TWI771192B - Task processing method, control terminal, robot, warehousing system and a storage medium - Google Patents

Abstract

The present disclosure provides a task processing method, a control terminal, a robot, a warehousing system and a storage medium, where the task processing method applied to the control terminal includes: acquiring a current task; determining, according to the current task, a first robot carrying a current material and a second robot carrying other material from a plurality of robots, and sending a standby instruction to the second robot, where the current material is a material corresponding to the current task, the other material is different from the current material, the standby instruction is used for instructing the second robot to be on standby at a standby location that is different from a target location for executing the current task. The present disclosure can avoid circumstances of material congestion at the target location, thereby ensuring the normal operation of material processing task and improving the efficiency of material processing.

Description

Task processing method, control terminal, robot, storage system and storage medium

The present disclosure relates to the technical field of smart storage, and in particular, to a task processing method, a control terminal, a robot, a storage system and a storage medium.

With the development of society and the advancement of science and technology, the level of warehousing and logistics is constantly improving. A reasonably designed warehouse management system can help improve the efficiency of warehousing and logistics to meet huge business needs.

In warehousing operations, the process of taking out the goods specified in the order task from the warehouse is usually carried out by robots, that is, the goods are taken out of the shelves by the robot and transported to the designated target location.

Under the existing picking strategy, when there are many order tasks, multiple robots are required to carry out handling operations at the same time. However, if multiple robots simultaneously transport multiple kinds of goods to the target location, the staff may not have time to carry out the corresponding handling of the goods. Handling, it is easy to cause cargo congestion at the target location, thereby affecting the normal progress of cargo handling, and thus affecting the efficiency of cargo handling.

The present disclosure provides a task processing method, a control terminal, a robot, a storage system and a storage medium, so as to avoid the situation of cargo congestion and improve the cargo processing efficiency.

In a first aspect, an embodiment of the present disclosure provides a task processing method, which is applied to a control terminal, including:

Get the current task;

According to the current task, the first robot with the current cargo and the second robot with other cargo are determined from the plurality of robots, and a standby instruction is sent to the second robot, and the current cargo is the same as the current cargo. The goods corresponding to the task, the other goods are different from the current goods, and the standby instruction is used to instruct the second robot to stand by at a standby location, and the standby location is different from the target location for performing the current task.

In this embodiment, the control terminal sends a standby instruction to the second robot loaded with other goods according to the current task, so as to control the second robot to stand by at the standby location. The goods are transported to the target location of the current task, so as to avoid the situation of cargo congestion at the target location, thereby ensuring the normal progress of the cargo handling work and improving the efficiency of the cargo handling.

In some embodiments, the method further includes: sending a first movement instruction to the first robot, where the first movement instruction is used to instruct the first robot to carry the current cargo to the target location.

In this embodiment, the control terminal sends a first movement instruction to the first robot to control the first robot with the current cargo corresponding to the current task to transport the cargo to the target location. After the current cargo is transported to the target location by the first robot , according to the specific content of the current task, the current cargo can be processed at the target location, so as to meet the cargo handling requirements of the current task and ensure that the current task can be carried out smoothly.

In some embodiments, the standby location includes at least one of the following:

a standby area set within a preset range of the target location;

The roadway between the first shelf and the second shelf, wherein the first shelf and/or the second shelf are the corresponding shelves when the robot picks up the goods; or

Common area of shelves.

In this embodiment, the standby location includes at least one of a standby area, a roadway, and a public area, and the second robot can go to the standby location for standby, that is, the second robot "temporarily" transports other goods different from the current goods to the standby location. On standby, instead of transporting other goods to the target location, so as to avoid cargo congestion at the target location, and at the same time, it can also prevent the second robot in the standby state from affecting the normal work of other robots (such as the first robot). .

In some embodiments, the method further includes: when there are multiple second robots and the number of the standby locations is multiple, according to the execution sequence of all tasks, determine the processing sequence of the goods corresponding to each task, and follow In the processing sequence, a standby command including a standby location is sent to each of the second robots, wherein the distance between the standby location and the target location is related to the processing sequence.

In this embodiment, the control terminal allocates standby locations to different second robots according to the distance between the standby location and the target location and the processing sequence. The processing sequence of the goods is different, and the difference between the standby location of the second robot corresponding to the goods and the target location The distance between the two is also different, that is, the distance between the standby location and the target location is related to the processing order, so that the rationality of the assignment result of the standby location can be improved.

In some embodiments, the higher the processing order of the goods, the closer the distance between the standby location corresponding to the second robot carrying the goods and the target location.

In this embodiment, the control terminal allocates standby locations to different second robots according to the distance between the standby location and the target location and the processing sequence. The processing sequence of the goods is different, and the difference between the standby location of the second robot corresponding to the goods and the target location The distance between them is also different. Specifically, the higher the processing order of the goods is, the closer the distance between the standby location corresponding to the second robot with the goods and the target location, the second robot will transport the goods from the standby location to the target location. The time is also shorter, which can ensure the continuity of cargo processing, improve the efficiency of cargo processing, and make the assignment of standby locations more scientific and reasonable.

In some embodiments, the method further includes: determining the pick-up location of the second robot according to the storage locations of the goods corresponding to all tasks on the shelf, and according to the pick-up location, sending a message including a standby location to the second robot The standby instruction, wherein the standby location is related to the distance between the pickup location and the target location.

In this embodiment, the control terminal allocates standby locations to different second robots according to the distance between the pickup location and the target location, and the standby locations of the second robots are also different when the distance between the pickup location and the target location is different. For example, if the distance between the pickup location and the target location is relatively short, the standby location of the second robot can be determined to be the lane corresponding to the pickup location without going to the specially set standby area, thereby improving the rationality of the assignment result of the standby location. Sex and flexibility.

In some embodiments, the method further includes: when it is determined that the distance between the first pickup location and the target location is less than a first preset threshold, the standby location is the first pickup location.

In this embodiment, the control terminal allocates standby locations to different second robots according to the distance between the pickup location and the target location. Specifically, when it is determined that the distance between the first pickup location and the target location is less than the first preset When the threshold value is set, it means that the distance between the first pickup location and the target location is very close. At this time, the standby location of the corresponding second robot is determined as the first pickup location, and the corresponding second robot does not need to go to the specially set standby area, thus It can improve the rationality and flexibility of the allocation results of standby locations.

In some embodiments, the method further includes: sending a standby instruction including a standby location to the second robot according to the shelves where the goods corresponding to all tasks are located and preset shelf heats of the shelves, wherein the standby location Related to the shelf heat.

In this embodiment, the control terminal allocates standby locations to different second robots according to the shelf heat. The shelf heat of the shelf is different, and the location of the standby location is also different. That is, the standby location of the second robot is related to the shelf heat of the shelf, so that it can be Improve the rationale for the assignment of standby locations.

