing task every time T, the warehouse managing device starts to count time after the warehouse managing task is completed for the first time, and when the accumulated time reaches the time T, the warehouse managing device starts to execute the next warehouse managing task, and so on.

In this embodiment, by setting the library-organizing condition, when the warehouse management device determines that the library-organizing condition is satisfied, the library-organizing task is automatically executed, so that automatic library organizing of the warehousing system can be realized.

In some embodiments, further comprising: and allocating the goods taking and placing task to the target robot executing the warehouse managing operation, controlling the target robot to stop executing the warehouse managing operation, and executing the goods taking and placing task.

Specifically, if the warehouse management equipment receives a new picking and placing task at present, and no idle robot exists at present, namely all the robots are executing tasks at present, at the moment, the warehouse management equipment can distribute the picking and placing task to the target robot executing the warehousing operation, control the target robot to stop executing the warehousing operation, and execute the picking and placing task, thereby ensuring the normal operation of the picking and placing task.

In some embodiments, further comprising: when the area where the target robot executes the warehouse organizing operation on the first target shelf and the area where the second robot executes the goods taking and placing task are overlapped, the second target shelf different from the first target shelf is determined, and the target robot is controlled to execute the warehouse organizing operation on the second target shelf.

Specifically, if the warehouse management device detects that the area where the target robot performs the warehousing operation on the first target shelf and the area where the second robot performs the picking and placing task overlap, for example, the area where the target robot performs the warehousing operation is the same as the area where the second robot performs the picking and placing task, or the second robot needs to pass through the area where the target robot performs the warehousing operation when performing the picking and placing task, it is indicated that the target robot collides with the working area of the second robot, and the target robot may affect the picking and placing task performed by the second robot when performing the warehousing operation, for example, the traveling route of the target robot is blocked.

In this embodiment, if it has the overlap region to detect the region that the target robot carried out the reason storehouse operation to first target goods shelves and the region that the second robot carried out to get the goods task of putting, warehouse management equipment distributes new second target goods shelves for the target robot again, controls this target robot and carries out reason storehouse operation to second target goods shelves to can avoid the target robot to get the goods task of putting to carry out to the second robot and cause the influence, thereby improve warehousing system's the efficiency of getting goods of putting.

Fig. 5 is a flowchart of a cargo collating method according to an embodiment of the present application, and as shown in fig. 5, the cargo collating method may be performed by a robot of a warehousing system. The goods sorting method provided by the embodiment comprises the following steps:

s210, receiving a first control instruction sent by warehouse management equipment, wherein the first control instruction is sent to a target robot after the warehouse management equipment determines the target robot capable of executing a warehouse arranging task and determines a first target shelf of the target robot for executing a warehouse arranging operation according to the state attribute of the target robot, and the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf;

and S220, executing library management operation on the first target shelf according to the first control instruction.

In some embodiments, the first control instruction includes a warehousing policy corresponding to the first target shelf determined by the warehouse management device based on the deposited goods on the first target shelf.

According to the first control instruction, executing library management operation on the first target shelf, wherein the library management operation comprises the following steps: and executing library management operation on the first target shelf according to the library management strategy corresponding to the first target shelf in the first control instruction.

In some embodiments, performing a library management operation on the first target shelf according to the first control instruction comprises:

Specifically, the first control instruction may only include related information of the first target shelf, such as position information, and the robot may customize the theorem library strategy after moving to the corresponding position of the first target shelf according to the first control instruction, thereby helping to reduce the work pressure of the warehouse management equipment.

It will be appreciated that the robot itself may be equipped with a processor which may determine a warehousing strategy based on the goods stored on the shelves. Specifically, the robot may acquire inspection information of the stored goods, such as information on size and position, through a sensor (e.g., a laser sensor, an ultrasonic sensor, an infrared sensor, a 2D camera, a 3D camera, etc.), and then determine whether there is a problem good in the stored goods on the shelf according to the inspection information of the goods. Wherein, the distance information of the problem goods can be larger than the corresponding preset safety distance. And for each adjacent cargo, if the distance information of at least one adjacent cargo is larger than the corresponding preset safety distance, determining that the adjacent cargo is the problem cargo, and determining a theoretic library strategy according to the condition of the problem cargo.

