KR20220013388A - Receiving work processing method and apparatus, receiving system and storage medium - Google Patents

Abstract

A warehousing operation processing method and apparatus, a warehousing system and a storage medium, the method comprising: acquiring (101) product information and a storage location corresponding to an inventory operation request; Determining the inventory management node corresponding to the storage location, and generating a stock operation based on the product information, the storage location and the stock operation node (102); determining the transport robot for executing the warehousing operation, and transmitting the warehousing operation to the transport robot so that the transport robot moves to the inventory operation node based on the warehousing operation (103); determining a collaborator corresponding to the transport robot, and sending (104) cooperation instruction information to the collaborator so that the collaborator arrives at the inventory operation node based on the cooperation instruction information and cooperates with the transport robot to complete the warehousing operation. . The method uses a transport robot to improve the work efficiency of operator-run inventory operations, increase the automatic and smart level of warehousing logistics, improve the flexibility of warehousing operations, reduce warehouse innovation costs and labor costs, and fulfill orders can increase the efficiency of

Description

Receiving work processing method and apparatus, receiving system and storage medium

CROSS-REFERENCE TO RELATED APPLICATIONS

This disclosure is based on and claims priority to Chinese Patent Application No. 201910433162.7, filed on May 23, 2019, the disclosure of which is hereby incorporated in its entirety by this disclosure.

technical field

The present disclosure relates to the technical field of warehousing, and more particularly, to a warehousing work processing method and device, a warehousing system, and a storage medium.

In a traditional warehouse, manpower is usually required to complete goods transportation, such as receiving, storing, replenishing, picking, re-inspecting, packing, sorting processes of stock goods, which is labor intensive and thus reduces work efficiency. Currently, robots are deployed in warehouses, and shelves are transported by robots to operators for various operations, which can improve the associated work efficiency.

The inventors of the present disclosure have discovered that the technical solution of goods receipt processing in the above related technology has the following deficiencies: carrying out the transition from a fixed shelf to a moving shelf on the related warehouse, and having the need to re-plan the warehouse This results in a long deployment period and significant initial investment.

According to a first aspect of the present disclosure, there is provided a warehousing operation processing method, the warehousing operation processing method comprising:

acquiring product information and a storage location corresponding to the inventory management request; determining an inventory operation node corresponding to the storage location, and generating a warehousing operation based on the product information, the storage location and the inventory operation node, and determining a transport robot that executes the warehousing operation; transmitting the warehousing operation to the transport robot so that the transport robot runs to the inventory operation node based on the warehousing operation; determining a collaborator corresponding to the transport robot, and sending the cooperative instruction information to the collaborator so that the collaborator arrives at the inventory operation node based on the cooperative instruction information and cooperates with the transport robot to complete the inventory operation. Includes robot information and warehousing operations.

In some embodiments, the method includes generating a robot travel path comprising the inventory handling node and a collaborator travel path for a collaborator arriving at the inventory handling node; and transmitting the robot travel route and the collaborator travel path to the transport robot and the collaborator, respectively, so that the carrying robot automatically drives to the inventory operation node based on the robot travel path and the collaborator arrives at the inventory operation node based on the collaborator travel path. further includes

In some embodiments, the method includes: allocating, according to the robot travel path corresponding to the warehousing operation, a plurality of warehousing tasks having partially overlapping robot travel paths to one transport robot; and assigning at least one of the collaborators to the transport robot based on the inventory management node corresponding to the plurality of warehousing operations.

In some embodiments, the method includes: obtaining a collaborator closest to an inventory handling node corresponding to the warehousing operation, and assigning the collaborator to the haul robot to complete the warehousing operation, the warehousing operation comprising one or more inventory handling nodes and assigning one or more collaborators to each of the inventory management nodes.

In some embodiments, the method includes: dividing a warehouse into a plurality of logical work areas, and configuring at least one collaborator within each logical work area; and determining a logical work area to which the inventory management node belongs, and allocating a collaborator selected from the logical work area or a collaborator in an idle state selected from another logical work area to the inventory management node.

In some embodiments, the method comprises: determining a dynamic speed of the transport robot according to a walking speed of the collaborator and/or an attribute of the robot travel path; controlling the transport robot to travel to the inventory operation node according to the dynamic speed and the robot travel path; and providing a navigation function for the collaborator according to the collaborator driving route so that the collaborator reaches the inventory management node.

In some embodiments, the acquiring product information and storage location corresponding to the inventory management request includes: acquiring a product SKU corresponding to the inventory management request; determining a grid identification and grid location corresponding to the product SKU based on the inventory grid storage location list; and obtaining an inventory management node corresponding to the grid location, and setting the inventory management node as a destination corresponding to the inventory management request.

In some embodiments, the method includes: obtaining global traffic scheduling information according to a robot travel path; and scheduling the transport robot based on the global traffic scheduling information and the scheduling rule.

In some embodiments, scheduling the haul robot based on the global traffic scheduling information and the scheduling rule includes: establishing a haul robot buffering area, and setting a plurality of buffering locations within the haul robot buffering area; scheduling the plurality of transport robots to travel to the transport robot buffering area when it is determined that the inventory handling node cannot currently be reached when the plurality of transport robots need to reach the inventory handling node within the same time period; determining a task priority of the transport robot, respectively determining buffering positions for a plurality of transport robots based on the task priority, and scheduling the plurality of transport robots to travel to corresponding buffering positions for parking; and if it is determined that the inventory handling node is reachable, scheduling a transport robot selected from the plurality of transport robots to travel to the inventory handling node based on the priority.

In some embodiments, determining the task priority of the transport robot includes: obtaining priority setting information, and determining the task priority according to the priority setting information; The priority setting information includes: a sequence of a transport robot entering the target area, or wear-and-tear job attribute information; The warehousing operation attribute information includes: at least one of an order deadline, a cargo priority, a product type, and a customer type.

In some embodiments, a sub-control device is provided in the transport robot for acquiring detection information collected by a sensor device of the transport robot, the sensor device comprising: an inertial measurement unit, a ranging sensor and a vision sensor sensor); and the sub-control device performs fusion positioning processing based on the detection information and the warehouse map, and guides the transport robot to the inventory operation node according to the positioning information and the robot travel path.

In some embodiments, the sub-control device establishes a coordinate mapping table between the inventory management node and the global location coordinates; and the sub-control device obtains global location coordinates of the inventory management node by using the coordinate mapping table, and performs navigation based on the global location coordinates.

In some embodiments, inventory operations include: storage, replenishment, picking, re-inspection, packaging, or sorting.

