TWI823399B - Cross-region task processing method, apparatus, warehousing system and storage medium - Google Patents

Abstract

The present disclosure provides a cross-region task processing method, an apparatus, a control device, a robot, a warehousing system and a storage medium. When a cross-region order task exists, a control device determines whether a current order task can form a task chain, and if so, the task chain is issued to a robot. In the task chain, both a region where a starting point of a first task is located and a region where an ending point of a last task is located are working regions set for the robot, so that when the robot executes the task chain, it is able to ensure that the robot are executing a task throughout the process of leaving a working region and returning to the working region. Therefore, it is able to ensure that the robot does not have empty load during a long-distance movement between different regions, and avoid waste of resources.

Description

Cross-regional task processing methods, devices, warehousing systems and storage media

The present invention relates to the field of smart warehousing technology, and in particular to a cross-regional task processing method, device, control equipment, robot, warehousing system and storage medium.

The smart warehousing system based on warehousing robots adopts a smart operating system to realize automatic removal and storage of goods through system instructions. At the same time, it can operate 24 hours a day, replacing manual management and operations, improving warehousing efficiency, and has been widely used and favor.

In a warehousing system, different areas are usually used to store goods, such as different rooms, different warehouses, or different placement areas in the same room/warehouse. Generally speaking, robots are fixed in a certain area for cargo handling, but when receiving cross-regional order tasks, the robot needs to move from the current working area to another area.

The existing order task processing policy controls the device to When performing a single task, the corresponding robot is usually controlled immediately to perform the order task. However, due to the long moving distance across regions, the robot does not perform any tasks during the return process after completing the order task, that is, the robot returns empty-loaded, thus causing a waste of resources.

The present disclosure provides a cross-regional task processing method, device, control equipment, robot, warehousing system and storage medium to solve the problems existing in the existing technology.

In a first aspect, the present disclosure provides a cross-region task processing method applied to a control device in a warehousing system. The warehousing system includes multiple areas and a first robot working in a first area within the multiple areas. The method includes: obtaining at least two order tasks, each of the at least two order tasks including a cross-regional cargo handling task; generating a task chain based on the at least two order tasks, and the task chain includes all At least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as the area where the subsequent cargo handling task is located. The starting point of the task is located in the same area, and the end point of the last cargo handling task is located in the first area; send a first control instruction including the task chain to the first robot, and the first control instruction is used to indicate The first robot performs cargo handling processing according to the at least two cargo handling tasks in the task chain.

In some embodiments, generating a task chain based on at least two order tasks includes: Determine a first order task whose starting point of the cargo handling task is in the first area from the at least two order tasks; obtain the second area where the end point of the first cargo handling task corresponding to the first order task is located, and Determine whether among the at least two order tasks other than the first order task, there is a second order task whose starting point of the cargo handling task is in the second area; if there is a second order task task, then determine the second order task as the next task of the first order task, and use the second order task as the new first order task, and repeat the above steps until the second order task The area where the end point of the second cargo handling task corresponding to the task is located is the first area, so as to generate the task chain.

In some embodiments, the method further includes: if the second order task does not exist, after obtaining the new order task, determine whether the starting point of the cargo handling task corresponding to the new order task is at the first Second area; if the starting point of the cargo handling task corresponding to the new order task is within the second area, then the new order task is determined to be the second order task.

In some embodiments, the method further includes: if there is a discrete order task that cannot generate a task chain, determining whether the discrete order task can be added to the generated task chain; if it can be added to the generated task chain In the task chain, the generated task chain is updated based on the discrete order task.

In some embodiments, determining whether the discrete order task can be added to a generated task chain includes: determining whether there is a cargo handling task corresponding to the discrete order task in the generated task chain. The first target order task that has the same starting point and the same end point and is currently not processed; if it exists, add the discrete order task to the generated task chain.

In some embodiments, updating the generated task chain based on the discrete order task includes: adding the discrete order task to the generated task chain together with the first target order. The task is in the same position to obtain an updated task chain; the method also includes: sending a second control instruction including the updated task chain to the first robot corresponding to the generated task chain, and the second The control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain.

In some embodiments, determining whether the discrete order task can be added to a generated task chain includes: determining whether there is a cargo handling task corresponding to the discrete order task in the generated task chain. The second target order task whose end point is in the same area and is currently unprocessed; if it exists, add the discrete order task to any generated in the service chain.

In some embodiments, updating the generated task chain based on the discrete order task includes: adjusting the end point area of the second target task to the starting point area of the discrete order task, and adding the discrete order task as the subsequent task of the adjusted second target task to obtain an updated task chain; the method also includes: sending a third control instruction containing the updated task chain to the The first robot corresponding to the generated task chain, the third control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain.

In some embodiments, determining whether the discrete order task can be added to a generated task chain includes: determining whether there is a cargo handling task corresponding to the discrete order task in the generated task chain. A third target order task whose starting point is in the same area and is currently unprocessed; if it exists, add the discrete order task to the generated task chain.

In some embodiments, updating the generated task chain based on the discrete order task includes: adjusting the starting point area of the third target task to the end point area of the discrete order task, and add said discrete order task as an adjusted The previous task of the third target task obtains an updated task chain; the method further includes: sending a fourth control instruction including the updated task chain to the first robot corresponding to the generated task chain, The fourth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain.

In some embodiments, the method further includes: if there is a first discrete order task with a starting point in the first area and an end point in an area different from the first area, sending the first discrete order task containing the first discrete order. The fifth control instruction of the task is to the first robot, and the fifth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the first discrete order task; when there is a starting point located at the other When the second discrete order task has an end point located in the first area, the second discrete order task is preferentially assigned to the first robot that executes the first discrete order task.

In some embodiments, sending the first control instruction including the task chain to the first robot includes: searching for a target task chain from historical task chains that have been issued, and in the target task chain, the first The starting point of each cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the next cargo handling task, and the end point of the last cargo handling task is located in the first area ; Generate an optimized task chain based on the task chain and the target task chain, The optimized task chain traverses the task chain and all areas passed by the target task chain; sends a first control instruction including the optimized task chain to the first robot corresponding to the target task chain, and the first control The instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the optimized task chain.

In some embodiments, the discrete order task includes a single order task, or consists of at least two order tasks, and the area where the end point of the cargo handling task corresponding to the previous order task is located is the same as the area where the end point of the cargo handling task corresponding to the subsequent order task is located. A combination of tasks in the same starting area.

In some embodiments, at least one of the following is included: the area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: when the robot executes the cargo release task corresponding to the cargo handling task. The position is the same as the position when the robot performs the pickup task corresponding to the other cargo handling task; the area where the starting point of the cargo handling task is located is the same as the area where the starting point of the other cargo handling task is located, specifically including: the robot executes The position of the pickup task corresponding to the cargo handling task is the same as the position of the robot when performing the pickup task corresponding to the other cargo handling task; the area where the end point of the cargo handling task is located is the same as that of the other cargo handling task. The end point is in the same area, specifically including: the position when the robot performs the cargo placement task corresponding to the cargo handling task is the same as the position when the robot performs the cargo placement task corresponding to the other cargo transportation task.

In a second aspect, the present disclosure provides a cross-region task processing method applied to a first robot in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include the first robot. The first area where the robot works, the method includes: receiving a first control instruction sent by the control device, the first control instruction includes a task chain, the task chain is generated by the control device according to at least two order tasks. , each of the at least two order tasks includes a cross-regional cargo handling task, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the first The starting point of each cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the next cargo handling task, and the end point of the last cargo handling task is located in the first area ; Execute cargo handling processing according to the at least two cargo handling tasks in the task chain.

In some embodiments, the method further includes: receiving a second control instruction including an updated task chain sent by the control device, where the updated task chain is a discrete order task for which the control device cannot generate a task chain; The first target order task in the generated task chain is obtained by updating the generated task chain. The first target order task is in the same area as the starting point of the cargo handling task corresponding to the discrete order task. Order tasks that have the same destination area and are currently unprocessed; perform cargo moving according to the cargo handling task in the updated task chain Shipping processing.

In some embodiments, the method further includes: receiving a third control instruction including an updated task chain sent by the control device, where the updated task chain is a discrete order task for which the control device cannot generate a task chain; The second target order task in the generated task chain is obtained by updating the generated task chain. The second target order task is in the same area as the end point of the cargo handling task corresponding to the discrete order task. and currently unprocessed order tasks; perform cargo handling processing according to the cargo handling tasks in the updated task chain.

In some embodiments, the method further includes: receiving a fourth control instruction including an updated task chain sent by the control device, where the updated task chain is a discrete order task for which the control device cannot generate a task chain; The third target order task in the generated task chain is obtained by updating the generated task chain. The third target order task is in the same area as the starting point of the cargo handling task corresponding to the discrete order task. and currently unprocessed order tasks; perform cargo handling processing according to the cargo handling tasks in the updated task chain.

