CN115860361A - Robot picking scheduling method and device, electronic equipment and computer readable medium - Google Patents

Abstract

The disclosure relates to the technical field of robot control, and provides a robot goods picking scheduling method, a device, electronic equipment and a computer readable medium. The method comprises the following steps: receiving order information to be distributed; determining the picking sequence of the robot based on the information of the order to be delivered; controlling the robot to move to the container corresponding to the picking sequence based on the picking sequence; detecting the goods picking waiting area and the goods picking area of the container to generate a detection result; and scheduling the robot based on the detection result. The method improves the picking efficiency of the robot by planning the picking sequence and detecting the congestion condition of the container, avoids the traffic congestion before the container in the delivery peak period and further avoids the overtime of the order to be delivered. The shopping experience of the customer is improved.

Description

Robot picking scheduling method, device, electronic equipment and computer readable medium

Technical Field

The present disclosure relates to the field of robot control technologies, and in particular, to a method and an apparatus for scheduling picking of a robot, an electronic device, and a computer-readable medium.

Background

With the development of science and technology, the intelligent robot industry is greatly developed, and the intelligent robot is applied to various industries, so that great convenience is provided for the life of people.

In the process of automatically picking up goods after receiving orders by the robot, the robot may need to go to a plurality of containers to pick up goods under the background of a delivery peak period with more orders, and the goods picking robot may already exist in front of the containers, so that traffic jam in front of the containers is easily caused, and the goods picking efficiency is reduced.

Therefore, how to plan the picking sequence of the robot among the containers and how to pick the containers orderly and efficiently in front of the containers is an urgent technical problem to be solved in the field.

Disclosure of Invention

In view of the above, the embodiments of the present disclosure provide a robot picking scheduling method, apparatus, electronic device and computer readable medium, so as to solve the problem in the prior art how to plan a picking sequence of a robot among multiple containers and how to perform ordered and efficient picking in front of the containers.

In a first aspect of the disclosed embodiments, a robot picking scheduling method is provided, including: receiving order information to be distributed; determining the order picking sequence of the robot based on the information of the order to be delivered; controlling the robot to move to the container corresponding to the picking sequence based on the picking sequence; detecting the goods picking waiting area and the goods picking area of the goods cabinet to generate a detection result; and scheduling the robot based on the detection result.

In a second aspect of the disclosed embodiments, there is provided a robotic order picking and scheduling device comprising: a receiving unit configured to receive order information to be allocated; the determining unit is configured to determine the picking sequence of the robot based on the information of the order to be delivered; a moving unit configured to control the robot to move to the container corresponding to the picking sequence based on the picking sequence; the detection unit is configured to detect the goods picking waiting area and the goods picking area of the container to generate a detection result; and a scheduling unit configured to schedule the robot based on the detection result.

In a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored, which when executed by a processor implements the steps of the above-mentioned method.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: firstly, receiving order information to be distributed; secondly, determining the picking sequence of the robot based on the information of the order to be delivered; then, based on the order of picking the goods, controlling the robot to move to the goods container corresponding to the order of picking the goods; then, detecting the goods picking waiting area and the goods picking area of the container to generate a detection result; and finally, scheduling the robot based on the detection result. The method provided by the embodiment of the disclosure can acquire the containers where the commodities are located based on the commodity names and the commodity quantity in the order information, further plan the picking sequence based on the congestion condition of each container, move to the corresponding container according to the planned picking sequence to pick the goods in sequence, detect the congestion condition of the picking waiting area and the picking area before reaching the container, and determine whether to temporarily wait or directly pick the goods. The shopping experience of the customer is improved.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a schematic diagram of one application scenario of a robotic pick scheduling method according to some embodiments of the present disclosure;

fig. 2 is a flow diagram of some embodiments of a robotic pick-up scheduling method according to the present disclosure;

fig. 3 is a schematic structural diagram of some embodiments of a robotic pick-and-place scheduling device according to the present disclosure;

FIG. 4 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a schematic diagram of one application scenario of a robotic pick scheduling method according to some embodiments of the present disclosure.

In the application scenario of fig. 1, first, the computing device 101 may receive the to-be-provisioned order information 102. Secondly, the computing device 101 may determine a picking order 103 of the robot based on the above-mentioned order information 102 to be delivered. Then, the computing device 101 may control the robot to move to the container 104 corresponding to the picking order based on the picking order 13. Thereafter, the computing device 101 can detect the picking waiting area and the picking area of the container 104 to generate a detection result 105. Finally, the robot is scheduled, as indicated by reference numeral 106, based on the detection results 105.