According to a second aspect of the present disclosure, there is provided a warehousing work processing system, the warehousing work processing system comprising: a work management and control device, the work management and control device comprising: product information corresponding to an inventory operation request; a job analysis unit configured to acquire a storage location; a job creation module, configured to determine an inventory operation node corresponding to the storage location, and generate a warehousing operation based on the product information, the storage location and the inventory operation node, and determine a transport robot that executes the warehousing operation; a job sending module, configured to transmit the warehousing operation to the transport robot so that the transport robot travels to the inventory operation node based on the warehousing operation; a cooperative processing module, configured to determine a collaborator corresponding to the transport robot, and send the cooperative instruction information to the collaborator so that the collaborator arrives at the inventory operation node based on the cooperative instruction information and cooperates with the transport robot to complete the inventory operation Information includes: - including transport robot information and warehousing operations.

In some embodiments, the job management and control device includes: a path generating module configured to generate a robot travel path including the inventory operations node and a collaborator travel path for a collaborator arriving at the inventory operations node; and send the robot travel path and the collaborator travel path to the transport robot and the collaborator, respectively, so that the conveying robot automatically drives to the inventory operation node based on the robot travel path and the collaborator arrives at the inventory operation node based on the collaborator travel path. It further includes a path transmission module.

In some embodiments, the job dispatch module is configured to assign, according to the robot traveling path corresponding to the warehousing operation, a plurality of warehousing tasks having partially overlapping robot traveling paths to one transport robot; and the cooperative processing module is configured to allocate at least one collaborator to the transport robot based on the inventory management node corresponding to the plurality of warehousing tasks.

In some embodiments, the cooperative processing module is configured to acquire a collaborator closest to the inventory operation node corresponding to the warehousing operation, and assign the collaborator to a transport robot that completes the warehousing operation; The warehousing operation includes one or more inventory management nodes, and one or more collaborators are assigned to each of the inventory operations nodes.

In some embodiments, the cooperative processing module divides the warehouse into a plurality of logical work areas, and configures at least one collaborator within each logical work area; and determine a logical work area to which the inventory management node belongs, and assign a collaborator selected from the logical work area or an idle collaborator selected from another logical work area to the inventory management node.

In some embodiments, the task management and control device is configured to: determine a dynamic speed of the transport robot according to the walking speed of the collaborator and/or an attribute of the robot travel path, and transport to travel to the inventory operation node according to the dynamic speed and the robot travel path control the robot; and a driving control module, configured to provide a navigation function for the collaborator according to the collaborator driving route so that the collaborator reaches the inventory operation node.

In some embodiments, the job analysis unit acquires a product SKU corresponding to the inventory operation request; determine a grid identification and grid location corresponding to the product SKU based on the inventory grid storage location list; and obtain an inventory management node corresponding to the grid location, and set the inventory management node as a destination corresponding to the inventory management request.

In some embodiments, the traffic management device obtains global traffic scheduling information according to the robot travel path; and schedule the transport robot based on the global traffic scheduling information and the scheduling rule.

In some embodiments, the traffic management device includes: a buffering area setting module, configured to set a haul robot buffering area, and set a plurality of buffering positions within the haul robot buffering area; schedule the plurality of transport robots to travel to the transport robot buffering area when it is determined that the inventory handling node cannot currently be reached when the plurality of transport robots need to reach the inventory handling node within the same time period; determine a task priority of the transport robot, and determine a buffering position for each of the plurality of transport robots based on the task priority; and a parking processing module, configured to schedule the plurality of transport robots to travel to corresponding buffering positions for parking; and a traveling processing module, configured to schedule a transport robot selected from the plurality of transport robots to travel to the inventory handling node based on the priority when it is determined that the inventory handling node can be reached.

In some embodiments, the parking processing module is configured to obtain the priority setting information, and to determine the task priority according to the priority setting information; The priority setting information includes: a sequence of a transport robot entering the target area, or wear-and-tear job attribute information; and the wearing operation attribute information includes: at least one of an order deadline time, a cargo priority, a product type, and a customer type.

In some embodiments, the sub-control device is provided to the transport robot and is configured to obtain detection information collected by a sensor device of the transport robot, the sensor device comprising: at least one of an inertial measurement unit, a ranging sensor and a vision sensor including -; and perform fusion positioning processing based on the detection information and the warehouse map, and guide the transport robot to the inventory operation node according to the positioning information and the robot travel path.

In some embodiments, the sub-control device sets a coordinate mapping table between the inventory management node and the global location coordinates, obtains the global location coordinates of the inventory management node by using the coordinate mapping table, and navigates based on the global location coordinates is further configured to perform

According to a third aspect of the present disclosure, there is provided a warehousing job processing system, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to perform the method described above based on instructions stored in the memory.

According to a fourth aspect of the present disclosure, there is provided a warehousing system, the warehousing system comprising a transport robot and the warehousing operation processing system described above.

In some embodiments, the transport robot comprises: a wheel-type chassis, a vehicle display screen and a pallet; A pallet has one or more rotating containers for loading goods.

In some embodiments, the wheel-type chassis is provided thereon with a status lighting device, an audio device and a sensor unit; The palette is provided thereon with a display lighting device; The sensor unit includes at least one of an inertial measurement unit, a ranging sensor, and a vision sensor.

According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium storing computer instructions that, when executed by a processor, perform the method described above.

In order to more clearly illustrate the technical solution in the embodiment or the related technology of the present disclosure, the drawings required to be used in the description of the embodiment or the related technology will be briefly described below. In the following description, the drawings are only some embodiments of the present disclosure, and it will be apparent to those skilled in the art that other drawings may also be obtained according to these drawings without creative efforts.
1 is a schematic flowchart of a method for processing wearing work in accordance with some embodiments of the present disclosure.
Figure 2 is a schematic flowchart of allocating a collaborator (collaborator) in the wearing work processing method according to some embodiments of the present disclosure.
3 is a schematic flowchart of scheduling a transport robot in a warehousing operation processing method according to some embodiments of the present disclosure;
4 is a schematic diagram of a warehouse layout in a warehouse operation processing method according to some embodiments of the present disclosure.
5 is a schematic flowchart of navigating a transport robot in a method for processing a warehousing operation according to some embodiments of the present disclosure;
6 is a schematic diagram of a transport robot in a warehousing operation processing method according to some embodiments of the present disclosure;
7 is a schematic block diagram of a warehousing work processing system according to some embodiments of the present disclosure.
8 is a schematic block diagram of a work management and control device in the warehouse work processing system according to some embodiments of the present disclosure.
9 is a schematic block diagram of a traffic management device in the warehousing work processing system according to some embodiments of the present disclosure.
10 is a schematic diagram of a warehousing work processing system according to another embodiment of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS The present disclosure will be described more fully below with reference to the accompanying drawings in which exemplary embodiments of the present disclosure are shown. The technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the drawings in the embodiments of the present disclosure, and it is evident that the described embodiments are not all of the embodiments of the present disclosure, but only a part thereof. . All other embodiments that can be derived by a person skilled in the art from the embodiments disclosed herein without any creative effort shall fall within the protection scope of the present disclosure. The technical solutions of the present disclosure will be variously described below in conjunction with various drawings and embodiments.