In some embodiments, the method further includes: when it is determined that the shelf heat of the third shelf is less than a second preset threshold, the standby location is an lane corresponding to the third shelf.

In this embodiment, the control terminal allocates standby locations to different second robots according to the shelf heat, and when it is determined that the shelf heat of the third shelf is less than the second preset threshold, it means that the flow of robots in the lane corresponding to the third shelf is small. , therefore, the standby location can be the lane corresponding to the third shelf, thereby reducing the impact of the standby second robot on other robots and improving the rationality of the assignment result of the standby location.

In some embodiments, the method further includes: acquiring an idle standby location, and sending a standby instruction including the idle standby location to the second robot.

In this embodiment, the control terminal assigns the standby locations to different second robots according to the current state of the standby locations, specifically assigning the standby locations in the idle state to different second robots, so as to ensure that the second robots can be in the assigned location. Standby locations are placed on standby, thereby improving the rationality of the assignment results of standby locations.

In some embodiments, the method further includes: when the current task is changed, sending a second movement instruction to the robot in the standby state and equipped with the first cargo, where the first cargo is the cargo corresponding to the changed current task ; The second movement instruction is used to instruct the robot to transport the first cargo to the target location.

In this embodiment, when the current task changes, the control terminal sends a second movement instruction to the robot carrying the first cargo; the robot transports the first cargo to the target location according to the second movement instruction, and when the first cargo reaches the target location Afterwards, the first cargo can be processed according to the current task, so that the cargo demand of the current task can be met and the cargo processing efficiency can be ensured.

In some embodiments, the method further includes: determining a new processing sequence of each item according to the change of the current task, and according to the new processing sequence, processing other items except the robot equipped with the first item. The standby locations of the two robots are updated, and a third movement instruction is sent to the other second robots, where the third movement instruction includes the updated standby location; the third movement instruction is used to instruct the other second robots The robot moves to the updated standby location for standby.

In this embodiment, when the current task changes, the control terminal reassigns the standby locations for other second robots except the robot with the first cargo, that is, the standby locations of all the second robots can be real-time based on the actual situation. Updated, so as to ensure the rationality of the standby locations of other second robots.

In some embodiments, the method further includes: determining the movement time of each of the second robots according to the processing speed of the task and the distance between the standby location where each of the second robots is located and the target location, and reporting to each of the first robots. The second robot sends a fourth movement command, where the fourth movement command includes the movement moment; the fourth movement command is used to instruct the second robot to start moving to the target location at the movement moment.

In this embodiment, the control terminal determines the movement time of each second robot according to the processing speed of the task and the distance between the standby location where each second robot is located and the target location, and sends a fourth movement instruction to each second robot, In order to control the second robot to start moving at the moment of movement, and to carry the goods to the target location at the same time as the next task, it can meet the goods requirements of the current task, ensure the continuity of task processing, and improve the efficiency of goods processing.

In some embodiments, the method further includes: when it is determined that there is the second robot in the standby state on the moving path of the first robot, sending an avoidance instruction to the second robot; the avoidance instruction is used to indicate The second robot evades.

In this embodiment, when the standby location of the second robot is on the cargo conveying path of the first robot, the control terminal sends an avoidance instruction to the second robot to instruct the second robot to avoid the first robot, so as to avoid being in a standby state The second robot has an impact on the normal work of the first robot, thereby ensuring the cargo handling efficiency of the first robot.

In a second aspect, an embodiment of the present disclosure provides a task processing method, applied to a robot, including:

When receiving the standby command sent by the control terminal, the standby command is performed at the standby location according to the standby command. A standby instruction sent to the second robot after determining the first robot with the current cargo and the second robot with other cargo among the robots, the current cargo is the cargo corresponding to the current task, and the Other shipments are different from the stated current shipment.

In this embodiment, the control terminal sends a standby instruction to the second robot loaded with other goods according to the current task, so as to control the second robot to stand by at the standby location. The goods are transported to the target location of the current task, so as to avoid the situation of cargo congestion at the target location, thereby ensuring the normal progress of the cargo handling work and improving the efficiency of the cargo handling.

In some embodiments, the method further includes: when receiving the first movement instruction sent by the control terminal, moving the current cargo to the target location according to the first movement instruction.

In this embodiment, the control terminal sends a first movement instruction to the first robot to control the first robot with the current cargo corresponding to the current task to transport the cargo to the target location. After the current cargo is transported to the target location by the first robot , according to the specific content of the current task, the current cargo can be processed at the target location, so as to meet the cargo handling requirements of the current task and ensure that the current task can be carried out smoothly.

In some embodiments, the standby location includes at least one of the following:

a standby area set within a preset range of the target location;

The roadway between the first shelf and the second shelf, wherein the first shelf and/or the second shelf are the corresponding shelves when the robot picks up the goods; or

Common area of shelves.

In this embodiment, the standby location includes at least one of a standby area, a roadway, and a public area, and the second robot can go to the standby location for standby, that is, the second robot "temporarily" transports other goods different from the current goods to the standby location. On standby, instead of transporting other goods to the target location, so as to avoid cargo congestion at the target location, and at the same time, it can also prevent the second robot in the standby state from affecting the normal work of other robots (such as the first robot). .

In some embodiments, the method further includes: when receiving a second movement instruction sent by the control terminal, transporting a first cargo to a target location according to the second movement command, where the first cargo is the same as the changed The goods corresponding to the current task.

In this embodiment, when the current task changes, the control terminal sends a second movement instruction to the robot carrying the first cargo; the robot transports the first cargo to the target location according to the second movement instruction, and when the first cargo reaches the target location Afterwards, the first cargo can be processed according to the current task, so that the cargo demand of the current task can be met and the cargo processing efficiency can be ensured.

In some embodiments, the method further includes: when receiving a third moving instruction sent by the control terminal, moving to an updated standby location for standby according to the third moving instruction.

In this embodiment, when the current task changes, the control terminal reassigns the standby locations for other second robots except the robot with the first cargo, that is, the standby locations of all the second robots can be real-time based on the actual situation. Updated, so as to ensure the rationality of the standby locations of other second robots.

In some embodiments, the method further includes: when receiving a fourth movement instruction sent by the control terminal, starting to move to the target location at the moving moment according to the fourth movement instruction.

In this embodiment, the control terminal determines the movement time of each second robot according to the processing speed of the task and the distance between the standby location where each second robot is located and the target location, and sends a fourth movement instruction to each second robot, In order to control the second robot to start moving at the moment of movement, and to carry the goods to the target location at the same time as the next task, it can meet the goods requirements of the current task, ensure the continuity of task processing, and improve the efficiency of goods processing.

In some embodiments, the method further includes: when receiving an avoidance instruction sent by the control terminal, performing avoidance according to the avoidance instruction.

In this embodiment, when the standby location of the second robot is on the cargo conveying path of the first robot, the control terminal sends an avoidance instruction to the second robot to instruct the second robot to avoid the first robot, so as to avoid being in a standby state The second robot has an impact on the normal work of the first robot, thereby ensuring the cargo handling efficiency of the first robot.