The computing device 101 may be hardware or software. When the computing device 101 is hardware, it may be implemented as a distributed cluster composed of a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device 101 is embodied as software, it may be installed in the hardware devices listed above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as the implementation requires.

Fig. 2 is a flow diagram of some embodiments of a robotic pick scheduling method according to the present disclosure. The robotic pick scheduling method of fig. 2 may be performed by the computing device 101 of fig. 1. As shown in fig. 2, the robot order picking scheduling method includes:

step S201, receiving order information to be distributed.

In some embodiments, the executing entity (e.g., the computing device 101 shown in fig. 1) of the robotic pick-up scheduling method may receive to-be-delivered order information, where the to-be-delivered order information refers to an order created by a user through a mobile device or the like, and specifically, the to-be-delivered order information at least includes: the information of the name of the commodity, the information of the quantity of the commodity, the unit price of the commodity, the information of the container where the commodity is located, and the delivery address information, as an example, the order information to be delivered may include: commodity name information: 500ml XX brand mineral water; commodity quantity information: 2, bottling; commodity unit price information: 3 yuan/bottle; information of a container where the commodity is located: container number 1; and (3) distribution address information: the first floor hall of the integrated building.

Step S202, determining the order picking sequence of the robot based on the information of the order to be delivered.

In some embodiments, the order of picking by the robot is determined by:

the first step is that at least one container is determined based on the container information of the commodities in the order information to be distributed. Here, the commodities included in the order information to be delivered may all be stored in the same container, or may be stored in different containers, and based on the container information where the commodities in the order information to be delivered are located, at least one container corresponding to all the commodities in the order information to be delivered is determined.

And secondly, acquiring the congestion condition of each container in the at least one container to obtain a congestion condition set. Here, the congestion situation is information for describing the locking state of the picking area and the number of robots in the picking waiting area, and it should be noted that the picking area, i.e., the operation area where the robots pick the goods, and the picking waiting area are respectively provided in front of each container. The locking state of the picking area comprises that the picking area is in a locking state and the picking area is in an unlocking state, specifically, the picking area is locked when the robot is picking, namely, in the locking state, and conversely, the picking area is not picking when the robot is picking, namely, in the unlocking state. The picking waiting area is a waiting area arranged at a certain position away from the container, and when the picking area is in a locking state, namely the picking area has the robot to pick the goods, or the picking area is possibly cleaned, supplemented with the goods and the like, the robot can temporarily queue in the picking waiting area for waiting. And acquiring the congestion condition of each container in the at least one container to obtain a congestion condition set.

And thirdly, determining the picking sequence of the robot based on the congestion condition set. Here, the picking sequence of the robot refers to a sequence in which the robot moves to at least one container for picking, and specifically, in order to determine the picking sequence of the robot, first, for each container in the at least one container, the number of robots in the picking waiting area and the locking state of the picking area of the container are acquired; secondly, determining the priority of the picking sequence based on the number of robots corresponding to each container and the locking state of the picking area; finally, the order of picking is determined based on the priority of the order of picking. It should be noted that, the first priority is that the number of robots in the picking waiting area is 0 and the picking area is in an unlocked state; the second priority is that the number of the robots in the goods picking waiting area is 0 and the goods picking area is in a locking state; the third priority is that the number of the robots in the picking waiting area is more than 0 and the picking area is in a non-locking state; further, in the third priority, the smaller the number of robots in the pick-up waiting area, the more advanced the priority order. As an example, when the product is distributed in four containers, namely, container No. 1, container No. 2, container No. 3, and container No. 4 in the product order information, the congestion condition of container No. 1 is as follows: the number of the robots in the goods picking waiting area is 0, and the goods picking area is in a non-locking state; no. 2 container congestion condition: the number of the robots in the goods picking waiting area is 0, and the goods picking area is in a locking state; no. 3 container congestion condition: the number of the robots in the goods picking waiting area is 3, and the goods picking area is in a locking state; no. 4 container congestion condition: pick the robot quantity in goods waiting area and be 1 and pick the goods district and be the locking state, at this moment, 1 number packing cupboard is as first priority, 2 number packing cupboard is as the second priority, 3 numbers and 4 numbers packing cupboard is the third priority, and 4 numbers packing cupboard priority order leans on forward, so pick the goods order and be: no. 1-No. 2-No. 4-No. 3. The above description is only for illustrative purposes, and is not intended to be limiting.

Step S203, based on the order of picking, the robot is controlled to move to the container corresponding to the order of picking.

In some embodiments, after the picking sequence is determined, the robot is controlled to automatically plan a moving route according to the picking sequence and move to the front of the corresponding container.

Step S204, detecting the goods picking waiting area and the goods picking area of the container to generate a detection result.

