TW202407485A - Storage system emergency processing method, device and equipment and storage medium - Google Patents

Abstract

The embodiment of the invention provides a warehousing system emergency processing method and device, equipment and a storage medium, and is applied to an intelligent warehousing system. The method comprises the steps that the working state of loading and unloading equipment is determined, the target loading and unloading position of the storage robot is determined according to the working state of the loading and unloading equipment, indication information is sent to the storage robot based on the target loading and unloading position, and the indication information is used for indicating the storage robot to move to the target loading and unloading position and completing the loading and unloading action. According to the technical scheme, when any loading and unloading device is in the abnormal state, the storage robot is controlled to directly move to the target loading and unloading position on the conveying line to complete the loading and unloading action, so that the loading and unloading device in the abnormal state is replaced, continuous operation of the storage system is guaranteed, and the working efficiency is improved. Therefore, the stability and reliability of the warehousing system are improved.

Description

Warehousing system emergency treatment methods, devices, equipment and storage media

The present disclosure relates to the field of smart warehousing technology, and in particular to a warehousing system emergency processing method, device, equipment and storage medium.

The warehousing system based on warehousing robots adopts an intelligent operating system, which realizes the automated delivery of goods through system instructions. At the same time, it can operate 24 hours a day, replacing manual management and operations, improving the efficiency of warehousing, and has been widely used and favored.

The current warehousing system usually relies on the U-shaped conveyor line in the workstation and the connected unloading equipment and loading equipment to complete the movement of the bins during the incoming and outgoing operations. If the loading equipment or unloading equipment fails and other abnormal conditions occur, It will cause the entire site to stop operations and affect the operation of the warehousing system.

Embodiments of the present disclosure provide an emergency handling method, device, equipment and storage medium for a warehousing system to improve the stability and reliability of the warehousing system.

In the first aspect, embodiments of the present disclosure provide a warehousing system emergency processing method. The warehousing system emergency processing method is applied to a smart warehousing system. The warehousing system emergency processing method includes: Determine the working status of the loading and unloading equipment. The loading and unloading equipment is used to cooperate with the docking between the conveyor line and the warehousing robot. The working status includes normal working status and abnormal working status; Determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where there is no loading and unloading equipment; Instruction information is sent to the warehousing robot based on the target loading and unloading position. The instruction information is used to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading action.

Optionally, determining the working status of the loading and unloading equipment includes: determining that the loading and unloading equipment is in an abnormal working state that cannot work; or, determining that the loading and unloading equipment is in an abnormal working status in which the amount of tasks to be processed is greater than a set value; or, determining that the loading and unloading equipment The equipment is in normal working order.

Optionally, when the loading and unloading equipment is unloading equipment, determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment, including: if the unloading equipment is in normal working status, determine that the target loading and unloading position exists The first unloading position of the unloading equipment; if the unloading equipment is in an abnormal working state, the target loading and unloading position is determined to be the second unloading position where there is no unloading equipment.

Optionally, the smart warehousing system includes at least two groups of workstations. Each group of workstations includes loading equipment and unloading equipment connected through conveyor lines. If there are at least two adjacent groups of workstations, adjacent workstations are used to represent one group. The conveyor line connected to the loading equipment in the workstation is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line; when the loading and unloading equipment is unloading equipment, Determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment, including: if the unloading equipment is in normal working status, determine the target loading and unloading position as the first unloading position where the unloading equipment exists; if the unloading equipment In an abnormal working state, determine the target loading and unloading position as any one or more of the following positions: there is no second unloading position of the unloading equipment; the memory of another adjacent workstation is at the third unloading equipment of the normal working state. Three unloading positions; there is no fourth unloading position of unloading equipment in another adjacent workstation.

Optionally, when the loading and unloading equipment is loading equipment, the target loading and unloading position of the warehousing robot is determined according to the working status of the loading and unloading equipment, including: if the loading equipment is in normal working status, determining that the target loading and unloading position exists The first loading position of the loading equipment; if the loading equipment is in an abnormal working state, determine the target loading and unloading position as the first loading position where the loading equipment exists and/or the second loading position where the loading equipment does not exist .

Optionally, if the loading equipment is in an abnormal working state, determine the target loading and unloading position as the second loading position where there is no loading equipment and/or the third loading position where there is no unloading equipment, including: if If the loading equipment is in an abnormal working state where it cannot work, then determine the target loading and unloading position as the second loading position where there is no loading equipment; if the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, determine the target loading and unloading position. The cargo position is a first loading position where the loading equipment exists and a second loading position where the loading equipment does not exist.

Optionally, the smart warehousing system includes at least two groups of workstations. Each group of workstations includes loading equipment and unloading equipment connected through conveyor lines. If there are at least two adjacent groups of workstations, adjacent workstations are used to represent one group. The conveyor line connected to the loading equipment in the workstation is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line; when the loading and unloading equipment is a loading equipment, According to the working status of the loading and unloading equipment, determine the target loading and unloading position of the warehousing robot, including: if the loading equipment is in normal working status, determine the target loading and unloading position as the first loading position where the loading equipment exists; if the loading equipment In an abnormal working state that cannot work, determine the target loading and unloading position as any one or more of the following positions: the third loading position of the loading equipment in the memory of another workstation in normal working state; there is no loading position in the other workstation The fourth loading position of the loading equipment; there is no second loading position of the loading equipment; if the loading equipment is in an abnormal working state with the amount of tasks to be processed greater than the set value, determine the target loading and unloading position to be any one or more of the following positions: the first loading position of the loading equipment exists; the second loading position of the loading equipment does not exist; the third loading position of the loading equipment in the memory of another workstation is in normal working state; in another workstation There is no fourth loading position of the loading equipment.

Optionally, when the working status of the loading and unloading equipment is an abnormal working status, after determining the working status of the loading and unloading equipment, the method further includes: determining a non-idle storage robot corresponding to the loading and unloading equipment, and the non-idle storage robot is used to indicate that the loading and unloading equipment has been The storage robot has received the handling task. The handling task refers to receiving the material box from the loading equipment or transferring the material box to the unloading equipment; sending the first instruction to cancel the handling task to the non-idle storage robot.

In the second aspect, embodiments of the present disclosure provide a warehousing system emergency processing method. The warehousing system emergency processing method is applied to a warehousing robot. The warehousing system emergency processing method includes: In response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position. The target loading and unloading position is determined based on the working status of the loading and unloading equipment. The loading and unloading position It includes a first location where loading and unloading equipment exists and a second location where loading and unloading equipment does not exist.

Optionally, in response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position, including: in response to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading. The target loading and unloading position for unloading includes the first place where the unloading equipment exists. The unloading position; or, in response to the received second instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, for Target loading and unloading locations for unloading include a second unloading location where no unloading equipment exists.

Optionally, the smart warehousing system includes at least two groups of workstations. Each group of workstations includes loading equipment and unloading equipment connected through conveyor lines. If there are at least two adjacent groups of workstations, adjacent workstations are used to represent one group. The conveyor line connected to the loading equipment in the workstation is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material box can be transferred between the two groups of workstations through the conveyor line; in response to the received instruction information, the mobile Go to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position, including: responding to the received third instruction information, moving to the target loading and unloading position for unloading, and The material box is transported to the unloading equipment corresponding to the target loading and unloading position for unloading. The target loading and unloading position for unloading includes the third unloading equipment of another workstation adjacent to the memory in the normal working state. The unloading position; or, in response to the received fourth instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, for The target loading and unloading position for unloading includes a fourth unloading position where no unloading equipment exists in another adjacent workstation.

Optionally, in response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position, including: in response to the received fifth instruction information, move Go to the target loading and unloading position for loading, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading. The target loading and unloading position for loading includes the first loading where the loading equipment exists. position; or, in response to the received sixth instruction information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target for loading The loading and unloading position includes a second loading position where no loading equipment is present.

Optionally, the smart warehousing system includes at least two groups of workstations. Each group of workstations includes loading equipment and unloading equipment connected through conveyor lines. If there are at least two adjacent groups of workstations, adjacent workstations are used to represent one group. The conveyor line connected to the loading equipment in the workstation is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material box can be transferred between the two groups of workstations through the conveyor line; in response to the received instruction information, the mobile Go to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position, including: responding to the received seventh instruction information, moving to the target loading and unloading position for loading, from the user Receive the material box at the loading equipment corresponding to the target loading and unloading position of the material. The target loading and unloading position for loading includes the third loading device of the adjacent workstation memory in the normal working state. position; or, in response to the received eighth instruction information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target for loading The loading and unloading position includes a fourth loading position where there is no unloading equipment in another adjacent workstation.

Optionally, if the warehousing robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to represent the warehousing robot that has received the handling task. The handling task is to receive the material box from the loading equipment or transfer materials to the unloading equipment. box; in response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and before completing the loading and unloading action at the target loading and unloading position, it also includes: responding to the received ninth instruction message, canceling The ninth indicates the handling task corresponding to the message.

For third parties, embodiments of the present disclosure provide a warehousing system emergency processing device. The warehousing system emergency processing device is applied to a smart warehousing system. The warehousing system emergency processing device includes: The first determination module is used to determine the working status of the loading and unloading equipment. The loading and unloading equipment is used to cooperate with the docking between the conveyor line and the storage robot. The working status includes normal working status and abnormal working status; The second determination module is used to determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where there is no loading and unloading equipment; The sending module is used to send instruction information to the warehousing robot based on the target loading and unloading position. The instruction information is used to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading action.

Optionally, the first determination module is specifically used to determine that the loading and unloading equipment is in an abnormal working state that cannot work; or, determine that the loading and unloading equipment is in an abnormal working state in which the amount of tasks to be processed is greater than a set value; or, determine that the loading and unloading equipment In normal working order.

Optionally, the second determination module is specifically configured to, when the loading and unloading equipment is unloading equipment, and if the unloading equipment is in normal working condition, determine the target loading and unloading position as the first unloading position where the unloading equipment exists; If the unloading equipment is in abnormal working condition, the target loading and unloading position is determined to be the second unloading position where there is no unloading equipment.