In some embodiments, the method further includes: receiving a fifth control instruction sent by the control device including a first discrete order task, and the area where the first discrete order task is a starting point is the first zone. The first discrete order task whose domain and end point are located in another area different from the first area is sent and includes the first discrete order task; cargo handling processing is performed according to the cargo handling task in the first discrete order task. ; When receiving a second discrete order task sent by the control device with a starting point located in the other area and an end point located in the first area, perform cargo handling processing according to the second discrete order task.

In some embodiments, the method further includes: after receiving the target task chain sent by the control device, if the first control instruction including the optimized task chain sent by the control device is received, then according to the optimized task chain The cargo handling task in the target task chain performs cargo handling processing; wherein, in the target task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as the area where the following cargo handling task is located. The starting point is in the same area, and the end point of the last cargo handling task is located in the first area; the optimized task chain is obtained by the control device according to the task chain and the target task chain, and the optimized task chain traverses The task chain and all areas passed by the target task chain.

In some embodiments, the discrete order task includes a single order task, or consists of at least two order tasks, and the area where the end point of the cargo handling task corresponding to the previous order task is located is the same as the area where the end point of the cargo handling task corresponding to the subsequent order task is located. A combination of tasks in the same starting area.

In some embodiments, at least one of the following is included: the area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: when the robot executes the cargo release task corresponding to the cargo handling task. The position is the same as the position when the robot performs the pickup task corresponding to the other cargo handling task; the area where the starting point of the cargo handling task is located is the same as the area where the starting point of the other cargo handling task is located, specifically including: the robot executes The position of the pickup task corresponding to the cargo handling task is the same as the position of the robot when performing the pickup task corresponding to the other cargo handling task; the area where the end point of the cargo handling task is located is the same as that of the other cargo handling task. The end point is in the same area, specifically including: the position when the robot performs the cargo placement task corresponding to the cargo handling task is the same as the position when the robot performs the cargo placement task corresponding to the other cargo transportation task.

For third parties, the present disclosure provides a cross-region task processing device for use in control equipment in a warehousing system. The warehousing system includes multiple areas and a first robot working in a first area within the multiple areas. The device includes: an acquisition module, used to acquire at least two order tasks, each of the at least two order tasks includes a cross-regional cargo handling task; and a generation module, used to obtain at least two order tasks according to the at least two order tasks. The order task generates a task chain, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the starting point of the first cargo handling task is located in the first area, and the previous cargo The area where the end point of the handling task is located is the same as the area where the next cargo handling task is located. The starting point of the task is in the same area, and the end point of the last cargo handling task is located in the first area; the sending module is used to send the first control instruction including the task chain to the first robot, and the third A control instruction is used to instruct the first robot to perform cargo handling processing according to the at least two cargo handling tasks in the task chain.

In a fourth aspect, the present disclosure provides a cross-region task processing device applied to a first robot in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include the first robot. The first area where the robot works, the device includes: a receiving module for receiving the first control instruction sent by the control device, the first control instruction includes a task chain, and the task chain is the task chain according to the control device. At least two order tasks are generated, each of the at least two order tasks includes a cross-region cargo handling task, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks, so In the above task chain, the starting point of the first cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the next cargo handling task, and the end point of the last cargo handling task is Located in the first area; a processing module configured to perform cargo handling processing according to the at least two cargo handling tasks in the task chain.

In a fifth aspect, the present disclosure provides a control device, which is applied to a control device in a warehousing system. The warehousing system includes a plurality of areas and a first robot working in a first area within the multiple areas. The control device Includes: memory and at least A processor; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the above-mentioned cross-region task processing method.

In a sixth aspect, the present disclosure provides a robot, which is used as a first robot in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include a first area where the robot works. , the robot includes: a memory and at least one processor; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the above Cross-regional task processing methods.

In a seventh aspect, the present disclosure provides a warehousing system, including: the above-mentioned control device and a robot.

In an eighth aspect, the present disclosure provides a computer-readable storage medium in which computer execution instructions are stored, and when executed by a processor, the computer execution instructions are used to implement the above-mentioned cross-region task processing method.

1, 2, 3, 4: Goods

I: first shelf

Ⅱ: The second shelf

Ⅲ: The third shelf

Ⅳ: The fourth shelf

O:Stock location

80:Handling robot

81: Lifting components

82:Storage shelves

83:Mobile chassis

84, 84a, 84b: handling device

841:Pallet

842: Fixed push rod

843:Telescopic arm

844:Movable putter

845:Turntable

846:Suction cup

847: Robotic arm

85: Rotating mechanism

86: Bracket

R1, R2: robot

S110, S120, S130, S121, S122, S123, S124, S125, S126, S127, S128, S210, S220: steps

A, B, C, D, E, F, G: Area

110: Get the module

120: Generate module

130:Send module

210:Receive module

220: Processing module

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 a schematic structural diagram of a robot provided by an embodiment of the present disclosure; FIG. 1B is a schematic structural diagram of a transport device in the embodiment shown in FIG. 1A of the present disclosure; FIG. 1C is a structure of a robot and its transport device in the embodiment shown in FIG. 1A of the present disclosure; FIG. 1D is a structural diagram of a transport device shown in FIG. 1A of the present disclosure. FIG. 1E is a schematic structural diagram of another transportation device in the embodiment shown in FIG. 1A of the present disclosure; FIG. 1F is a schematic structural diagram of another transportation device in the embodiment shown in FIG. 1A of the present disclosure. ; Figure 1G is a schematic structural diagram of another handling device according to the embodiment shown in Figure 1A of the present disclosure; Figure 2 is a schematic diagram of a warehousing system including multiple areas; Figure 3 is a control application in the warehousing system provided by the embodiment of the present disclosure. A schematic diagram of a device's cross-region task processing method; Figure 4 is a schematic diagram of a task chain generated based on at least two order tasks in an embodiment of the present disclosure; Figure 5 is a control device adding discrete order tasks to generated tasks in an embodiment of the present disclosure Figure 6 is another schematic diagram of the control device adding discrete order tasks to the generated task chain in the embodiment of the present disclosure; Figure 7 is the control device adding the discrete order task to the generated task chain in the embodiment of the present disclosure. Another schematic diagram of the task chain formed; Figure 8 is an example diagram of cross-regional task processing in an embodiment of the present disclosure; Figure 9 is a schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in the embodiment of the present disclosure; Figure 10 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure; Figure 11 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure; Fig. 12 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure; Figure 13 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure; Fig. 14 is a schematic diagram of a cross-region task processing method applied to the first robot in a warehousing system provided by an embodiment of the present disclosure; Figure 15 is a schematic diagram of a cross-region task processing device provided by an embodiment of the present disclosure; Figure 16 is another schematic diagram of a cross-region task processing device provided by an 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.

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

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

Depending on the context, the words "if" and "if" as used here may be interpreted as "when" or "when" or "in response to determination" or "in response to detection". Similarly, depending on the context, the phrase "if determined" or "if detects (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" event)" or "in response to a detection (stated condition or event)".

It should also be noted that the terms "includes," "includes," or any other variation thereof are intended to cover non-exclusive inclusion, such that a good or system that includes a list of elements includes not only those elements but also those not expressly listed other elements, or elements inherent to the product or system. Without further limitation, elements qualified by the statement "includes a..." are not excluded from inclusion in the package. There are other identical elements in the product or system that include the elements described.

FIG. 1A is a schematic structural diagram of a robot provided by an embodiment of the present disclosure; as shown in FIG. 1A , the transportation robot 80 includes a mobile chassis 83 , a storage shelf 82 , a transportation device 84 and a lifting component 81 . Among them, the storage shelf 82, the transport device 84 and the lifting element 81 are all installed on the mobile chassis 83, and several storage units are provided on the storage shelf 82. The lifting element 81 is used to drive the conveying device 84 to move up and down, so that the conveying device 84 is aligned with any storage unit on the storage shelf 82, or with the shelf and/or the goods. The carrying device 84 can rotate about the vertical direction and adjust its orientation to align with the storage unit, or with the shelves and/or goods. The handling device 84 is used to perform loading or unloading of goods to carry goods between shelves and storage units.

For example, the storage shelves 82 may be selectively configured or not configured. When the storage shelves 82 are not configured, when the transport robot 80 is transporting goods, the goods are stored in the accommodation space of the transport device 84 .

The handling robot 80 in the above embodiment can execute the cross-region task processing method provided by any embodiment of the present disclosure to realize the transportation of goods between shelves and operating platforms.

When the transport robot 80 performs the task of storing goods, the transport robot 80 moves to the location of the designated storage space of the goods, and uses the adjustment element, such as a rotating mechanism, in conjunction with the transport device 84 to transport the target object from the storage unit of the robot body to on the shelf.

Illustratively, FIG. 1B shows an implementation in the embodiment shown in FIG. 1A of the present disclosure. Structural diagram of the transport device.

