WO2020088132A1 - 货物搬运系统和方法 - Google Patents

货物搬运系统和方法 Download PDF

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Publication number
WO2020088132A1
WO2020088132A1 PCT/CN2019/106152 CN2019106152W WO2020088132A1 WO 2020088132 A1 WO2020088132 A1 WO 2020088132A1 CN 2019106152 W CN2019106152 W CN 2019106152W WO 2020088132 A1 WO2020088132 A1 WO 2020088132A1
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WO
WIPO (PCT)
Prior art keywords
robot
transport
target
handling
target container
Prior art date
Application number
PCT/CN2019/106152
Other languages
English (en)
French (fr)
Inventor
郑勇
Original Assignee
北京极智嘉科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to US17/289,246 priority Critical patent/US20210395008A1/en
Priority to JP2021523445A priority patent/JP7052147B2/ja
Priority to EP19880888.3A priority patent/EP3872006A4/en
Publication of WO2020088132A1 publication Critical patent/WO2020088132A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the invention relates to the technical field of logistics and warehousing, in particular to a cargo handling system and method.
  • a handling robot is used to move a storage container storing goods to a workstation, so that a worker or a robot can process the goods.
  • the "goods to people” system improves work efficiency and automation.
  • the transportation robot transports the target cargo to the workstation, if the waiting area of the target workstation is not empty at this time, that is to say, there is at least one transportation robot in the waiting area of the target workstation, then the transportation The robot needs to wait in line in the waiting area of the target workstation until the target cargo is transported from the waiting area to the work area of the target workstation.
  • the handling robot has no way to handle other goods, which reduces the working efficiency of the handling robot.
  • the cargo handling system and method provided by the embodiments of the present invention can improve the working efficiency of the handling robot.
  • an embodiment of the present invention provides a cargo handling system.
  • the system includes: a control server, a handling robot, and a workstation.
  • the workstation includes a work area and a waiting area; wherein,
  • the control server is configured to, in response to a system task, determine a target container to be transported, a first transport robot and a second transport robot that transport the target container, and a target workstation operating the target container as the first
  • the transport robot and the second transport robot plan a walking path, and send transport instructions to the first transport robot and the second transport robot;
  • the first handling robot is configured to, in response to a handling instruction, transport the target container from a storage area to a waiting area of the target workstation according to a planned walking path, and place the target container in the waiting area of the target workstation for placement Then wait and execute other handling instructions;
  • the second handling robot is configured to, in response to a handling instruction, transport the target container from a waiting area of the target workstation to a work area according to a planned walking path.
  • the second handling robot is also configured to always keep docking with the target container during the operation of the target container.
  • the second handling robot is further configured to, after the target container has been operated, transfer the target container from the work area of the target workstation to the storage area, or to transfer the target container from the target container.
  • the working area of the target workstation is transferred to the waiting area and placed in the waiting area of the target workstation, so as to wait and execute other transfer instructions after placement.
  • control server is further configured to determine a third transport robot that transports the target container, plan a walking path for the third transport robot, and send a transport instruction to the third transport robot;
  • the third transport robot is configured to, in response to a transport instruction, transport the target container from the waiting area of the target workstation to a storage area.
  • the second handling robot is further configured to, after transporting the target container from the waiting area of the target workstation to the work area, place the target container in the work area of the workstation so as to wait after placement And execute other handling instructions.
  • control server is further configured to determine a fourth transport robot that transports the target container, plan a walking path for the fourth transport robot, and send a transport instruction to the fourth transport robot;
  • the fourth transfer robot is configured to transfer the target container from the work area of the target workstation to a storage area in response to a transfer instruction.
  • control server is further configured to, if it is detected that a predetermined value of the first handling robot exists in the waiting area of the target workstation; or, the first handling robot waits in the waiting area of the target workstation When the time is greater than the preset duration, send other handling instructions to the first handling robot.
  • an embodiment of the present invention also provides a cargo handling method, which includes:
  • control server determines the target container to be transported, the first and second transport robots that transport the target container, and the target workstation that operates the target container, and determines the plan of the first transport robot Walking path, sending a first handling instruction to the first handling robot;
  • the first handling robot transports the target container from the storage area to the waiting area of the target workstation according to the planned walking path, and places it in the waiting area of the target workstation, so that Wait and execute other handling instructions after placement;
  • the control server determines a second transport robot that transports the target container, plans a walking path for the second transport robot, and sends a second transport instruction to the second transport robot;
  • the second transfer robot transfers the target container from the waiting area of the target workstation to a work area according to a planned walking path, so as to perform operations on the target container.
  • the second handling robot always maintains docking with the target container.
  • control server After detecting that the target container has been operated, the control server sends a third transport instruction to the second transport robot;
  • the second transfer robot transfers the target container from the work area of the target workstation to the storage area in response to the third transfer instruction, or transfers the target container from the work area of the target workstation to The waiting area is placed in the waiting area of the target workstation, so as to wait and execute other handling instructions after placement.
  • the second handling robot transports the target container from the working area of the target workstation to a waiting area, and places it after the waiting area of the target workstation, further comprising:
  • the control server determines a third transport robot that transports the target container, plans a walking path for the third transport robot, and sends a fourth transport instruction to the third transport robot;
  • the third transport robot transports the target container from the waiting area of the target workstation to a storage area.
  • the method further includes:
  • the control server sends a placement instruction to the second handling robot
  • the second handling robot places the target container in the work area of the workstation so as to wait and execute other handling instructions after being placed.
  • the method further includes:
  • the control server determines a fourth transport robot that transports the target container, plans a walking path for the fourth transport robot, and sends a fifth transport instruction to the fourth transport robot;
  • the fourth transfer robot transfers the target container from the work area of the target workstation to a storage area in response to the fifth transfer instruction.
  • the method further includes:
  • control server detects that there is a first transport robot with a predetermined value in the waiting area of the target workstation; or, the waiting time of the first transport robot in the waiting area of the target workstation is greater than a preset time, The first handling robot sends other handling instructions;
  • the first handling robot After receiving the other handling instructions, the first handling robot places the target container in the waiting area of the target workstation and performs the handling operation in the other handling instructions.