Optionally, the second determination module is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two adjacent groups of workstations, , Workstation adjacent is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line; When the loading and unloading equipment is unloading equipment, if the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists; if the unloading equipment is in abnormal working condition, the target loading and unloading location is determined The position is any one or more of the following positions: the second unloading position of the unloading equipment; the third unloading position of the unloading equipment of another adjacent workstation memory in normal working condition; the adjacent The fourth discharge position of the discharge device does not exist in the other workstation.

Optionally, the second determination module is specifically configured to, when the loading and unloading equipment is a loading equipment, and if the loading equipment is in a normal working state, determine the target loading and unloading position as the first loading position where the loading equipment exists; If the loading equipment is in an abnormal working state, the target loading and unloading position is determined to be the first loading position where the loading equipment exists and/or the second loading position where the loading equipment does not exist.

Optionally, the second determination module is specifically used to determine the target loading and unloading position as the second loading position without the loading equipment if the loading equipment is in an abnormal working state where the loading equipment is not available; if the loading equipment is in a waiting state, To handle an abnormal working state where the task volume is greater than the set value, the target loading and unloading positions are determined to be the first loading position where the loading equipment exists and the second loading position where the loading equipment does not exist.

Optionally, the second determination module is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two adjacent groups of workstations, , Workstation adjacent is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line; When the loading and unloading equipment is loading equipment, if the loading equipment is in a normal working state, the target loading and unloading position is determined to be the first loading position where the loading equipment exists; if the loading equipment is in an abnormal working state that cannot work, then Determine the target loading and unloading position as any one or more of the following positions: the third loading position of the loading equipment in the normal working state of the memory of another workstation; the fourth loading position of the loading equipment that does not exist in the other workstation; There is no second loading position of the loading equipment; if the loading equipment is in an abnormal working state with the amount of tasks to be processed greater than the set value, then the target loading and unloading position is determined to be any one or more of the following positions: There is a third loading position of the loading equipment. The first loading position; the second loading position of the loading device does not exist; the third loading position of the loading device in the memory of another workstation is in the normal working state; the fourth loading position of the loading device does not exist in the other workstation material location.

Optionally, the first determination module is also used to, when the working state of the loading and unloading equipment is an abnormal working state, after determining the working state of the loading and unloading equipment, determine the non-idle warehousing robot corresponding to the loading and unloading equipment, the non-idle warehousing robot Robot is used to represent a storage robot that has received a handling task. The handling task refers to receiving boxes from the loading equipment or transferring boxes to the unloading equipment; sending the first instruction to cancel the handling task to the non-idle storage robot.

In the fourth aspect, embodiments of the present disclosure provide a storage system emergency processing device. The storage system emergency processing device is applied to a warehousing robot. The warehousing system emergency processing device includes: The processing module is used to respond to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position. The target loading and unloading position is based on the work of the loading and unloading equipment. The status is determined that the loading and unloading location includes a first location where the loading and unloading equipment exists and a second location where the loading and unloading equipment does not exist.

Optionally, the processing module is specifically configured to respond to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the target loading and unloading position for unloading. On the unloading equipment, the target loading and unloading position for unloading includes a first unloading position where the unloading equipment exists; or, in response to the received second instruction information, moving to the target loading and unloading position for unloading, And the material box is transported to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a second unloading position where there is no unloading equipment.

Optionally, the processing module is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two adjacent groups of workstations, the workstations Adjacent connection is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor line; response Upon receiving the third instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading The cargo position includes a third unloading position of the unloading equipment in the normal working state of another workstation adjacent to the memory; or, in response to the received fourth instruction information, moving to a target loading and unloading position for unloading , and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading. The target loading and unloading position for unloading includes a fourth unloading position where there is no unloading equipment in another adjacent workstation. .

Optionally, the processing module is specifically configured to, in response to the received fifth instruction information, move to the target loading and unloading position for loading, and receive from the loading equipment corresponding to the target loading and unloading position for loading. The material box, the target loading and unloading position for loading includes the first loading position where the loading equipment exists; or, in response to the received sixth instruction information, moves to the target loading and unloading position for loading, from the user The material box is received on the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes a second loading position where there is no loading equipment.

Optionally, the processing module is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two adjacent groups of workstations, the workstations Adjacent connection is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor line; response Upon receiving the seventh instruction information, move to the target loading and unloading position for loading, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading Including the third loading position of the loading equipment in the normal working state of another adjacent workstation memory; or, in response to the received eighth instruction information, moving to the target loading and unloading position for loading, from The target loading and unloading position for loading receives the material box on the conveyor line, and the target loading and unloading position for loading includes a fourth loading position where there is no unloading equipment in another adjacent workstation.

Optionally, the processing module is also used to, if the warehousing robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to represent the warehousing robot that has received the handling task, and the handling task is to receive the material box from the loading equipment. Or transfer the container to the unloading equipment; in response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and before completing the loading and unloading action at the target loading and unloading position, respond to the received third The ninth instruction message cancels the handling task corresponding to the ninth instruction message.

In a fifth aspect, the embodiment of the present disclosure also provides a control device, the control device includes: at least one processor; and memory communicatively connected to at least one processor; Wherein, the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor, so that the control device executes the emergency handling method of the warehousing system according to the first aspect of the present disclosure; or, the instructions are executed by at least one processor. Execution, so that the control device executes the storage system emergency processing method as in the second aspect of the present disclosure.

In a fifth aspect, embodiments of the present disclosure also provide an emergency handling system for a warehousing system, which system includes: Servers, conveyor lines, loading and unloading equipment, workstations, and warehousing robots; Both ends of the conveyor line are connected to the loading and unloading equipment respectively, and the conveyor line is used to transport boxes between the two loading and unloading equipment; The workstation is located in the middle of the conveyor line. The workstation is used to select materials from the boxes on the conveyor line; The server is used to communicate with workstations, loading and unloading equipment and warehousing robots, and execute the emergency handling method of the warehousing system according to the first aspect of the present disclosure; The warehousing robot cooperates with the loading and unloading equipment and the conveyor line, and performs the emergency handling method of the warehousing system according to the second aspect of the present disclosure.

Optionally, the loading and unloading equipment includes an unloading equipment and a loading equipment; the unloading equipment and the loading equipment are respectively connected to both ends of the conveying line.

Optionally, a code reader is provided on the conveyor line; the code readers are respectively disposed on the conveyor line adjacent to the unloading equipment, on the conveyor line adjacent to the loading equipment, and on both sides of the conveyor line corresponding to the location of the workstation.

In a sixth aspect, embodiments of the present disclosure also provide a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement warehousing as in the first aspect of the disclosure. System emergency processing method; or, when the computer execution instructions are executed by the processor, they are used to implement the warehousing system emergency processing method as in the second aspect of the present disclosure.

In a seventh aspect, embodiments of the present disclosure also provide a computer program product. The computer program product includes computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement the warehousing system emergency processing method as in the first aspect of the disclosure; or , when the computer execution instructions are executed by the processor, they are used to implement the emergency handling method of the warehousing system according to the second aspect of the present disclosure. The emergency handling method, device, equipment and storage medium of the warehousing system provided by the embodiments of the present disclosure determine the working status of the loading and unloading equipment and determine the target loading and unloading position of the warehousing robot based on the working status of the loading and unloading equipment, and then based on the target loading and unloading The cargo location sends instruction information to the warehousing robot to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading action. As a result, when any loading and unloading equipment is in an abnormal state, the warehousing robot can be controlled to move directly to the target loading and unloading position on the conveyor line to complete the loading and unloading action, thus replacing the abnormal loading and unloading equipment and ensuring the continued operation of the warehousing system. Improve the stability and reliability of the warehousing system.

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

The technical solution of the present disclosure and how the technical solution of the present disclosure solves the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

In the existing warehousing system, the smart warehousing system sends a handling task to the warehousing robot from the server according to the boxes to be moved, and the robot moves the items corresponding to the handling task to the unloading equipment, and the unloading equipment unloads the items uniformly. Put it on the conveyor line, and then transfer the items through the workstation through the conveyor line. After the workstation completes the item picking, the loading equipment at the other end of the conveyor line will receive the picked items (it can also be the sorted bins) and hand them over. Return to the warehouse is carried out by another warehousing robot. However, if an abnormality occurs in the unloading equipment or loading equipment and the unloading and loading work cannot be completed normally, then the entire operation cannot continue at this time (because the unloading equipment cannot be unloaded, no items will enter the conveyor line; the loading equipment cannot be loaded, Then the items on the conveyor line will accumulate too much and cannot be cleaned, which will also lead to the inability to unload), which will seriously affect the operational efficiency of the warehousing system.

In order to solve this problem, embodiments of the present disclosure provide an emergency handling method for a warehousing system. By determining the working status of the loading and unloading equipment, and based on the working status of the loading and unloading equipment, the target loading and unloading position of the warehousing robot is determined, and then the warehousing robot goes there. The target loading and unloading position replaces the work of the corresponding loading and unloading equipment, thereby maintaining the normal operation of the warehousing system and ensuring the reliability and stability of the warehousing system.

The application scenarios of the embodiments of the present disclosure are explained below: Figure 1a is an application scenario diagram of the emergency handling method for a warehousing system provided by an embodiment of the present disclosure. As shown in Figure 1a, during the material picking process of the warehousing system, the smart warehousing system moves the warehousing robot 120 to The corresponding target unloading position 101 directly unloads the material box onto the conveyor line 100 so that the workstation 140 can continue picking, thus ensuring the continuation of the material picking process.

Next, please refer to Figure 1b, which is another application scenario diagram of the emergency handling method of the warehousing system provided by the embodiment of the present disclosure. As shown in Figure 1b, during the material picking process of the warehousing system, the smart warehousing system moves the warehousing robot 120 to the corresponding target loading position 102 according to the location of the abnormal loading equipment 130 on the conveyor line 100, and directly The material boxes on the conveyor line 100 are removed so that the workstation 140 can continue picking, thereby ensuring the continuation of the material picking process.