Exemplarily, the carrying device 84 is installed on the bracket 86 through a rotating mechanism 85. The rotating mechanism 85 is used to drive the carrying device 84 to rotate around a vertical axis relative to the bracket 86 to align the storage unit, or align the shelf and/or or goods. The transport device 84 is used to transport goods between storage units and shelves. If the transport device 84 is not aligned with the shelves and/or goods, the rotation mechanism 85 can be used to drive the transport device 84 to rotate relative to the bracket 86 to ensure that the transport device 84 is aligned with the shelves and/or goods.

FIG. 1C shows the structure of a robot and its carrying device in the embodiment of the present disclosure. It can be understood from Figure 1A and Figure 1B that the rotating mechanism 85 can be omitted according to the actual situation. For example, the handling robot 80 moves on a fixed track, and after moving near the shelf, the handling device 84 is always aligned with the shelf and/or goods. , and the goods are arranged in the picking direction of the transport device 84.

Illustratively, FIG. 1D is a schematic structural diagram of a handling device in the embodiment shown in FIG. 1A of the present disclosure. Please refer to FIG. 1B for easier understanding. As shown in Figure 1D, the carrying device 84 includes a pallet 841 and a telescopic arm assembly. The pallet 841 is used to place goods and can be a flat plate arranged horizontally. The telescopic arm assembly is used to push the goods placed on the pallet 841 out of the pallet 841 or to pull the goods to the pallet 841 . The telescopic arm assembly includes a telescopic arm 843, a fixed push rod 842 and a movable push rod 844. The telescopic arm 843 includes a left telescopic arm and a right telescopic arm. The telescopic arm 843 can extend horizontally. In a direction perpendicular to the extension direction of the telescopic arm 843 and parallel to the supporting plate 841, the telescopic arm 843 is located on one side of the supporting plate 841. side. The telescopic arm 843 is powered by a motor and transmitted by a sprocket mechanism. Depending on the actual situation, the sprocket mechanism can be replaced by a pulley mechanism, screw mechanism and other transmission mechanisms. move. The fixed push rod 842 and the movable push rod 844 are both installed on the telescopic arm 843, and the fixed push rod 842 and the movable push rod 844 can be extended together with the telescopic arm 843. The fixed push rod 842 and the pallet 841 are located on the same side of the telescopic arm 843. When the telescopic arm 843 is extended, the fixed push rod 842 is used to push the goods out of the pallet 841. The movable push rod 844 can be retracted into the telescopic arm 843. When the movable push rod 844 is not retracted into the telescopic arm 843, the movable push rod 844, the fixed push rod 842 and the supporting plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is not retracted into the telescopic arm 843. 844 is located in the extension direction of the fixed push rod 842 along the telescopic arm 843. The movable push rod 844 can be directly driven by the motor. Depending on the actual situation, the power can also be transmitted through a transmission mechanism such as a gear set, a connecting rod mechanism, etc. When the movable push rod 844 is not retracted into the telescopic arm and the telescopic arm 843 is retracted, the movable push rod 844 is used to pull the goods to the pallet 841 .

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

For example, the carrying device 84 may be designed as a structure in which the spacing width of the telescopic arm elements is adjustable. When storing/retrieving goods, the spacing width of the telescopic arm assembly can be adjusted according to the size of the goods.

For example, the handling device 84 may also include a steering structure, such as a turntable, which may be used to change the orientation of the goods placed on its pallet 841 . Figure 1E is a schematic structural diagram of another transport device in the embodiment shown in Figure 1A of the present disclosure. Combining Figure 1E and Figure 1D, it can be seen that the transport device 84 can also include a steering structure, that is, the turntable 845 in Figure 1D, to change the position of the transport device. The orientation of the goods on its pallet 841.

Illustratively, FIG. 1F is another implementation of the embodiment shown in FIG. 1A of the present disclosure. Referring to the structural schematic diagram of the transport device, the transport device 84a includes one or more suction cups 846, which are arranged on the fixed push rod 842. The fixed push rod 842 can be rod-shaped or plate-shaped. When storing/retrieving goods, the fixed push rod 842 can be driven to move in the forward/return direction toward the goods and/or the shelf. The suction cup 846 absorbs the goods, and cooperates with the displacement of the fixed push rod 842 to transport the goods to the shelf or to the pallet 841 .

Exemplarily, FIG. 1G is a schematic structural diagram of another carrying device according to the embodiment shown in FIG. 1A of the present disclosure. The carrying device 84b includes one or more robotic arms 847, which are arranged in appropriate positions on the fixed push rod 842 and/or the carrying device 84b. When storing/retrieving goods, the fixed push rod 842 can be driven to move in the forward/return direction toward the goods and/or the shelf. The mechanical arm 847 is used to grab/hook the goods, and the movement of the fixed push rod 842 is used to transport the goods to the shelf or to the pallet 841 .

Exemplarily, the handling device (84a, 84b) may also include a turning structure, such as the turntable 845 in Figure 1E and Figure 1F, to change the orientation of the goods placed on its pallet 841.

The carrying device structure of the embodiment shown in the present disclosure may include one or a combination of more of the above examples.

In the warehousing system, the distance between different areas is relatively long, so the robot is usually set to work in a certain area, so that the robot can move goods over a short distance.

Figure 2 is a schematic diagram of a warehousing system containing multiple areas. As shown in Figure 2, the warehousing system includes area A, area B, robot R1, robot R2 and control equipment. Area A is provided with a first shelf I and a second shelf. Shelf II, Robot R1 It is set to work in area A, that is, to perform cargo handling processing on the first shelf I and second shelf II; the third shelf III and fourth shelf IV are set up in area B, and the robot R2 is set to work in area B, that is, in area B. The third rack III and the fourth rack IV perform cargo handling processing. Different storage locations O are provided on different shelves for storing goods. Therefore, the robot R1 and the robot R2 only move short distances within their respective areas to realize the handling of goods.

When there is a cross-region order task, the robot needs to move the goods in the current area to another area. For example, if there is an order task that needs to transport the goods on the first shelf I in area A to area B, then the robot R1 needs to take the goods out of the first shelf I and then transport them from area A to area B for processing. (As shown by the solid arrow in Figure 2).

However, due to the long movement distance across areas, robot R1 did not perform any tasks when returning from area B to area A after completing the order task (as shown by the dotted arrow in Figure 2), that is, the robot was empty. Return, thus causing a waste of resources.

The cross-regional task processing methods, devices, control equipment, robots, warehousing systems and storage media provided by this disclosure are intended to solve the above technical problems of the existing technology.

The main idea of this disclosed solution is: when there are cross-regional order tasks, the control device determines whether the current order task can form a task chain, and if so, sends the task chain to the robot. In the task chain, the first task The starting point area and the end point area of the last task are both the work area set for the robot. Therefore, when the robot executes the task chain, it can be guaranteed that the robot leaves its work area. The robot is executing tasks during the process of entering the work area and returning to the work area, thereby ensuring that the robot does not become empty during long-distance movement between different areas and avoids waste of resources.

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.

Figure 3 is a schematic diagram of a cross-region task processing method applied to control equipment in a warehousing system provided by an embodiment of the present disclosure, where the warehousing system includes multiple areas and a first robot working in a first area within the multiple areas. Different areas are specifically, for example, different rooms, different warehouses, or different placement areas divided into the same room/warehouse, and the distance between different areas is relatively long. As shown in Figure 3, this method mainly includes the following steps:

S110. Obtain at least two order tasks.

Each of the at least two order tasks includes a cross-regional cargo handling task, and the control device can determine whether a task chain can be formed based on the at least two order tasks.

S120. Generate a task chain based on at least two order tasks.

After obtaining at least two order tasks, the control device determines whether a task chain can be formed based on the cargo handling tasks corresponding to each order task.

Specifically, the task chain generated by the control device includes at least two order tasks Corresponding to at least two cargo handling tasks, in this task chain, the starting point of the first cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the subsequent cargo handling task, and The final cargo handling mission ends in the first area.

For example, if there are currently two tasks, namely Task-1 and Task-2, the cargo handling task corresponding to Task-1 is to transport the goods from area A to area B, and the cargo handling task corresponding to Task-2 is to move the goods from area A to area B. Cargo is transported from area B to area A. The starting point of Task-1 is located in area A, the area where the end point of Task-1 is located and the area where the starting point of Task-2 is located are both area B, and the end point of Task-2 is located in area A, then Task-1 and Task-2 can Compose the task chain of "Area A-Area B-Area A".

For another example, if there are currently two tasks, namely Task-3 and Task-4, the cargo handling task corresponding to Task-3 is to transport goods from area A to area B, and the cargo handling task corresponding to Task-4 is Transport goods from area B to area C. The starting point of Task-3 is located in area A. The area where the end point of Task-3 is located and the area where the starting point of Task-4 is located are both area B. However, the end point of Task-4 is located in area C instead of area A. Therefore, Task- 3 and Task-4 cannot form a task chain that meets the requirements.