  • an embodiment of the present invention provides a cargo handling control method, including:
  • the first and second transport robots that transport the target container, and the target workstation that operates the target container, and determine the planned walking path of the first transport robot , Sending a first handling instruction to the first handling robot, where the first handling instruction is used to instruct the first handling robot to transport the target container from the storage area to the target workstation according to the planned walking path Waiting area, and place the target container in the waiting area of the target workstation;
  • a second handling robot that determines a target container, plans a walking path for the second handling robot, and sends a second handling instruction to the second handling robot, where the second handling instruction is used to instruct the second handling robot
  • the target container is transported from the waiting area of the target workstation to the work area according to the planned walking path.
  • an embodiment of the present invention provides a handling robot group
  • the first handling robot in the handling robot group is configured to transport the target container from the storage area to the waiting area of the target workstation according to the planned walking path, and place the target container Wait and execute other handling instructions in the waiting area of the target workstation;
  • the second transport robot in the transport robot group is configured to transport the target container from the waiting area of the target workstation to the work area according to the planned walking path.
  • an embodiment of the present invention provides an electronic device, including: one or more processors; a storage device, configured to store one or more programs, when the one or more programs are The processor executes so that the one or more processors implement the aforementioned cargo handling method.
  • an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the foregoing cargo handling method is implemented.
  • the technical solution provided by the embodiment of the present invention uses the waiting area in the workstation as a transit to temporarily store the target container through the control of the control server. After the first handling robot transfers the target container from the storage area to the waiting area of the target workstation, there is no need Waiting in line can perform the next handling task; the second handling robot will transport the target container from the waiting area to the work area to operate the target container.
  • the handling robots are always in a high operating state, which improves the working efficiency of the handling robots.
  • FIG. 1A is a schematic structural diagram of a cargo handling system provided in an embodiment of the present invention.
  • FIG. 1B is a schematic structural diagram of a handling robot to which an embodiment of the present invention is applicable;
  • FIG. 1C is a schematic diagram of a container to which an embodiment of the present invention is applicable.
  • FIG. 2A is a schematic structural diagram of a cargo handling system provided in Embodiment 1 of the present invention.
  • FIG. 2B is a schematic structural diagram of a handling robot with a gripping device to which an embodiment of the present invention is applicable;
  • 3A and 3B are schematic structural views of a cargo handling system provided in Embodiment 2 of the present invention.
  • Embodiment 5 is a flowchart of a cargo handling method provided in Embodiment 4 of the present invention.
  • the cargo handling solution of the embodiments of the present invention can be applied to any scenario where goods need to be handled, such as the goods picking process, the stocking process, and the loading of goods. Process or replenishment process, etc.
  • the goods represent any items suitable for storage sorting, or transfer in automated inventory, warehouse, manufacturing, and / or parts handling systems, which can be any material, and can be living or inanimate objects.
  • goods may represent items of goods stored in a warehouse.
  • the system 100 includes: a computing device 110, a handling robot 120, a storage area 130, and a workstation 140; It can be any type of stationary or mobile computing device, including mobile computer or mobile computing device (eg, tablet computer, personal digital assistant, laptop computer, notebook computer, netbook, etc.), mobile phone (eg, smartphone), A worn computing device (eg, smart watch, smart glasses, etc.) or other type of mobile device, or a stationary computing device such as a desktop computer or PC.
  • the computing device 110 may also be a mobile or stationary server. In the embodiments of the present application, the computing device 110 is used as a control server as an example for description.
  • the storage area 130 is provided with a plurality of containers 131 on which various goods are placed.
  • the container 131 may be any equipment capable of containing goods, such as shelves, pallets, bins or cages.
  • a plurality of containers 131 can be arranged into a container group, and the container group and the container group are arranged in an array form.
  • one or more workstations 140 are provided on one side of the storage area 130, and any one or more operations can be performed on the workstation 140, such as loading, replenishing, stocking, or picking.
  • the workstation 140 may also be called a picking station.
  • the control server 110 performs wireless communication with the transport robot 120 respectively.
  • a worker can operate the control server 110 through the console 160.
  • the transport robot 120 performs corresponding actions under the control of the control server 110.
  • the control server 110 plans a walking path for the transport robot 120 according to the system task, and the transport robot 120 travels along the empty space (part of the passage of the transport robot 120) in the container array according to the walking path.
  • the working area of the handling robot 120 (the working area includes at least the storage area 130 and the area where the workstation 140 is located) is divided into several sub-areas (for example, cells), and the handling robot 120 sub-areas one by one To move to form a trajectory.
  • the transport robot 120 may be a robot for transporting containers.
  • the handling robot 120 may include a driving mechanism 101 through which the handling robot 120 can move within the work space.
  • the transport robot 120 may further include a lifting mechanism 102 for transporting containers.
  • the transport robot 120 may move below the container, use the lifting mechanism 102 to lift the container, and transport it to the workstation 140.
  • the lifting mechanism 102 is raised, the entire container can be lifted from the ground, so that the handling robot 120 carries the container, and when the lifting mechanism 102 is lowered, the container is placed on the ground.
  • the handling robot 120 may further include a target identification component 103, which can effectively identify the container.
  • the handling robot 120 further includes a navigation identification component (such as a camera, not shown in FIG. 1B) for identifying navigation marks (such as a two-dimensional code) on the ground.
  • the handling robot 120 also includes a control module (not shown in FIG. 1B) that controls the entire handling robot to realize functions such as movement and navigation.
  • the handling robot 120 can drive forward according to the two-dimensional code information (or other ground signs) captured by the camera, and can drive under the container determined by the control system 110 according to the route determined by the control system 110.
  • the handling robot 120 carries the container to the workstation 140 for operation, and the operation includes but is not limited to: loading, replenishing, picking, and stocking.
  • the workstation is a picking station, where pickers or picking equipment (such as robotic arms) pick goods from the container and put them in a tote box on the picking and seeding wall for packaging.