Next, please refer to Figure 1c, which is another application scenario diagram of the emergency handling method of the warehousing system provided by the embodiment of the present disclosure. There are at least two adjacent conveyor lines 100 in the warehousing system. When the unloading equipment 110 on one of the conveyor lines 100 is abnormal, the smart warehousing system uses the location of the abnormal unloading equipment 110 on the conveyor line 100 to activate the warehousing robot. 120 moves to the corresponding target unloading position 103 (corresponding to the normal unloading equipment 111 in another workstation) or target unloading position 104 (corresponding to the conveyor line adjacent to the unloading equipment 111 in another workstation), and directly unloads the material box Put it on the conveyor line 100 and pass it through the conveyor lines 100 so that the workstation 140 can continue picking, thereby ensuring the continuation of the material picking process.

Next, please refer to Figure 1d, which is another application scenario diagram of the emergency handling method of the warehousing system provided by the embodiment of the present disclosure. There are at least two adjacent conveyor lines 100 in the warehousing system. When the loading equipment 130 on one of the conveyor lines 100 is abnormal, the smart warehousing system uses the location of the abnormal loading equipment 130 on the conveyor line 100 to activate the warehousing robot. 120 moves to the corresponding first target loading position 105 (corresponding to the normal loading equipment 131 in another workstation) or the second target loading position 106 (corresponding to the conveyor line adjacent to the loading equipment 131 in another workstation), directly The material boxes are received from the conveyor line 100 so that the workstation 140 can continue picking, thereby ensuring the continuation of the material picking process.

It should be noted that in Figures 1a to 1d, the conveyor lines, items, loading equipment, unloading equipment, warehousing robots and workstations in the scenes shown are only one example for illustration, but the disclosure is not limited to this. , that is to say, the number of conveyor lines, items, loading equipment, unloading equipment, warehousing robots and workstations can be arbitrary.

The emergency handling method of the warehousing system provided by the present disclosure will be described in detail below through specific embodiments.

Figure 2 is a flow chart of an emergency handling method for a warehousing system provided by an embodiment of the present disclosure. This warehousing system emergency handling method is applied to smart warehousing systems. As shown in Figure 2, the emergency handling method of the warehousing system provided by this embodiment includes the following steps: Step S201: Determine the working status of the loading and unloading equipment.

Among them, the loading and unloading equipment is used to cooperate with the docking between the conveyor line and the warehousing robot. The working status includes normal working status and abnormal working status.

Specifically, the loading and unloading equipment includes loading equipment and unloading equipment located at both ends of the conveyor line. The unloading equipment is used to receive the boxes to be picked carried by the warehouse robot, and put them on the conveyor line in order for the workstations on the conveyor line. For picking, the loading equipment is used to take the picked boxes from the conveyor line and return them to the warehouse for processing through the warehousing robot. The unloading equipment and loading equipment cooperate with the conveyor line to achieve a continuous material picking process.

When the loading and unloading equipment is in normal working condition, the warehousing robot will transport the boxes to be picked to the location of the unloading equipment, and transfer the boxes to be picked to the unloading equipment, or to the location of the loading equipment, and transfer them from the loading equipment. The equipment receives the picked bins to ensure the stability and continuity of the material picking process.

However, if the loading and unloading equipment encounters abnormal working conditions, it is usually no longer possible to transfer the boxes to the conveyor line through the unloading equipment, or the boxes cannot be transferred to the robot through the loading equipment.

Furthermore, there may be two situations when the loading and unloading equipment has abnormal working conditions. One is that the loading and unloading equipment fails and cannot work. For example, if the loading equipment fails, it can no longer receive the boxes on the conveyor line or can no longer deliver the boxes to the robot. At this time, even if the warehousing robot goes to the location of the loading equipment, it will not be able to receive the material boxes; if the unloading equipment fails, it will not be able to receive the material boxes on the robot and/or it will no longer be able to put the material boxes into the conveyor line. Even if the warehousing robot goes to The location of the unloading equipment also makes it impossible to transfer the bin through the unloading equipment.

Another situation is that there are too many boxes accumulated at the loading and unloading equipment, which exceeds the processing capacity of the loading and unloading equipment. For example, there are too many boxes at the loading equipment. Although the warehousing robot can receive the boxes at the location of the loading equipment, it cannot relieve the load. The problem of too many boxes, such as too many warehousing robots waiting to be unloaded at the unloading equipment, affects the efficiency of delivering boxes to the conveyor line.

Therefore, when the loading and unloading equipment encounters abnormal working conditions, an emergency situation occurs, and emergency measures need to be taken to transfer some bins to other locations to avoid the situation where the material picking process cannot be maintained normally.

Based on the above analysis, the warehousing robot should go to different locations corresponding to different states of the loading and unloading equipment. Therefore, it is necessary to first determine the working state of the loading and unloading equipment, and then determine the location where the warehousing robot should go based on this.

Step S202: Determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment.

Wherein, the loading and unloading position includes a first position where loading and unloading equipment exists and a second position where there is no loading and unloading equipment.

Specifically, under different working conditions of the loading and unloading equipment, the warehousing robot will go to different locations (i.e., the target loading and unloading locations). As in the above analysis, under the normal working conditions of the loading and unloading equipment, the robot will go to the location corresponding to the loading and unloading equipment; and if When the loading and unloading equipment is in abnormal working condition, the warehousing robot needs to go to another position to replace or supplement the function of the abnormal equipment.

If the unloading equipment fails, the warehousing robot can go directly to the conveyor line adjacent to the unloading equipment and put the boxes directly onto the conveyor line. It can also play the role of unloading materials and maintaining the continuation of the picking process; if the loading equipment fails, Then the warehousing robot can go directly to the conveyor line adjacent to the loading equipment and receive the boxes directly from the conveyor line. It can also play the role of loading materials and maintaining the continuation of the picking process.

In some embodiments, the server will specifically determine the specific moving position of the warehousing robot, such as specifying the coordinates corresponding to a certain position on the conveyor line, so that the warehousing robot can accurately reach the corresponding position according to the coordinates to ensure that the corresponding action is completed. If the unloading equipment is abnormal and multiple warehousing robots are needed to put boxes on the conveyor line, different coordinates should be assigned to each warehousing robot to avoid the warehousing robots queuing up again (at this time, the conveyor line can allow multiple warehousing robots to line up side by side) , perform the sending or receiving action at the same time).

Step S203: Send instruction information to the warehousing robot based on the target loading and unloading position.

Among them, the instruction information is used to instruct the warehouse robot to move to the target loading and unloading position and complete the loading and unloading action.

Specifically, the action to be performed by the warehousing robot can be determined based on the abnormal loading and unloading equipment. If the abnormality is the unloading equipment, the corresponding action can be to deliver the material box to the conveyor line or other unloading equipment that can work normally. equipment (if there are multiple unloading equipment), if the abnormality is the loading equipment, the corresponding action can be from the conveyor line or other normally working loading equipment (if there are multiple loading equipment or loading equipment Receive bins at a state where there are too many bins to be processed).

After determining the target loading and unloading location and the actions to be performed by the warehousing robot, the corresponding warehousing robot can be determined and instruction information issued. The corresponding warehousing robot executes according to the content of the instruction information, and can replace abnormal loading and unloading equipment in emergency situations and maintain the normal progress of the material picking process.

In some embodiments, if the abnormal state lasts for a long time, or if necessary, instruction information can be issued to multiple warehouse robots, so that multiple warehouse robots can take turns or go to the corresponding target loading and unloading positions at the same time to complete the corresponding actions to continue Ensure the normal continuation of the process.

The emergency handling method of the warehousing system provided by the embodiment of the present disclosure determines the working status of the loading and unloading equipment and determines the target loading and unloading position of the warehousing robot based on the working status of the loading and unloading equipment, and then sends instructions to the warehousing robot based on the target loading and unloading position. Information to instruct the warehouse robot to move to the target loading and unloading position and complete the loading and unloading action. As a result, when any loading and unloading equipment is in an abnormal state, the warehousing robot can be controlled to move directly to the target loading and unloading position on the conveyor line to complete the loading and unloading action, thus replacing the abnormal loading and unloading equipment and ensuring the continued operation of the warehousing system. Improve the stability and reliability of the warehousing system.

Figure 3a is a flow chart of an emergency handling method for a warehousing system provided by an embodiment of the present disclosure. As shown in Figure 3a, the emergency handling method of the warehousing system provided by this embodiment includes the following steps: Step S301: Determine that the loading and unloading equipment is in normal working condition.

Specifically, if the loading and unloading equipment is in normal working condition, that is, it is not in an abnormal working condition, and no emergency treatment is required at this time, the warehousing robot only needs to go to the location of the loading and unloading equipment (i.e., the location of the loading and unloading equipment will be used as the target to load and unload the goods). position) and complete the corresponding actions to ensure the normal progress of the material picking process.

Step S302: If the unloading equipment is in normal working condition, determine the target loading and unloading position as the first unloading position where the unloading equipment exists.

Specifically, for the unloading equipment, if it is in normal working condition, the warehousing robot only needs to move to the position where the unloading equipment is used to receive the material box, that is, the first unloading position (refer to the position corresponding to 120 in Figure 1a), To transfer the material box to the unloading equipment. In the first unloading position, the material box reaches the unloading equipment by the storage robot.

Step S303: If the loading equipment is in normal working condition, determine the target loading and unloading position as the first loading position where the loading equipment exists.

Specifically, for the loading equipment, if it is in normal working condition, the warehousing robot only needs to move to the position where the loading equipment is used to transfer the material box to the outside, that is, the first loading position (refer to the position corresponding to 120 in Figure 1b) , to receive the material box sent by the loading equipment. At the first loading position, the material box is transferred to the storage robot by the loading equipment.