Below, terms such as “first” and “second” are used only for descriptive distinction and have no other special meaning.

The main task of fulfillment in a traditional warehouse is the steps of first placing inventory on shelves in the warehouse to prepare links such as ex-warehouse picking in the subsequent process of order fulfillment; thereafter traversing the warehouse and picking the products scattered on shelves according to the contents of the goods in the order or collection order, and then sending them for re-inspection, packaging, sorting, and delivery to a designated address. do. However, stock items in an order or collection order may be stored on shelves that are remote from each other, and the operator is required to push the transport cart through many walks to complete the task, which reduces order fulfillment efficiency.

In the prior art known to the inventors, in order to improve the order fulfillment efficiency, a robot is currently used for carrying in the whole process of order fulfillment instead of manpower. For example, a robot may be used to transport goods to be placed on a shelf of inventory to each grid storage location scattered in a warehouse, or the robot will automatically move to the picking position of each shelf storage location for picking, and pick goods are sent for re-inspection, packaging and sorting.

For these incoming goods handling modes, automated systems using robots are often limited by the availability of open space, the required installation time of the system, the dimensions and weight of products that can be supported by the system, and the cost of purchasing and installing the system. do. For example, an activity site for movement of conveying equipment must be arranged or modified, and movement can be performed only on a preset movement path; A “goods-to-people” solution of transporting moving shelves to workstations involves performing the transition from fixed to moving shelves on the warehouse involved and requiring warehouse re-planning, long deployment times and significant up-front investment. causes

In view of this, embodiments of the present disclosure provide a warehousing operation processing method and device, a warehousing system and a storage medium. The warehousing work processing method and device, warehouse system and storage medium can improve the work efficiency of carrying out inventory operation by employees by using the transport robot, improve the level of automation and intelligence of warehousing logistics, and improve the flexibility of the warehouse business. can; and 　 can reduce warehouse transformation cost, reduce staff, reduce labor cost and improve order fulfillment efficiency.

1 is a schematic flowchart of a warehousing operation processing method according to some embodiments of the present disclosure, as shown in FIG. 1 ;

Step 101, acquiring product information and storage location corresponding to the inventory operation request.

Inventory operations include operations such as storage, replenishment, picking, re-inspection, packaging, or sorting. Information included in an inventory management request includes information such as an order or collection order. Product information corresponding to an order, a collection order, and the like may be obtained, and a storage location of the product in the warehouse may be obtained.

Step 102, determining an inventory operation node corresponding to the storage location, and generating a stock operation based on the product information, storage location and inventory operation node.

The inventory operation node is a place where operations such as storage, replenishment, picking, re-inspection, packaging, or sorting are performed, and is determined based on the storage location of the product to be operated. For example, when a product to be managed is located on shelf A, a specific area around shelf A may be set as an inventory management node. The warehousing operation includes information such as product information, storage location, and inventory operation node.

Step 103, determining a transport robot executing the warehousing operation, wherein the warehousing operation node is a warehousing operation location, and sending the warehousing operation to the transport robot so that the transport robot travels to the warehousing operation node based on the warehousing operation.

There may be various methods for determining the transport robot. For example, one transport robot may be selected from among idle transport robots, an idle robot closest to the inventory handling node may be selected, and so on. There may be various transport robots, such as various intelligent transport carts and the like.

Step 104 , determining a collaborator corresponding to the transport robot, and sending the cooperation instruction information to the collaborator so that the collaborator arrives at the inventory operation node based on the cooperative instruction information and cooperates with the transport robot to complete the inventory operation - cooperation instruction Information includes transport robot information and warehousing operations -.

The collaborator is equipped with communication equipment to receive the cooperation instruction information, arrives at the inventory operation node after receiving the cooperation instruction information, and performs operations such as storage, replenishment, picking, re-inspection, packing or sorting, and a transport robot It may be a worker in the warehouse placing the goods required to be transported on the transport robot for transport by the

According to the warehousing operation processing method in the above embodiment, the movement of goods in the warehouse is improved by using the transport robot, so that the time spent on inventory operation such as replenishment, picking, re-inspection, packing and sorting by the collaborators is reduced, This helps to reduce the labor force and by using transport robots, goods in the warehouse can move faster.

In some embodiments, a product stock keeping unit (SKU) corresponding to the inventory operation request is obtained, and a grid identification and grid location corresponding to the product SKU are determined based on the inventory grid storage location list. The inventory management node corresponding to the grid position is obtained, and set as a destination corresponding to the inventory management request.

A robot travel path including the inventory management node and a collaborator travel path for the collaborator to reach the inventory operations node are created. The robot travel path and the collaborator travel path are sent to the transport robot and the collaborator, respectively, so that the transport robot automatically travels to the inventory operation node based on the robot travel path and the collaborator arrives at the inventory operation node based on the collaborator travel path.

2 is a schematic flowchart of allocating collaborators in a method for processing a warehousing operation according to some embodiments of the present disclosure, as shown in FIG. 2 ;

Step 201, allocating, according to the robot travel path corresponding to the warehousing operation, a plurality of warehousing tasks having partially overlapping robot travel paths to one transport robot.

There may be various ways to assign multiple warehousing jobs with partially overlapping robot travel paths to one hauling robot, and one hauling robot executing multiple warehousing jobs with overlapping paths may improve work efficiency have.

Step 202, assigning at least one collaborator to the transport robot based on the inventory management node corresponding to the plurality of warehousing operations.

The selected transport robot may be associated with one collaborator selected from a plurality of collaborators, and the collaborator may appear in the inventory operation node so that the collaborator performs an operation specified by the inventory operation request. A collaborator closest to the inventory operation node corresponding to the warehousing operation may be obtained and assigned to a transport robot that completes the warehousing operation.

A warehousing operation includes one or more inventory management nodes, and one or more collaborators are assigned to each inventory management node. The warehouse is divided into a plurality of logical work areas, and at least one collaborator is configured in each logical work area. A logical work area to which the inventory management node belongs is determined, and a collaborator selected from the logical work area or a collaborator selected from other logical work areas in an idle state is assigned to the inventory management node.

Transport robots and collaborators can be dynamically associated and bound. For example, one collaborator may be associated with a plurality of transport robots at different instants to complete a plurality of warehousing tasks; Different warehousing tasks assigned to one transport robot can be completed by different collaborators at different moments.