In some embodiments, performing the avoidance according to the avoidance instruction includes: determining a second standby location that is closest to the first standby location currently located, and moving to the second standby location to perform avoidance, the first standby location The second standby location is not on the cargo handling path of the first robot.

In this embodiment, the second robot determines the second standby location that is closest to the current first standby location, and moves to the second standby location for avoidance. Since the second standby location is not on the cargo handling path of the first robot, The influence of the second robot in the standby state on the normal operation of the first robot can be avoided, thereby ensuring the cargo handling efficiency of the first robot.

In some embodiments, the method further includes: when the current standby location is a standby area set within a preset range of the target location, after confirming that the avoidance is completed, returning to the first standby location.

In this embodiment, when the first standby location is the standby area, the second robot is further configured to return to the standby location after confirming that the avoidance is completed, so as to facilitate subsequent processing.

In a third aspect, an embodiment of the present disclosure provides a control terminal, including:

at least one processor; and

storage in communication with the at least one processor;

Wherein, the storage stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the control terminal executes the above-mentioned method.

In a fourth aspect, an embodiment of the present disclosure provides a robot, including:

at least one processor; and

storage in communication with the at least one processor;

Wherein, the storage stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the robot to perform the above-mentioned method.

In a fifth aspect, an embodiment of the present disclosure provides a storage system, including the above-mentioned control terminal and the above-mentioned robot.

In a sixth aspect, embodiments of the present disclosure provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and the computer-executable instructions are used to implement the above method when executed by a processor.

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The terms used in the embodiments of the present disclosure are only for the purpose of describing the particular embodiment, and are not intended to limit the present invention. As used in the embodiments of the present disclosure, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" used in this document is only an association relationship to describe associated objects, indicating that there may be three kinds of relationships, for example, A and/or B, which may indicate: A alone exists, A and B exist simultaneously, There are three cases of B alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if detected (the stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detected (the stated condition or event)," depending on the context event)” or “in response to detection (statement or event)”.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a commodity or system comprising a list of elements includes not only those elements, but also includes not explicitly listed other elements, or elements inherent to the commodity or system. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the article or system that includes the element.

Under the existing order processing strategy, when there are many order tasks, multiple robots are required to carry out handling operations at the same time. However, if multiple robots transport various goods to the target location at the same time, the staff may not have time to carry out the corresponding handling of the goods. Handling, it is easy to cause cargo congestion at the target location, thereby affecting the normal progress of cargo handling, and thus affecting the efficiency of cargo handling.

Based on this, the present disclosure proposes a task processing method, a control terminal, a robot, a storage system and a storage medium to solve the above-mentioned problems existing in the existing methods.

The present disclosure provides a task processing method, a control terminal, a robot, a storage system and a storage medium, wherein the task processing method applied to the control terminal includes: acquiring a current task; The first robot and the second robot loaded with other goods send standby instructions to the second robot. The current goods are goods corresponding to the current task, and other goods are different from the current goods. The standby instructions are used to instruct the second robot to be at the standby location. Put on standby, the standby location is different from the target location of the current mission. In the present disclosure, the control terminal sends a standby instruction to the second robot loaded with other goods according to the current task, so as to control the second robot to stand by at the standby location. At this time, the second robot will not put other goods different from the current goods. It is transported to the target location of the current task, so as to avoid the situation of cargo congestion at the target location, thereby ensuring the normal progress of the cargo handling work and improving the efficiency of cargo handling.

The technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above-mentioned technical problems will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

In some embodiments, a warehousing system is provided.

FIG. 1 is a schematic diagram of a storage system in an embodiment of the present disclosure. As shown in FIG. 1 , the storage system includes: a plurality of robots 10 and a control terminal 20 . The control terminal 20 can communicate with the robot 10 to control the robot 10 to go to the shelf. etc. to operate (the arrow in the figure indicates the moving direction of the robot 10). The manner in which the control terminal 20 communicates with the robot 10 includes, but is not limited to, Wi-Fi, Bluetooth, Zigbee, NFC (Near Field Communication, near field communication) or RFID (Radio Frequency Identification, radio frequency identification) and the like.

The control terminal 20 may be a server, specifically, a physical server or a logical server virtualized by a plurality of physical servers. The server can also be a server group composed of a plurality of servers that can communicate with each other, and each functional module can be distributed on each server in the server group.

In addition, the control terminal 20 may also be a robot, specifically, a robot that manages other robots 10 , and the present disclosure does not limit the specific form of the control terminal 20 .

The control terminal 20 is configured to determine the first robot 11 carrying the current goods and the second robot 12 carrying other goods from the plurality of robots 10 according to the current task and in combination with the type of goods corresponding to the task taken by the robot 10 , and A standby instruction is sent to the second robot 12, the current cargo is the cargo corresponding to the current task, and other cargoes are different from the current cargo.

Among them, the current task refers to the task of the corresponding cargo processing currently being performed at the target location (such as the operation console). Generally, there are multiple tasks that the warehousing system needs to process. For example, all tasks include the first task, the second task and the third task. The target location is currently processing the goods corresponding to the first task, and the current task is the first task. , while the second and third tasks are non-current tasks. Correspondingly, the goods corresponding to the current task are the current goods, and the goods not corresponding to the current task are other goods.

For the second robot 12, the cargo it loads does not belong to the cargo corresponding to the current task. If the second robot 12 transports other loaded cargo to the target location, since the other cargo cannot be processed immediately, the second robot 12 transports other cargoes. This will lead to cargo congestion at the target location. Therefore, the control terminal 20 sends the standby instruction to control the second robot 12 to stand by at the standby location, that is, the second robot 12 is in a state of temporarily stopping action and waiting for a subsequent action instruction, and the standby location is different from the target location for the current task, That is, the second robot 12 will not transport other goods to the target location, so as to avoid the situation of congestion of goods at the target location.

This embodiment provides a storage system, wherein the control terminal 20 sends a standby instruction to the second robot 12 loaded with other goods according to the current task, so as to control the second robot 12 to stand by at the standby location. At this time, the second robot 12 Other cargoes different from the current cargo will not be transported to the target location of the current task, so as to avoid the situation of cargo congestion at the target location, thereby ensuring the normal progress of cargo handling and improving the efficiency of cargo handling.

In some embodiments, the control terminal 20 is further configured to send a first movement command to the first robot 11; the first robot 11 is configured to transport the current cargo to the target location according to the first movement command.

For the first robot 11, since the cargo it loads is the cargo corresponding to the current task, the control terminal 20 sends the first movement instruction to control the first robot 11 to transport the current cargo to the target location, so as to perform the processing corresponding to the current task .