Step S302 and step S303 are two mutually parallel steps performed based on step S301. Those skilled in the art can select any step to perform as needed. Step S304: Determine that the loading and unloading equipment is in an abnormal working state that cannot work.

Specifically, the loading and unloading equipment is in an abnormal working state that cannot work, that is, the loading and unloading equipment is faulty and waiting for repair, is being repaired, or is being debugged. At this time, the loading and unloading equipment is usually unable to perform the loading and unloading function normally. For example, the loading and unloading equipment cannot The bins are received from the conveyor line, or the bins cannot be transferred to the warehousing robot, or the unloading equipment cannot place the bins on the conveyor line, or the bins cannot be received from the warehousing robot.

At this time, the warehousing system is in an emergency state, and measures need to be taken for emergency processing. The warehousing robot directly connects to the conveyor line, without passing through the loading and unloading equipment, to complete the corresponding work and ensure that the picking process proceeds normally.

Step S305: Determine that the loading and unloading equipment is in an abnormal working state in which the amount of tasks to be processed is greater than the set value.

Specifically, the abnormal working status of the loading and unloading equipment corresponding to the number of boxes to be processed is greater than the set value (the setting value is usually the maximum number of boxes processed by the loading and unloading equipment per unit time). This is usually due to the server issuing too many boxes. The material picking task exceeds the processing capacity of the loading and unloading equipment. When unloading, there may be many warehousing robots waiting in line at the loading and unloading equipment. If all are handled by the loading and unloading equipment, the waiting time will be longer and the efficiency will be reduced. Lower; when loading materials, there may be more boxes waiting to be loaded on the conveyor line, which affects the picking efficiency of the pickers.

At this time, the warehousing system is also in an emergency state, and measures need to be taken for emergency treatment. There are warehousing robots to assist with loading and unloading equipment to ensure the normal progress of the picking process.

Steps S304 and 305 are steps that are parallel to step S301, and those skilled in the art can select corresponding steps to execute as needed.

Step S306: Determine the non-idle storage robot corresponding to the loading and unloading equipment.

Among them, the non-idle storage robot is used to represent the storage robot that has received the handling task. The handling task refers to receiving the material box from the loading equipment or transferring the material box to the unloading equipment.

Specifically, when the loading and unloading equipment is in an abnormal working state, since the goods are moved directly according to the pre-assigned handling tasks at this time, it is very likely that the corresponding tasks cannot be completed normally due to the abnormality of the loading and unloading equipment, and thus the picking process cannot continue. . Therefore, after it is determined that the working status of the loading and unloading equipment is abnormal, its corresponding handling task needs to be canceled first to facilitate flexible adjustment of the location where the warehousing robot should go. Step S307: Send a first instruction to cancel the transportation task to the non-idle storage robot.

Specifically, it is first necessary to cancel the handling task that has been assigned to the warehousing robot, and then send a new handling task to the warehousing robot, so that the non-idle warehousing robot can complete the corresponding loading and unloading actions at the corresponding target loading and unloading location based on the handling task, thereby Ensure the normal progress of the material picking process.

Step S308: If the unloading equipment is in an abnormal working state, determine the target loading and unloading position as the second unloading position where there is no unloading equipment.

Specifically, no matter whether the unloading equipment is in an abnormal working state that cannot work, or the amount of tasks to be processed is greater than the set value, the warehousing robot should no longer go to the first unloading position where the unloading equipment is located, because it cannot be processed in time. Transfer the bins to the conveyor line (when the amount of tasks to be processed by the unloading equipment is greater than the set value, the warehousing robot also needs to queue up, so it cannot transfer the bins to the conveyor line in time).

Therefore, warehousing robots need to place the boxes directly on the conveyor line to facilitate timely picking at the workstation. The specific location where the warehousing robot places the bins (i.e., the target loading and unloading location) is the location of the conveyor line adjacent to the unloading equipment (i.e., the second unloading position), so that the conveyor line can cache more bins and then move to the upper position. The location of the material equipment.

In some embodiments, referring to the embodiment shown in Figure 1a, the conveyor line includes a part connected to the workstation and a part connected to the loading equipment and the unloading equipment respectively. At this time, the second unloading position is connected to the unloading equipment. The location of part of the conveyor line is the location corresponding to 101 in the figure. If the location of the conveyor line connected to the unloading equipment is long, there can be multiple second unloading positions parallel to each other on the conveyor line, so that multiple storage robots can place boxes onto the conveyor line at the same time.

Step S309: If the loading equipment is in an abnormal working state, determine the target loading and unloading position as the first loading position where the loading equipment exists and/or the second loading position where the loading equipment does not exist.

Specifically, when the loading equipment is in different abnormal working states, the corresponding target loading and unloading positions may be different. Therefore, when the loading equipment cannot work, the warehouse robot does not need to go to the location of the loading equipment (because it cannot receive the material box). , but when the amount of tasks to be processed by the loading equipment is greater than the set value, the warehousing robot can also go to the location of the loading equipment, because it can receive boxes from the loading equipment normally (but there are more boxes accumulated on the conveyor line).

Furthermore, there are two situations: Situation 1 (not shown): If the loading equipment is in an abnormal working state that cannot work, the target loading and unloading position is determined to be the second loading position where there is no loading equipment.

Specifically, the second loading position is the position of the conveyor line adjacent to the loading equipment, so that the material box can be directly received by the warehousing robot before it reaches the loading equipment.

In some embodiments, referring to the embodiment shown in Figure 1b, the conveyor line includes a part connected to the workstation and a part connected to the loading equipment and the unloading equipment respectively, then the second loading position is the part connected to the loading equipment. The location of the conveyor line is the location corresponding to 102 in the figure. If the conveyor line connected to the loading equipment is located at a long position, multiple second loading positions can exist at the same time for multiple warehouse robots to receive boxes from the conveyor line at the same time, quickly reducing the accumulation of boxes on the conveyor line.

Case two (not shown), if the loading equipment is in an abnormal working state with the amount of tasks to be processed greater than the set value, then the target loading and unloading positions are determined to be the first loading position where the loading equipment exists and the third loading position where the loading equipment does not exist. Two loading positions.

Specifically, the loading equipment itself can work normally, but the amount of tasks to be processed is in an abnormal working state that is greater than the set value. At this time, you can choose to make the warehouse robot go to the first loading position or the second loading position, and both materials can be received in time. box.

In some embodiments, the server can select a location with a smaller number of warehouse robots as the target loading and unloading location for the warehouse robots based on the number of warehouse robots (or queuing status) at the first loading location and the second loading location.

Step S308 and step S309 are parallel steps, and those skilled in the art can select corresponding steps to execute as needed.

Further, as shown in Figure 3b, Figure 3b is a schematic diagram of the corresponding relationship between the working state of the loading and unloading equipment and the target loading and unloading position. Therefore, those skilled in the art can select the corresponding target loading and unloading location according to the specific status of the loading and unloading equipment in actual work.

Step S310: Send instruction information to the warehousing robot based on the target loading and unloading position.

Specifically, the content of this step is the same as step S203 in the embodiment shown in FIG. 2, and will not be described again here.

The emergency handling method of the warehousing system provided by the embodiment of the present disclosure is based on whether the state of the loading and unloading equipment is a normal working state, an abnormal working state in which it cannot work, or an abnormal working state in which the amount of tasks to be processed is greater than the set value, and combined with the specific loading and unloading equipment. cargo equipment to determine the corresponding target loading and unloading location and loading and unloading actions, and send corresponding instruction information to the warehousing robot. As a result, warehousing robots can effectively replace or assist loading and unloading equipment, ensure the normal progress of the material picking process, and ensure the continued operation of the warehousing system, thus improving the stability and reliability of the warehousing system.

Figures 4a to 4c are flowcharts of an emergency handling method for a warehousing system provided by an embodiment of the present disclosure. In this embodiment, combined with Figure 1c and Figure 1d, the smart warehousing system includes at least two groups of workstations. Each group of workstations includes loading equipment and unloading equipment connected through conveyor lines. If there are at least two groups of adjacent workstations, the workstations Adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor line. As shown in Figures 4a to 4c, the emergency handling method of the warehousing system provided by this embodiment includes the following steps:

Step S401: Determine that the loading and unloading equipment is in normal working condition.

Specifically, the content of step S401 is the same as step S301 in the embodiment shown in FIG. 3 and will not be described again here.

Step S402: If the unloading equipment is in normal working condition, determine the target loading and unloading position as the first unloading position where the unloading equipment exists. Step S403: If the loading equipment is in normal working condition, determine the target loading and unloading position as the first loading position where the loading equipment exists.

Specifically, as shown in Figure 4a, no matter how many groups of workstations exist in the warehousing system, when the loading and unloading equipment is in normal working condition, the target loading and unloading position can be directly determined as the unloading equipment and loading equipment in the originally determined workstations. corresponding location.

At this time, you may also directly participate in the corresponding description in the embodiment shown in FIG. 3 , and no further details will be given here.

Step S404: Determine that the loading and unloading equipment is in an abnormal working state that cannot work.

Step S405: Determine that the loading and unloading equipment is in an abnormal working state in which the amount of tasks to be processed is greater than the set value.

Specifically, the contents of step S404 and step S405 are the same as the corresponding steps in the embodiment shown in FIG. 3 and will not be described again here.

Step S406: If the loading equipment is in an abnormal working state that cannot work, determine the target loading and unloading location to be any one or more of the following locations: The memory of another workstation is in the third loading position of the loading equipment in normal working condition; There is no fourth loading position of the loading equipment in another workstation; There is no second loading position for the loading device.

Specifically, as shown in Figure 4b, the second loading position can refer to the corresponding content in the embodiment shown in Figure 3.

Since the loading equipment cannot work, the material box can be received through the loading equipment of another workstation (i.e., the third loading position, corresponding to position 105 in Figure 1d), or it can be received from the conveyor line adjacent to the loading equipment of another workstation. Material box (that is, the fourth loading position, corresponding to position 106 in Figure 1d).