For another example, if there are currently two tasks, namely Task-5 and Task-6, the cargo handling task corresponding to Task-5 is to transport goods from area A to area B, and the cargo handling task corresponding to Task-6 is Transport the goods from area C to area D. The starting point of Task-5 is located in area A, and the end point of Task-5 is located in area B, which is different from the area C where the starting point of Task-6 is located. Therefore, Task-5 and Task-6 cannot form a task chain that meets the requirements.

S130. Send the first control instruction including the task chain to the first robot.

After the control device generates a task chain according to the order task, it sends the task chain to the first robot working in the first area through a first control instruction. The first control instruction is used to instruct the first robot to perform the task chain according to at least one of the tasks in the task chain. The two cargo handling tasks perform cargo handling processing. Therefore, the first robot performs the cargo handling task in the process of leaving the first area and going to other areas according to the task chain, and also in the process of returning to the first area from other areas. It also performs cargo handling tasks, so the first robot is not empty when moving between different areas.

This embodiment provides a cross-region task processing method. When there is a cross-region order task, the control device determines whether the current order task can form a task chain. If so, the task chain is sent to the robot. In the task chain, The starting point of the first task and the end point of the last task are both the working area set for the robot. Therefore, when the robot executes the task chain, it can ensure that the robot leaves its working area and returns to the working area. , all are executing tasks, thereby ensuring that the robot does not become empty during long-distance movement between different areas and avoids waste of resources.

In some embodiments, a process in which the control device generates a task chain based on at least two order tasks is explained.

Figure 4 is a schematic diagram of generating a task chain based on at least two order tasks in an embodiment of the present disclosure. As shown in Figure 4, the process includes the following steps: S121. Determine the starting point of the cargo handling task from at least two order tasks at the th. The first order task in a region; S122. Obtain the second area where the end point of the first cargo handling task corresponding to the first order task is located; S123. Determine whether there is a cargo handling task in at least two order tasks other than the first order task. The second order task whose starting point is in the second area; S124. If there is a second order task, determine the second order task as the next task of the first order task. S125. Determine the second cargo handling corresponding to the second order task. The area where the end point of the task is located is the first area; S126. If the area where the end point of the second cargo handling task corresponding to the second order task is located is not the first area, then the second order task is regarded as the new first order task and returns to step S122; S127. If the end point area of the second cargo handling task corresponding to the second order task is the first area, it is determined that the task chain generation work is completed.

Therefore, through the above processing flow, the control device can generate a task chain that meets the requirements based on the obtained order tasks, and then send the task chain to the robot to avoid the robot from being empty when moving across regions and avoid resource waste.

In some embodiments, referring to Figure 4, in the process of generating the task chain, the method also includes: S128. If there is no second order task, continue to obtain the order task, and after obtaining the new order task, determine the new order task Whether the starting point of the cargo handling task corresponding to the order task is in the second area; if the starting point of the cargo handling task corresponding to the new order task is If the starting point is within the second area, the new order task is determined to be the second order task.

For ease of understanding, a specific example in which the control device generates a task chain based on at least two order tasks is provided below.

Take the first area as area A as an example for explanation. Assume that there are currently three tasks, namely transporting goods from area A to area B (hereinafter referred to as A-B, the same below), B-D, and C-A. Then the control device will first Tasks A-B starting in area A are determined as the first order task, and the second area is determined as area B.

Then, the control device determines whether there is a second order task starting from area B among the other two tasks. Since B-D meets the requirements, the control device determines B-D as the second order task and connects tasks A-B and B-D to form A-B-D task combination.

Then, control whether the area where the end point of the second order task of the equipment is located is area A. Since B-D does not meet the requirements, the second order task B-D is used as the new first order task, and the second area is redetermined as area D.

Then, the control device determines whether there is a task starting from area D. Since the remaining tasks at this time only include C-A, and C-A does not meet the requirements, the control device continues to obtain new task orders.

If the newly obtained task of the control device is D-A, its starting point is area D, which meets the requirements. Therefore, task D-A is regarded as the second order task and the next task of B-D, forming a task combination of A-B-D-A.

At this time, the control device further determines whether the end point of D-A is the first area. Since D-A meets the requirements, the control device determines that the task chain generation work is completed. Thus, an "A-B-D-A" task chain is formed.

Therefore, through the processing flow shown in Figure 4, the control device can generate a task chain that meets the requirements based on the obtained order tasks, and then send the task chain to the robot to avoid the robot from being empty when moving across regions. Waste of resources.

In some embodiments, the method also includes: S140. If there is a discrete order task that cannot generate a task chain, the control device determines whether the discrete order task can be added to the generated task chain; if it can be added to the generated task chain , the generated task chain is updated based on discrete order tasks.

Specifically, in actual scenarios, there may be situations where an order task needs to be processed urgently. If the order task cannot generate a task chain with other order tasks, the order task is considered to be a discrete order task. At this time, the control device determines that the discrete order task Whether it can be added to the generated task chain. If so, the generated task chain will be updated based on the discrete order task, and the updated task chain will be sent to the robot for execution, thereby ensuring that the discrete order task can be processed in time to ensure task processing efficiency.

It should be noted that in various embodiments of the present disclosure, the discrete order task may be a single order task, such as B-D, or D-F, etc.

A discrete order task can also be a task combination consisting of at least two order tasks, and the end point of the goods handling task corresponding to the previous order task is in the same area as the starting point of the goods handling task corresponding to the next order task, such as B-D-C, etc. .

In some embodiments, the control device determines whether the discrete order task can be added to the generated task chain, including: S141. The control device determines whether the starting point of the cargo handling task corresponding to the discrete order task exists in the generated task chain. The first target order task has the same area, the same end point, and is currently unprocessed; if it exists, the discrete order task will be added to the generated task chain.

Correspondingly, the control device updates the generated task chain based on the discrete order task, including: S142. The control device adds the discrete order task to the generated task chain at the same position as the first target order task, and obtains the updated task chain; Correspondingly, the method also includes: S151. The control device sends a second control instruction including the updated task chain to the first robot corresponding to the generated task chain. The second control instruction is used to instruct the first robot to execute the task according to the updated task chain. The cargo handling task in the chain performs cargo handling processing.

Specifically, Figure 5 is a schematic diagram of the control device adding discrete order tasks to the generated task chain in the embodiment of the present disclosure. As shown in Figure 5, the discrete order task is a single task as an example for explanation. Figure 5 includes The generated task chain A-B-C-A (solid line) and discrete order task B'-C' (dashed line), because the starting point area of B-C and B'-C' in the task chain is both area B, and the end area is C area, therefore, when task B-C has not been processed, B-C can be considered as the first target order task that meets the conditions, and the control device can add B'-C' to the task chain.

When adding discrete order task B’-C’ to task chain A-B-C-A, B’-C’ can be added to the same position as B-C, that is, the updated task chain is A- (B+B’)-(C+C’)-A. After obtaining the updated task chain, the control device sends the updated task chain to the first robot corresponding to the original task chain through the second control instruction.

Referring to Figure 5, after the first robot receives the second control instruction, if the first robot has not started executing tasks A-B, the first robot will perform the following operations in sequence according to the updated task chain: (1) First, in Take out cargo 1 from area A and move cargo 1 from area A to area B; (2) When located in area B, put cargo 1 into area B, and transfer cargo 2 and tasks corresponding to the pickup task corresponding to tasks B-C. Cargo 4 of the pick-up task corresponding to B'-C' is taken out and carried at the same time, and then moved together to area C; (3) When located in area C, put goods 2 and 4 into area C, and take out the goods corresponding to task C-A Cargo 3, and transport Cargo 3 from Area C to Area A.

In the above operation process, the first robot performs cargo handling tasks when moving between different areas, and the first robot can also complete discrete order tasks B’-C’.

In this embodiment, the control device determines whether a discrete order task that cannot generate a task chain can be added to the generated task chain by determining whether there is a first target order task that meets the conditions in the generated task chain, thereby ensuring Discrete order tasks can also be processed in a timely manner, thereby improving task processing efficiency.

In some embodiments, it is determined whether discrete order tasks can be added to the generated The task chain includes: S143. The control device determines whether there is a second target order task in the same area as the end point of the cargo handling task corresponding to the discrete order task in the generated task chain that is currently unprocessed; if there is, then Add discrete order tasks to the generated task chain.

Correspondingly, the generated task chain is updated based on the discrete order task, including: S144. The control device adjusts the end point area of the second target task to the starting point area of the discrete order task, and adds the discrete order task as the adjusted The subsequent task of the second target task obtains the updated task chain; correspondingly, the method also includes: S152. The control device sends a third control instruction including the updated task chain to the first task chain corresponding to the generated task chain. For the robot, the third control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain.

Specifically, Figure 6 is another schematic diagram of the control device adding discrete order tasks to the generated task chain in the embodiment of the present disclosure. As shown in Figure 6, the discrete order task is a single task as an example for explanation. Figure 6 includes the generated task chain A-B-C-A (thin solid line) and the discrete order task D-C (dashed line). Since the end points of B-C and D-C in the task chain are in the same area, therefore, when task B-C has not been processed, B-C can be considered It is the second target order task that meets the conditions, and the control device can add D-C to the task chain.