In some embodiments, the dynamic speed of the transport robot is determined based on the walking speed of the collaborator and/or an attribute of the robot's travel path. The properties of the robot travel path include: a speed-limiting area through which the travel path passes, a multi-path-intersection area through which the travel path passes, and the like. The transport robot is controlled to travel to the inventory operation node according to the dynamic speed and the robot traveling path, and the dynamic speed and real-time adjusted robot traveling path can be transmitted to the transport robot to control the traveling of the transport robot. A navigation function is provided to the collaborator according to the collaborator driving route so that the collaborator arrives at the inventory operation node, and current location information of the collaborator and the current location in the collaborator driving path may be transmitted to the collaborator's terminal for navigation.

Global traffic schedule information is obtained according to the robot traveling path, and the transport robot is scheduled based on the global traffic scheduling information and the scheduling rule. There may be various scheduling rules. For example, FIG. 3 is a schematic flowchart of scheduling a transport robot in a warehousing operation processing method according to some embodiments of the present disclosure, as shown in FIG. 3 :

Step 301, setting a transport robot buffering area, and setting a plurality of buffering positions in the transport robot buffering area.

Step 302, when it is determined that the current inventory handling node cannot be reached when the plurality of transport robots need to reach the inventory handling node within the same time period, scheduling the plurality of transport robots to travel to the transport robot buffering area.

Step 303, determining the task priority of the transport robot, respectively determining buffering positions for the plurality of transport robots based on the task priority, and scheduling the plurality of transport robots to travel to the corresponding buffering positions for parking .

Priority setting information is obtained, and a task priority is determined according to the priority setting information. The priority setting information includes: the sequence of the transport robot entering the target area, the wearing operation attribute information, and the like. The warehousing operation attribute information includes: at least one of an order cut-off time, a cargo priority, a product type, and a customer type.

Step 304, if it is determined that the inventory handling node is reachable, scheduling a transport robot selected from the plurality of transport robots to travel to the inventory handling node based on priority.

The traffic management device may be configured to perform real-time global traffic scheduling for the plurality of transport robots, which ensures that the transport robots run efficiently and smoothly. For example, the traffic management device determines scheduling rules for non-entry alleyways, one-way and two-way alleyways. As shown in Fig. 4, the warehouse 1 includes a stock shelf 3 for storing goods, and the stock shelf 3 is composed of a plurality of grids. A plurality of transport robots 7 can move the main aisle 8 , narrow streets and other movable areas. The job management and control device 6 communicates with the transport robot 7 via a network. In the logical working area, there is a buffering area (queue) 200 consisting of a dividing wall 9 , another obstacle 100 , a buffering location 201 , a parking area 300 , and the like. The collaborator 77 arrives at the storage location node picking location (stock management node) 17 for picking.

Taking an out-of-warehouse picking operation as an example, an order/combination order 2 from the warehouse management system 5 arrives at the work management and control device 6 . The job management and control device 6 communicates with the transport robot via a network, job management and resource allocation: creating a warehousing job based on an order/combination order 2, etc., and one capable of autonomously moving Responsible for allocating one or more rotating containers 13 to the transport robot 7 .

When multiple haul robots attempt to reach the same inventory handling node, a buffering area 200 and a queue locking mechanism are required to avoid position contention, and the buffering area 200 is configured as a buffering location 201 . The traffic management device manages how the haul robot is queued at the buffering position by using rules. For example, for a one-way narrow street, if one transport robot enters the one-way narrow street at a certain time, the entire narrow street must be locked until the transport robot leaves the narrow street. A buffering area 200 may be provided for each logical area, and a plurality of logical areas may also share the buffering area 200 .

The buffering area 200 includes buffering areas 200 - 1 and 200 - 2 . The buffering area 200-1 is on the upper side of the shelf area, the buffering area 200-2 is on the lower side of the shelf area, and even if physically separated, the two buffering areas 200-1 and 200-2 are It forms a single buffering area for the shelf area. The standby transport robot may have a task priority, while the buffering position within the buffering area 200 has a corresponding priority, and the transport robot is assigned to the buffering position with the corresponding priority.

The task priority may be determined in various ways, for example, the task priority may be determined by a sequence in which the transport robot enters a predetermined target area. The earlier the transport robot enters the target area, the higher the priority assigned to the transport robot, and thus the higher the priority of the buffering position; The job priority may be determined based on order deadline, freight priority, product type, customer type, etc., and customer orders or preferred customers with expedited delivery requirements may be assigned a higher priority, and therefore faster may be placed in a higher priority buffering location to ensure processing; and specific products or retailers may be prioritized based on contractual relationships.

5 is a schematic flowchart of providing navigation to a transport robot in a method for processing a warehousing operation according to some embodiments of the present disclosure, as shown in FIG. 5 .

Step 501, the sub-control device provided to the transport robot acquiring detection information collected by the sensor device of the transport robot. The sensor device includes at least one of: an inertial measurement unit, a ranging sensor, and a vision sensor. The ranging sensor may be a laser radar and other ranging sensor, and the vision sensor may be a camera and other vision sensor.

Step 502, the sub-control device performing fusion positioning processing based on the detection information and the warehouse map, and guiding the transport robot to the inventory operation node according to the positioning information and the robot travel path.

Sub-control devices may be used for mapping, positioning, environmental awareness, planning and control, and the like. The sub-control device sets a coordinate mapping table between the inventory management node and the global location coordinates, obtains global location coordinates of the inventory management node by using the coordinate mapping table, and performs navigation based on the global location coordinates.

The sub-control device controls the transport robot to move to the picking node by itself according to the dynamic speed and movement path transmitted from the job management and control device, or guides the collaborators in the logical work area to the picking node for cooperation control to do The sub-control device may perform fusion navigation according to various sensors, autonomously map through its surrounding environment, perform accurate indoor localization, automatically avoid obstacles, and interact with a collaborator to cooperate.

The sub-controller uses various haul robot navigation techniques to provide navigation to arbitrary coordinate points by using a SLAM map and known global coordinates, the SLAM approximate solution method being the Extended Kalman Filter (EKF) Kalman filter) and the like. The sub-control device compares the mark point or feature point returned by the laser radar and vision with the map data, finds the coordinates of the matched map feature point, and completes the accurate position measurement of the transport robot. The identification code/feature point may be used to recognize and/or calibrate the location of the transport robot in the warehouse and to verify the location of the goods in the warehouse. The transport robot may be provided with a product code scanning reader.