In some embodiments, if the conveying lines of two workstations are closely adjacent, there may not be a second loading position or a fourth loading position (because the conveying line corresponding to the second loading position or the fourth loading position is different from the other) The conveyor line of a workstation is connected, causing the warehouse robot to be unable to move to this position, so the corresponding unloading position does not exist). At this time, the loading position existing in the warehousing system can be determined as the target loading and unloading position.

In some embodiments, when there are many material boxes to be received, multiple loading locations can be selected at the same time, and multiple warehouse robots can jointly receive the material boxes.

In some embodiments, the selection order of each loading position may be: the first loading position (if the loading equipment is normal), the second loading position (if it exists, because the material box transmission distance is the closest), the fourth loading position (If it exists, it will not affect the normal operation of the loading equipment in another workstation) and the third loading position (which can also ensure the normal progress of the loading task).

This step is a step executed based on step S404. The corresponding content in this step can be executed only under the condition that step S404 is executed.

Step S407: If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, determine the target loading and unloading location to be any one or more of the following locations: There is a first loading position of the loading equipment; There is no second loading position for the loading equipment; The memory of another workstation is in the third loading position of the loading equipment in normal working condition; The fourth loading position of the loading device does not exist in another workstation.

Specifically, as shown in Figure 4c, when the loading equipment is normal but the amount of tasks to be processed is greater than the set value, one or more positions can be selected from any of the aforementioned loading positions, and the warehouse robots cooperate to Improve bin receiving efficiency.

This step is a step executed based on step S405. The corresponding content in this step can be executed only under the condition that step S405 is executed.

Step S408: If the unloading equipment is in abnormal working condition, determine the target loading and unloading location as any one or more of the following locations: There is no second discharge position for the discharge equipment; The memory of another adjacent workstation is in the third unloading position of the unloading equipment in normal working condition; There is no fourth discharge position of the discharge device in another adjacent workstation.

Specifically, as shown in Figures 4b and 4c, for the second discharge position, reference can be made to the corresponding description in the embodiment shown in Figure 3.

When there is a workstation in the warehousing system, even if the unloading equipment is in abnormal working status, you can select the location of the unloading equipment in normal working status in another workstation, that is, the third unloading position (103 in Figure 1c). The material box is delivered to the unloading equipment, and the unloading equipment puts the material box on the conveyor line, and then transmits the material box to the corresponding workstation of the unloading equipment in abnormal working status through the conveyor line, and picks it. This can also ensure the normal progress of picking.

Similar to the second unloading position, there is also a position adjacent to the unloading equipment on the conveyor line corresponding to another workstation, which is the fourth unloading position (104 in Figure 1c). By directly placing the material box into the fourth The unloading position can not affect the normal operation of the corresponding unloading equipment of another workstation, thereby ensuring the overall operating status of each workstation.

In some embodiments, if the conveyor lines of two workstations are closely adjacent, there may not be a second discharge position or a fourth discharge position (because the conveyor line corresponding to the second discharge position or the fourth discharge position is different from the other conveyor line). The conveyor line of a workstation is connected, causing the warehousing robot to be unable to move to this position, so the corresponding unloading position does not exist). At this time, the unloading position existing in the warehousing system can be determined as the target loading and unloading position.

In some embodiments, when there are many bins that need to be unloaded, multiple unloading locations can be selected at the same time to unload materials together.

In some embodiments, the selection order of each discharging position may be: first discharging position (if the discharging equipment is normal), second discharging position (if it exists, because the material box transmission distance is the closest), fourth discharging position (If it exists, because it will not increase the load of the unloading equipment in another workstation) and the third unloading position (also ensures the normal progress of the unloading task).

This step is a step performed based on step S404 and/or step S405. Under the condition that at least one of step S404 or step S405 is executed, the corresponding content in this step can be executed.

Further, with reference to Figure 4d, which is a relationship diagram between the working status of the loading and unloading equipment and the target loading and unloading position, those skilled in the art can select the corresponding target loading and unloading position according to the actual working loading of the loading and unloading equipment.

Further, combined with Figure 1c and Figure 1d, no matter which workstation the target loading and unloading position is located, the actual picking action is completed in the originally determined workstation, and the picking workstation will not be changed due to changes in the target loading and unloading position. .

Step S409: Send instruction information to the warehousing robot based on the target loading and unloading position.

Among them, the instruction information is used to instruct the warehouse robot to move to the target loading and unloading position and complete the loading and unloading action.

Specifically, the content of this step is the same as step S203 in the embodiment shown in FIG. 2, and will not be described again here.

The emergency handling method of the warehousing system provided by the embodiment of the present disclosure, when there are at least two workstations, is based on whether the state of the loading and unloading equipment is a normal working state, an abnormal working state that cannot work, or the amount of tasks to be processed is greater than the set value. Abnormal working conditions, combined with specific loading and unloading equipment, determine the corresponding target loading and unloading positions and loading and unloading actions from the warehousing systems corresponding to at least two workstations, and send corresponding instruction information to the warehousing robot. As a result, more target loading and unloading locations can be determined, allowing more warehousing robots to complete replacement or auxiliary loading and unloading equipment at the same time, ensuring the normal operation of the material picking process, quickly improving the emergency state in the warehousing system, and ensuring that the warehousing system Continue to operate, thus improving the stability and reliability of the warehousing system.

Figure 5 is a flow chart of an emergency handling method for a warehousing system provided by an embodiment of the present disclosure. This method is applied to warehousing robots. As shown in Figure 5, the emergency handling method of the warehousing system provided by this embodiment includes the following steps: Step S501: In response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position.

The target loading and unloading location is determined based on the working status of the loading and unloading equipment. The loading and unloading location includes a first location where the loading and unloading equipment exists and a second location where the loading and unloading equipment does not exist.

Specifically, the instruction information sent by the server received by the warehousing robot will include the target loading and unloading position where the warehousing robot needs to move (sometimes it can also include the moving path), and the loading and unloading actions that need to be completed (such as putting the warehousing robot on the Put the boxes on the conveyor line or unloading equipment, or receive the boxes on the loading equipment or conveyor line). Therefore, the warehouse robot can directly complete the movement and perform corresponding loading and unloading actions according to the instruction information, thereby ensuring material picking. the normal conduct of the process.

In the emergency handling method for a warehousing system provided by embodiments of the present disclosure, the warehousing robot completes the process of moving to the target loading and unloading position and performing loading and unloading actions based on the received instruction information. Therefore, whether the loading and unloading equipment is in normal condition or the loading and unloading equipment is in abnormal working condition, the material picking process can be ensured to proceed normally, thus improving the stability and reliability of the warehousing system.

Figure 6 is a flow chart of an emergency handling method for a warehousing system provided by an embodiment of the present disclosure. This method is applied to warehousing robots. As shown in Figure 6, the emergency handling method of the warehousing system provided by this embodiment includes the following steps: Step S601: If the warehousing robot is a non-idle robot corresponding to the loading and unloading equipment, respond to the received ninth instruction message and cancel the handling task corresponding to the ninth instruction message.

Among them, the non-idle robot is used to represent the warehousing robot that has received the handling task. The handling task is to receive the material box from the loading equipment or transfer the material box to the unloading equipment.

Specifically, for a warehousing robot that has accepted a handling task, the corresponding handling task needs to be canceled before receiving and completing the loading and unloading action at the target loading and unloading location.

The ninth instruction message will be issued when the server determines the corresponding warehouse robot. After the warehouse robot cancels the corresponding handling task (or at the same time), the server will issue instructions containing the corresponding target loading and unloading location and loading and unloading actions. information.

Step S602: In response to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading.

Wherein, the target loading and unloading position for unloading includes a first unloading position where unloading equipment exists.

Specifically, when the unloading equipment is in normal working condition, the server will send the first instruction information to the warehousing robot, causing the warehousing robot to move to the first unloading position and transfer the material box to the unloading equipment.

For specific descriptions of the first discharging position, reference may be made to the corresponding descriptions in the embodiment shown in FIG. 3 and will not be further elaborated here.

Step S603: In response to the received second instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading.

Wherein, the target loading and unloading position for unloading includes a second unloading position where no unloading equipment exists.

Specifically, when the unloading equipment is in an abnormal working state, the server will send second instruction information to the warehousing robot, causing the warehousing robot to move to the second unloading position and put the material box on the conveyor line.

For specific descriptions of the second discharge position, please refer to the corresponding descriptions in the embodiment shown in FIG. 3 , and will not be further elaborated here.

Step S604: In response to the received fifth instruction information, move to the target loading and unloading position for loading, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading.

Wherein, the target loading and unloading position for loading includes the first loading position where the loading equipment exists.

Specifically, when the loading equipment is in normal working status, or when the loading equipment is in an abnormal working status where the amount of tasks to be processed is greater than the set value, the server will send the fifth instruction information to the warehousing robot. At this time, the warehousing robot will move to The first loading position receives the picked boxes from the loading equipment.

For the description of the first loading position, reference may be made to the corresponding description in the embodiment shown in FIG. 3 , which will not be further elaborated here.

Step S605: In response to the received sixth instruction information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading.

Wherein, the target loading and unloading position for loading includes a second loading position where there is no loading equipment.

Specifically, when the loading equipment is in an abnormal working state that cannot work, the server will send the sixth instruction information to the storage robot, causing the storage robot to move to the second loading position and receive the material box from the conveyor line.

For specific descriptions of the second loading position, please refer to the corresponding descriptions in the embodiment shown in FIG. 3 , and will not be further elaborated here.

In the emergency handling method of the warehousing system provided by the embodiment of the present disclosure, the warehousing robot determines the corresponding target loading and unloading position and moves according to the different instruction information received, and then performs the loading and unloading action corresponding to the instruction information. As a result, the warehousing robot can ensure the normal operation of the warehousing system and the normal progress of the material picking process when the loading and unloading equipment is in different working states, thus improving the stability and reliability of the warehousing system.