When adding the discrete order task D-C to the task chain A-B-C-A, you can first adjust the end point of task B-C in the task chain to the D area, that is, adjust B-C to B-D, and then add task D-C to the subsequent task of B-D to get more information. The new task chain is A-B-D-C-A. After obtaining the updated task chain, the control device sends the updated task chain to the first robot corresponding to the original task chain through the third control instruction.

Referring to Figure 6, after the first robot receives the third control instruction, if the first robot has not started executing tasks A-B, the first robot will perform the following operations in sequence according to the updated task chain: (1) First, in Take out cargo 1 from area A and transport cargo 1 from area A to area B; (2) When located in area B, put cargo 1 into area B, take out cargo 2 from the pickup task corresponding to tasks B-C, and Transport to area D (the task shown by the thick solid line B-D in Figure 6); (3) When located in area D, take out cargo 4 of the pick-up task corresponding to task D-C, and transport cargo 2 and cargo 4 to C at the same time area (the task shown by the thick solid line D-C in Figure 6); (4) When located in area C, put cargo 2 and cargo 4 into area C, take out cargo 3 from the pickup task corresponding to task C-A, and carry it to area A.

In the above operation process, the first robot performed the cargo handling task when moving between different areas, and the first robot can also complete the discrete order task D-C.

In this embodiment, the control device determines whether the second target order task that satisfies the conditions exists in the generated task chain to determine whether it is possible to generate the task that cannot be generated. The discrete order tasks of the task chain are added to the generated task chain, thereby ensuring that discrete order tasks can also be processed in time, thereby improving task processing efficiency.

In some embodiments, determining whether the discrete order task can be added to the generated task chain includes: S145. The control device determines whether there is a cargo handling task corresponding to the discrete order task in the same area as the starting point of the generated task chain. , and the third target order task is currently unprocessed; if it exists, add the discrete order task to the generated task chain.

Correspondingly, the generated task chain is updated based on the discrete order task, including: S146. The control device adjusts the starting point area of the third target task to the end point area of the discrete order task, and adds the discrete order task as the adjusted The previous task of the third target task is the updated task chain; correspondingly, the method also includes: S153. The control device sends a fourth control instruction including the updated task chain to the first task chain corresponding to the generated task chain. The robot, the fourth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain.

Specifically, Figure 7 is another schematic diagram of the control device adding discrete order tasks to the generated task chain in the embodiment of the present disclosure. As shown in Figure 7, the discrete order task is a single task as an example for explanation. Figure 6 includes the generated task chain A-B-C-A (thin solid line) and the discrete order task B-E (dashed line). Since the starting points of B-C and B-E in the task chain are in the same area, therefore, when task B-C has not been processed, B-C can be considered It is the third target order task that meets the conditions, and the control device can add B-E to the task chain.

When adding discrete order task B-E to task chain A-B-C-A, you can first adjust the starting point of task B-C in the task chain to the E area, that is, adjust B-C to E-C, and then add task B-E to the previous task of E-C to get the update The final task chain is A-B-E-C-A. After obtaining the updated task chain, the control device sends the updated task chain to the first robot corresponding to the original task chain through the fourth control instruction.

Referring to Figure 7, after the first robot receives the third control instruction, if the first robot has not started executing tasks A-B, the first robot will perform the following operations in sequence according to the updated task chain: (1) First, in Take out cargo 1 from area A, and move cargo 1 from area A to area B; (2) When located in area B, put cargo 1 into area B, and place cargo 2 in the pickup task corresponding to task B-C and corresponding to B-E. Take out the cargo 4 of the pick-up task and transport it to the E area (the task shown by the thick solid line B-E in Figure 7); (3) When it is in the E area, put the cargo 4 to the E area, and then transport the cargo 2 to Area C (the task shown by the thick solid line E-C in Figure 7); (4) When located in area C, put cargo 2 into area C, take out cargo 3 from the pick-up task corresponding to task C-A, and transport it to A area.

In the above operation process, the first robot performs cargo handling tasks when moving between different areas, and the first robot can also complete discrete order tasks B-E.

In this embodiment, the control device determines whether the generated task chain There is a third target order task that meets the conditions to determine whether discrete order tasks that cannot generate a task chain can be added to the generated task chain, thereby ensuring that discrete order tasks can also be processed in a timely manner, thereby improving task processing efficiency.

In some embodiments, the method further includes: S161. If there is a first discrete order task whose starting point is the first area and the end point is another area different from the first area, send the first discrete order task including the first discrete order task. The fifth control instruction is sent to the first robot, and the fifth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the first discrete order task; S162, when there is a starting point located in another area and an end point located in the first area. In the case of a second discrete order task, the second discrete order task is first assigned to the first robot that executes the first discrete order task.

Specifically, Figure 8 is an example diagram of cross-regional task processing in an embodiment of the present disclosure. As shown in Figure 8, the first discrete order task can be a single task A-E in the figure, or a combination of tasks A-B-D-E in the figure. , since the first discrete order task starts from area A, but does not end with area A (for example, the end point in the figure is area E), if the first discrete order task needs to be executed immediately, the control device can first pass through the The fifth control instruction sends the first discrete order task to the first robot for processing.

When the first robot executes the first discrete order task, since the end point is located in the E area, the first robot does not return to the A area, but stays in the E area. At this time, the robot can wait in area E, or coordinate Assist in handling cargo handling tasks within Area E.

When the control device performs subsequent task assignments, if it is determined that there is a second discrete order task with a starting point in area E and an end point in area A, such as task E-A in the figure, or task combination E-C-A, the second discrete order will be prioritized. The task is assigned to the first robot that executes the first discrete order task, so that the first robot can return to area A by executing the second discrete order task, avoiding the situation of returning to area A empty.

In this embodiment, if there is a single task or task combination that needs to be completed urgently, the control device can first send the task to the robot for execution. After completing the task, the robot can stay in the corresponding area. If the control device determines that there is a If a single task or task combination starts from the area where the robot stays and ends in the first area, then the single task or task combination that meets the above conditions will be assigned to the first robot first, so that it can complete the urgently needed tasks and also It can avoid the situation where the first robot is empty and avoid the waste of resources.

In some embodiments, for scenarios where the number of robots is small but the number of task chains is large, the control device can control one robot to execute multiple task chains at the same time.

In this embodiment, sending the first control instruction including the task chain to the first robot includes: S131. Search the target task chain from the historical task chains that have been issued. In the target task chain, the starting point of the first cargo handling task is located at In the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area; S132. Generate an optimized task chain according to the task chain and the target task chain, and the optimized task chain traverses all areas passed by the task chain and the target task chain; S133. Send the first control instruction including the optimized task chain to the first control command corresponding to the target task chain. For the robot, the first control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the optimized task chain.

Specifically, assuming that the currently generated task chain is the current task chain, and the starting point and end point of the current task chain are both located in the first area, then when the control device issues the current task chain, it can search for the starting point and the end point from the historical task chains that have been issued. The end points are also located in the target task chain in the first area, and the current task chain and the target task chain are merged to obtain an optimized task chain. This optimized task chain traverses the current task chain and all areas passed by the target task chain, so that the first According to this optimized task chain, the robot can complete all tasks included in the current task chain and the target task chain.

Figure 9 is a schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure. The current task chain is A-B-C-A (the task chain shown by the dotted line in the figure), and the target task chain that meets the conditions is A-B-D-E-C-A ( The task chain shown by the thin solid line in the figure), then according to the above two task chains, the optimized task chain can be obtained as A-B-D-E-C-A (the task chain shown by the thick solid line in the figure). This optimized task chain traverses the current task chain and the target task All areas the chain passes through ensure that all cargo handling tasks can be processed.

Figure 10 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure. The current task chain is A-B-F-C-A (the task chain shown by the dotted line in the figure), and the target task chain that meets the conditions is A-B-D-E-C- A (the task chain shown by the thin solid line in the figure), then according to the above two task chains, the optimized task chain can be obtained as A-B-F-D-E-C-A (the task chain shown by the thick solid line in the figure). This optimized task chain traverses the current task chain and All areas the target task chain passes through to ensure that all cargo handling tasks can be processed.

Figure 11 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure. The current task chain is A-B-C-A (the task chain shown by the dotted line in the figure), and the target task chain that meets the conditions is A-B-D-E-F-A (the task chain shown by the thin solid line in the figure), then according to the above two task chains, the optimized task chain can be obtained as A-B-C-D-E-F-A (the task chain shown by the thick solid line in the figure). This optimized task chain traverses the current task chain and All areas the target task chain passes through to ensure that all cargo handling tasks can be processed.

Figure 12 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure. The current task chain is A-B-C-A (the task chain shown by the dotted line in the figure), and the target task chain that meets the conditions is A-F-D-E-C-A (the task chain shown by the thin solid line in the figure), then according to the above two task chains, the optimized task chain can be obtained as A-F-B-D-E-C-A (the task chain shown by the thick solid line in the figure). This optimized task chain traverses the current task chain and All areas the target task chain passes through to ensure that all cargo handling tasks can be processed.