Optionally, the inspection information includes distance information and a cargo pose of the adjacent cargo, and the determining whether there is a problem cargo in the at least one adjacent cargo according to the inspection information of the at least one adjacent cargo includes: acquiring a preset safety distance and a preset pose of each adjacent cargo; for each neighboring good, determining the neighboring good as a problem good when the inspection information of the neighboring good satisfies any one of the following conditions: the distance information of the adjacent goods is larger than the preset safety distance of the adjacent goods; and the pose of the goods of the adjacent goods is inconsistent with the preset pose, and then a theorem library strategy is determined according to the condition of the goods with problems.

For example, fig. 6 is a schematic diagram of a problem cargo storage situation in the embodiment of the present application, and as shown in fig. 6, a cargo 51, a cargo 52, a cargo 53, and a cargo 54 are stored on a shelf 50. However, since the left adjacent cargo 52 of the cargo 53 is stored in a wrong posture, that is, the cargo 52 deflects, and the cargo is the cargo 52 in question, the determined library organizing strategy is to adjust the placement posture of the cargo 52, and then adjust the debris spaces among the cargo 51, the cargo 52, the cargo 53, and the cargo 54 according to the adjusted posture and the distance among the cargo 51, the cargo 52, the cargo 53, and the cargo 54.

For example, fig. 7 is a schematic view illustrating another problem of the storage of goods in the embodiment of the present application, and as shown in fig. 7,

goods

61, 62, 63, and 64 are stored on a shelf 60. However, since the left adjacent to the goods 62 of the goods 63 is stored in a wrong position, that is, the goods 62 are translated and deviate from the original position 66, so that the distance between the goods 62 and the goods 61 is too large, and the distance between the goods 62 and the goods 63 is too small, so that the goods 62 in question is the goods, the determined storage management strategy may be various, for example, the goods 62 in question may be adjusted, and then the fragment space between the goods 61, the goods 62, the goods 63 and the goods 64 may be adjusted according to the adjusted goods 62 and the details among the goods 61, the goods 62, the goods 63 and the goods 64, or the goods 61 may be directly adjusted, so as to reduce the larger fragment space caused by the problem of placing the goods 62.

After the problem goods are determined, the robot can adjust the goods storage position for the problem goods, for example, the robot can adjust the pose of the goods so that the pose of the goods is consistent with the preset pose; or the goods can be adjusted in storage position, so that the storage position of the goods is more scientific and reasonable; or the robot can adjust the position and the storage position of the goods at the same time to obtain a larger unoccupied space.

Exemplarily, fig. 8 is a schematic view of a goods storage condition of a shelf after the warehouse arrangement according to the embodiment of the present application, as shown in fig. 8, goods 511 to 521 are included on a shelf 510, and a large unoccupied space 522 can be obtained on the shelf by performing the warehouse arrangement operation on the shelf, and then, when a subsequent robot performs a task of picking and placing goods, the unoccupied space 522 can be reasonably utilized.

In some embodiments, the determining process of the library management policy corresponding to the first target shelf includes the following steps: determining a warehouse management strategy for sorting the stored goods on the first target shelf according to one or more of the goods heat of the stored goods on the first target shelf, the goods interval and the preset safety interval, wherein the goods heat represents the frequency of taking out the stored goods.

Specifically, when the warehouse management device or the robot determines the warehouse management policy corresponding to the first target shelf based on the stored goods on the first target shelf, the warehouse management device or the robot may determine the warehouse management policy according to one or more of the heat degree of the stored goods on the first target shelf, the goods interval, and the preset safety interval, for example, the warehouse management policy may be determined only according to any one of the heat degree of the stored goods, the goods interval, and the preset safety interval, or a combination of at least two of the heat degree of the stored goods, the goods interval, and the preset safety interval, so that the warehouse management policy may be more scientific and reasonable, and the warehouse management policy may be beneficial to improving the warehouse management efficiency.