  • FIG. 1C is a schematic diagram of a container provided in an embodiment of the present invention.
  • the shelf 131 can contain goods 310.
  • the goods may also be placed in the bin 310, and the bin 131 accommodates the bin 310.
  • a readable mark 320 such as a two-dimensional code, may be provided near the bin 310. After the transport robot 120 travels to the front of the container 131, the two-dimensional code 320 is photographed through the camera to ensure that the transport robot 120 can accurately grasp the goods or materials ⁇ 310.
  • the container 131 may be a high-level container.
  • the container 131 includes a plurality of compartments stacked in a vertical direction, and each compartment can accommodate a plurality of goods or bins 310.
  • the container 131 further includes one or more supporting parts 330.
  • the cargo or bin 310 may also be suspended from a hook or rod in or on the container 131.
  • the cargo or bin 310 can be placed on the inner or outer surface of the container 131 on the container 131 in any suitable manner.
  • the control server 120 is a software system that runs on the server and has data storage and information processing capabilities, and can be connected to access devices, handling devices, hardware input systems, and other software systems in a wireless or wired manner.
  • the control server 120 may include one or more servers, and may be a centralized control architecture or a distributed computing architecture.
  • the server has a processor 121 and a memory 122, in which an order pool 123 may be provided.
  • the handling robot will transport the target goods to the target workstation. If the target workstation exists at least A handling robot needs to wait in line at the target workstation until the target cargo is moved to the working area of the target workstation. During this process, the handling robot cannot perform other tasks, resulting in a low efficiency of the handling robot.
  • the present invention provides a cargo handling solution on the basis of the existing "goods to people" system, which can improve the working efficiency of the handling robot. Based on this, the following describes the technical solutions of the embodiments of the present invention to solve the problem.
  • FIG. 2A is a schematic structural diagram of a cargo handling system provided in Embodiment 1 of the present invention; this embodiment is applicable to how to improve the efficiency of handling robots in a cargo handling scenario, and is particularly suitable for cargo picking, inventory, In the scene of handling goods such as loading or replenishment.
  • the entire system can be executed in cooperation with a control server, at least one handling robot, and a workstation; where the control server can be a single-line or multi-thread server, which can provide strategies for sorting goods and assigning handling robots.
  • the system 200 specifically includes: a control server 401, a handling robot and a workstation 407; the handling robot may include a first handling robot 403 and a second handling robot 404; in order not to affect the work of workers or other robots in the workstation,
  • the workstation 407 may include a working area and a waiting area; the waiting area refers to an area where the handling robots set in the workstation 407 can wait in line, temporarily store containers to be operated, and the handover of each handling robot, etc .; the working area refers to a worker operating the target container region.
  • the waiting area is set closer to the work area, so that the work area needs goods to be called at any time.
  • the workstation 407 is a picking station, and the work area may be a picking area. Picking personnel or picking equipment (such as a robotic arm) in the picking area pick goods from the container.
  • the control server 401 may be configured to, in response to system tasks, determine the target container 402 to be transported, the first and second transport robots 403 and 404 to transport the target container 402, and the target workstation 407 to operate the target container 402, as The first handling robot 403 and the second handling robot 404 plan a walking path, and send a handling instruction to the first handling robot 403 and the second handling robot 404;
  • the first handling robot 403 is configured to, in response to the handling instruction, transport the target container 402 from the storage area to the waiting area of the target workstation 407 according to the planned walking path, and place it in the waiting area of the target workstation 407, so as to wait and execute Other handling instructions;
  • the second handling robot 404 is configured to, in response to the handling instruction, transport the target container 402 from the waiting area of the target workstation 407 to the work area according to the planned walking path.
  • the system task refers to a work task issued by the upstream system to the control server 401, and may be a picking task, a replenishment task, an inventory task, and a loading task.
  • the target container 402 refers to a device that contains the goods associated with the system task, such as shelves, pallets, bins, or cages; the operation on the target container 402 can be loading, replenishing, stocking, or picking.
  • the system tasks are different and the operations on the target container 402 are different; different target workstations 407 may correspond to different operations, and the same target workstation 407 may correspond to different operations in different scenarios.
  • the first transport robot 403 and the second transport robot 404 having the same structure are used to perform the transport of the target container 402 in cooperation.
  • a transport robot with a different structure may be selected according to the target container 402 to be transported to perform the transport operation. Specifically, if the target container 402 is a shelf (without partitions), a pallet shelf (with at least one tray placed on each layer of the shelf), a shelf with shelves (with partitions, and at least one bin for each partition, If the container contains items) or a cage car, you can select the first handling robot 403 and the second handling robot 404 with the handling robot structure shown in FIG.
  • the target container 402 is a handling box (eg, The material box placed on the shelf of the partition), you can select the first handling robot with a gripping device and the second handling robot as shown in FIG. 2B to cooperate to perform the handling operation.
  • the lifting mechanism in the handling robot shown in FIG. 1B can be removed, and a gripping device for gripping the bin can be added.
  • the grabbing device may include a telescopic assembly 51, and the telescopic assembly 51 is used to grab the container 402 or the goods in the container.
  • the gripping device also includes a lifting assembly 52 that raises and / or lowers the telescopic assembly 51 to a preset height.
  • the telescopic assembly 51 includes a gripping portion 511 and a sliding portion 512.
  • the gripping portion 511 grips the container 402 such as a bin or an article from the storage area by gripping.
  • the gripping portion 511 is slidingly connected to the sliding portion 512, and the 511 gripping portion
  • the sliding portion 512 can slide in the depth direction of the shelf partition.
  • the grip portion 511 may include a first grip 5111 and a second grip 5112, and are correspondingly disposed on the left and right sides of the compartment.
  • the first gripper and the second gripper may be plate-shaped structures, as shown in FIG.
  • the gripping portion 511 further includes anti-skid pads 5113 respectively disposed inside the first gripper 5111 and the second gripper 5112.
  • the anti-slip pad 5113 is foldable. When the gripping portion 511 does not grip the container or the article, the anti-slip pad 5113 is folded. When the gripping portion 511 grips the container, the non-slip mat 5113 expands.