Figure 13 is another schematic diagram of generating an optimized task chain based on the current task chain and the target task chain in an embodiment of the present disclosure. The current task chain is A-B-C-A (the task chain shown by the dotted line in the figure), and the target task chain that meets the conditions is A-F-D-E-G-A (the task chain shown by the thin solid line in the figure), then the optimization task can be obtained based on the above two task chains. The task chain is A-F-B-D-E-C-G-A (the task chain shown by the thick solid line in the figure). This optimized task chain traverses all areas passed by the current task chain and the target task chain to ensure that all cargo handling tasks can be processed.

In this embodiment, when the control device issues the current task chain, it can search for the target task chain whose starting point and end point are both located in the first area from the historical task chains that have been issued, and merge the current task chain with the target task chain. , an optimized task chain is obtained, which traverses all areas passed by the current task chain and the target task chain. Therefore, the first robot can complete all tasks included in the current task chain and the target task chain according to the optimized task chain, so that It can improve the processing efficiency of task chain.

In some embodiments, the area where the end point of the cargo handling task described in the previous embodiments is located is the same as the area where the starting point of another cargo handling task is located. Specifically, this includes: when the robot performs the cargo release task corresponding to the cargo handling task. The position is the same as the position when the robot performs the picking task corresponding to another cargo handling task.

Specifically, assuming that the cargo handling task and another cargo handling task are Task-M and Task-N respectively, the position of the robot when executing the delivery task corresponding to Task-M is P1, and when the robot executes the picking task corresponding to Task-N The position is P2, and the position P1 is the same as the position P2. Specifically, the position P1 and the position P2 may completely overlap, or the distance between the position P1 and the position P2 is less than a preset distance (such as five meters, etc.).

It can be understood that when position P1 and position P2 are the same, the corresponding storage locations for the picking task and the placing task can be located on the shelves on both sides of the same lane respectively. Therefore, when the robot is located in the lane, it can rotate Different ways of forks Perform picking and placing tasks on the shelves on both sides without moving the location.

In addition, the corresponding storage locations of the picking task and the placing task can also be located at different heights on the same shelf. Therefore, when the robot is located close to the shelf, it can pick up goods at different heights by lifting. tasks as well as stocking tasks without moving locations.

In addition, the corresponding storage locations of the picking task and the placing task can also be the same storage location, and the storage location is a deep storage location, that is, a storage location that can store multiple goods. Therefore, the robot can operate in the deep storage location. Perform picking and placing tasks without moving location.

In this embodiment, the robot performs the picking task and the placing task at the same location, which can further shorten the distance required to move to perform tasks in the same area and improve task processing efficiency.

In some embodiments, the area where the starting point of the cargo handling task described in the previous embodiments is located is the same as the area where the starting point of another cargo handling task is located. This specifically includes: when the robot performs the picking task corresponding to the cargo handling task. The position is the same as the position when the robot performs the picking task corresponding to another cargo handling task; specifically, assuming that the cargo handling task and the other cargo handling task are Task-P and Task-Q respectively, the robot performs the corresponding position of Task-P. The position when picking up the goods is P3, and the position when the robot performs the picking task corresponding to Task-Q is P4. The position P3 is the same as the position P4. Specifically, the position P3 and the position P4 can completely overlap, or the position P3 and the position P4 The distance is less than the preset distance (such as five meters, etc.).

It can be understood that when position P3 and position P4 are the same, the corresponding storage locations for the two picking tasks can be located on the shelves on both sides of the same lane. Therefore, when the robot is located in the lane, it can rotate the fork. This method performs two picking tasks on the shelves on both sides respectively without moving the position.

In addition, the corresponding storage locations of the two picking tasks can also be located at different heights on the same shelf. Therefore, when the robot is located close to the shelf, it can perform two picking tasks at different heights by lifting. tasks without moving location.

In addition, the corresponding storage locations for the two picking tasks can also be the same storage location, and the storage location is a deep storage location, that is, a storage location that can store multiple goods. Therefore, the robot can perform two tasks in the deep storage location. Pickup tasks without moving location.

In this embodiment, the location where the robot performs the two picking tasks is the same, which can further shorten the distance required to move to perform tasks in the same area and improve task processing efficiency.

In some embodiments, the area where the end point of the cargo handling task described in the previous embodiments is located is the same as the area where the end point of another cargo handling task is located. Specifically, this includes: when the robot performs the cargo release task corresponding to the cargo handling task. The position is the same as the position when the robot performs the cargo release task corresponding to another cargo handling task.

Specifically, assume that the cargo handling task and another cargo handling task are Task-X and Task-Y respectively. When the robot performs the cargo delivery task corresponding to Task-X, the position is P5. When the robot performs the cargo delivery task corresponding to Task-Y, the position is P5. The position is P6, P5 and P6 is the same. Specifically, P5 and P6 may completely overlap, or the distance between P5 and P6 is less than a preset distance (for example, five meters, etc.).

It can be understood that when P5 and P6 are the same, the corresponding storage locations for the two delivery tasks can be located on the shelves on both sides of the same lane. Therefore, when the robot is located in the lane, it can rotate the fork. Perform two stocking tasks on the shelves on both sides without moving the position.

In addition, the corresponding storage locations for the two stocking tasks can also be located at different heights on the same shelf. Therefore, when the robot is located close to the shelf, it can perform the two stocking tasks at different heights by lifting. tasks without moving location.

In addition, the corresponding warehouse locations for the two delivery tasks can also be the same warehouse location, and the warehouse location is a deep warehouse location, that is, a warehouse location that can store multiple goods. Therefore, the robot can perform two tasks in the deep warehouse location. Delivery tasks without moving location.

In this embodiment, the position where the robot performs the two cargo placing tasks is the same, which can further shorten the distance required to move to perform tasks in the same area and improve task processing efficiency.

In some embodiments, any combination of at least two of the above three embodiments may be used when implementing the solution of the present disclosure.

In some embodiments, corresponding to the method applied to control equipment in the foregoing embodiments, a cross-region task processing method applied to the first robot in a warehousing system is provided, wherein the warehousing system includes multiple areas and a device that outputs control instructions. The control device includes a plurality of areas including a first area where the first robot works.

Figure 14 is a schematic diagram of a cross-region task processing method applied to the first robot in the warehousing system provided by an embodiment of the present disclosure. As shown in Figure 14, the method mainly includes the following steps: S210. Receive the first control sent by the control device. Instructions, the first control instruction includes a task chain.

The task chain is generated by the control device based on at least two order tasks, each of the at least two order tasks includes a cross-regional cargo handling task, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. , in the task chain, the starting point of the first cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the next cargo handling task, and the end point of the last cargo handling task is in the One area; S220. Perform cargo handling processing according to at least two cargo handling tasks in the task chain.

Regarding the specific limitations of the cross-region task processing method applied to the first robot in the warehousing system, reference can be made to the limitations of the cross-region task processing method applied to the control device in the warehousing system in the foregoing embodiments, which will not be described again here.

In some embodiments, the method further includes: S231. Receive a second control instruction including an updated task chain sent by the control device. The updated task chain is a discrete order task for which the control device cannot generate a task chain and a generated task chain. The first target order task in the task chain is obtained by updating the generated task chain. The first target order task is the cargo handling task corresponding to the discrete order task. The starting point is in the same area, the end point is in the same area, and it is not currently being processed. order tasks; S232. Execute cargo handling processing according to the cargo handling task in the updated task chain.

In some embodiments, the method further includes: S241. Receive a third control instruction including an updated task chain sent by the control device. The updated task chain is a discrete order task for which the control device cannot generate a task chain and a generated task chain. The second target order task in the task chain is obtained by updating the generated task chain. The second target order task is an order task that has the same end point as the cargo handling task corresponding to the discrete order task and is currently unprocessed; S242 , execute cargo handling processing according to the cargo handling tasks in the updated task chain.

In some embodiments, the method further includes: S251. Receive a fourth control instruction including an updated task chain sent by the control device. The updated task chain is a discrete order task for which the control device cannot generate a task chain and a generated task chain. The third target order task in the task chain is obtained by updating the generated task chain. The third target order task is an order task that is in the same area as the starting point of the cargo handling task corresponding to the discrete order task and is currently unprocessed; S252 , execute cargo handling processing according to the cargo handling tasks in the updated task chain.

In some embodiments, the method further includes: S261. Receive the first discrete order task sent by the control device. The fifth control instruction, the first discrete order task is a first discrete order task whose starting point is the first area and the end point is another area different from the first area, and the first discrete order task is sent including the first discrete order task. A discrete order task; S262, perform cargo handling processing according to the cargo handling task in the first discrete order task; S263, after receiving the starting point sent by the control device is located in the other area, and the end point is located in the first When the second discrete order task of the area is determined, the cargo handling process is performed according to the second discrete order task.