In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the determining process of the library management policy corresponding to the first target shelf includes the following steps: and determining a warehouse management strategy corresponding to the first target shelf according to the goods distance of the goods stored on the first target shelf and the preset safety distance.

Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration manner, the warehouse management device or the robot may determine the warehouse management policy corresponding to the first target shelf according to the cargo space where the cargo is stored on the first target shelf and the preset safety space.

The preset safety distance may be determined according to the type or size of the handling device of the robot, and for a handling device comprising a suction cup, the preset safety distance may be very small, such as 3cm, or even ignored; for a carrying device comprising a left telescopic arm and a right telescopic arm, the preset safety distance is at least the width of the telescopic arms; for a handling device comprising a robot arm or a robotic arm, the predetermined safety margin should be at least the width of the gripping or hooking portion of the robotic arm.

In this embodiment, the warehouse management device or the robot may determine the warehouse management strategy corresponding to the first target shelf according to the cargo distance of the stored cargo on the first target shelf and the preset safety distance, so that the warehouse management strategy is more scientific and reasonable, and the warehouse management efficiency is improved.

In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the determining process of the library management policy corresponding to the first target shelf includes the following steps: and determining a warehouse management strategy corresponding to the first target shelf according to the goods heat degree of the goods stored on the first target shelf, so that the goods with the goods heat degree higher than the preset heat degree are placed in the first row of each layer of the first target shelf.

Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration manner, the warehouse management device or the robot may determine the warehouse management policy corresponding to the first target shelf according to the heat of the stored goods on the first target shelf, so that the goods with the heat of the goods higher than the preset heat are placed on the outermost row of each layer of the first target shelf.

The goods heat represents the frequency of taking out the stored goods, the goods heat is higher than the preset heat and represents that the frequency of taking out the goods is high, therefore, the goods can be regarded as hot goods, and the goods can be placed at the outermost row of each layer of the first target shelf, so that the robot can take the goods more conveniently.

In some embodiments, the library management policy comprises: in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods. Specifically, when the warehouse is managed, the positions of the small-size cargoes are preferentially adjusted, and for the cargoes with larger sizes, the positions are not adjusted or are adjusted as few as possible, so that the warehouse managing workload of the robot can be reduced, and the warehouse managing efficiency is improved.

In some embodiments, adjusting the storage positions of the stored goods such that the distance between the goods is a preset safety distance includes: determining datum point information of stored goods; and adjusting the storage positions of the stored cargos according to the datum point information so as to enable the distance between the cargos to be a preset safety distance.

In some embodiments, the fiducial points include one or more of: the upright post of the first target shelf, the mark point of the first target shelf, and one or more goods placed on the adjacent position of the stored goods.

Wherein the reference point is a set point at which the position on the shelf is known. The number of the datum points can be one or more, and the datum points are determined according to the positions of the stored goods. The mark point may be a position point to which a preset mark is attached, and the preset mark may be a two-dimensional code, a circular code, a barcode, an RFID (Radio Frequency Identification) tag, or the like, or may be a magnetic nail.

For example, images of the reference points may be captured by a vision sensor of the robot, and the images may be recognized based on an image recognition algorithm, so as to determine position information corresponding to the reference points according to the recognition result.

Specifically, the storage position of the stored goods is adjusted according to the reference point information, and the adjusted position is closer to the reference point than the position before the adjustment.

For example, in order to improve the space utilization of the shelf, the stored goods may be adjusted to an end of the space close to the reference point, such as the shelf pillar, so that the end far from the reference point may reserve more space for storing other goods.

Specifically, when the robot is used for adjusting the storage position of stored goods, the robot firstly identifies the stored goods to determine the datum point information of the stored goods, and then adjusts the storage position of the stored goods according to the datum point information, so that the distance between the goods is a preset safety distance, the goods distance can be shortened as far as possible on the premise that the robot can normally take the goods, and more goods can be placed.