  • a first transport robot and a second transport robot with a forklift structure may also be selected to cooperate to perform the transport operation.
  • the transportation instruction refers to an instruction issued by the control server 401 to the transportation target container 402 issued by the transportation robot.
  • the transportation instruction may include the walking path of the transportation robot, the identification of the target container 402, the identification of the workstation 407, and the identification of the waiting area or work area.
  • the transportation instruction issued to the first transportation robot 403 may be used as the first transportation instruction, and the instruction may include an identification of the target container 402 and a walking path from the position of the first transportation robot 403 to the target container 402 in the storage area 2.
  • the identification of the target container 402 may be a two-dimensional code or other graphic mark similar to the two-dimensional code, or may be an RFID or other electronic tag with wireless transmission function similar to RFID.
  • the handling robot can identify the target container 402 by identifying the target container 402, and then perform the handling operation on the target container 402.
  • the waiting area or work area logo refers to the mark used to uniquely refer to a certain area, which can be the area number, geographic location, or iconic items such as items and the placement of items.
  • the specific operation process may be: when a new order to be picked is generated, the upstream system sends the picking task including the information of the picking order to the control server 401; after the control server 401 receives the picking task issued by the upstream system , In response to the picking task, obtain its corresponding warehousing information according to the order information to be picked, and determine the target container 402 and operation target hit by the system task according to the warehousing information, order information and picking strategy of the order to be picked The target workstation 407 of the container 402; and then the control server 401 determines the first and second transport robots 403 and 404 and the first and second transport robots 403 and 404 based on the shortest path principle and the working state of each transport robot The walking path of 404 send
  • control server 401 When the control server 401 detects that the target workstation 407 needs to pick the goods in the target container 402, it sends a transfer instruction to the second transfer robot 404; the second transfer robot 404 responds to the transfer instruction and travels to the waiting area according to the transfer instruction At the position of the target container 402, obtain the target container 402, and then transport the target container 402 from the waiting area to the designated worker 408 or picking equipment (eg, robotic arm) in the work area, so that the worker 408 or picking equipment ( For example, a robotic arm) picks the goods in the target container 402.
  • picking equipment eg, robotic arm
  • the second transport robot 404 and the walking path may also be determined after the control server 401 detects that the first transport robot 403 transports the target container 402 to the waiting area or is about to transport to the waiting area, or it may be When the control server 401 detects that the target workstation 407 needs to pick the goods in the target container 402, the second transport robot 404 and the second transport robot 404 that transport the target container 402 are determined in real time according to the principle of the shortest path and the working status of each transport robot Walking path.
  • the control server 401 can perform real-time detection on the situation in the workstation 407 to ensure the number of first handling robots 403 in a waiting state in the waiting area It does not exceed the predetermined value, or the phenomenon that the first transport robot 403 waits in line does not occur in the waiting area, so that the first transport robot 403 is always in the transport working state, thereby improving its work efficiency.
  • control server 401 may be further configured to detect that the first handling robot 403 with a predetermined value exists in the waiting area of the target workstation; or, the waiting time of the first handling robot 403 in the waiting area of the target workstation 407 is greater than The preset duration is to send other transport instructions to the first transport robot 403.
  • the predetermined value is predetermined and can be dynamically adjusted according to the actual situation; correspondingly, the preset duration is also a preset parameter and can be dynamically adjusted according to the actual situation; it can also be based on the current situation of the workstation 407, while Adjust the preset value and preset duration.
  • the control server 401 may determine that the first handling robot 403 is in a queue waiting state in the following manner:
  • the control server 401 After the first transport robot 407 transports the target container 402 to the waiting area of the target workstation 407, the control server 401 detects that the number of first transport robots 403 waiting in line before the first transport robot 403 is greater than the set value , It is determined that the first handling robot 403 is in a queue waiting state;
  • control server 401 If the control server 401 detects that the number of first transport robots 403 waiting in line before the first transport robot 403 is less than or equal to the set value, but the waiting time of the first transport robot 403 in the waiting area is greater than the preset duration, Then, it can also be determined that the first handling robot 403 is in a queue waiting state.
  • control server 401 detects that the first transport robot 403 transports the target container from the storage area to the waiting area of the target workstation 407, it detects the current state of the first transport robot 403; if the first transport is detected The robot 403 is in a queue waiting state, and then sends other handling instructions to it; the first handling robot 403 responds to the other handling instructions, places the target container 402 at a designated position in the waiting area, and executes other handling instructions according to the instructions of the other handling instructions Handling operations.
  • the first handling robot 403 may also directly control the target container 402 is transferred from the waiting area to the work area, and no additional second transfer robot 404 is required to cooperate with the operation.
  • the control server 401 may also schedule the second handling robot 404 to directly acquire the target container 402 from the first handling robot 403, and then remove the target container 402 from the The waiting area is moved to the work area.
  • the technical solution provided by the embodiment of the present invention uses the waiting area in the workstation as a transit to temporarily store the target container through the control of the control server. After the first handling robot transfers the target container from the storage area to the waiting area of the target workstation, there is no need Waiting in line can perform the next handling task; the second handling robot will transport the target container from the waiting area to the work area to operate the target container.
  • the transportation robot is always in a high operating state, which improves the working efficiency of the transportation robot.
  • FIG. 3A is a schematic structural diagram of a cargo handling system provided in Embodiment 2 of the present invention; this embodiment is further optimized on the basis of the foregoing embodiments.
  • the system specifically includes: a control server 401, a handling robot, and a work station 407.