In some embodiments, the method also includes: S271. After receiving the target task chain sent by the control device, if the first control instruction containing the optimized task chain sent by the control device is received, then according to the goods in the optimized task chain The handling task performs cargo handling processing; in the target task chain, the starting point of the first cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the subsequent cargo handling task, and The end point of the last cargo handling task is located in the first area; the optimized task chain is obtained by the control device based on the task chain and the target task chain, and the optimized task chain traverses all areas passed by the task chain and the target task chain.

In some embodiments, the discrete order task includes a single order task, or consists of at least two order tasks, and the area where the end point of the cargo handling task corresponding to the previous order task is located is the same as the area where the end point of the cargo handling task corresponding to the subsequent order task is located. A combination of tasks in the same starting area.

In some embodiments, the area where the cargo handling task ends is located in the same area as another The starting point of one cargo handling task is in the same area, specifically including: the position when the robot performs the placing task corresponding to the cargo handling task is the same as the position when the robot performs the picking task corresponding to another cargo handling task.

In some embodiments, the area where the starting point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located. Specifically, this includes: the position when the robot performs the picking task corresponding to the cargo handling task is different from the position where the robot performs the picking task corresponding to the cargo handling task. The position of the pickup task corresponding to the transportation task is the same.

In some embodiments, the area where the end point of the cargo handling task is located is the same as the area where the end point of another cargo handling task is located. Specifically, this includes: the position when the robot performs the cargo release task corresponding to the cargo handling task is different from the position where the robot performs the other cargo The position of the loading task corresponding to the handling task is the same.

It should be understood that although each step in the flow chart in the above embodiment is shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, the execution of these steps is not strictly limited in order, and they can be executed in other sequences. Moreover, at least some 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 their execution order is not necessarily sequential. may be performed in turn or alternately with other steps or sub-steps of other steps or at least part of stages.

In some embodiments, a cross-region task processing device is provided, which is applied to a control device in a warehousing system. The warehousing system includes multiple areas and a first robot working in a first area within the multiple areas.

Figure 15 is a schematic diagram of a cross-region task processing device provided by an embodiment of the present disclosure. As shown in Figure 15, the device includes: an acquisition module 110, used to acquire at least two order tasks, each of the at least two order tasks. The tasks all include cross-regional cargo handling tasks; the generation module 120 is used to generate a task chain based on at least two order tasks. The task chain includes at least two cargo handling tasks corresponding to at least two order tasks. In the task chain, the first The starting point of the cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the next cargo handling task, and the end point of the last cargo handling task is located in the first area; sending module 130 , used to send a first control instruction including a task chain to the first robot, where the first control instruction is used to instruct the first robot to perform cargo handling processing according to at least two cargo handling tasks in the task chain.

In some embodiments, a cross-region task processing device is provided and applied to a first robot in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include a first area where the first robot works. .

Figure 16 is another schematic diagram of a cross-region task processing device provided by an embodiment of the present disclosure. As shown in Figure 16, the device includes: a receiving module 210 for receiving a first control instruction sent by a control device. It includes a task chain. The task chain is generated by the control equipment based on at least two order tasks. Each of the at least two order tasks includes a cross-regional cargo handling task. The task chain includes at least two goods corresponding to the at least two order tasks. Handling task, in the task chain, the starting point of the first cargo handling task is in the first area, before The end point of one cargo handling task is located in the same area as the starting point of the subsequent cargo handling task, and the end point of the last cargo handling task is located in the first area; the processing module 220 is used to perform the task according to at least two tasks in the task chain. The cargo handling task performs cargo handling processing.

For specific limitations on the cross-region task processing device, please refer to the above limitations on the cross-region task processing method, which will not be described again here. Each module in the above-mentioned cross-region task processing device can be implemented in whole or in part by software, hardware and combinations thereof. Each of the above modules can be embedded in the processor of the computer device in the form of hardware or independent of it, or can be stored in the memory of the computer device in the form of software so that the processor can call and execute the operations corresponding to each of the above modules. .

In some embodiments, a control device is provided, which is applied to a warehousing system. The warehousing system includes a plurality of areas and a first robot working in a first area within the plurality of areas. The control device includes: a memory and at least one processor; The memory stores computer execution instructions; at least one processor executes the computer execution instructions stored in the memory, so that at least one processor executes the cross-region task processing method applied to the control device in the aforementioned embodiments.

Among them, the memory and the processor are electrically connected directly or indirectly to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses or signal lines, such as through bus bars. Computer execution instructions for implementing data access control methods are stored in the memory, including There is one less software function module that can be stored in the memory in the form of software or firmware. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory.

The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM) , Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory is used to store the program, and the processor executes the program after receiving the execution instruction. Furthermore, the above-mentioned software programs and modules in the memory may also include an operating system, which may include various software components and/or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and 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 capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc. Each disclosed method, step and logical block diagram in the embodiment of the present disclosure can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

In some embodiments, a robot is provided for use in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include Including the first area where the robot works, the robot includes: a memory and at least one processor; the memory stores computer execution instructions; at least one processor executes the computer execution instructions stored in the memory, so that at least one processor executes the foregoing embodiments Cross-region task processing method applied to robots.

In some embodiments, a warehousing system is provided, including the above control device and a robot.

In some embodiments, a computer-readable storage medium is provided, and computer-executable instructions are stored in the computer-readable storage medium. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present disclosure.

In some embodiments, a computer program product is provided, including a computer program that implements the steps of each method embodiment of the present disclosure when executed by a processor.

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 completed by instructing relevant hardware through computer programs. The computer programs can be stored in a non-volatile computer-readable storage medium. When executed, the computer program may include the processes of the above method embodiments. Any reference to memory, storage, database or other media used in the various embodiments provided by the present disclosure may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Other embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the application disclosed 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.

S110, S120, S130: steps

Claims (26)