Figure 7 is a flow chart of an emergency handling method for a warehousing system provided by an embodiment of the present disclosure. This method is applied to warehousing robots. In this embodiment, combined with Figure 1c and Figure 1d, the smart warehousing system includes at least two groups of workstations. Each group of workstations includes loading equipment and unloading equipment connected by a conveyor line. If there are at least two Groups of workstations are adjacent. Workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the two groups of workstations can be conveyed through Line conveyor box. As shown in Figure 7, the emergency handling method of the warehousing system provided by this embodiment includes the following steps:

Step S701: In response to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading.

Wherein, the target loading and unloading position for unloading includes a first unloading position where unloading equipment exists.

Step S702: In response to the received second instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading.

Wherein, the target loading and unloading position for unloading includes a second unloading position where no unloading equipment exists.

Specifically, when there are multiple groups of workstations, the warehousing robot may also receive the completion of the unloading action at the first unloading position and/or the second unloading position in the workstation, where the first unloading position For descriptions related to the second discharge position, reference may be made to the corresponding descriptions in the embodiment shown in FIG. 3 and will not be further elaborated here.

Step S703: In response to the received third instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading.

Wherein, the target loading and unloading position for unloading includes a third unloading position of the unloading equipment of another adjacent workstation memory in a normal working state.

Specifically, when the unloading equipment has an abnormal working state (and the second unloading position does not exist due to interconnected workstations and conveyor lines), the server will select another adjacent workstation memory to be in normal working state. The location of the unloading equipment is used as the target loading and unloading position for receiving the material box delivered by the storage robot, that is, the third unloading position.

For specific descriptions of the third discharge position, please refer to the corresponding descriptions in the embodiment shown in FIG. 4 , and will not be further elaborated here.

Step S704: In response to the received fourth instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading.

Wherein, the target loading and unloading position for unloading includes a fourth unloading position where there is no unloading equipment in another adjacent workstation.

Specifically, when the unloading equipment appears in an abnormal working state, or the unloading equipment in another workstation also appears in an abnormal working state at the same time (or when the second unloading position does not exist, the specific situation can be referred to the embodiment shown in Figure 4 Corresponding description), the server selects the fourth unloading position, which is the target loading and unloading position where the warehouse robot puts the material box.

For specific descriptions of the fourth discharge position, please refer to the corresponding descriptions in the embodiment shown in FIG. 4 and will not be further elaborated here.

Step S705: In response to the received fifth instruction information, move to the target loading and unloading position for loading, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading.

Wherein, the target loading and unloading position for loading includes the first loading position where the loading equipment exists.

Specifically, when the loading equipment is in normal working status, or when the loading equipment is in an abnormal working status where the amount of tasks to be processed is greater than the set value, even if there are multiple workstations, the server can directly send the fifth instruction information to the warehousing robot. The warehouse robot will move to the first loading position and receive the picked boxes from the loading equipment.

For the description of the first loading position, reference may be made to the corresponding description in the embodiment shown in FIG. 3 , which will not be further elaborated here.

Step S706: In response to the received sixth instruction information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading.

Wherein, the target loading and unloading position for loading includes a second loading position where there is no loading equipment.

Specifically, when the loading equipment is in an abnormal working state that cannot work, if the second loading position is not occupied because multiple workstations and conveyor lines are connected to each other, the server can send the sixth instruction information to the warehousing robot, so that The warehousing robot moves to the second loading position and receives the material box from the conveyor line.

For specific descriptions of the second loading position, please refer to the corresponding descriptions in the embodiment shown in FIG. 3 , and will not be further elaborated here.

Step S707: In response to the received seventh instruction information, move to the target loading and unloading position for loading, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading.

Wherein, the target loading and unloading position for loading includes a third loading position of the loading equipment of another adjacent workstation memory in a normal working state.

Specifically, when the loading equipment is in an abnormal working state where it cannot work, or when the amount of tasks to be processed is greater than the set value, the server can send the seventh instruction information to the warehousing robot, so that the warehousing robot can load data from another workstation. The loading equipment receives the picked bins.

For specific descriptions of the third loading position, please refer to the corresponding descriptions in the embodiment shown in FIG. 4 , and will not be further elaborated here.

Step S708: In response to the received eighth instruction information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading.

Wherein, the target loading and unloading position for loading includes a fourth loading position where there is no unloading equipment in another adjacent workstation.

Specifically, when the loading equipment (or the loading equipment of another workstation at the same time) is in an abnormal working state that cannot work, or the amount of tasks to be processed is larger than the set value, (or the second loading position does not exist) (For details, please refer to the corresponding description in the embodiment shown in Figure 4) The server can send the eighth instruction information to the warehouse robot, so that the warehouse robot receives the picked boxes from the conveyor line corresponding to the fourth loading position.

For specific descriptions of the fourth loading position, please refer to the corresponding descriptions in the embodiment shown in FIG. 4 , and will not be further elaborated here.

In the emergency handling method of the warehousing system provided by the embodiment of the present disclosure, when there are at least two workstations, the warehousing robot determines the corresponding target loading and unloading position in another workstation and moves it according to the different instruction information received, and then executes Indicate the loading and unloading actions corresponding to the information. As a result, the warehousing robot can use the target loading and unloading positions corresponding to different workstations to ensure the normal operation of the warehousing system and the normal progress of the material picking process when the loading and unloading equipment is in different working states, thereby improving the stability of the warehousing system. and reliability.

Figure 8 is a schematic structural diagram of an emergency processing device for a storage system provided by an embodiment of the present disclosure. As shown in FIG. 8 , the warehousing system emergency processing device 800 is applied to a smart warehousing system. The warehousing system emergency processing device 800 includes: a first determination module 810 , a second determination module 820 and a sending module 830 . in: The first determination module 810 is used to determine the working status of the loading and unloading equipment. The loading and unloading equipment is used to cooperate with the docking between the conveyor line and the storage robot. The working status includes normal working status and abnormal working status; The second determination module 820 is used to determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist; The sending module 830 is used to send instruction information to the warehousing robot based on the target loading and unloading position. The instruction information is used to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading action.

Optionally, the first determination module 810 is specifically configured to determine that the loading and unloading equipment is in an abnormal working state in which the loading and unloading equipment cannot work; or, determine that the loading and unloading equipment is in an abnormal working state in which the amount of tasks to be processed is greater than a set value; or, determine that the loading and unloading equipment The equipment is in normal working order.

Optionally, the second determination module 820 is specifically configured to, when the loading and unloading equipment is unloading equipment, and if the unloading equipment is in normal working condition, determine the target loading and unloading location as the first unloading location where the unloading equipment exists. ; If the unloading equipment is in abnormal working condition, determine the target loading and unloading position as the second unloading position where there is no unloading equipment.

Optionally, the second determination module 820 is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two groups of adjacent workstations, Connected, workstation adjacent is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line. ; When the loading and unloading equipment is unloading equipment, if the unloading equipment is in normal working condition, determine the target loading and unloading position as the first unloading position where the unloading equipment exists; if the unloading equipment is in abnormal working condition, determine the target loading and unloading position. The cargo position is any one or more of the following positions: the second unloading position where there is no unloading equipment; the third unloading position of the unloading equipment of another adjacent workstation that is in normal working condition; the adjacent There is no fourth unloading position of the unloading equipment in another workstation.

Optionally, the second determination module 820 is specifically configured to, when the loading and unloading equipment is a loading equipment, and if the loading equipment is in a normal working state, determine the target loading and unloading position as the first loading position where the loading equipment exists. ; If the loading equipment is in an abnormal working state, determine the target loading and unloading position as the first loading position where the loading equipment exists and/or the second loading position where the loading equipment does not exist.

Optionally, the second determination module 820 is specifically configured to, if the loading equipment is in an abnormal working state where the loading equipment cannot work, determine the target loading and unloading position as the second loading position where the loading equipment does not exist; if the loading equipment is in In an abnormal working state where the amount of tasks to be processed is greater than the set value, the target loading and unloading positions are determined to be the first loading position where the loading equipment exists and the second loading position where the loading equipment does not exist.

Optionally, the second determination module 820 is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two groups of adjacent workstations, Connected, workstation adjacent is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line. ; When the loading and unloading equipment is loading equipment, if the loading equipment is in normal working condition, the target loading and unloading position is determined to be the first loading position where the loading equipment exists; if the loading equipment is in an abnormal working state that cannot work, Then determine the target loading and unloading position as any one or more of the following positions: the third loading position of the loading equipment in the normal working state of another workstation memory; the fourth loading position of the loading equipment that does not exist in the other workstation ; There is no second loading position of the loading equipment; if the loading equipment is in an abnormal working state with the amount of tasks to be processed greater than the set value, then determine the target loading and unloading position as any one or more of the following positions: There is a loading equipment The first loading position; the second loading position where the loading equipment does not exist; the third loading position of the loading equipment in the memory of another workstation in the normal working state; the fourth loading position where the loading equipment does not exist in another workstation Loading position.

Optionally, the first determination module 810 is also used to, when the working state of the loading and unloading equipment is an abnormal working state, determine the non-idle storage robot corresponding to the loading and unloading equipment after determining the working state of the loading and unloading equipment. Warehousing robots are used to represent warehouse robots that have received handling tasks. The handling tasks refer to receiving boxes from loading equipment or transferring boxes to unloading equipment; sending the first instruction to cancel the handling task to non-idle storage robots.

In this embodiment, the partitioned outbound device, through the combination of various modules, can determine the corresponding target loading and unloading position according to the working status of the loading and unloading equipment, so that the warehousing robot can go to the target loading and unloading position to complete the loading and unloading action, thereby warehousing Whether the loading and unloading equipment in the system is in a normal or abnormal state, it ensures the normal progress of the material picking process and improves the stability and reliability of the warehousing system.

Figure 9 is a schematic structural diagram of an emergency treatment device for a storage system provided by an embodiment of the present disclosure. As shown in FIG. 9 , the warehousing system emergency processing device 900 is applied to a warehousing robot. The warehousing system emergency processing device 900 includes: a processing module 910 . in:

The processing module 910 is used to respond to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position. The target loading and unloading position is based on the loading and unloading equipment. The working state determines that the loading and unloading positions include a first position where loading and unloading equipment exists and a second position where there is no loading and unloading equipment.