  • the handling robot may include a first handling robot 403 and a second handling robot 404, and the work station 407 may include a waiting area and a work area. among them,
  • the control server 401 may be configured to, in response to the system task, determine the target container 402 to be transported, the first and second transport robots 403 and 404 that transport the target container 402, and the target workstation 407 to operate the target container 402 as the first
  • the transport robot 403 and the second transport robot 404 plan a walking path and send a transport instruction to the first transport robot 403 and the second transport robot 404
  • the first transport robot 403 may be configured to respond to the transport instruction and target the target according to the planned walking path
  • the container 402 is transported from the storage area to the waiting area of the target workstation 407, and is placed in the waiting area of the target workstation 407, so as to wait and execute other handling instructions after placement
  • the second handling robot 404 may be configured to respond to the handling instructions according to the plan
  • the target container 402 can be directly placed at a designated position in the work area, so that the worker 408 can operate the target container, and the second The transport robot 404 can perform other transport operations, that is, release the association relationship between the second transport robot 404 and the target container 402. It is also possible to always maintain docking with the target container 402, that is, the target container 402 always maintains the association relationship with the second handling robot 404.
  • the second handling robot 404 is always in the work area At a certain position, the operation of the target container 402 is completed, or the target container 402 is always on the second handling robot 404, and the worker 408 directly performs the operation on the target container 402 on the second handling robot 404.
  • the second handling robot 404 may also be configured to keep docking with the target container 402 during the operation of the target container 402. Or, after the target container 402 is moved from the waiting area of the target workstation 407 to the work area, the target container 402 is placed in the work area of the workstation, so as to wait and execute other transfer instructions after the placement.
  • the second handling robot 404 may also be configured to move the target after the target container 402 has been operated
  • the container 402 is transferred from the work area of the target workstation 407 to the storage area, or the target container 402 is transferred from the work area of the target workstation 407 to the waiting area, and placed in the waiting area of the target workstation 407, so as to wait and perform other transfer after placement instruction.
  • the specific operation process may be: when the control server 401 detects that the target container 402 has been operated, it sends a transfer instruction to the second transfer robot 404, or the worker in the work area directly sends the second transfer robot 404 Sending a transport instruction, the second transport robot 404 can directly move the target container 402 from the work area of the target workstation 407 to the storage area of the target container according to the instructions of the transport instruction, as shown in the first workstation in FIG. 3A .
  • the walking path of the second handling robot 404 during actual handling may not need to pass through the waiting area, or may need to be traversed.
  • the figure shown in this embodiment is only an example where the second handling robot 404 directly targets the target container 402 moves back from the work area of the workstation to the storage area, and does not limit the specific walking path.
  • the working area of the handling robot can be divided.
  • the first handling robot 403 can only work in the storage area to the waiting area of the workstation 407; the second handling robot can only work in the workstation 407 Between the work area and the waiting area.
  • the specific operation process may also be: when the control server 401 detects that the target container 402 has been operated, it sends a transfer instruction to the second transfer robot 404, or a worker in the work area directly sends a transfer instruction to the second transfer robot 404 ,
  • the second handling robot 404 can move the target container 402 from the work area of the target workstation 407 back to the waiting area of the target workstation 407 according to the instruction of the transfer instruction, and place the target container 402 in the waiting area according to the instruction of the transfer instruction Specify the location so that you can wait and execute other handling instructions after placement, as shown in the Nth workstation in Figure 3A.
  • the handling robot may further include a third handling robot 405, and the third handling robot 405 may have the same structure as the first handling robot 403, and the third handling robot here 405 may be the first transport robot 403 that originally transported the target container 402 from the storage area to the waiting area of the target workstation 407, or not.
  • the third transport robot 405 may work only in the area from the storage area to the waiting area of the workstation 407, like the first transport robot 403.
  • control server may be further configured to determine the third transport robot 405 that transports the target container 402, plan a walking path for the third transport robot, and send a transport instruction to the third transport robot 405; the third transport robot 405 may be configured as In response to the transfer instruction, the target container 402 is transferred from the waiting area of the target workstation 407 to the storage area.
  • the specific operation process may be: when the control server 401 detects that the second handling robot 404 places the target container 402 in the waiting area of the target workstation 407, the handling of the target container 402 is determined based on the shortest path principle and the working state of each handling robot The third transport robot 405 and the walking path of the third transport robot 405, and sends to the third transport robot 405 a transport instruction including the target container 402 identification, the travel path, the waiting area identification, and the target container 402 position in the storage area, etc.
  • the third handling robot 405 responds to the handling instruction, obtains the target container 402 from the waiting area of the target workstation 407 according to the instructions of the handling instruction, and then moves the target container 402 from the waiting area to the storage area to store the position of the target container 402 .
  • the handling robot may further include a fourth handling robot 406, and the fourth handling robot 406 may have the same structure as the first handling robot 403. The working area is limited. Therefore, the fourth transfer robot 406 may be the first transfer robot 403 that originally transferred the target container 402 from the storage area to the target workstation 407 waiting area, or it may not be.
  • control server 401 may also be configured to determine the fourth transport robot 406 that transports the target container 402, plan a walking path for the fourth transport robot 406, and send a transport instruction to the fourth transport robot 406; the fourth transport robot 406 is configured In order to, in response to the transfer instruction, the target container 402 is transferred from the work area of the target workstation 407 to the storage area.
  • the specific operation process may be: when the control server 401 detects that the second transfer robot 404 transfers the target container 402 from the waiting area of the target workstation 407 to the work area, it sends other transfer instructions to the second transfer robot 404; the second transfer robot 404 In response to the other transportation instructions, the target container 402 is placed at a specified position in the work area, and the transportation operation in the other transportation instructions is performed according to the instructions of the other transportation instructions.
  • the worker 408 in the work area performs operations such as picking on the target container; when the control server 401 detects that the target container 402 has been operated or the control server 401 receives the operation completion instruction sent by the worker 408, it is based on the shortest path principle and each transport
  • the working state of the robot determines the fourth transporting robot 406 that transports the target container 402, and the walking path of the fourth transporting robot 406, and sends the fourth transporting robot 406 including the target container 402 identification, walking path, work area identification, and target
  • the technical solution provided by the embodiment of the present invention uses the waiting area in the workstation as a transit to temporarily store the target container through the control of the control server. After the first handling robot transfers the target container from the storage area to the waiting area of the target workstation, there is no need Waiting in line can perform the next handling task; the second handling robot will transport the target container from the waiting area to the work area to operate the target container; and then at least one second handling robot cooperates with each other to remove the target container from the working area Move back to the storage area.