In some embodiments, further comprising:

receiving a second control instruction sent by the warehouse management equipment, wherein the second control instruction comprises a goods taking and placing task;

In some embodiments, further comprising:

receiving a third control instruction sent by the warehouse management equipment, wherein the third control instruction is sent to the target robot after the warehouse management equipment determines a second target shelf different from the first target shelf when detecting that an overlapping area exists between an area where the target robot performs a warehouse managing operation on the first target shelf and an area where the second robot performs a goods taking and placing task, and the third control instruction comprises information of the second target shelf;

Specifically, if the warehouse management device detects that the area where the target robot performs the warehouse organizing operation on the first target shelf and the area where the second robot performs the goods picking and placing task have an overlapping area, it is described that the target robot and the working area of the second robot have a conflict, and when the target robot performs the warehouse organizing operation, the target robot may affect the second robot to perform the goods picking and placing task, for example, the traveling route of the target robot is blocked.

In some embodiments, a cargo collating device is provided, where the cargo collating device may be applied to a warehouse management apparatus, fig. 9 is a schematic structural diagram of a cargo collating device provided in an embodiment of the present application, and as shown in fig. 9, the cargo collating device includes:

a robot determining module 910 for determining a target robot that can perform a library management task;

a shelf determining module 920, configured to determine, according to the state attribute of the target robot, a first target shelf on which the target robot performs a library management operation, where a storage space of each piece of goods on the first target shelf is determined according to size information of the piece of goods and a dynamic goods storage space on the shelf;

a library management control module 930 configured to control the target robot to perform a library management operation on the first target shelf.

In some embodiments, the robot determination module 910 is specifically configured to: determining that a first robot currently in an idle state is the target robot; and/or determining that the second robot which is currently executing the pick-and-place task and has the execution time length shorter than the distribution time length is the target robot.

In some embodiments, the target robot is the second robot, and the shelf determination module 920 is specifically configured to, in the determining the first target shelf for the target robot to perform the library management operation according to the status attribute of the target robot: and determining the goods shelf corresponding to the goods taking and placing task as a first target goods shelf for the target robot to execute the warehouse managing operation.

In some embodiments, the target robot is the first robot or the second robot, and the shelf determination module 920 is specifically configured to: determining the first target shelf from a plurality of shelves according to a shelf inventory priority; or, determining the first target shelf from the plurality of shelves according to the distance between the target robot and the shelves; or, determining the first target shelf from the plurality of shelves based on a shelf manager priority and a distance of the target robot from the shelf.

In some embodiments, the shelf determination module 920 is further configured to: determining a shelf arrangement library priority corresponding to each shelf in the plurality of shelves according to one or more of shelf area priority, shelf occupancy and shelf arrangement library interval; the shelf area priority is the priority of the area where the shelf is located, the shelf area priority is in direct proportion to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is in direct proportion to the sorting frequency of the shelf; the shelf occupancy is the ratio of the total length of the fragment space of the shelf to the total length of the goods, the total length of the fragment space is the sum of the lengths of the fragment space on the shelf, the length of the fragment space is the length of the interval between the adjacent first goods and the adjacent second goods, the interval length is smaller than a preset value, and the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy is in direct proportion to the priority of the shelf organization; the shelf arranging interval is the time interval between the time node of the last time of arranging the shelf and the current time.

In some embodiments, the shelf determination module 920 is specifically configured to: according to the shelf area priority, the shelf occupancy and the shelf reason library interval, calculating the shelf reason library priority corresponding to each shelf through the following formula:

Q_i＝O_i×a+P_i×b+T_i×c

wherein Q is_iThe shelving allocation base priority of the ith shelf is 1, 2, 3 … N, and N is the total number of shelves; o is_iThe shelf occupancy of the ith shelf; p_iThe shelf area priority of the ith shelf; t is_iA shelf inventory interval for the ith shelf; a is a weight coefficient corresponding to a shelf occupancy, b is a weight coefficient corresponding to a shelf area priority, and c is a shelf reasonThe weight coefficients corresponding to the bin intervals.