Optionally, the processing module 910 is specifically configured to respond to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the target loading and unloading position for unloading. On the unloading equipment, the target loading and unloading position for unloading includes a first unloading position where the unloading equipment exists; or, in response to the received second instruction information, move to the target loading and unloading position for unloading , and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a second unloading position where there is no unloading equipment.

Optionally, the processing module 910 is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two groups of adjacent workstations, Adjacent workstations are used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line; In response to the received third instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, the target for unloading The loading and unloading position includes a third unloading position of the unloading equipment in the normal working state of another workstation adjacent to the memory; or, in response to the received fourth instruction information, moving to the target loading and unloading position for unloading position, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading. The target loading and unloading position for unloading includes a fourth unloading station that does not have unloading equipment in another adjacent workstation. Location.

Optionally, the processing module 910 is specifically configured to, in response to the received fifth instruction information, move to the target loading and unloading position for loading, and start from the loading equipment corresponding to the target loading and unloading position for loading. Receive the material box, and the target loading and unloading position for loading includes the first loading position where the loading equipment exists; or, in response to the received sixth instruction information, move to the target loading and unloading position for loading, from The target loading and unloading position for loading receives the material box on the conveyor line, and the target loading and unloading position for loading includes a second loading position where there is no loading equipment.

Optionally, the processing module 910 is specifically used, if the smart warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, and if there are at least two groups of adjacent workstations, Adjacent workstations are used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line; In response to the received seventh instruction information, move to the target loading and unloading position for loading, receive the material box from the loading equipment corresponding to the target loading and unloading position for loading, and use the target loading and unloading position for loading The position includes the third loading position of the loading equipment of another adjacent workstation memory in the normal working state; or, in response to the received eighth instruction information, moving to the target loading and unloading position for loading, The material box is received from the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes a fourth loading position without unloading equipment in another adjacent workstation.

Optionally, the processing module 910 is also used to, if the warehousing robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to represent the warehousing robot that has received the handling task, and the handling task is to receive materials from the loading equipment. boxes or transfer boxes to unloading equipment; in response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and before completing the loading and unloading action at the target loading and unloading position, respond to the received instruction information The ninth instruction message cancels the handling task corresponding to the ninth instruction message.

The relevant functions and effects of the warehousing system emergency treatment device provided in this embodiment have been fully described in the previous embodiments. Persons skilled in the art can refer to the previous embodiments to understand and apply the warehousing system emergency treatment device provided in this embodiment.

Figure 10 is a schematic structural diagram of a control device provided by an embodiment of the present disclosure. As shown in Figure 10, the control device 1000 includes: a memory 1010 and a processor 1020.

Among them, the memory 1010 stores computer programs that can be executed by at least one processor 1020. The computer program is executed by at least one processor 1020, so that the control device implements the emergency handling method of the warehousing system provided in any of the above embodiments.

The memory 1010 and the processor 1020 can be connected through the bus 1030 .

Relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the method embodiments, and will not be described again here.

Figure 11 is a schematic structural diagram of a warehousing system emergency processing system provided by an embodiment of the present disclosure. As shown in Figure 11, the warehousing system emergency processing system 1100 includes: Server 1110, conveyor line 1120, loading and unloading equipment 1130, workstation 1140, and warehousing robot 1150; Both ends of the conveyor line 1120 are connected to the loading and unloading equipment 1130 respectively, and the conveyor line 1120 is used to transport the material box between the two loading and unloading equipment 1130; The workstation 1140 is located in the middle of the conveyor line, and the workstation 1140 is used to select materials from the boxes on the conveyor line 1120; The server 1110 is used to communicate with the workstation 1140, the loading and unloading equipment 1130 and the warehousing robot 1150, and execute the warehousing system emergency processing method in any embodiment as shown in Figures 2 to 4; The warehousing robot 1150 cooperates with the loading and unloading equipment 1130 and the conveyor line 1120, and executes the emergency handling method of the warehousing system in any embodiment as shown in Figures 5 to 7.

Specifically, the material boxes are put onto the conveyor line 1120 by the loading and unloading equipment 1130. The staff at the workstation 1140 selects materials from the material boxes on the conveyor line 1120, and then the conveyor line 1120 transfers the picked material boxes to another location. The loading and unloading equipment 1130, and the warehousing robot 1150 cooperates with the loading and unloading equipment 1130 at both ends to receive and transfer the material boxes, thereby completing the material picking process.

Optionally, the loading and unloading equipment 1130 includes an unloading equipment 1131 and a loading equipment 1132; the unloading equipment 1131 and the loading equipment 1132 are respectively connected to both ends of the conveying line 1120.

Specifically, the conveyor line 1120 on the side of the unloading equipment 1131 transports the material box toward the workstation 1140, and the conveyor line 1120 on the side of the loading equipment 1132 transfers the material box to the loading equipment 1132.

Optionally, a code reader (not shown) is provided on the conveying line 1120; the code readers are respectively provided on the conveying line at a position adjacent to the unloading device 1131, on the conveying line 1120 at a position adjacent to the loading device 1132, and on the conveying line 1120. The positions on the two sides corresponding to the position where the workstation 1140 is located.

Specifically, the code reader is used to detect the material boxes arriving at each position of the conveyor line 1120. This can facilitate the server 1110 to determine whether the material boxes arriving at the loading equipment 1132 need to be received by the loading equipment 1132 or the warehousing robot 1150. of the material box, or determine whether the material box dropped by the unloading equipment 1131 or the storage robot 1150 reaches the location of the workstation 1140, and when the material box reaches the location of the workstation 1140, determine the corresponding information of the material box so that the staff of the workstation 1140 can Corresponding information determines whether materials need to be picked from the bin.

The relevant functions and effects of the warehousing system emergency handling system provided in this embodiment have been fully described in the foregoing embodiments. Persons skilled in the art can refer to the foregoing embodiments to understand and apply the warehousing system emergency handling system provided in this embodiment.

One embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the warehousing system emergency processing method provided in any of the above method embodiments.

Among them, computer-readable storage media can be ROM, random access memory (RAM), CD-ROM, tapes, floppy disks, optical data storage devices, etc.

One embodiment of the present disclosure provides a computer program product, which includes computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement the emergency handling method of the warehousing system provided in any of the above embodiments.

In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or may be Integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be indirect coupling or communication connection through some interfaces, devices or modules, which may be electrical, mechanical or other forms.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. The present disclosure is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common common sense or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

100:Conveyor line 101: Target unloading position 102: Target loading position 103: Target unloading position 104: Target unloading position 105: First target loading position 106: Second target loading position 110:Unloading equipment 120:Warehouse robot 130:Loading equipment 131:Loading equipment 140:Workstation 800: Warehousing system emergency treatment device 810: First confirmed module 820: Second determined module 830:Send module 900: Warehousing system emergency treatment device 910: Processing module 1000:Control equipment 1010:Memory 1020: Processor 1030:Bus 1100: Warehousing system emergency treatment system 1110:Server 1120:Conveyor line 1130: Loading and unloading equipment 1131:Unloading equipment 1132:Loading equipment 1140: workstation 1150:Warehouse robot S201: Steps S202: Step S203: Step S301: Step S302: Step S303: Step S304: Step S304: Step S306: Step S307: Step S308: Step S309: Step S310: Steps S401: Step S402: Step S403: Step S404: Step S405: Step S406: Step S407: Step S408: Step S409: Step S501: Step S601: Step S602: Step S603: Step S604: Step S605: Step S701: Steps S702: Step S703: Step S704: Step S705: Step S706: Step S707: Step S708: Step

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. Figure 1a is an application scenario diagram of the emergency handling method for a warehousing system provided by an embodiment of the present disclosure; Figure 1b is another application scenario diagram of the warehousing system emergency processing method provided by an embodiment of the present disclosure; Figure 1c is another application scenario diagram of the warehousing system emergency processing method provided by the embodiment of the present disclosure; Figure 1d is another application scenario diagram of the warehousing system emergency processing method provided by an embodiment of the present disclosure; Figure 2 is a flow chart of an emergency handling method for a warehousing system provided by an embodiment of the present disclosure; Figure 3a is a flow chart of an emergency handling method for a warehousing system provided by yet another embodiment of the present disclosure; Figure 3b is a schematic diagram of the corresponding relationship between the working state of the loading and unloading equipment and the target loading and unloading position in the embodiment shown in Figure 3a; Figure 4a is a flow chart of an emergency handling method for a warehousing system provided by yet another embodiment of the present disclosure; Figure 4b is a flow chart of an emergency handling method for a warehousing system provided by yet another embodiment of the present disclosure; Figure 4c is a flow chart of an emergency handling method for a warehousing system provided by yet another embodiment of the present disclosure; Figure 4d is a schematic diagram of the corresponding relationship between the working state of the loading and unloading equipment and the target loading and unloading position in the embodiment shown in Figures 4a to 4c; Figure 5 is a flow chart of an emergency handling method for a warehousing system provided by yet another embodiment of the present disclosure; Figure 6 is a flow chart of an emergency handling method for a warehousing system provided by yet another embodiment of the present disclosure; Figure 7 is a flow chart of an emergency handling method for a warehousing system provided by yet another embodiment of the present disclosure; Figure 8 is a schematic structural diagram of an emergency treatment device for a warehousing system provided by yet another embodiment of the present disclosure; Figure 9 is a schematic structural diagram of an emergency treatment device for a warehousing system provided by yet another embodiment of the present disclosure; Figure 10 is a schematic structural diagram of a control device provided by another embodiment of the present disclosure; Figure 11 is a schematic structural diagram of an emergency handling system of a warehousing system provided by yet another embodiment of the present disclosure.

Specific embodiments of the present disclosure have been shown through the above-mentioned drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art with reference to the specific embodiments.