In this embodiment, the control terminal 20 sends a first movement instruction to the first robot 11 to control the first robot 11 with the current cargo corresponding to the current task to transport the cargo to the target location, and the first robot 11 transports the current cargo when the current cargo is transported by the first robot 11 . After arriving at the target location, according to the specific content of the current task, the current cargo can be processed at the target location, so as to meet the cargo handling requirements of the current task and ensure that the current task can be carried out smoothly.

In some embodiments, referring to FIG. 1 , the standby location includes at least one of the following: a standby area P1 set within a preset range of the target location; a lane P2 between the first shelf and the second shelf, wherein the first shelf and the /or the second shelf is the shelf corresponding to when the robot 10 picks up the goods; or, the public area P3 of the shelf.

Specifically, the standby area P1 is an area set within the preset range of the target location for the second robot 12 to temporarily park. The distance between the standby area P1 and the target location is smaller than the distance between the shelf and the target location. One target location may correspond to one standby area P1, or may correspond to multiple standby areas P1; multiple target locations may correspond to the same standby area P1, or may correspond to multiple identical or different standby areas P1 respectively. For example, the second robot 12a in FIG. 1 is the robot 10 on standby in the standby area P1.

The lane P2 is an area between two adjacent shelves, and the robot 10 can move in the lane P2 to perform picking and/or placing operations. The roadway P2 in FIG. 1 is specifically an area extending in the longitudinal direction of the figure. For example, the second robot 12b in FIG. 1 is the robot 10 on standby in the lane P2.

The common area P3 refers to a common area of multiple shelves, and the robot 10 can move in the common area P3 to perform operations such as cargo handling. The common area P3 in FIG. 1 is specifically an area extending in the lateral direction of the drawing. For example, the second robot 12c in FIG. 1 is the robot 10 on standby in the public area P3.

It can be understood that the standby location may only include any one of the above locations, that is, the standby location is the standby area P1, or the roadway P2, or the public area P3. When the standby location is any of the above, the number of standby locations can be multiple.

The standby location may include at least two of the above locations. For example, the standby location includes the standby area P1 and the public area P3 and so on. When the standby locations are at least two of the above, the number of standby locations of different types may be multiple.

In this embodiment, the standby location includes at least one of the standby area P1, the roadway P2, and the public area P3, and the second robot 12 can go to the standby location to stand by, that is, the second robot 12 “temporarily” will use other goods different from the current cargo. The goods are transported to the standby location for standby, instead of transporting other goods to the target location, so as to avoid the situation of cargo congestion at the target location, and at the same time, it can also avoid the second robot 12 in the standby state The normal operation of robot 11) is affected.

In some embodiments, when there are multiple second robots 12 and the number of standby locations is multiple, the control terminal 20 is specifically configured to determine the processing sequence of the goods corresponding to each task according to the execution sequence of all tasks, and follow In the processing sequence, a standby command including a standby location is sent to each second robot 12, wherein the distance between the standby location and the target location is related to the processing sequence.

Wherein, the number of standby locations is multiple, which may specifically include multiple standby locations of the same type, or multiple standby locations of different types, which are not limited herein.

When there are multiple second robots 12 and multiple standby locations, the control terminal 20 needs to assign corresponding standby locations to different second robots 12 . The order in which the goods are processed determines the assignment of the standby locations.

In this embodiment, the control terminal 20 allocates the standby locations to different second robots 12 according to the distance between the standby location and the target location and the processing sequence. The processing sequence of the goods is different, and the standby location of the second robot 12 corresponding to the goods is the same as that of the second robot 12. The distances of the target locations are also different, that is, the distance between the standby location and the target location is related to the processing order, so that the rationality of the assignment result of the standby location can be improved.

In some embodiments, the higher the processing order of the goods, the closer the distance between the standby location and the target location corresponding to the second robot 12 loaded with the goods.

Specifically, when the control terminal 20 assigns standby locations to different second robots 12 according to the distance between the standby location and the target location and the processing order, the corresponding standby location of the second robot 12 for the goods with the highest processing order The distance to the target location is also closer. Correspondingly, the later the processing sequence is, the farther the distance between the standby location of the corresponding second robot 12 and the target location is. Therefore, after the stand-by is over, the goods at the front of the processing order can be transported to the target location by the second robot 12 more quickly.

In this embodiment, the control terminal 20 allocates the standby locations to different second robots 12 according to the distance between the standby location and the target location and the processing sequence. The processing sequence of the goods is different, and the standby location of the second robot 12 corresponding to the goods is the same as that of the second robot 12. The distances of the target locations are also different. Specifically, the higher the processing order of the goods is, the closer the distance between the standby location corresponding to the second robot 12 containing the goods and the target location, the second robot 12 will carry the goods from the standby location. The time to reach the target location is also shorter, which can ensure the continuity of cargo handling, improve the efficiency of cargo handling, and make the assignment of standby locations more scientific and reasonable.

In some embodiments, the control terminal 20 is specifically configured to determine the pick-up location of the second robot 12 according to the storage locations of the goods corresponding to all tasks on the shelf, and according to the pick-up location, send a message including the standby location to the second robot 12 A standby instruction, wherein the standby location is related to the distance between the pickup location and the target location.

When there are multiple second robots 12 and multiple standby locations, the control terminal 20 needs to assign corresponding standby locations to different second robots 12. Specifically, the control terminal 20 can be based on the distance between the pickup location and the target location. Determining the assignment of standby locations.

In this embodiment, the control terminal 20 allocates standby locations to different second robots 12 according to the distance between the pickup location and the target location. The distance between the pickup location and the target location is different, and the standby location of the second robot 12 Also different. For example, if the distance between the pick-up location and the target location is relatively short, the standby location of the second robot 12 can be determined to be the lane corresponding to the pick-up location without going to a specially set standby area, thereby improving the reliability of the standby location assignment result. Rationality and flexibility.

In some embodiments, the control terminal 20 is specifically configured to determine the standby location as the first pickup location when it is determined that the distance between the first pickup location and the target location is less than a first preset threshold.

Specifically, when the control terminal 20 allocates standby locations to different second robots 12 according to the distance between the pickup location and the target location, the closer the distance between the pickup location and the target location is, the second robot 12 will carry the goods. The shorter the time to the target location, therefore, a first preset threshold value can be set, and the distance between each pickup location and the target location is compared with the first preset threshold value. For the first pickup location whose distance is less than the first preset threshold, it is determined that the second robot 12 corresponding to the first pickup location is on standby at the first pickup location.

In this embodiment, the control terminal 20 allocates standby locations to different second robots 12 according to the distance between the pickup location and the target location. Specifically, when it is determined that the distance between the first pickup location and the target location is smaller than the first pickup location When a preset threshold is used, it means that the distance between the first pickup location and the target location is very close. At this time, the standby location of the corresponding second robot 12 is determined as the first pickup location, and the corresponding second robot 12 does not need to go to a special setting It can improve the rationality and flexibility of the allocation results of the standby locations.