In some embodiments, the shelf determination module 920 is specifically configured to: and determining the first target shelf as a shelf which has a distance with the target robot smaller than a first preset distance threshold value and has no operation executed by other robots except the target robot.

In some embodiments, the shelf determination module 920 is specifically configured to: and determining that the distance between the target robot and the goods shelf is smaller than a second preset distance threshold, the priority of the goods shelf library is larger than a preset priority threshold, and the goods shelf on which other robots except the target robot do not execute operation is the first target goods shelf.

In some embodiments, the library management control module 930 is specifically configured to: determining a library management strategy corresponding to the first target shelf based on the stored goods on the first target shelf; and controlling the target robot to execute the library management operation according to the library management strategy.

In some embodiments, the library management control module 930 is specifically configured to: determining a warehouse management strategy for sorting the stored goods on the first target shelf according to one or more of the goods heat of the stored goods on the first target shelf, the goods interval and a preset safety interval, wherein the goods heat represents the frequency of taking out the stored goods.

In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the library management control module 930 is specifically configured to: and determining a warehouse management strategy corresponding to the first target shelf according to the goods distance of the goods stored on the first target shelf and a preset safety distance.

In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the library management control module 930 is specifically configured to: and determining a warehouse management strategy corresponding to the first target shelf according to the goods heat degree of the goods stored on the first target shelf, so that the goods with the goods heat degree higher than the preset heat degree are placed in the first row of each layer of the first target shelf.

In some embodiments, the library management policy comprises at least one of: adjusting the storage positions of the stored cargos to enable the distance between the cargos to be a preset safety distance; adjusting the storage positions of the stored goods to enable the storage positions of the goods with the same size or with the size difference value within a preset range to be adjacent; in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods.

In some embodiments, when the target robot is a single-pallet fork robot, the target robot includes at least one set of single-pallet fork robots, each set of single-pallet fork robots including at least two single-pallet fork robots; when the target robot is a multi-storage-unit robot, the target robot includes at least one multi-storage-unit robot.

In some embodiments, further comprising: the processing module is used for detecting whether a library arranging condition is met; and when the situation that the reason library condition is met is determined, starting to execute the step of determining the target robot capable of executing the reason library task.

In some embodiments, the processing module is further configured to assign a pick-and-place task to a target robot that is performing a library management operation, control the target robot to stop performing the library management operation, and perform the pick-and-place task.

In some embodiments, the processing module is further to: when the area of the target robot for performing the warehouse-arranging operation on the first target shelf is detected to have an overlapping area with the area of the second robot for performing the goods picking and placing tasks, a second target shelf different from the first target shelf is determined, and the target robot is controlled to perform the warehouse-arranging operation on the second target shelf.

For specific limitations of the cargo sorting device, reference may be made to the above limitations on the cargo sorting method applied to the warehouse management equipment, and details of functional modules and beneficial effects corresponding to the execution method are omitted here. The modules in the cargo collating device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In some embodiments, a cargo finishing device is provided, which may be applied to a robot, and fig. 10 is a schematic structural diagram of the cargo finishing device provided in an embodiment of the present application, and as shown in fig. 10, the cargo finishing device includes:

a receiving module 1010, configured to receive a first control instruction sent by a warehouse management device, where the first control instruction is sent to a target robot after the warehouse management device determines the target robot capable of performing a library management task and determines a first target shelf on which the target robot performs a library management operation according to a state attribute of the target robot, where a storage space of each item on the first target shelf is determined according to size information of the item and a dynamic item storage space on the shelf;

and the library managing module 1020 is used for executing library managing operation on the first target shelf according to the first control instruction.

the library module 1020 is specifically configured to: and executing a library management operation on the first target shelf according to the library management strategy corresponding to the first target shelf in the first control instruction.

In some embodiments, the library module 1020 is specifically configured to: determining a corresponding library management strategy of the first target shelf based on the stored goods on the first target shelf; and executing library management operation on the first target shelf according to the library management strategy corresponding to the first target shelf.