In some embodiments, the robot moves to the front of the corresponding container based on the preliminarily determined picking sequence, and during the moving process, the congestion condition in front of the container may have changed, so that when the robot reaches the position of the corresponding container, the picking waiting area and the picking area of the container are detected to generate the detection result. The detection of the goods picking waiting area and the goods picking area of the container is realized by the following steps:

the first step is to detect the goods picking waiting area of the container and generate a first detection result representing whether the robot which is queued for picking goods exists. Here, the first detection result may include: there are robots that pick up goods in line, and there are no robots that pick up goods in line.

And secondly, detecting the sorting area to generate a second detection result representing whether the sorting area is in a locking state. Here, the second detection result may include: the goods picking area is in a locking state, and the goods picking area is in an unlocking state.

And thirdly, combining the first detection result and the second detection result to obtain a detection result. Here, the detection result may include: the robot for queuing and picking the goods exists and the picking area is in a locking state; the robot for picking goods in line does not exist and the goods picking area is in a locking state; the robot for picking the goods in line does not exist and the goods picking area is in an unlocked state; here, it should be noted that there is also a case where there are robots in line for picking and the picking area is in an unlocked state, which is the instant when the picking robot just finished picking and releases the locking of the picking area to facilitate the next in line waiting picking robot to enter the picking area.

And step S205, scheduling the robot based on the detection result.

In some embodiments, the robot is scheduled by: the first step is as follows: when a first detection result in the detection results indicates that the robot which is queued for picking exists in the picking waiting area, controlling the robot to wait in the picking waiting area; secondly, when the first detection result indicates that the robot for picking in line does not exist in the picking waiting area and the second detection result in the detection result indicates that the picking area is in a locking state, controlling the robot to wait in the picking waiting area; thirdly, when the first detection result indicates that the picking waiting area does not have the robot for picking goods in line and the second detection result indicates that the picking area is in a non-locking state, controlling the robot to enter the picking area of the container for picking goods based on the goods name information and the goods quantity information in the order information to be distributed; and fourthly, controlling the robot to deliver the order based on the delivery address information in the order information to be delivered when the order picking is finished.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: firstly, receiving order information to be distributed; secondly, determining the picking sequence of the robot based on the information of the order to be delivered; then, based on the order of picking the goods, controlling the robot to move to the goods container corresponding to the order of picking the goods; then, detecting the goods picking waiting area and the goods picking area of the container to generate a detection result; and finally, scheduling the robot based on the detection result. The method provided by the embodiment of the disclosure can acquire the containers where the commodities are located based on the commodity names and the commodity quantity in the order information, further plan the picking sequence based on the congestion condition of each container, move to the corresponding containers according to the planned picking sequence to pick the commodities in sequence, detect the congestion conditions of the picking waiting area and the picking area before reaching the containers, and determine whether to temporarily wait or directly pick the commodities. The shopping experience of the customer is improved.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Fig. 3 is a schematic structural diagram of some embodiments of a robotic pick-and-dispatch device according to the present disclosure. As shown in fig. 3, the robot order picking and dispatching device includes: a receiving unit 301, a determining unit 302, a moving unit 303, a detecting unit 304 and a scheduling unit 305. The receiving unit 301 is configured to receive order information to be distributed; a determining unit 302 configured to determine a picking order of the robot based on the information of the order to be delivered; a moving unit 303 configured to control the robot to move to the container corresponding to the picking order based on the picking order; a detection unit 304 configured to detect the picking waiting area and the picking area of the container to generate a detection result; a scheduling unit 305 configured to schedule the robot based on the detection result.

In some optional implementation manners of some embodiments, the to-be-provisioned order information at least includes: commodity name information, commodity quantity information, commodity unit price information, commodity container information and distribution address information.

In some optional implementations of some embodiments, the determining unit 302 of the robot picking scheduling device is further configured to determine at least one container based on the container information where the goods are located in the order information to be dispensed; obtaining the congestion condition of each container in the at least one container to obtain a congestion condition set; and determining the picking sequence of the robot based on the congestion condition set.

In some optional implementations of some embodiments, the congestion condition includes: the locking state of the picking area and the number of robots in the picking waiting area.

In some optional implementations of some embodiments, the determining a picking order of the robot based on the congestion condition set is further configured to: acquiring the number of robots in the picking waiting area and the locking state of the picking area of the container for each container in the at least one container; determining the priority of the picking sequence based on the number of robots corresponding to each container and the locking state of the picking area; and determining the order of picking based on the priority of the order of picking.

In some optional implementations of some embodiments, the detection unit 304 of the robotic pick-scheduling device is further configured to: detecting a goods picking waiting area of the container to generate a first detection result representing whether the robot which is queued for picking goods exists or not; detecting the goods sorting area to generate a second detection result representing whether the goods sorting area is in a locking state; and combining the first detection result and the second detection result to obtain a detection result.