The job management and control device can realize balanced and dynamic job assignment and movement by the optimal warehouse route, to ensure that the transport robot travels efficiently and smoothly. Via the network, the job management and control device receives the inventory request sent by the warehouse management system and interacts with the screen interface device. The job management and control device monitors the battery power status of the transport robot, selects the transport robot for automatic charging according to the charging strategy and schedules it as a charging location. The transport robot may also be controlled by a sub-control device to perform autonomous selection for charging.

The hauling robot has real-time battery power, operation mode (auto/manual), warehousing operation type (eg picking operation, replenishment operation, unloading operation, basket replenishment operation, filling operation, parking operation, haul operation), assigned to collaborators A screen interface may be provided in which the current warehousing operation, the physical location of the transport robot in the warehouse, the SKU of a specific product in the warehouse and its grid number and physical location, a map of the surroundings, and the like can be displayed.

The collaborator may be equipped with a portable PDA and barcode scanner, the portable PDA may be used in scenes where the transport robot does not enter narrow streets, the current task assigned to the collaborator by the transport robot, information on the associated transport robot, and the transport robot physical location, SKUs of products included in the order/work list, and their storage location grid numbers, etc. are displayed. The portable PDA may be provided with a positioning device to assist the task management and control device in collaborator positioning.

The transport robot is provided with an indicator lighting device, a status lighting device and an audio device. The indicator lighting device is used to recognize the rotating container on the transport robot and the status lighting device can display different tasks according to different assigned tasks. For example, the status lighting device can be used to communicate the status of the transport robot, including driving, health, warning and fault conditions, and prompts for rotation and braking of the transport robot. The audio device may be used to prompt warning and fault conditions and operation status of the transport robot. The transport robot includes a drive device for propelling the transport robot, such as a motor or the like.

As shown in FIG. 6 , the transport robot 7 includes an autonomous wheel-type chassis 10 , an optional vehicle display screen 11 and one or more pallets 12 , each pallet 12 carrying goods. It may have one or more rotating containers 13 for loading, on which the pallet 12 is provided with a display lighting device 14 . The chassis 10A is provided thereon with a status lighting device 15 and an audio device 16 . The rotating container 13 can be used to store picked products, and also to load products to be replenished or transport products of other operations.

The front end of the chassis 10 is provided with simultaneous localization and mapping (SLAM) for near-field accuracy. The front end of the chassis 10 is provided with a laser radar 20 for capturing driving environment information, obstacle recognition, environment recognition and positioning and navigation information of the transport robot. The front end of the chassis 10 is provided with a binocular/monocular camera 21 for visual positioning and navigation, and a front RGBD depth camera 22 for navigation, stereo obstacle avoidance and depth perception.

The rear end of the chassis 10 is provided with a rear end camera/RGBD depth camera 23 for rear end obstacle recognition, perception and positioning. The chassis 10 is provided therein with a network communication transceiver device 24 for receiving commands from a task management and control device 6 , the chassis 10 includes a laser radar 20 , a binocular/monocular camera 21 . and a control processor 25 for receiving and processing data from the RGBD depth camera and memory 26 are provided therein.

The inertial measurement unit 27 can be used for complementary navigation and visual obstacle avoidance to help the transport robot maintain positioning when it is not observing feature points on the map. Multi-sensor fusion positioning is realized by using various sensor devices together with a code disk, and various tasks of a navigation-related transport robot are executed within the driving environment warehouse 1, and the transport robot is provided with navigation to a destination node and , shelves and other objects or reference marks attached to walls are recognized, and final position measurement and guidance to the transport robot are realized.

The transport of goods from place to place at various operating nodes/workstations by transport robots reduces the labor intensity of manual operators and improves transport efficiency, for example handling storage, replenishment, picking, re-inspection, packing and sorting requests. It can reduce the time consumed by collaborators in the process. The collaborator only needs to work on a small-scale logical area to walk less. The transport robot automatically moves to the inventory handling node, and the collaborator walks to the corresponding inventory handling node for picking after receiving the picking operation. After the picking is completed, the transport robot automatically moves to the next picking node to sequentially complete the picking operation.

One transport robot may execute a plurality of warehousing tasks, each warehousing task may correspond to one task takeover container, and may be jointly completed by one or more collaborators at different moments. Each transport robot may transport goods corresponding to one or more orders, part of multiple orders, or combined orders. When one transport robot and a collaborator cooperate to complete a warehousing task, the other transport robot may be immediately associated with the collaborator. One collaborator can be assigned to multiple transport robots simultaneously.

In some embodiments, an inventory management request is received from the warehouse management system, the inventory management request comprising an order or combination order. The job management and control device assigns a warehousing task with highly overlapping routes to one transport robot, and plans an optimal route for the transport robot to improve efficiency. According to the planned route, the transport robot, which is stored in the memory and controlled by the sub-control system executed by the control processor, enters the first inventory handling node (location).

Performing positioning and navigation by the sub-control system includes: performing accurate obstacle recognition through environmental data collected by the front-end laser radar; To perform depth perception through RGBD depth camera, complete the stereoscopic recognition and autonomous navigation support of obstacles, thereby improving the stereoscopic obstacle avoidance ability of stereoscopic vision (including child and parent objects); mapping the storage location node number (unique ID) to the corresponding global coordinate location in the warehouse via a relational mapping table between the storage node number and global coordinates, the relational mapping table being stored in memory; It involves performing vision positioning and navigation by using binocular/monocular cameras and vision positioning systems in conjunction with laser radar.

Upon reaching the designated location, the transport robot parks at an inventory handling node near the stock shelf and the collaborator selects the desired merchandise from the corresponding grid storage locations on the stock shelf and places the merchandise into the corresponding rotating container. A stationary scanner on the transport robot can scan barcodes on the merchandise to validate the merchandise. To help the collaborator determine the correct one of the plurality of rotating containers, the container position can be indicated by using a pallet lighting device and displayed on a vehicle screen.

By setting up a mapping query table (which may be stored in the memory of each transport robot) between the inventory grid storage location node number and the global location coordinates, the global coordinates of the grid storage location node and the inventory operation node can be found from the grid storage location node number. can The haul robot continues to move to the next inventory handling node until all warehousing operations are complete.

In some embodiments, the work management and control device receives an inventory management request comprising an order or series of orders, each order may include one or more inventory items, each of the different products corresponding to one SKU. . The job management and control device combines the orders into the collection job list according to the rules, and generates the SKU list and the SKU inventory grid location list of the collection job list according to the inventory grid location list. A warehousing job is created comprising a list of SKUs and a list of SKU inventory grid locations, the warehousing jobs are assigned to a transport robot, and each rotating box is bound to one warehousing job.