In some embodiments, the determining of the library management policy corresponding to the first target shelf includes the following steps: determining a warehouse management strategy for sorting the stored goods on the first target shelf according to one or more of the goods heat of the stored goods on the first target shelf, the goods interval and a preset safety interval, wherein the goods heat represents the frequency of taking out the stored goods.

In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the determining process of the library management policy corresponding to the first target shelf includes the following steps: and determining a warehouse management strategy corresponding to the first target shelf according to the goods distance of the goods stored on the first target shelf and a preset safety distance.

In some embodiments, the library management policy comprises at least one of: adjusting the storage positions of the stored goods to enable the distance between the goods to be a preset safety distance; adjusting the storage positions of the stored goods to enable the storage positions of the goods with the same size or with the size difference value within a preset range to be adjacent; in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods.

In some embodiments, the library module 1020 is specifically configured to: determining datum point information of the stored goods; and adjusting the storage positions of the stored cargos according to the datum point information so as to enable the distance between the cargos to be a preset safety distance.

In some embodiments, further comprising: the receiving module is used for receiving a second control instruction sent by the warehouse management equipment, wherein the second control instruction comprises a goods taking and placing task; and stopping executing the library arranging operation according to the second control instruction, and executing the goods taking and placing task.

In some embodiments, the receiving module is further configured to: receiving a third control instruction sent by warehouse management equipment, wherein the third control instruction is sent to the target robot after the warehouse management equipment determines a second target shelf different from the first target shelf when detecting that an overlapping area exists between an area where the target robot performs a warehouse managing operation on the first target shelf and an area where the second robot performs a goods picking and placing task, and the third control instruction comprises information of the second target shelf; and executing library management operation on the second target shelf according to the third control instruction.

For the specific definition of the cargo finishing device, reference may be made to the above definition of the cargo finishing method applied to the robot, and the functional modules and the beneficial effects corresponding to the execution method are not described herein again. The modules in the cargo collating device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Fig. 11 is a schematic structural diagram of a robot according to an embodiment of the present application, and as shown in fig. 11, the robot includes: memory 1110, processor 1120, and computer programs.

The computer program is stored in the memory 1110 and configured to be executed by the processor 1120 to implement the cargo tidying method applied to the robot according to any embodiment of the present application.

The memory 1110 and the processor 1120 are connected by a bus 1130.

Of course, the robot also comprises handling means, sensors and moving means. The handling device may be a fork, a robot, or the like, for picking up and/or depositing the goods. The sensor may be provided on the robot body of the robot or on the carrying device, and may include one or more of a laser sensor, an ultrasonic sensor, an infrared sensor, a 2D camera, a 3D camera, and the like.

Further, the robot may further include a storage unit for storing goods.

Optionally, the robot comprises a mobile chassis, a handling device, a storage rack and a lifting assembly; the storage shelf, the carrying device and the lifting assembly are mounted on the mobile chassis.

Optionally, the handling device comprises one or more of: telescopic arm component, sucking disc and arm.

Optionally, the handling device comprises a pallet and a steering structure for changing the orientation of the goods placed on the pallet.

Fig. 12 is a schematic structural diagram of a warehouse management device according to an embodiment of the present application, and as shown in fig. 12, the robot includes: memory 1210, processor 1220, and computer programs.

Wherein the computer program is stored in the memory 1210 and configured to be executed by the processor 1220 to implement the goods sorting method applied to the warehouse management device provided by any embodiment of the present application.

Fig. 13 is a schematic structural diagram of a warehousing system according to an embodiment of the present application, as shown in fig. 9, the warehousing system includes: a robot 1310, warehouse management devices 1320, and racks 1330.

Wherein, the robot 1310 is the robot provided in the embodiment of fig. 11 of the present application, and the shelf 1330 is used for storing goods; the warehouse management device 1320 is configured to generate a pick-and-place instruction and a library managing instruction, so that the robot 1310 performs corresponding operations based on the pick-and-place instruction and the library managing instruction.

In some embodiments, a computer-readable storage medium is provided, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the cargo collating method is implemented.