  • the transportation robot is always in a high operating state, which improves the working efficiency of the transportation robot.
  • FIG. 4 is a flowchart of a cargo handling method according to Embodiment 3 of the present invention.
  • This embodiment is applicable to a situation in which the working efficiency of a handling robot is improved, and is particularly suitable for solving the problem that a handling robot transports goods to a work area of a target workstation In the process, if there is at least one handling robot in the target workstation, the handling robot needs to wait in line, which is a problem of low work efficiency.
  • the method may be executed by the control server in cooperation with at least one handling robot. Referring to FIG. 4, the method specifically includes:
  • control server determines the target container to be transported, the first transport robot transporting the target container, and the target workstation operating the target container, and determines the planned walking path of the first transport robot, and sends it to the first transport robot The first removal order.
  • the first transfer robot may be a mechanism having the transfer robot shown in FIG. 1B, or may be a mechanism having the gripping device shown in FIG. 2B.
  • the second handling robot has the same structure as the first handling robot.
  • the first handling instruction may include a target container identifier, a walking path from the position of the first handling robot to the target container in the storage area, a walking path from the target container position in the storage area to the waiting area of the target workstation, the target workstation identification, and the waiting area Logo etc.
  • the target container identification may be a two-dimensional code or other graphic marks similar to the two-dimensional code, or may be RFID or other electronic tags with wireless transmission functions similar to RFID.
  • the handling robot can identify the target container through the target container identification, and then perform the handling operation on the target container.
  • the waiting area or work area logo refers to the mark used to uniquely refer to a certain area, which can be the area number, geographic location, or iconic items such as items and the placement of items.
  • the first handling robot transports the target container from the storage area to the waiting area of the target workstation according to the planned walking path, and places it in the waiting area of the target workstation, so as to wait and execute other handling instructions after placement .
  • the method may further include: if the control server detects the waiting of the target workstation There is a first transport robot with a predetermined value in the area; or, the waiting time of the first transport robot in the waiting area of the target workstation is greater than the preset time, and other transport instructions are sent to the first transport robot; the first transport robot receives other transport After the instruction, place the target container in the waiting area of the target workstation and perform the transportation operation in other transportation instructions.
  • the predetermined value is predetermined and can be dynamically adjusted according to the actual situation; correspondingly, the preset duration is also a preset parameter and can be dynamically adjusted according to the actual situation; for example, it can also be based on the current workstation situation, while Adjust the preset value and preset duration.
  • the workstation may be one of a picking station, a replenishing station, or a stocking station; for example, if the workstation is a picking station, when the first handling robot transports the target container to the waiting area of the picking station, The control server detects that the number of first transport robots waiting in line before the first transport robot is greater than the set value, and determines that the first transport robot is in a queue waiting state; if the control server detects that the first transport robot is waiting in line The number of the first handling robots is less than or equal to the set value, but the waiting time of the first handling robot in the waiting area is greater than the preset duration, it can also be determined that the first handling robot is in a queue waiting state.
  • the system task is a replenishment task.
  • the specific operation process may be: when the control server detects that a certain cargo of the picking station needs to be replenished, it determines the target container associated with the cargo, the target workstation to be replenished according to the replenishment task, and the principle of shortest path and each transportation
  • the working state of the robot selects a handling robot from the storage area as the first handling robot, and issues a first handling instruction including the target container ID, target workstation ID, waiting area ID, and walking path to the first transport robot; first The handling machine acquires the target container associated with the replenishment task from the storage area in response to the first handling instruction and transports it to the waiting area of the picking station; when the control server detects that the first handling robot removes the target container that needs to be restocked from storage The area is transported to the waiting area of the picking station, and the first transport robot is currently in a queue waiting state, then other transport instructions are sent to the first transport robot; the first transport robot responds to other transport instructions and places
  • the control server determines the second transport robot that transports the target container, plans a walking path for the second transport robot, and sends a second transport instruction to the second transport robot.
  • the second transport instruction may include the target container 2 identifier, the walking path from the position of the second transport robot to the target container in the waiting area, the walking path of the target container in the waiting area to the worker in the working area, and the working area Logo and waiting area logo, etc.
  • step S430 the control server determines the second transport robot and the walking path of the second transport robot, which may be determined in step S410 when the control server determines the first transport robot and its walking path in response to the system task; it may also be determined in step S420 After that, the control server detects that the first handling robot transports the target container to the waiting area of the target workstation or is about to be transferred to the waiting area of the target workstation; it can also be determined when the control server detects that the target workstation needs to carry out the goods in the target container During operation, the second transport robot that transports the target container and the walking path of the second transport robot are determined in real time according to the principle of the shortest path and the working state of each transport robot.
  • control server when the control server receives the processing instruction corresponding to the target container sent by the picking station or the control server detects that the target workstation needs to replenish the goods in the target container, it randomly selects a The transport robot in the idle state serves as a second transport robot, and issues a second transport instruction to the second transport robot.
  • the second transport robot transports the target container from the waiting area of the target workstation to the work area according to the planned walking path, so as to perform operations on the target container.
  • the technical solution provided by the embodiment of the present invention uses the waiting area in the workstation as a transit to temporarily store the target container through the control of the control server. After the first handling robot transfers the target container from the storage area to the waiting area of the target workstation, there is no need Waiting in line can perform the next handling task; the second handling robot will transport the target container from the waiting area to the work area to operate the target container.
  • the transportation robot is always in a high operating state, which improves the working efficiency of the transportation robot.
  • FIG. 5 is a flowchart of a cargo handling method according to Embodiment 4 of the present invention.
  • this embodiment further optimizes the operation of the second handling robot after handling the target container to the work area of the target workstation .
  • the second handling robot can directly place the target container at a specified position in the work area, so that the worker can operate the target container, and the second handling robot can perform other handling operations, that is, release the second handling robot and Association relationship between target containers. It can also always be connected to the target container, that is, the target container always maintains the association relationship with the second handling robot.