The job management and control device assigns the picking operation to the appropriate collaborator, or the collaborator actively receives the transport robot task and sends the cooperative instruction information to the collaborator, so that the collaborator arrives at the inventory operation node based on the cooperative instruction information, and the transport robot work with you to complete inventory management. The job management and control device generates a robot travel path for the transport robot reaching the inventory handling node and a collaborator travel path for the collaborator arriving at the inventory handling node, and sends the robot travel path and collaborator travel path to the transport robot and collaborator respectively send. The transport robot automatically drives to the inventory operation node based on the robot travel path, and the collaborator arrives at the inventory operation node based on the collaborator travel path. The collaborator arrives at the inventory operation node based on the cooperative instruction information, and cooperates with the transport robot to complete the inventory operation.

According to the warehousing business processing method in the above embodiment, by using technologies such as robot technology, SLAM positioning and navigation technology, automatic driving technology, goods transportation, real-time positioning and navigation of robots, intelligent task assignment, complex dynamic Technical problems such as intelligent navigation in the warehousing environment are solved; and by using the transport robot, the movement of goods in the warehouse is improved, the time spent on inventory operation such as replenishment, picking, re-inspection, packing, sorting by the collaborators of the robot transport vehicle is reduced, the labor force is reduced, and the warehouse It helps to move goods faster.

According to the warehousing operation processing method in the above embodiment, the transport robot can efficiently transport goods in a complex dynamic warehousing environment through autonomous navigation and automatic operation, and the associated warehouse and shelf do not need to be deformed, so that the warehousing business The level of automation and intelligence is effectively improved, and the warehouse transformation cost is reduced, while the working efficiency of inventory shelving, replenishment, picking, re-inspection, packaging, sorting and conveying can also be improved, and the cost of fulfillment of customer orders This is reduced and human resources and labor intensity are reduced.

In some embodiments, as shown in FIG. 7 , the present disclosure provides a warehousing job processing system including a job management and control device 71 , a traffic management device 72 , and a sub-control device 73 . . As shown in FIG. 8 , the job management and control device 71 includes a job analysis unit 711 , a job creation module 712 , a job dispatch module 713 , a cooperative processing module 714 , and a route creation module 715 . ), a route transmission module 716 and a driving control module 717 .

The job analysis unit 711 acquires product information and storage location corresponding to the inventory operation request; The job creation module 712 determines the inventory management node corresponding to the storage location, and generates a stock operation based on the product information, the storage location, and the inventory management node. The job sending module 713 determines the transport robot that performs the warehousing operation, and transmits the warehousing operation to the transport robot so that the transport robot travels to the inventory operation node based on the warehousing operation. The cooperative processing module 714 determines a collaborator corresponding to the transport robot, and sends the cooperative instruction information to the collaborator so that the collaborator reaches the inventory operation node based on the cooperative instruction information and cooperates with the transport robot to complete the inventory operation, The cooperative instruction information includes transport robot information, warehousing operation, and the like.

The job analysis unit 711 acquires a product SKU corresponding to the inventory operation request, and determines a grid identification and a grid position corresponding to the product SKU based on the inventory grid storage location list. The job analysis unit 711 acquires the inventory management node corresponding to the grid position, and sets the inventory management node as a destination corresponding to the inventory management request.

The route creation module 715 generates a robot travel path for the transport robot reaching the inventory management node and a collaborator travel path for the collaborator arriving at the inventory management node. The route transmission module 716 is configured to send the robot travel path and collaborator respectively to the transport robot and the collaborator, so that the transport robot automatically drives to the inventory operation node based on the robot driving path and the collaborator arrives at the inventory operation node based on the collaborator driving path. transmit the driving route.

In some embodiments, the job dispatch module 713 assigns, according to the robot traveling path corresponding to the warehousing operation, a plurality of warehousing tasks having partially overlapping robot traveling paths to one transport robot. The cooperative processing module 714 allocates at least one collaborator to the transport robot based on the inventory management node corresponding to the plurality of warehousing tasks.

The cooperative processing module 714 acquires a collaborator closest to the inventory operation node corresponding to the warehousing operation, and assigns the collaborator to a transport robot that completes the warehousing operation. A warehousing operation includes one or more inventory management nodes, and one or more collaborators are assigned to each inventory management node. The cooperative processing module 714 divides the warehouse into a plurality of logical work areas, configures at least one collaborator in each logical work area, determines the logical work area to which the inventory management node belongs, and selects a collaborator or Allocate idle collaborators selected from other logical work areas to the inventory management node.

The driving control module 717 determines the dynamic speed of the transport robot according to the walking speed of the collaborator and/or the property of the robot driving path, and controls the transport robot to travel to the inventory operation node according to the dynamic speed and the robot driving path, Provide navigation function to collaborators according to collaborator driving route to help collaborators reach the inventory operation node.

In some embodiments, the traffic management device 72 obtains global traffic scheduling information according to the robot travel path, and schedules the transport robot based on the global traffic scheduling information and the scheduling rule. As shown in FIG. 9 , the traffic management device 72 includes a buffering area setting module 721 , a parking processing module 722 , and a driving processing module 723 .

The buffering area setting module 721 sets the carrier robot buffering area, and sets a plurality of buffering positions in the carrier robot buffering area. When the plurality of haul robots need to reach the inventory handling node within the same time period, when the parking processing module 722 determines that the current inventory handling node cannot be reached, the plurality of haul robots schedules to travel to the haul robot buffering area do.

The parking processing module 722 determines the task priority of the transport robot, determines buffering positions for the plurality of transport robots based on the task priority, and causes the plurality of transport robots to drive to the corresponding buffering positions for parking. schedule If it is determined that the inventory management node can be reached, the traveling processing module 723 selects a transport robot from among a plurality of transport robots based on the priority and schedules to travel to the inventory management node.

The parking processing module 722 obtains priority setting information, and determines the task priority based on the priority setting information. The priority setting information includes information on a sequence of a transport robot entering the target area, or wearing job attribute information; The warehousing operation attribute information includes at least one of an order deadline, a cargo priority, a product type, and a customer type.

In some embodiments, the sub-control device 73 is provided to the transport robot, and obtains detection information collected by a sensor device of the transport robot, wherein the sensor device is at least one of an inertial measurement unit, a ranging sensor, and a vision sensor. includes The sub-control device 73 performs fusion positioning processing based on the detection information and the warehouse map, and guides the transport robot to the inventory operation node according to the positioning information and the robot travel path.

The sub-control device 73 sets a coordinate mapping table between the inventory operation node and the global position coordinates, obtains the global position coordinates of the inventory operation node by using the coordinate mapping table, and performs navigation based on the global position coordinates do.

10 is a schematic block diagram of a warehouse work processing system according to another embodiment of the present disclosure. As shown in FIG. 10 , the device may include a memory 1001 , a processor 1002 , a communication interface 1003 , and a bus 1004 . The memory 1001 is used to store instructions, the processor 1002 is coupled to the memory 1001, and the processor 1002 is based on the execution of the instructions stored in the memory 1001. configured to implement.