In some optional implementations of some embodiments, the scheduling unit 305 of the robotic pick scheduling device is further configured to: when a first detection result in the detection results indicates that the robot which is queued for picking exists in the picking waiting area, controlling the robot to wait in the picking waiting area; when the first detection result indicates that the robot which is queued for picking does not exist in the picking waiting area and the second detection result in the detection results indicates that the picking area is in a locked state, controlling the robot to wait in the picking waiting area; when the first detection result indicates that the picking waiting area does not have the robot for picking in line and the second detection result indicates that the picking area is in a non-locking state, controlling the robot to enter the picking area of the container for picking based on commodity name information and commodity quantity information in the order information to be distributed; and when the order picking is finished, controlling the robot to carry out distribution based on the distribution address information in the order information to be distributed.

Referring now to FIG. 4, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1) 400 suitable for use in implementing some embodiments of the present disclosure is shown. The server shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM402, and the RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 4 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through communications device 409, or installed from storage device 408, or installed from ROM 402. The computer program, when executed by the processing apparatus 401, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the apparatus; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving order information to be distributed; determining the picking sequence of the robot based on the information of the order to be delivered; controlling the robot to move to the container corresponding to the picking sequence based on the picking sequence; detecting the goods picking waiting area and the goods picking area of the container to generate a detection result; and scheduling the robot based on the detection result.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a receiving unit, a determining unit, a mobile unit, a detecting unit, and a scheduling unit. Where the names of these units do not in some cases constitute a limitation of the unit itself, the receiving unit may also be described as a "unit receiving order information to be delivered", for example.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims (10)

1. A robot picking scheduling method is characterized by comprising the following steps:

receiving order information to be distributed;

determining the order picking sequence of the robot based on the information of the order to be delivered;

controlling the robot to move to a container corresponding to the picking sequence based on the picking sequence;

detecting the goods picking waiting area and the goods picking area of the container to generate a detection result;

and scheduling the robot based on the detection result.

2. The robotic order picking scheduling method of claim 1, wherein the to-be-delivered order information includes at least: commodity name information, commodity quantity information, commodity unit price information, commodity container information and distribution address information.

3. The robotic order picking scheduling method of claim 2, wherein said determining a picking order for the robot based on the order information to be delivered comprises:

determining at least one container based on the container information of the commodities in the order information to be distributed;

acquiring the congestion condition of each container in the at least one container to obtain a congestion condition set;

and determining the picking sequence of the robot based on the congestion condition set.

4. The robotic order picking scheduling method of claim 3, wherein the congestion condition comprises: the locking state of the picking area and the number of robots in the picking waiting area.

5. The robotic order picking scheduling method of claim 4, wherein said determining a picking order for a robot based on said set of congestion conditions comprises:

acquiring, for each of the at least one container, a number of robots and a picking area locking state of the picking waiting area of the container;

determining the priority of the picking sequence based on the number of robots corresponding to each container and the locking state of the picking area;

determining the picking order based on the priority of the picking order.

6. The robotic order picking scheduling method of claim 2, wherein the detecting the order picking waiting area and the order picking area of the container to generate a detection result comprises:

detecting the goods picking waiting area of the container to generate a first detection result representing whether the robot which is queued for picking goods exists or not;

detecting the picking area to generate a second detection result representing whether the picking area is in a locking state;

and combining the first detection result and the second detection result to obtain a detection result.

7. The robotic pick scheduling method of claim 6, wherein said scheduling the robot based on the detection results comprises:

when the first detection result indicates that the robot which is queued for picking exists in the picking waiting area, controlling the robot to wait in the picking waiting area;

when the first detection result indicates that the picking waiting area does not have the robots for picking in line and the second detection result indicates that the picking area is in a locking state, controlling the robots to wait in the picking waiting area;

when the first detection result indicates that the picking area is in an unlocked state, the robot is controlled to enter the picking area of the container for picking based on commodity name information and commodity quantity information in the order information to be distributed;

and when the picking is finished, controlling the robot to deliver the order based on the delivery address information in the order information to be delivered.

8. Robot scheduling device that picks up goods, its characterized in that includes:

a receiving unit configured to receive order information to be delivered;

a determining unit configured to determine a picking order of the robot based on the order information to be delivered;

a moving unit configured to control the robot to move to a container corresponding to the picking order based on the picking order;

the detection unit is configured to detect the goods picking waiting area and the goods picking area of the container and generate a detection result;

a scheduling unit configured to schedule the robot based on the detection result.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method according to any one of claims 1 to 7.

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