In some embodiments, the control terminal 20 is specifically configured to send a standby instruction including a standby location to the second robot 12 according to the shelf where the goods corresponding to all tasks are located and the preset shelf heat of each shelf, wherein the standby location and the shelf are heat related.

When there are multiple second robots 12 and multiple standby locations, the control terminal 20 needs to assign corresponding standby locations to different second robots 12 . Specifically, the control terminal 20 can determine the assignment result of the standby locations according to the shelf heat.

The shelf heat can be reflected by the frequency of picking up goods on the shelf. The higher the frequency that the robot 10 picks up goods on the shelf, the higher the shelf heat corresponding to the shelf.

In this embodiment, the control terminal 20 allocates standby locations to different second robots 12 according to the shelf heat. The shelf heat of the shelf is different, and the positions of the standby locations are also different, that is, the standby location of the second robot 12 is related to the shelf heat of the shelf. , so as to improve the rationality of the assignment of standby locations.

In some embodiments, the control terminal 20 is specifically configured to determine that the standby location is the lane corresponding to the third shelf when it is determined that the heat of the shelf where the third shelf exists is less than the second preset threshold.

Specifically, when the control terminal 20 allocates standby locations to different second robots 12 according to the shelf heat, the higher the shelf heat, the higher the frequency of the robot 10 going to the shelf to pick up the goods, and the higher the robot flow rate in the lane corresponding to the shelf. Correspondingly, the lower the rack heat, the lower the frequency of the robot 10 going to the rack to pick up the goods, and the smaller the robot flow in the lane corresponding to the rack.

Therefore, a second preset threshold can be set, and the shelf heat of each shelf can be compared with the second preset threshold. If there is a third shelf whose shelf heat is less than the second preset threshold, it indicates that the third shelf corresponds to the third shelf. The robot flow in the roadway is less than the flow value corresponding to the second preset threshold. At this time, it is determined that the second robot 12 can be on standby in the roadway corresponding to the third shelf.

In this embodiment, the control terminal 20 assigns standby locations to different second robots 12 according to the shelf heat, and when it is determined that the shelf heat of the third shelf is less than the second preset threshold, the robot in the lane corresponding to the third shelf is described. The flow rate is small, therefore, the standby location can be the roadway corresponding to the third shelf, thereby reducing the impact of the standby second robot on other robots and improving the rationality of the assignment result of the standby location.

In some embodiments, the control terminal 20 is specifically configured to acquire an idle standby location, and send a standby instruction including the idle standby location to the second robot 12 .

When there are multiple second robots 12 and multiple standby locations, the control terminal 20 needs to assign corresponding standby locations to different second robots 12. Specifically, the control terminal 20 can determine the assignment of standby locations according to the current state of the standby locations. result.

Specifically, when there is no robot 10 in the standby state parked at the standby location, the standby location can be considered to be in an idle state; and when there is a robot 10 in the standby state parked at the standby location, it can be considered that the standby location is in a non-idle state. At this time, the control terminal 20 may assign a corresponding standby location to the second robot 12 according to the standby location in the idle state.

In this embodiment, the control terminal 20 allocates standby locations to different second robots 12 according to the current status of the standby locations, specifically assigning standby locations in an idle state to different second robots, so as to ensure that the second robots can The assigned standby locations are on standby, thereby improving the rationality of the assignment results of standby locations.

In some embodiments, when allocating standby locations to different second robots 12, the control terminal 20 may use one or more of the above standby location determination strategies, which are not limited herein.

In some embodiments, the control terminal 20 is further configured to send a second movement instruction to the robot 10 in the standby state and equipped with the first cargo when the current task changes, where the first cargo corresponds to the changed current task the goods; the robot 10 is used to transport the first goods to the target location according to the second movement instruction.

Specifically, with the progress of the task, after the first task is completed, the current task is changed to the second task after the first task. At this time, the current cargo corresponding to the current task also changes. After the change The current cargo of is the cargo corresponding to the second task.

It can be understood that after the current task changes, the control terminal 20 also re-determines the first robot 11 and the second robot 12 accordingly, so as to send different control instructions to different robots 10 .

In this embodiment, when the current task changes, the control terminal 20 sends a second movement instruction to the robot 10 loaded with the first cargo; the robot 10 transports the first cargo to the target location according to the second movement instruction, and the first cargo After reaching the target location, the first cargo can be processed according to the current task, so that the cargo demand of the current task can be met and the cargo processing efficiency can be ensured.

In some embodiments, the control terminal 20 is further configured to determine a new processing sequence of each item according to the change of the current task, and, according to the new processing sequence, perform processing on other items except the robot 10 with the first item. The standby locations of the two robots 12 are updated, and a third movement command is sent to the other second robots 12, and the third movement command includes the updated standby location; the other second robots 12 are used to move to the updated location according to the third movement command. on standby at the standby location.

Specifically, before the current task is changed, the robot 10 with the first cargo is on standby at the standby location; after the current task is changed, the robot 10 with the first cargo transports the first cargo to the target location. Therefore, its The standby location where you used to be changed to an idle state. At this time, the control terminal 20 can determine the strategy according to the standby location, re-determine a new standby location for the other second robots 12, and send a corresponding third movement instruction to control the other second robots 12 to move to the updated standby location for Standby.

It can be understood that, when determining a new standby location, the control terminal 20 may adopt the standby location determination strategy in the above-mentioned embodiment, so as to ensure the rationality of the allocation of the new standby location.

In this embodiment, when the current task changes, the control terminal 20 reassigns standby locations for the other second robots 12 except the robot 10 with the first cargo, that is, the standby locations of all the second robots 12 can be based on The actual situation is updated in real time, thereby ensuring the rationality of the standby locations of the other second robots 12 .

In some embodiments, the control terminal 20 is further configured to determine the movement time of each second robot 12 according to the processing speed of the task and the distance between the standby location where each second robot 12 is located and the target location, and report to each second robot 12 . The robot 12 sends a fourth movement command, and the fourth movement command includes the movement time; the second robot 12 is further configured to start moving to the target location at the movement time, so as to transport the goods to the target location.

Specifically, for the target location where the cargo processing speed is relatively stable, the control terminal 20 may determine the first time T1 required to process the current task according to the processing speed of the current task, that is, the time to start the next task; The distance between the standby location where 12 is located and the target location, and the moving speed of the robot 10, determine the second time T2 when the second robot 12 arrives at the target location from the standby location, and then, according to the first time T1 and the second time T2, The moving time T3 of each second robot 12 is determined, and the specific relationship is that the moving time T3 plus the second time T2 is equal to the first time T1, that is, when the next task is just started, the corresponding goods are just transported by the second robot 12. destination.

Specifically, the movement speed of the robot 10 refers to the movement speed of all the first and second robots, the movement speed of the first and second robots in the related task, the movement speed of the second robot, and the movement speed of the second robot in the related task. speed, or any combination thereof.