Memory 1001 may be high-speed RAM memory, non-volatile memory, or the like, and memory 1001 may also be a memory array. The memory 1001 may be further divided into blocks, and the blocks may be combined into virtual volumes according to certain rules. The processor 1002 may be a central processing unit CPU configured to implement the warehousing operation processing method of the present disclosure, an application specific integrated circuit (ASIC), or one or more integrated circuits.

According to another aspect of the present disclosure, there is provided a warehousing system, the warehousing system comprising a transport robot and a warehousing operation processing system according to any one of the above embodiments. The transport robot includes: a wheel-type chassis, a vehicle display screen and a pallet; A pallet has one or more rotating containers for loading goods. The wheel-type chassis is provided thereon with a status lighting device, an audio device and a sensor unit; The palette is provided thereon with a display lighting device; and the sensor unit includes at least one of a laser radar, a camera, an inertial measurement unit, a ranging sensor, and a vision sensor.

In some embodiments, the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions that, when executed by a processor, implement the warehousing job processing method mentioned in any of the above embodiments. do.

In some embodiments, the present disclosure further provides a computer program product comprising a computer program stored on a computer-readable storage medium, wherein the computer program, when executed by a computer, causes the computer to wear the goods mentioned in any of the above embodiments. Contains program instructions to perform a task processing method.

As will be appreciated by those of ordinary skill in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an all hardware embodiment, an all software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure relates to a computer embodied on one or more computer-usable non-transitory storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) having computer-usable program code embodied therein. It may take the form of a program product.

The present disclosure is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each flow and/or block in the flowcharts and/or block diagrams, and combinations of flows and/or blocks in the flowcharts and/or block diagrams, may be implemented by computer program instructions. These computer program instructions, when executed by a processor of a computer or other programmable data processing device, produce means for implementing the functions specified in one or more flows in the flowcharts and/or in one or more blocks in the block diagrams, It may be provided in the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device.

Such computer program instructions may also be stored in a computer readable memory that may direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory include one or more flows in a flowchart and and/or create an article of manufacture comprising an instructional device that implements the functionality specified in one or more blocks in the block diagram.

Such computer program instructions may also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to create a computer-implemented process, such that the computer or other program The instructions executed on the capable device provide steps configured to implement the specified functionality in one or more flows in the flowcharts and/or in one or more blocks in the block diagrams.

According to the warehousing work processing method, the warehousing work processing device, the warehousing system and the storage medium in the above embodiment, the automation and intelligence level of warehousing logistics can be improved, the flexibility of the warehousing work is greatly improved, and the warehouse transformation cost is reduced. reduced, the number of picking personnel and the walking distance of workers is reduced, the order fulfillment efficiency is improved and the long-term labor cost is reduced, thereby radically reducing the warehouse cost and contributing to the transformation and upgrading of the warehousing industry.

The description of the disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or to limit the disclosure to the form disclosed. Numerous modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described so as to better explain the principles and practical application of the present disclosure, and to enable those skilled in the art to understand the present disclosure to design various embodiments with various modifications suitable for a particular purpose.

Claims (30)