A cross-region task processing method, applied to control equipment in a warehousing system. The warehousing system includes multiple areas and a first robot working in a first area within the multiple areas. The method includes: obtaining at least two order tasks, each of the at least two order tasks includes a cross-regional cargo handling task; a task chain is generated based on the at least two order tasks, and the task chain includes the corresponding tasks of the at least two order tasks. At least two cargo handling tasks. In the task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the subsequent cargo handling task is located. , and the end point of the last cargo handling task is located in the first area; send a first control instruction including the task chain to the first robot, and the first control instruction is used to instruct the first robot according to the The at least two cargo handling tasks in the task chain perform cargo handling processing; wherein the sending the first control instruction including the task chain to the first robot includes: from the issued historical task chain Find the target task chain. In the target task chain, the starting point of the first cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the subsequent cargo handling task, and The end point of the last cargo handling task is located in the first area; according to the task chain and the target task chain, an optimized task chain is generated, and the optimized task chain traverses all the tasks passed by the task chain and the target task chain. district Domain; Send a first control instruction including the optimized task chain to the first robot corresponding to the target task chain, the first control instruction is used to instruct the first robot to carry goods according to the optimized task chain The task is to perform cargo handling processing. The method of claim 1, wherein generating a task chain based on the at least two order tasks includes: determining from the at least two order tasks that the starting point of the cargo handling task is at the first location of the first area. Order task: Obtain the second area where the end point of the first cargo handling task corresponding to the first order task is located, and determine among the other order tasks except the first order task in the at least two order tasks, Whether there is a second order task whose starting point of the cargo handling task is in the second area; if the second order task exists, determine the second order task as the next task of the first order task, and Treat the second order task as a new first order task, and repeat the above steps until the area where the end point of the second cargo handling task corresponding to the second order task is located is the first area, so as to generate the task chain. The method described in claim 2 further includes: if the second order task does not exist, after obtaining the new order task, determine whether the starting point of the cargo handling task corresponding to the new order task is at the third order task. The second area; if the starting point of the cargo handling task corresponding to the new order task is in the second area within the area, the new order task is determined to be the second order task. The method as described in request item 1 further includes: if there is a discrete order task that cannot generate a task chain, then determining whether the discrete order task can be added to the generated task chain; if it can be added to the generated task chain In the task chain, the generated task chain is updated based on the discrete order task. The method of claim 4, wherein determining whether the discrete order task can be added to a generated task chain includes: determining whether there is a task corresponding to the discrete order task in the generated task chain. The starting point of the cargo handling task is in the same area, the end point is in the same area, and the first target order task is not currently processed; if it exists, the discrete order task is added to the generated task chain. The method as described in claim 5, wherein updating the generated task chain based on the discrete order task includes: adding the discrete order task to the generated task chain and the The updated task chain is obtained at the same position of the first target order task; the method further includes: sending a second control instruction including the updated task chain to the first robot corresponding to the generated task chain, The second control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain. The method of claim 4, wherein determining whether the discrete order task can be added to a generated task chain includes: determining whether there is a task corresponding to the discrete order task in the generated task chain. The end point of the cargo handling task is in the same area and is a second target order task that is not currently being processed; if it exists, the discrete order task is added to the generated task chain. The method as described in request item 7, wherein updating the generated task chain based on the discrete order task includes: adjusting the end point area of the second target order task to the discrete order task The area where the starting point is located, and the discrete order task is added as the subsequent task of the adjusted second target order task to obtain an updated task chain; the method further includes: sending a message containing the updated task chain. The third control instruction is sent to the first robot corresponding to the generated task chain, and the third control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain. The method of claim 5, wherein determining whether the discrete order task can be added to a generated task chain includes: determining whether there is a task corresponding to the discrete order task in the generated task chain. The starting point of the cargo handling task is in the same area and is a third target order task that is not currently being processed; If it exists, the discrete order task is added to the generated task chain. The method as described in claim 9, wherein updating the generated task chain based on the discrete order task includes: adjusting the starting area of the third target order task to the discrete order task The end point is located in the area, and the discrete order task is added as the previous task of the adjusted third target order task to obtain an updated task chain; the method further includes: sending a message containing the updated task chain. The fourth control instruction is sent to the first robot corresponding to the generated task chain, and the fourth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the updated task chain. The method of claim 1 further includes: if there is a first discrete order task whose starting point is the first area and the end point is another area different from the first area, sending the first discrete order task including the first area. A fifth control instruction of a discrete order task to the first robot, the fifth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the first discrete order task; when there is a starting point located at When there is a second discrete order task in the other area and the end point is located in the first area, the second discrete order task is preferentially assigned to the first robot that executes the first discrete order task. The method as described in any one of request items 4-11, wherein the discrete order task includes a single order task, or consists of at least two order tasks, and the area where the end point of the cargo handling task corresponding to the previous order task is located and the subsequent order task are included. The starting point of the cargo handling task corresponding to an order task is a combination of tasks in the same area. The method as described in any one of claims 1-11, further comprising at least one of the following: the area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the robot executes the cargo The position of the cargo delivery task corresponding to the transportation task is the same as the position of the robot when it performs the pickup task corresponding to the other cargo transportation task; the area where the starting point of the cargo transportation task is located is the same as the starting point of the other cargo transportation task The area is the same, specifically including: the position when the robot performs the pickup task corresponding to the cargo handling task is the same as the position when the robot performs the pickup task corresponding to the other cargo handling task; the end point of the cargo handling task The area where it is located is the same as the area where the end point of another cargo handling task is located, specifically including: the position when the robot performs the cargo placing task corresponding to the cargo handling task, and the position where the robot performs the placing task corresponding to the other cargo handling task. The same position as during the cargo mission. A cross-region task processing method, applied to the first robot in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include a first area where the first robot works, The methods include: Receive a first control instruction sent by the control device, the first control instruction includes a task chain, the task chain is generated by the control device according to at least two order tasks, each of the at least two order tasks The tasks all include cross-regional cargo handling tasks, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the starting point of the first cargo handling task is located in the first area. , the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area; according to the at least two tasks in the task chain Cargo handling tasks are executed for each cargo handling task; wherein, after receiving the target task chain sent by the control device, if the first control instruction containing the optimized task chain sent by the control device is received, then according to the optimization The cargo handling task in the task chain performs cargo handling processing; wherein, in the target task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as the area where the subsequent cargo handling task is located. The starting point of the task is located in the same area, and the end point of the last cargo handling task is located in the first area; the optimized task chain is obtained by the control device according to the task chain and the target task chain, and the optimized task chain The chain traverses the task chain and all areas passed by the target task chain. The method according to claim 14, further comprising: receiving a second control instruction including an updated task chain sent by the control device. Let, the updated task chain be obtained by the control device updating the generated task chain according to the discrete order task that cannot generate the task chain and the first target order task in the generated task chain, so The first target order task is an order task that has the same starting point and the same end point as the cargo handling task corresponding to the discrete order task and is currently unprocessed; according to the cargo handling task in the updated task chain Perform cargo handling processing. The method of claim 14, further comprising: receiving a third control instruction including an updated task chain sent by the control device, where the updated task chain is a discrete task chain that the control device cannot generate based on The order task and the second target order task in the generated task chain are obtained by updating the generated task chain. The second target order task is the end point of the cargo handling task corresponding to the discrete order task. Order tasks in the same area that are currently unprocessed; perform cargo handling processing according to the cargo handling tasks in the updated task chain. The method of claim 14, further comprising: receiving a fourth control instruction including an updated task chain sent by the control device, where the updated task chain is a discrete task chain that the control device cannot generate. The order task and the third target order task in the generated task chain are obtained by updating the generated task chain. The third target order task is the starting point of the cargo handling task corresponding to the discrete order task. The area is the same and when Order tasks that have not been processed before; perform cargo handling processing according to the cargo handling tasks in the updated task chain. The method of claim 14, further comprising: receiving a fifth control instruction sent by the control device including a first discrete order task, where the starting point of the first discrete order task is the first area and the end point. The first discrete order task in an area different from the first area is sent, and the first discrete order task is sent; the goods handling process is performed according to the goods handling task in the first discrete order task; upon receiving When the control device sends a second discrete order task whose starting point is located in the other area and whose end point is located in the first area, cargo handling processing is performed according to the second discrete order task. The method as described in any one of request items 15-18, wherein the discrete order task includes a single order task, or consists of at least two order tasks, and the area where the end point of the cargo handling task corresponding to the previous order task is located and the subsequent order task are included. The starting point of the cargo handling task corresponding to an order task is a combination of tasks in the same area. The method as described in any one of claims 14 to 18, further comprising at least one of the following: the area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the robot executes the cargo The position of the cargo releasing task corresponding to the handling task corresponds to the position of the robot when it performs the other cargo handling task. The location of the corresponding picking task is the same; the area where the starting point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the position when the robot performs the picking task corresponding to the cargo handling task, The position is the same as when the robot performs the picking task corresponding to the other cargo handling task; the area where the end point of the cargo handling task is located is the same as the area where the end point of the other cargo handling task is located, specifically including: the robot performs the The position of the robot when performing the cargo placement task corresponding to the cargo handling task is the same as the position when the robot performs the cargo placement task corresponding to the other cargo handling task. A cross-region task processing device applied to control equipment in a warehousing system. The warehousing system includes multiple areas and a first robot working in a first area within the multiple areas. The device includes: an acquisition module , used to obtain at least two order tasks, each of the at least two order tasks includes a cross-regional cargo handling task; a generation module, used to generate a task chain based on the at least two order tasks, so The task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the starting point of the first cargo handling task is located in the first area, and the end point of the previous cargo handling task is located in the area. The same area as the starting point of the next cargo handling task, and the end point of the last cargo handling task is located in the first area; a sending module, used to send the first control instruction including the task chain to the first robot, the first control instruction is used to instruct the first robot according to the The at least two cargo handling tasks in the task chain perform cargo handling processing; wherein the sending module is further configured to: search for a target task chain from the historical task chain that has been issued, and in the target task chain, the first task chain is The starting point of each cargo handling task is located in the first area, the end point of the previous cargo handling task is in the same area as the starting point of the next cargo handling task, and the end point of the last cargo handling task is located in the first area ; Generate an optimized task chain according to the task chain and the target task chain, and the optimized task chain traverses all areas passed by the task chain and the target task chain; send the first control containing the optimized task chain Instructions are sent to the first robot corresponding to the target task chain, and the first control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the optimized task chain. A cross-region task processing device applied to a first robot in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include a first area where the first robot works, The device includes: a receiving module for receiving a first control instruction sent by the control device, the first control instruction includes a task chain, and the task chain is generated by the control device according to at least two order tasks, Each of the at least two order tasks includes a cross-region cargo handling task, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the first The starting point of the cargo handling task is located in the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the subsequent cargo handling task is located, and the last one The end point of each cargo handling task is located in the first area; a processing module is configured to perform cargo handling processing according to the at least two cargo handling tasks in the task chain; wherein, after the receiving module has received After the target task chain sent by the control device, if the first control instruction containing the optimized task chain sent by the control device is received, the processing module is configured to execute the cargo handling task according to the optimized task chain. Cargo handling processing; wherein, in the target task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the subsequent cargo handling task is located, And the end point of the last cargo handling task is located in the first area; the optimized task chain is obtained by the control device according to the task chain and the target task chain, and the optimized task chain traverses the task chain and all All areas passed by the target task chain. A control device applied to a control device in a warehousing system. The warehousing system includes a plurality of areas and a first robot working in a first area within the plurality of areas. The control device includes: a memory and at least one Processor; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the cross-processing described in any one of claims 1-13. Regional task processing methods. A robot, applied to a first robot in a warehousing system. The warehousing system includes multiple areas and a control device that outputs control instructions. The multiple areas include a first area where the robot works. The robot includes: memory and at least one processor; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes any one of claims 14-20 The cross-region task processing method described. A warehousing system includes: the control device as described in claim 23 and the robot as described in claim 24. A computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions. When the processor executes the computer execution instructions, the cross-region task processing described in any one of claims 1-20 is realized. method.

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