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

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

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

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

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

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

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

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

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

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

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill 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 application.

Claims

1. A goods sorting method is applied to warehouse management equipment and is characterized by comprising the following steps:

determining a target robot capable of executing a library management task;

when the first target shelf is a shelf stored according to a one-dimensional configuration mode, determining a warehouse management strategy corresponding to the first target shelf according to a goods distance and a preset safety distance of goods stored on the first target shelf, wherein the one-dimensional configuration mode is that goods on each layer in a goods storage space are placed in a row in the depth direction;

when the first target shelf is a shelf stored according to a two-dimensional configuration mode, determining a warehouse arrangement strategy for arranging the stored goods on the first target shelf according to one or more of the heat of the stored goods on the first target shelf, the goods interval and a preset safety interval, wherein the heat of the goods represents the frequency of taking out the stored goods, and the two-dimensional configuration mode is that the goods on each layer in the goods storage space are placed in a row, multiple rows or a mixture of multiple rows in the depth direction;

2. The method of claim 1, wherein determining the target robot that can perform a physical library task comprises:

3. The method of claim 2, wherein the target robot is the second robot, and wherein determining the first target shelf for the target robot to perform the library management operation based on the status attribute of the target robot comprises:

4. The method of claim 2, wherein the target robot is the first robot or the second robot, the determining a first target shelf for the target robot to perform a library-organizing operation based on the state attribute of the target robot comprises:

determining the first target shelf from a plurality of shelves according to a shelf manager priority; or the like, or, alternatively,

5. The method of claim 1 or 4, further comprising:

determining a shelf reason library priority corresponding to each shelf in the plurality of shelves according to one or more of the shelf area priority, the shelf occupancy and the shelf reason library interval;

6. The method of claim 5, wherein determining a shelving allocation priority for each of the plurality of shelves based on one or more of a shelf area priority, a shelf occupancy, and a shelving allocation interval comprises:

Q_i＝O_i×a+P_i×b+T_i×c

7. The method of claim 4, wherein said determining the first target shelf from the plurality of shelves based on the distance of the target robot from the shelves comprises:

8. The method of claim 4, wherein the determining the first target shelf from the plurality of shelves based on a shelf library priority and a distance of the target robot from the shelf comprises:

and determining that the distance between the target robot and the shelf is smaller than a second preset distance threshold value, the priority of the shelf library is larger than a preset priority threshold value, and the shelf on which other robots except the target robot do not perform operation is the first target shelf.

9. The method of claim 8, wherein determining that the first target shelf is the shelf that is less than a second preset distance threshold and has a shelf library priority greater than a preset priority threshold and that no other robots than the target robot perform the operation comprises:

determining a shelf closest to a target robot as the first target shelf in a shelf in which the priority of a shelf library is greater than a preset priority threshold and other robots except the target robot do not execute operation;

or the like, or, alternatively,

and determining the shelf with the highest priority in the shelf library as the first target shelf, wherein the distance between the shelf and the target robot is less than a second preset distance threshold value, and no other robot except the target robot performs operation.

10. The method of claim 1, wherein the first target shelf is a shelf stored in a two-dimensional configuration, and wherein the determining of the library management policy further comprises:

and placing the goods with the goods heat degree higher than the preset heat degree in the first row of each layer of the first target shelf.

11. The method of claim 1, wherein the library management policy comprises at least one of:

12. The method according to any one of claims 1 to 10,

when the target robot is a single-fork robot, the target robot comprises at least one group of single-fork robots, and each group of single-fork robots comprises at least two single-fork robots;

13. The method of any one of claims 1-10, further comprising:

detecting whether a library managing condition is met;

14. The method of any one of claims 1-10, further comprising:

distributing the goods taking and placing tasks to the target robot executing the warehouse managing operation, controlling the target robot to stop executing the warehouse managing operation, and executing the goods taking and placing tasks.