  • the second handling robot is always at a certain position in the work area Wait for the operation of the target container to be completed, or the target container is always on the second handling robot, and the worker directly performs the operation on the target container on the second handling robot.
  • This embodiment describes in detail the process of transferring the target container from the work area of the target workstation to the storage area after the target container is always connected to the target container while the target container is being operated.
  • the method specifically includes:
  • control server determines the target container to be transported, the first transport robot transporting the target container, and the target workstation operating the target container, and determines the planned walking path of the first transport robot, and sends it to the first transport robot The first removal order.
  • the first handling robot transports the target container from the storage area to the waiting area of the target workstation according to the planned walking path, and places it in the waiting area of the target workstation, so as to wait and execute other handling instructions after placement .
  • the control server determines the second transport robot that transports the target container, plans a walking path for the second transport robot, and sends a second transport instruction to the second transport robot.
  • the second transport robot transports the target container from the waiting area of the target workstation to the work area according to the planned walking path, so as to perform operations on the target container.
  • the control server may send a blocking object transfer instruction to the second handling robot.
  • the handling robot transfers the barrier, so that the target container can be obtained.
  • it may further include: when the control server detects that the target container is blocked by the blocking object or the container in the first preset channel in the waiting area, it may send a block transfer instruction to the second handling robot; the second handling robot responds For the barrier transfer instruction, according to the instruction of the barrier transfer instruction, move the blocking item or container according to the second preset channel so that the target container is not blocked by the blocking item; wherein, the first preset channel is the current position of the target container to The walking path of the work area of the target workstation; the second preset channel is the walking path from the current position of the second robot to the position of the blocking item or container.
  • the control server when the control server detects that the second handling robot is in the waiting area of the workstation, the target container cannot be obtained according to the current position of the target container in the first preset channel, that is, there are other items or containers in the first preset channel that are blocked
  • the control server will issue a block transfer instruction containing the second preset channel to the second transfer robot; the second transfer robot responds to the block transfer instruction and blocks according to the second preset channel
  • the objects are moved so that the target container can be obtained, and the target container is transported to the work area of the target station according to the first preset channel.
  • control server After detecting that the target container has been operated, the control server sends a third transport instruction to the second transport robot.
  • the second transport robot may perform the operation of step S560 or the operation of step S570.
  • the specific operation can be determined according to whether the working area of the handling robot is divided in the handling system and the working status of each handling robot.
  • the second transport robot transports the target container from the work area of the target workstation to the storage area in response to the third transport instruction.
  • the second handling robot transports the target container from the working area of the target workstation to the waiting area, and places it in the waiting area of the target workstation, so as to wait and execute other handling instructions after placement.
  • the control server determines the third transport robot that transports the target container, plans a walking path for the third transport robot, and sends a fourth transport instruction to the third transport robot.
  • the third transport robot transports the target container from the waiting area of the target workstation to the storage area in response to the fourth transport instruction.
  • the technical solution provided by the embodiment of the present invention uses the waiting area in the workstation as a transit to temporarily store the target container through the control of the control server. After the first handling robot transfers the target container from the storage area to the waiting area of the target workstation, there is no need Waiting in line can perform the next handling task; the second handling robot will transport the target container from the waiting area to the work area to operate the target container; and then at least one second handling robot cooperates with each other to remove the target container from the working area Move back to the storage area.
  • the transportation robot is always in a high operating state, which improves the working efficiency of the transportation robot.
  • the method further includes: the control server sends the placement to the second transport robot Instruction;
  • the second handling robot places the target container in the work area of the workstation, so as to wait and execute other handling instructions after placement.
  • the control server determines the fourth transport robot that transports the target container, plans a walking path for the fourth transport robot, and sends the Five handling instructions; in response to the fifth handling instructions, the fourth handling robot transports the target container from the work area of the target workstation to the storage area.
  • the invention also provides a cargo handling control method, which is applied to the control server side and includes:
  • the first and second transport robots that transport the target container, and the target workstation that operates the target container, and determine the planned walking path of the first transport robot , Sending a first handling instruction to the first handling robot, where the first handling instruction is used to instruct the first handling robot to transport the target container from the storage area to the target workstation according to the planned walking path Waiting area, and place the target container in the waiting area of the target workstation;
  • a second handling robot that determines a target container, plans a walking path for the second handling robot, and sends a second handling instruction to the second handling robot, where the second handling instruction is used to instruct the second handling robot
  • the target container is transported from the waiting area of the target workstation to the work area according to the planned walking path.
  • the second handling robot is controlled to always keep docking with the target container.
  • the method further includes:
  • a third transfer instruction is sent to the second transfer robot, where the third transfer instruction is used to instruct the second transfer robot to remove the target container from the target workstation Of the work area to the storage area, or instruct the second handling robot to move the target container from the work area of the target workstation to the waiting area, and place the target container in the waiting area of the target workstation .
  • the third handling instruction is used to instruct the second handling robot to transport the target container from the work area of the target workstation to a waiting area, and place the target container in the waiting area of the target workstation
  • the method further includes:
  • the three handling robots transport the target container from the waiting area of the target workstation to the storage area.
  • the method further includes:
  • the second transport robot sends a placement instruction to the second transport robot according to position information after the target container is transported from the waiting area of the target workstation to the work area according to the planned walking path in response to the second transport instruction , Wherein the placement instruction is used to instruct the second handling robot to place the target container in the work area of the workstation.
  • the method further includes:
  • the fourth handling robot sends a fifth handling instruction, where the fifth handling instruction is used to instruct the fourth handling robot to transport the target container from the work area of the target workstation to a storage area.
  • the method further includes:
  • the first handling robot According to the position information after the first handling robot transports the target container from the storage area to the waiting area of the target workstation according to the planned walking path in response to the first handling instruction, it is determined that the first handling robot is in Sending other transport instructions to the first transport robot in a queue waiting state, wherein the other transport instructions are used to instruct the first transport robot to place the target container in the waiting area of the target workstation, and Carry out the handling operation in the other handling instructions.
  • the first handling robot waiting in the waiting area of the target workstation exceeds a set value; or,
  • the waiting time of the first handling robot in the waiting area of the target workstation is greater than a preset duration.