S201: Steps

S202: Step

S203: Step

Claims (22)

An emergency handling method for a warehousing system, which is characterized in that it is applied to a smart warehousing system. The emergency handling method for the warehousing system includes: Determine the working status of the loading and unloading equipment, which is used to cooperate with the docking between the conveyor line and the storage robot. The working status includes normal working status and abnormal working status; Determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist; Instruction information is sent to the warehousing robot based on the target loading and unloading position, and the instruction information is used to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading action. The method according to claim 1, characterized in that determining the working status of the loading and unloading equipment includes: It is determined that the loading and unloading equipment is in an abnormal working condition that cannot work; Or, it is determined that the loading and unloading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value; Or, determine that the loading and unloading equipment is in normal working condition. The method according to claim 2, characterized in that when the loading and unloading equipment is unloading equipment, determining the target loading and unloading position of the warehousing robot according to the working state of the loading and unloading equipment includes: If the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists; If the unloading equipment is in an abnormal working state, the target loading and unloading position is determined to be a second unloading position where there is no unloading equipment. The method according to claim 2, characterized in that the smart warehousing system includes at least two groups of workstations, each group of workstations including loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of adjacent workstations, Connected, the workstations are adjacent is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the two groups of workstations can communicate through the conveyor line. Feed box; When the loading and unloading equipment is unloading equipment, determining the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment includes: If the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists; If the unloading equipment is in abnormal working condition, determine the target loading and unloading location to be any one or more of the following locations: There is no second discharge position for the discharge equipment; The memory of another adjacent workstation is in the third unloading position of the unloading equipment in normal working condition; There is no fourth discharge position of the discharge device in another adjacent workstation. The method according to claim 2, characterized in that when the loading and unloading equipment is loading equipment, determining the target loading and unloading position of the warehousing robot according to the working state of the loading and unloading equipment includes: If the loading equipment is in normal working condition, the target loading and unloading position is determined to be the first loading position where the loading equipment exists; If the loading equipment is in an abnormal working state, the target loading and unloading position is determined to be the first loading position where the loading equipment exists and/or the second loading position where the loading equipment does not exist. The method according to claim 5, characterized in that if the loading equipment is in an abnormal working state, it is determined that the target loading and unloading position is the first loading position where the loading equipment exists and/or does not exist. The second loading position of the loading equipment includes: If the loading equipment is in an abnormal working state that cannot work, then determine the target loading and unloading position as the second loading position where there is no loading equipment; If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, then the target loading and unloading position is determined to be the first loading position where the loading equipment exists and the second loading position where the loading equipment does not exist. . The method according to claim 2, characterized in that the smart warehousing system includes at least two groups of workstations, each group of workstations including loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of adjacent workstations, Connected, the workstations are adjacent is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the two groups of workstations can communicate through the conveyor line. Feed box; When the loading and unloading equipment is loading equipment, determining the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment includes: If the loading equipment is in normal working condition, the target loading and unloading position is determined to be the first loading position where the loading equipment exists; If the loading equipment is in an abnormal working state that cannot work, determine the target loading and unloading location to be any one or more of the following locations: The memory of another workstation is in the third loading position of the loading equipment in normal working condition; There is no fourth loading position of the loading equipment in another workstation; There is no second loading position for the loading equipment; If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, then the target loading and unloading location is determined to be any one or more of the following locations: There is a first loading position of the loading equipment; There is no second loading position for the loading equipment; The memory of another workstation is in the third loading position of the loading equipment in normal working condition; The fourth loading position of the loading device does not exist in another workstation. The method according to any one of claims 1 to 7, characterized in that when the working state of the loading and unloading equipment is an abnormal working state, after the working state of the loading and unloading equipment is determined, the method further includes : Determine the non-idle warehousing robot corresponding to the loading and unloading equipment. The non-idle warehousing robot is used to represent the warehousing robot that has received the handling task. The handling task refers to receiving the material box from the loading equipment or to the unloading equipment. transfer bin; A first instruction to cancel the handling task is sent to the non-idle storage robot. An emergency handling method for a warehousing system, which is characterized in that it is applied to a warehousing robot and includes: In response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position. The target loading and unloading position is based on the work of the loading and unloading equipment. The status determines that the loading and unloading location includes a first location where the loading and unloading equipment exists and a second location where the loading and unloading equipment does not exist. The method according to claim 9, characterized in that the response to the received instruction information is to move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading at the target loading and unloading position. Actions, including: In response to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, the said The target loading and unloading position for unloading includes the first unloading position where unloading equipment exists; Or, in response to the received second instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, the said Target loading and unloading locations for unloading include a second unloading location where no unloading equipment exists. The method according to claim 9, characterized in that the smart warehousing system includes at least two groups of workstations, and each group of workstations includes loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of adjacent workstations, The adjoining workstations are used to indicate that the conveyor lines connected to the loading equipment in one group of workstations are connected to the conveyor lines connected to the unloading equipment in another group of workstations, and that materials can be transported between the two groups of workstations through the conveyor lines. box; In response to the received instruction information, the system moves to the target loading and unloading position of the conveyor line corresponding to the instruction information, and completes the loading and unloading action at the target loading and unloading position, including: In response to the received third instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, the said The target loading and unloading position for unloading includes the third unloading position of the unloading equipment adjacent to another workstation memory in the normal working state; Or, in response to the received fourth instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, the said The target loading and unloading position for unloading includes a fourth unloading position where no unloading equipment exists in another adjacent workstation. The method according to claim 9, characterized in that the response to the received instruction information is to move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading at the target loading and unloading position. Actions, including: In response to the received fifth instruction information, move to the target loading and unloading position for loading, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading, the target for loading The loading and unloading position includes the first loading position where loading equipment is present; Or, in response to the received sixth instruction information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, the target for loading The loading and unloading position includes a second loading position where no loading equipment is present. The method according to claim 9, characterized in that the smart warehousing system includes at least two groups of workstations, and each group of workstations includes loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of adjacent workstations, The adjoining workstations are used to indicate that the conveyor lines connected to the loading equipment in one group of workstations are connected to the conveyor lines connected to the unloading equipment in another group of workstations, and that materials can be transported between the two groups of workstations through the conveyor lines. box; In response to the received instruction information, the system moves to the target loading and unloading position of the conveyor line corresponding to the instruction information, and completes the loading and unloading action at the target loading and unloading position, including: In response to the received seventh instruction information, move to the target loading and unloading position for loading, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading, the target for loading The loading and unloading position includes a third loading position of the loading equipment adjacent to another workstation memory in normal working condition; Or, in response to the received eighth instruction information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, the target for loading The loading and unloading position includes a fourth loading position where there is no unloading equipment in another adjacent workstation. The method according to any one of claims 9 to 13, characterized in that if the warehousing robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to indicate that the warehousing task has been received Robot, the handling task is to receive the material box from the loading equipment or transfer the material box to the unloading equipment; In response to the received instruction information, the method moves to the target loading and unloading position of the conveyor line corresponding to the instruction information, and before completing the loading and unloading action at the target loading and unloading position, it also includes: In response to the received ninth instruction message, cancel the handling task corresponding to the ninth instruction message. A warehousing system emergency treatment device, characterized in that it is applied to a smart warehousing system, and the warehousing system emergency treatment device includes: The first determination module is used to determine the working status of the loading and unloading equipment. The loading and unloading equipment is used to cooperate with the docking between the conveyor line and the warehousing robot. The working status includes normal working status and abnormal working status; The second determination module is used to determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist; A sending module is used to send instruction information to the warehousing robot based on the target loading and unloading position. The instruction information is used to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading action. A warehousing system emergency treatment device, which is characterized in that it is applied to a warehousing robot. The warehousing system emergency treatment device includes: The processing module is configured to respond to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position. The target loading and unloading position is Determined according to the working status of the loading and unloading equipment, the loading and unloading locations include a first location where the loading and unloading equipment exists and a second location where the loading and unloading equipment does not exist. A control device, characterized by including: at least one processor; and a memory communicatively connected to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to cause the control device to execute as specified in any one of requests 1-8. or the instruction is executed by the at least one processor, so that the control device executes the emergency handling method of the warehousing system as described in any one of claims 9-14. An emergency handling system for a warehousing system, characterized by including: a server, a conveyor line, loading and unloading equipment, a workstation, and a warehousing robot; Both ends of the conveyor line are respectively connected to the loading and unloading equipment, and the conveyor line is used to transport the material box between the two loading and unloading equipment; The workstation is located in the middle section of the conveyor line, and is used to select materials from the boxes on the conveyor line; The server is used to communicate with the workstation, the loading and unloading equipment and the warehousing robot, and execute the warehousing system emergency processing method as described in any one of claims 1 to 8; The warehousing robot cooperates with the loading and unloading equipment and the conveyor line, and executes the warehousing system emergency processing method as described in any one of claims 9 to 14. The warehousing system emergency treatment system according to claim 18, wherein the loading and unloading equipment includes an unloading equipment and a loading equipment; The unloading equipment and the loading equipment are respectively connected to both ends of the conveying line. The warehousing system emergency treatment system according to claim 19, characterized in that a code reader is provided on the conveyor line; The code readers are respectively disposed on the conveyor line adjacent to the unloading equipment, on the conveyor line adjacent to the loading equipment, and on both sides of the conveyor line corresponding to the location of the workstation. A computer-readable storage medium, characterized in that computer-executable instructions are stored in the computer-readable storage medium, and when executed by a processor, the computer-executable instructions are used to implement any one of claims 1-8. The emergency handling method of the warehousing system; and/or, when the computer execution instructions are executed by the processor, they are used to implement the emergency handling method of the warehousing system as described in any one of claims 9-14. A computer program product, characterized in that the computer program product contains computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the warehousing system emergency processing method as described in any one of claims 1-8. ; And/or, when the computer execution instructions are executed by the processor, they are used to implement the warehousing system emergency processing method as described in any one of claims 9-14.