A method for handling goods receipt work, comprising:
acquiring product information and a storage location corresponding to the inventory management request;
determining an inventory management node corresponding to the storage location, and generating a stocking operation based on the product information, the storage location, and the stock management node;
determining a transport robot executing the warehousing operation, and transmitting the warehousing operation to the transport robot so that the transport robot travels to the inventory operation node based on the warehousing operation;
determining a collaborator corresponding to the transport robot, and sending the cooperation instruction information to the collaborator so that the collaborator arrives at the inventory operation node based on the cooperation instruction information and cooperates with the transport robot to complete the inventory operation; - The cooperative instruction information includes transport robot information and warehousing operation. According to claim 1,
generating a robot travel path including the inventory management node and a collaborator travel path for the collaborator arriving at the inventory management node; and
the robot travel path to the transport robot and the collaborator, respectively, such that the transport robot automatically travels to the inventory management node based on the robot travel path and the collaborator arrives at the inventory management node based on the collaborator travel path and transmitting the collaborator travel route. 3. The method of claim 2,
allocating, according to the robot traveling path corresponding to the warehousing operation, a plurality of warehousing tasks having partially overlapping robot traveling paths to one transport robot; and
and assigning at least one of the collaborators to the transport robot based on the inventory management node corresponding to the plurality of warehousing operations. 4. The method of claim 3,
Obtaining the collaborator closest to the inventory operation node corresponding to the warehousing operation, and assigning the collaborator to the transport robot completing the warehousing operation, further comprising:
wherein the warehousing operation includes one or more inventory operations nodes, and one or more collaborators are assigned to each of the inventory operations nodes. 5. The method of claim 4,
dividing the warehouse into a plurality of logical work areas, and configuring at least one collaborator in each logical work area; and
determining a logical work area to which the inventory management node belongs, and assigning to the inventory management node a collaborator selected from the logical work area or a collaborator in an idle state selected from another logical work area, Way. 3. The method of claim 2,
determining the dynamic speed of the transport robot according to the walking speed of the collaborator and/or the property of the robot travel path;
controlling the transport robot to travel to the inventory management node according to the dynamic speed and the robot travel path; and
and providing a navigation function for the collaborator according to the collaborator travel route for the collaborator to reach the inventory management node. The method of claim 2, wherein the acquiring product information and storage location corresponding to the inventory management request comprises:
obtaining a product SKU corresponding to the inventory management request;
determining a grid identification and grid location corresponding to the product SKU based on the inventory grid storage location list; and
obtaining the inventory management node corresponding to the grid location, and setting the inventory management node as a destination corresponding to the inventory management request. 3. The method of claim 2,
obtaining global traffic scheduling information according to the robot driving path; and
Scheduling the haul robot based on the global traffic scheduling information and a scheduling rule. The method of claim 8, wherein scheduling the transport robot based on the global traffic scheduling information and a scheduling rule comprises:
establishing a transport robot buffering area, and establishing a plurality of buffering positions within the transport robot buffering area;
scheduling the plurality of haul robots to travel to the haul robot buffering area when it is determined that the inventory handling node is currently unreachable under the condition that the plurality of haul robots must reach the inventory handling node within the same period of time; ;
determine the task priority of the transport robot, respectively determine buffering positions for the plurality of transport robots based on the task priority, and cause the plurality of transport robots to drive to the corresponding buffering positions for parking scheduling; and
scheduling a transport robot selected from the plurality of transport robots to travel to the inventory handling node based on the priority under a condition in which it is determined that the inventory handling node is reachable. 10. The method of claim 9, wherein determining the task priority of the transport robot comprises:
obtaining priority setting information, and determining the task priority according to the priority setting information;
The priority setting information includes a sequence of a transport robot entering the target area or property information of wearing work,
The warehouse operation attribute information includes at least one of an order deadline, cargo priority, product type, and customer type. 3. The method of claim 2,
and a sub-control device provided to the transport robot for acquiring detection information collected by a sensor device of the transport robot, wherein the sensor device includes an inertial measurement unit, a ranging sensor and a vision sensor ) comprising at least one of
The sub-control device performs fusion positioning processing based on the detection information and the warehouse map, and guides the transport robot to the inventory operation node according to the positioning information and the robot travel path. 12. The method of claim 11,
The sub-control device further comprising the sub-control device for setting a coordinate mapping table between the inventory management node and global location coordinates,
and the sub-control device obtains global location coordinates of the inventory management node by using the coordinate mapping table, and performs navigation based on the global location coordinates. 13. The method according to any one of claims 1 to 12,
The method of claim 1, further comprising the inventory operation including storage, replenishment, picking, re-inspection, packaging or sorting. A receiving work processing system comprising:
A work management and control device, comprising:
a work analysis unit, configured to obtain product information and storage locations corresponding to the inventory operation request;
a job creation module, configured to determine an inventory management node corresponding to the storage location, and generate a stock operation based on the product information, the storage location, and the inventory management node;
a job sending module, configured to determine a transport robot executing the warehousing operation, and send the warehousing operation to the transport robot so that the transport robot travels to the inventory operation node based on the warehousing operation;
determine a collaborator corresponding to the transport robot, and send the cooperation instruction information to the collaborator so that the collaborator arrives at the inventory operation node based on the cooperative instruction information and cooperates with the transport robot to complete the inventory operation. A system comprising: a cooperative processing module, wherein the cooperative instruction information includes transport robot information and a warehousing operation. 15. The method of claim 14,
The job management and control device comprises:
a route generating module configured to generate a robot travel route including the inventory management node and a collaborator travel route for the collaborator reaching the inventory management node; and
the robot travel path to the transport robot and the collaborator, respectively, such that the transport robot automatically travels to the inventory management node based on the robot travel path and the collaborator arrives at the inventory management node based on the collaborator travel path and a route transmission module configured to transmit the collaborator travel route. 16. The method of claim 15,
The job sending module is configured to assign a plurality of warehousing jobs having partially overlapping robot traveling paths to one transport robot according to the robot traveling path corresponding to the warehousing job,
and the cooperative processing module is configured to assign at least one collaborator to the transport robot based on the inventory handling node corresponding to the plurality of warehousing operations. 17. The method of claim 16,
the cooperative processing module is configured to acquire the collaborator closest to the inventory operation node corresponding to the warehousing operation, and assign the collaborator to the transport robot completing the warehousing operation;
wherein the warehousing operation includes one or more inventory operations nodes, and one or more collaborators are assigned to each of the inventory operations nodes. 18. The method of claim 17,
the cooperative processing module divides the warehouse into a plurality of logical work areas, and configures at least one collaborator in each logical work area; and determine a logical work area to which the inventory operations node belongs, and assign to the inventory operations node a collaborator selected from the logical work area or a collaborator in an idle state selected from another logical work area. 16. The method of claim 15,
The job management and control device comprises:
determine a dynamic speed of the transport robot according to the walking speed of the collaborator and/or an attribute of the robot travel path, and control the transport robot to travel to the inventory operation node according to the dynamic speed and the robot travel path; and a driving control module, configured to provide a navigation function for the collaborator according to the collaborator driving route so that the collaborator reaches the inventory management node. 16. The method of claim 15,
the work analysis unit acquires a product SKU corresponding to the inventory operation request, and determines a grid identification and a grid position corresponding to the product SKU based on the inventory grid storage location list; and obtain the inventory management node corresponding to the grid location, and set the inventory management node as a destination corresponding to the inventory management request. 16. The method of claim 15,
and a traffic management device, configured to obtain global traffic scheduling information according to the robot travel path, and schedule the transport robot based on the global traffic scheduling information and a scheduling rule. 15. The method of claim 14,
The traffic management device includes:
a buffering area setting module, configured to set a carrier robot buffering area, and set a plurality of buffering positions within the carrier robot buffering area;
scheduling the plurality of transport robots to travel to the transport robot buffering area when it is determined that the inventory handling node cannot currently be reached under the condition that the plurality of transport robots must reach the inventory handling node within the same time period; and determining the task priority of the transport robot; determine buffering positions for each of the plurality of transport robots based on the task priority; and a parking processing module, configured to schedule the plurality of haul robots to travel to the corresponding buffering location for parking. and
and a travel processing module configured to schedule a transport robot selected from the plurality of transport robots to travel to the inventory handling node based on the priority under a condition that it is determined that the inventory handling node is reachable. 23. The method of claim 22,
the parking processing module is configured to obtain priority setting information, and to determine the task priority according to the priority setting information,
The priority setting information includes a sequence of a transport robot entering the target area or property information of wearing work,
The system, wherein the warehouse operation attribute information includes at least one of an order deadline, cargo priority, product type, and customer type. 16. The method of claim 15,
provided to the transport robot, configured to acquire detection information collected by a sensor device of the transport robot, wherein the sensor device includes: at least one of an inertial measurement unit, a ranging sensor, and a vision sensor; and a sub-control device configured to perform fusion positioning processing based on the detection information and the warehouse map, and guide the transport robot to the inventory operation node according to the positioning information and the robot travel path. , system. 25. The method of claim 24,
further configured to set a coordinate mapping table between the inventory management node and global location coordinates, obtain global location coordinates of the inventory management node by using the coordinate mapping table, and perform navigation based on the global location coordinates The system further comprising a sub-control device. A receiving work processing system comprising:
Memory; and a processor coupled to the memory, wherein the processor is configured to perform the method according to any one of claims 1 to 13 based on instructions stored in the memory. A warehousing system comprising:
27. A system comprising a transport robot and a warehousing work handling system according to any one of claims 14 to 26. 28. The method of claim 27,
The transport robot comprises: a wheel-type chassis, a vehicle display screen and a pallet; wherein the pallet includes one or more rotating containers for loading goods. 29. The method of claim 28,
the wheel-type chassis is provided with a status lighting device, an audio device and a sensor unit thereon; the palette is provided thereon with a display lighting device;
wherein the sensor unit comprises at least one of an inertial measurement unit, a ranging sensor and a vision sensor. A computer-readable storage medium storing computer instructions that, when executed by a processor, perform the method according to any one of claims 1 to 13.

Images