In this embodiment, the control terminal 20 determines the moving time of each second robot 12 according to the processing speed of the task and the distance between the standby location where each second robot 12 is located and the target location, and sends the second robot 12 to each second robot 12 . Four movement commands to control the second robot 12 to start moving at the moment of movement, and to move the goods to the target location at the same time as the next task, so as to meet the goods requirements of the current task, ensure the continuity of task processing, and improve the Cargo handling efficiency.

In some embodiments, the control terminal 20 is further configured to send an avoidance instruction to the second robot 12 when it is determined that there is a second robot 12 in a standby state on the moving path of the first robot 11 ; correspondingly, the second robot 12 Used to evade according to an evasion command.

Specifically, when the first robot 11 transports the current cargo to the target location, there may be a second robot 12 in a standby state on the cargo transport path of the first robot 11, and at this time, the second robot 12 will hinder the first robot 12 Normal movement of the robot 11. Therefore, when the standby location of the second robot 12 is on the cargo conveying path of the first robot 11 , the control terminal 20 sends an avoidance instruction to the second robot 12 , so that the second robot 12 can avoid the first robot 11 .

In this embodiment, when the standby location of the second robot 12 is on the cargo conveying path of the first robot 11 , the control terminal 20 sends an avoidance instruction to the second robot 12 to instruct the second robot 12 to avoid the first robot 11 , it is possible to avoid the influence of the second robot 12 in the standby state on the normal operation of the first robot 11 , thereby ensuring the cargo handling efficiency of the first robot 11 .

In some embodiments, the second robot 12 is specifically configured to determine a second standby location that is closest to the first standby location where it is currently located, and move to the second standby location for avoidance. The second standby location is not in the area of the first robot 11 . on the cargo handling path.

Specifically, the second robot 12 can obtain the position information of the second standby location by sending a query message to the control terminal 20, or the second robot 12 can also acquire an image near the first standby location through an image sensor, and then The image processing determines the second standby location, and this embodiment does not limit the manner in which the second robot 12 determines the second standby location.

After the second robot 12 moves to the second standby location, since the second standby location is not on the cargo transportation path of the first robot 11 , the first robot 11 can normally carry out the cargo transportation work.

In this embodiment, the second robot 12 determines the second standby location closest to the current first standby location, and moves to the second standby location for avoidance, because the second standby location is not in the cargo handling path of the first robot 11 In the above, the influence of the second robot 12 in the standby state on the normal operation of the first robot 11 can be avoided, thereby ensuring the cargo handling efficiency of the first robot 11 .

In some embodiments, when the current first standby location is a standby area set within a preset range of the target location, the second robot 12 is further configured to return to the first standby location after confirming that the avoidance is completed.

Specifically, after the second robot 12 moves to the second standby location, the first robot 11 performs the cargo transport operation according to the cargo transport path. After determining that the first robot 11 passed through the first standby location, the second robot 12 determines that the avoidance is completed.

In addition, if the first standby location is the standby area P1, the second robot 12 returns to the previous first standby location after determining that the avoidance is completed.

In this embodiment, when the first standby location is the standby area P1, the second robot 12 is further configured to return to the standby location after confirming that the avoidance is completed, so as to facilitate subsequent processing.

In some embodiments, a task processing method is provided, and the method is applied to a control terminal.

FIG. 2 is a schematic diagram of a task processing method applied to a control terminal in an embodiment of the present disclosure. As shown in FIG. 2 , the method includes the following steps:

S110. Obtain the current task;

S120. According to the current task, determine the first robot equipped with the current cargo and the second robot equipped with other cargoes from a plurality of robots, and send a standby instruction to the second robot. The current cargo is the cargo corresponding to the current task, and the other The cargo is different from the current cargo, and the standby instruction is used to instruct the second robot to stand by at the standby location, and the standby location is different from the target location for the current task.

This embodiment provides a task processing method. The control terminal sends a standby instruction to a second robot loaded with other goods according to the current task, so as to control the second robot to stand by at the standby location. At this time, the second robot will not interact with the current Other goods with different goods are transported to the target location of the current task, so as to avoid the situation of cargo congestion at the target location, thereby ensuring the normal progress of the cargo processing work and improving the efficiency of the cargo processing.

In some embodiments, referring to FIG. 2 , the task processing method further includes: S130 , sending a first movement instruction to the first robot, where the first movement instruction is used to instruct the first robot to transport the current cargo to the target location.

In some embodiments, the standby location includes at least one of the following: a standby area set within a preset range of the target location; an aisle between the first shelf and the second shelf, wherein the first shelf and/or the second shelf are The corresponding shelf when the robot picks up the goods; or, the public area of the shelf.

In some embodiments, the method further includes: when there are multiple second robots and the number of standby locations is multiple, determining the processing sequence of the goods corresponding to each task according to the execution sequence of all the tasks, and sending them to the processing sequence according to the processing sequence. Each second robot sends a standby command including a standby location, wherein the distance between the standby location and the target location is related to the processing order.

In some embodiments, the higher the processing order of the goods, the closer the distance between the standby location corresponding to the second robot loaded with the goods and the target location.

In some embodiments, the method further includes: determining the pickup location of the second robot according to the storage locations of the goods corresponding to all tasks on the shelf, and sending a standby instruction including the standby location to the second robot according to the pickup location, wherein, The standby location is related to the distance between the pickup location and the destination location.

In some embodiments, the method further includes: when it is determined that the distance between the first pickup location and the target location is smaller than the first preset threshold, the standby location is the first pickup location.

In some embodiments, the method further includes: sending a standby instruction including a standby location to the second robot according to the shelf where the goods corresponding to all tasks are located and the preset shelf heat of each shelf, wherein the standby location is related to the shelf heat.

In some embodiments, the method further includes: when it is determined that the heat of the shelf where the third shelf exists is less than the second preset threshold, the standby location is the roadway corresponding to the third shelf.

In some embodiments, the method further includes: acquiring an idle standby location, and sending a standby instruction including the idle standby location to the second robot.

In some embodiments, the method further includes: when the current task is changed, sending a second movement instruction to the robot in the standby state and equipped with the first cargo, where the first cargo is the cargo corresponding to the changed current task; The second movement instruction is used to instruct the robot to transport the first cargo to the target location.

In some embodiments, the method further includes: determining a new processing sequence of each item according to the change of the current task, and according to the new processing sequence, standby for other second robots except the robot equipped with the first item The location is updated, and a third movement command is sent to other second robots, where the third movement command includes the updated standby location; the third movement command is used to instruct other second robots to move to the updated standby location for standby.

In some embodiments, the method further includes: determining the movement time of each second robot according to the processing speed of the task and the distance between the standby location where each second robot is located and the target location, and sending a fourth movement to each second robot instruction, the fourth movement instruction includes the moving time; the fourth moving instruction is used to instruct the second robot to start moving to the target location at the moving time.

In some embodiments, the method further includes: when it is determined that there is a second robot in a standby state on the moving path of the first robot, sending an avoidance instruction to the second robot; the avoidance instruction is used to instruct the second robot to avoid.