15. The method of any one of claims 1-10, further comprising:

16. A cargo tidying method is applied to a robot and is characterized by comprising the following steps:

receiving a first control instruction sent by warehouse management equipment, wherein the first control instruction is sent to a target robot after the warehouse management equipment determines a target robot capable of executing a warehouse arranging task, determines a first target shelf of the target robot for executing a warehouse arranging operation according to state attributes of the target robot, confirms that the first target shelf is a shelf for storing goods according to a one-dimensional configuration mode or a two-dimensional configuration mode so as to confirm a warehouse arranging strategy, the storage space of each goods on the first target shelf is determined according to size information of the goods and dynamic goods storage space on the shelf, the one-dimensional configuration mode is that goods on each layer of the goods storage space are placed in a row in the depth direction, the two-dimensional configuration mode is that the goods on each layer of the goods storage space are placed in a row in the depth direction, Multiple rows or multiple rows in a mixed way;

executing a library management operation on the first target shelf according to the library management strategy in the first control instruction;

when the first target shelf is a shelf stored in a one-dimensional configuration manner, the warehouse management device obtains the warehouse management policy according to the goods distance between the stored goods on the first target shelf and a preset safety distance, and when the first target shelf is a shelf stored in a two-dimensional configuration manner, the warehouse management policy is determined by the warehouse management device according to one or more of the goods heat, the goods interval and the preset safety distance of the stored goods on the first target shelf, and the goods heat represents the frequency of taking out the stored goods.

17. The method of claim 16, wherein the first target shelf is a shelf stored in a two-dimensional configuration, and wherein determining the inventory strategy corresponding to the first target shelf further comprises:

18. The method of claim 16, wherein the library management policy comprises at least one of:

19. The method of claim 18, wherein the adjusting the storage positions of the stored goods to make the distance between the goods a preset safety distance comprises:

determining datum point information of the stored goods;

20. The method of claim 19, wherein the reference points comprise one or more of: the column of the first target shelf, the mark point of the first target shelf, and one or more goods placed on the adjacent position of the stored goods.

21. The method of claim 16, further comprising:

22. The method of claim 16, further comprising:

23. A warehouse management apparatus, comprising: a memory and at least one processor;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of collating goods as recited in any one of claims 1-15.

24. A robot, comprising: a memory and at least one processor;

the memory stores computer execution instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of collating goods according to any one of claims 16-22.

25. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, implement the method of collating items of merchandise of any one of claims 1-22.

26. A transfer robot, characterized by comprising: the storage rack, the carrying device and the lifting assembly are arranged on the moving chassis;

the carrying device is arranged on a bracket through a rotating mechanism, the bracket is arranged on the lifting assembly, and the lifting assembly is used for driving the lifting of the bracket to drive the lifting movement of the carrying device;

the rotating mechanism is used for driving the carrying device to rotate around a vertical axis relative to the bracket so as to align the storage unit or align the goods shelf and/or goods;

the carrying device is used for carrying goods between the storage units and the goods shelf;

the carrying device comprises a supporting plate and a telescopic arm assembly; the supporting plate is a flat plate for placing goods, the telescopic arm assembly is used for pushing the goods placed on the supporting plate out of the supporting plate or pulling the goods to the supporting plate, the telescopic arm assembly comprises a telescopic arm, a fixed push rod and a movable push rod, the telescopic arm comprises a left telescopic arm and a right telescopic arm, the telescopic arm can horizontally extend out, and the telescopic arm is positioned on one side of the supporting plate in a direction perpendicular to the extending direction of the telescopic arm and parallel to the supporting plate;

the fixed push rod and the movable push rod are mounted on the telescopic arm, the fixed push rod and the movable push rod can move along with the telescopic arm, the fixed push rod and the supporting plate are located on the same side of the telescopic arm, when the telescopic arm stretches out, the fixed push rod is used for pushing goods out of the supporting plate, the movable push rod can be retracted into the telescopic arm, when the movable push rod is not retracted into the telescopic arm, the movable push rod, the fixed push rod and the supporting plate are located on the same side of the telescopic arm, and the movable push rod is located on the extending direction of the fixed push rod along the telescopic arm.