In some embodiments, a task processing method is provided for application to a robot.

FIG. 3 is a schematic diagram of a task processing method applied to a robot in an embodiment of the disclosure. As shown in FIG. 3 , the method includes the following steps:

S210. When receiving the standby instruction sent by the control terminal, perform standby at the standby location according to the standby instruction. The standby location is different from the target location for the current task. After the first robot of the current cargo and the second robot loaded with other cargo, send an instruction to the second robot, the current cargo is the cargo corresponding to the current task, and the other cargo is different from the current cargo.

This embodiment provides a task processing method. The control terminal sends a standby instruction to a second robot loaded with other goods according to the current task, so as to control the second robot to stand by at the standby location. At this time, the second robot will not interact with the current Other goods with different goods are transported to the target location of the current task, so as to avoid the situation of cargo congestion at the target location, thereby ensuring the normal progress of the cargo processing work and improving the efficiency of the cargo processing.

In some embodiments, referring to FIG. 3 , the task processing method further includes: S220, when receiving the first movement instruction sent by the control terminal, move the current cargo to the target location according to the first movement instruction, and the first movement instruction is the control An instruction sent by the terminal to the first robot.

In some embodiments, the standby location includes at least one of the following: a standby area set within a preset range of the target location; an aisle between the first shelf and the second shelf, wherein the first shelf and/or the second shelf are The corresponding shelf when the robot picks up the goods; or, the public area of the shelf.

In some embodiments, the method further includes: when receiving the second movement instruction sent by the control terminal, moving the first goods to the target location according to the second movement instructions, where the first goods are goods corresponding to the changed current task.

In some embodiments, the method further includes: when receiving the third moving instruction sent by the control terminal, moving to the updated standby location for standby according to the third moving instruction.

In some embodiments, the method further includes: when receiving the fourth moving instruction sent by the control terminal, starting to move to the target location at the moving moment according to the fourth moving instruction.

In some embodiments, the method further includes: when an avoidance instruction sent by the control terminal is received, performing avoidance according to the avoidance instruction.

In some embodiments, performing avoidance according to the avoidance instruction includes: determining a second standby location that is closest to the current first standby location, and moving to the second standby location to perform avoidance, where the second standby location is not in the area of the first robot. on the cargo handling path.

In some embodiments, the method further includes: when the current first standby location is a standby area set within a preset range of the target location, after confirming that the avoidance is completed, returning to the first standby location.

In one embodiment, the process of communicating between the control terminal and the first robot and the second robot is explained.

FIG. 4 is a sequence diagram of the communication between the control terminal and the first robot and the second robot. As shown in FIG. 4 , the process of the communication between the control terminal and the first robot and the second robot includes the following steps:

S301. The control terminal obtains the current task;

S302, the control terminal sends a first movement instruction to the first robot with the current cargo;

S303, the first robot transports the current cargo to the target location according to the first movement instruction;

S304, the control terminal determines the strategy according to the standby location, and determines the standby location of each second robot;

S305, the control terminal sends a standby instruction including a corresponding standby location to each second robot;

S306, the second robot is on standby at the standby location according to the standby instruction;

S307, when the current task changes, the control terminal sends a second movement instruction to the robot in the standby state and equipped with the first cargo, where the first cargo is the cargo corresponding to the changed current task;

S308, the robot transports the first cargo to the target location according to the second movement instruction;

S309. The control terminal determines a new processing order of each cargo according to the change of the current task, and according to the new processing sequence, updates the standby locations of other second robots except the robot equipped with the first cargo, and Send a third movement command to other second robots, where the third movement command includes the updated standby location;

S310, the other second robot moves to the updated standby location for standby according to the third movement instruction;

S311, when the standby location of the second robot is on the cargo transport path of the first robot, the control terminal sends an avoidance instruction to the second robot;

S312 , the second robot performs a robot avoidance operation according to the avoidance instruction.

It should be understood that, although the steps in the flow charts in the above embodiments are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order and may be performed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution order is not necessarily sequential. Instead, it may be performed in turn or alternately with other steps or at least a portion of sub-steps or stages of other steps.

In some embodiments, a control terminal is provided, comprising: at least one processor; and a storage communicatively connected to the at least one processor; wherein the storage stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor. The processor executes, so that the control terminal executes the task processing method applied to the control terminal.

In some embodiments, a robot is provided, comprising: at least one processor; and storage in communication with the at least one processor; wherein the storage stores instructions executable by the at least one processor, the instructions being processed by the at least one processor The robot executes to make the robot execute the task processing method applied to the robot.

In the above-mentioned control terminal and robot, the storage and the processor are directly or indirectly electrically connected to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication bus bars or signal lines, for example, they can be connected through bus bars. The computer-implemented instructions for implementing the data access control method are stored in the storage, including at least one software function module that can be stored in the storage in the form of software or firmware, and the processor runs the software program and the module stored in the storage. group to perform various functional applications and data processing.

The storage may be, but not limited to, random access memory (Random Access Memory, referred to as: RAM), Read Only Memory (Read Only Memory, referred to as: ROM), Programmable Read-Only Memory (Programmable Read-Only). Memory, PROM for short), Erasable Programmable Read-Only Memory (EPROM for short), Electric Erasable Programmable Read-Only Memory (EEPROM for short), etc. The storage is used to store the program, and the processor executes the program after receiving the execution instruction. Further, the software programs and modules in the above-mentioned storage may also include an operating system, which may include various software components and/or drivers for managing system tasks (eg, memory management, storage device control, power management, etc.), It can communicate with various hardware or software components to provide a running environment for other software components.

The processor may be an integrated circuit chip with signal processing capability. The above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short). Various methods, steps and logic blocks disclosed in the embodiments of the present application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In some embodiments, a computer-readable storage medium is provided. The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement an intelligent method applied to a control terminal and an intelligent method applied to a robot. method.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium, When the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to storage, storage, database or other medium used in the various embodiments provided in this disclosure may include non-volatile and/or volatile storage. Non-volatile storage may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Nonvolatile storage may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and storage bus dynamic RAM (RDRAM), etc.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the applications disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common general knowledge or techniques in the technical field not disclosed by this disclosure . The specification and examples are to be regarded as exemplary only, 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 that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

10: Robots 20: Control Terminal 11: First Robot 12a, 12b, 12c: Second Robot P1: Standby area P2: Laneway P3: Public area S110: Get the current task S120: According to the current task, determine the first robot with the current cargo and the second robot with other cargo from the multiple robots, and send a standby instruction to the second robot, where the standby instruction is used to instruct the second robot to be at the standby location put on standby S130: Send a first movement command to the first robot, where the first movement command is used to instruct the first robot to transport the current cargo to the target location S210: When receiving the standby instruction sent by the control terminal, perform standby at the standby location according to the standby instruction, and the standby location is different from the target location for the current task S220: When receiving the first movement instruction sent by the control terminal, move the current cargo to the target location according to the first movement instruction S301: The control terminal obtains the current task S302: The control terminal sends a first movement instruction to the first robot with the current cargo S303: The first robot transports the current cargo to the target location according to the first movement instruction S304: The control terminal determines the strategy according to the standby location, and determines the standby location of each second robot S305: The control terminal sends a standby instruction including the corresponding standby location to each second robot S306: The second robot is on standby at the standby location according to the standby instruction; S307: When the current task changes, the control terminal sends a second movement instruction to the robot in the standby state that is equipped with the first cargo, where the first cargo is the cargo corresponding to the changed current task S308: The robot transports the first cargo to the target location according to the second movement instruction S309: The control terminal determines a new processing order of each cargo according to the change of the current task, and according to the new processing sequence, updates the standby locations of other second robots except the robot equipped with the first cargo, and Send a third movement command to the other second robot, the third movement command includes the updated standby location S310: The other second robot moves to the updated standby location for standby according to the third movement instruction S311: When the standby location of the second robot is on the cargo conveying path of the first robot, the control terminal sends an avoidance instruction to the second robot S312: The second robot performs the robot avoidance operation according to the avoidance instruction

FIG. 1 is a schematic diagram of a storage system in an embodiment of the present disclosure. FIG. 2 is a schematic diagram of a task processing method applied to a control terminal in an embodiment of the present disclosure. FIG. 3 is a schematic diagram of a task processing method applied to a robot in an embodiment of the present disclosure. FIG. 4 is a sequence diagram of the communication between the control terminal and the first robot and the second robot according to the embodiment of the disclosure.

10: Robots

20: Control Terminal

11: First Robot

12a, 12b, 12c: Second Robot

P1: Standby area

P2: Laneway

P3: Public area

Claims (18)

A task processing method, applied to a control terminal, is characterized in that, comprising: acquiring a current task; according to the current task, determining from a plurality of robots a first robot equipped with current goods and a second robot equipped with other goods, Wherein, when the multiple robots transport multiple kinds of goods to the target location at the same time, a standby instruction is sent to the second robot; the multiple kinds of goods are divided into current goods and other goods according to the current task; the current goods are The goods corresponding to the current task, and the other goods are different from the current goods; the standby instruction is used to instruct the second robot to stand by at a standby location, and the standby location is the same as the target of the current task. different locations; wherein sending a standby instruction to the second robot specifically includes: sending a standby instruction including a standby location to the second robot according to the preset shelf heat of each shelf, wherein the shelf heat is used to indicate The picking frequency of goods on the shelf, and the shelf heat is positively correlated with the picking frequency, and the picking frequency is positively correlated with the flow of the corresponding roadway robot; the standby location includes the shelf heat is lower than the second preset valve. The third shelf of the value corresponds to the lane. The method according to claim 1, further comprising: sending a first movement instruction to the first robot, where the first movement instruction is used to instruct the first robot to transport the current cargo to the destination describe the target location. The method according to claim 1 or 2, further comprising: acquiring an idle standby location, and sending a standby instruction including the idle standby location to the second robot. The method according to claim 1 or 2, further comprising: when the current task changes, sending a second movement instruction to the robot in a standby state that is equipped with a first cargo, wherein the first cargo is The goods corresponding to the changed current task; the second movement instruction is used to instruct the robot to transport the first goods to the target location. The method according to claim 4, further comprising: determining a new processing sequence of each item according to the change of the current task, and according to the new processing sequence, processing all items except the first item. The standby location of other second robots other than the robot is updated, and a third movement command is sent to the other second robot, and the third movement command includes the updated standby location; the third movement command uses and instructing the other second robot to move to the updated standby location for standby. The method according to claim 1 or 2, further comprising: determining the speed of each second robot according to the processing speed of the task and the distance between the standby location where each second robot is located and the target location. move time, and send a fourth move instruction to each of the second robots, where the fourth move instruction includes the move time; the fourth move instruction is used to instruct the second robot to start at the move time Move to the target location. The method according to claim 1, further comprising: When it is determined that the second robot in the standby state exists on the moving path of the first robot, an avoidance instruction is sent to the second robot; the avoidance instruction is used to instruct the second robot to avoid. A task processing method, applied to a robot, is characterized by comprising: when receiving a standby instruction sent by a control terminal, performing standby at a standby location according to the standby instruction, and the standby location is different from a target location for performing a current task, The standby instruction is that the control terminal determines the first robot carrying the current cargo and the second robot carrying other goods from the plurality of robots according to the current task, and when the plurality of robots transports various kinds of goods to the target location at the same time. When the command is sent to the second robot, the various goods are divided into current goods and other goods according to the current task, the current goods are the goods corresponding to the current task, and the other goods are the same as the The current goods are different; wherein, the standby location is determined by the control terminal according to the shelf where the goods corresponding to all tasks are located and the preset shelf heat of each shelf, and the shelf heat is used to represent the picking frequency of the goods on the shelf. , and the shelf heat is positively correlated with the pickup frequency, and the pickup frequency is positively correlated with the flow of the corresponding roadway robot; the standby location includes a shelf corresponding to a third shelf whose shelf heat is less than the second preset threshold alley. The method according to claim 8, further comprising: when receiving the first movement instruction sent by the control terminal, according to the first movement instruction A movement command transports the current cargo to the target location, and the first movement command is an command sent by the control terminal to the first robot. The method according to claim 8 or 9, further comprising: when receiving the second movement instruction sent by the control terminal, transporting the first cargo to the target location according to the second movement instruction, the The first cargo is the cargo corresponding to the changed current task. The method according to claim 10, further comprising: when receiving a third movement instruction sent by the control terminal, moving to an updated standby location for standby according to the third movement instruction. The method according to claim 8 or 9, further comprising: when receiving a fourth movement instruction sent by the control terminal, starting to move to the target location at the moving moment according to the fourth movement instruction . The method according to claim 8, further comprising: when receiving an avoidance instruction sent by the control terminal, performing avoidance according to the avoidance instruction. The method according to claim 13, wherein the avoiding according to the avoidance instruction comprises: determining a second standby location closest to the current first standby location, and moving to the second standby location location to avoid, the second standby location is not in the first A robot on the cargo handling path. A control terminal, comprising: at least one processor; and a storage communicatively connected to the at least one processor; wherein the storage stores instructions executable by the at least one processor, The instruction is executed by the at least one processor, so that the control terminal executes the method described in any one of request items 1 to 7. A robot, characterized by comprising: at least one processor; and a storage communicatively connected to the at least one processor; wherein the storage stores instructions executable by the at least one processor, the storage Instructions are executed by the at least one processor to cause the robot to perform the method of any of claims 8-14. A storage system is characterized in that it includes the control terminal as described in claim 15, and the robot as described in claim 16. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, is used to implement any one of claim items 1 to 14. method.

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