  • An embodiment of the present invention further provides a handling robot group, where the handling robot group includes at least two handling robots;
  • the first handling robot in the handling robot group is configured to transport the target container from the storage area to the waiting area of the target workstation according to the planned walking path, and place the target container Wait and execute other handling instructions in the waiting area of the target workstation;
  • the second transport robot in the transport robot group is configured to transport the target container from the waiting area of the target workstation to the work area according to the planned walking path.
  • the second handling robot is also configured to always maintain docking with the target container during the operation of the target container.
  • the second handling robot is further configured to, after the target container is operated, transfer the target container from the work area of the target workstation to a storage area; or,
  • the second handling robot is further configured to transport the target container from the working area of the target workstation to a waiting area, and place the target container in the waiting area of the target workstation, waiting for and executing other transport instructions .
  • the second handling robot is further configured to carry the target container from the working area of the target workstation to a waiting area and place it in the waiting area of the target workstation
  • the third robot in the robot group is configured to, in response to a transport instruction, transport the target container from the waiting area of the target workstation to a storage area.
  • the second handling robot is further configured to, after transporting the target container from the waiting area of the target workstation to the work area, place the target container in the work area of the workstation, and wait for and execute other transfer instructions.
  • the fourth transfer robot in the transfer robot group is configured to transfer the target container from the work area of the target workstation to the storage area in response to the transfer instruction.
  • An embodiment of the present invention also provides an electronic device, including: one or more processors; a storage device, configured to store one or more programs, when the one or more programs are executed by the one or more processors So that the one or more processors implement the aforementioned cargo handling method.
  • An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and is characterized in that the program realizes the foregoing cargo handling method when the program is executed by a processor.
  • modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Alternatively, they can be implemented with program code executable by a computer device, so that they can be stored in a storage device to be executed by a computing device, or they can be separately made into individual integrated circuit modules, or multiple modules among them Or the steps are made into a single integrated circuit module to achieve. In this way, the present invention is not limited to any specific combination of hardware and software.

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Abstract

一种货物搬运系统和方法。该系统包括：控制服务器（401）、搬运机器人和工作站（407），工作站（407）包括工作区和等待区；控制服务器（401）配置为响应于系统任务，确定待搬运的目标容器（402）、搬运目标容器（402）的第一搬运机器人（403）和第二搬运机器人（404）、以及操作目标容器（402）的目标工作站（407），为第一搬运机器人（403）和第二搬运机器人（404）规划行走路径，向第一搬运机器人（403）和第二搬运机器人（404）发送搬运指令；第一搬运机器人（403）配置为响应于搬运指令，根据规划的行走路径将目标容器（402）从存储区域搬运到目标工作站（407）的等待区，并放置在目标工作站（407）的等待区，等待执行其它搬运指令；第二搬运机器人（404）配置为响应于搬运指令，根据规划的行走路径将目标容器（402）从目标工作站（407）的等待区搬运到工作区。

Description

货物搬运系统和方法
本申请要求于2018年10月30日提交中国专利局、申请号为201811279862.7、发明名称为“货物搬运系统和方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及物流仓储技术领域，尤其涉及货物搬运系统和方法。
背景技术
随着电子商务和网络购物的快速发展，物流业务日益成为关键点，这既给物流行业带来了前所未有的发展机遇，也给物流行业提出了严峻的挑战。
目前，“货到人”系统中，使用搬运机器人将存储有货物的存储容器搬运至工作站，以使工作人员或机器人对货物进行处理。相比于传统的“人到货”系统，“货到人”系统提高了工作效率和自动化程度。
但是在货物搬运的过程中，搬运机器人在将目标货物搬运至工作站后，如果此时目标工作站的等候区域不为空，也就是说，目标工作站的等候区域中存在至少一个搬运机器人，则该搬运机器人需要在目标工作站的等候区域中排队等待，直到将目标货物从等候区域中搬运至目标工作站的工作区域中。然而搬运机器人在排队等待过程中，没有办法搬运其他货物，从而降低了搬运机器人的工作效率。
发明内容
本发明实施例提供的货物搬运系统和方法，可以提高搬运机器人的工作效率。
第一方面，本发明实施例提供了一种货物搬运系统，该系统包括：控制服务器、搬运机器人和工作站，所述工作站包括工作区和等待区；其中，
所述控制服务器配置为，响应于系统任务，确定待搬运的目标容器、搬运所述目标容器的第一搬运机器人和第二搬运机器人、以及操作所述目标容器的目标工作站，为所述第一搬运机器人和所述第二搬运机器人规划行走路径，向 所述第一搬运机器人和所述第二搬运机器人发送搬运指令；
所述第一搬运机器人配置为，响应于搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并放置在所述目标工作站的等待区，以便放置后等待并执行其它搬运指令；
所述第二搬运机器人配置为，响应于搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
进一步的，所述第二搬运机器人还配置为，在所述目标容器被操作过程中，始终保持与所述目标容器对接。
进一步的，所述第二搬运机器人还配置为，在所述目标容器被操作完毕后，将所述目标容器从所述目标工作站的工作区搬运到存储区域，或者，将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区，以便放置后等待并执行其它搬运指令。
进一步的，所述控制服务器还配置为，确定搬运所述目标容器的第三搬运机器人，为所述第三搬运机器人规划行走路径，向所述第三搬运机器人发送搬运指令；
所述第三搬运机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的等待区搬运到存储区域。
进一步的，所述第二搬运机器人还配置为，将所述目标容器从所述目标工作站的等待区搬运到工作区后，将所述目标容器放置在所述工作站的工作区，以便放置后等待并执行其它搬运指令。
进一步的，所述控制服务器还配置为，确定搬运所述目标容器的第四搬运机器人，为所述第四搬运机器人规划行走路径，向所述第四搬运机器人发送搬运指令；
所述第四搬运机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的工作区搬运到存储区域。
进一步的，所述控制服务器还配置为，若检测到所述目标工作站的等待区中存在预定数值的第一搬运机器人；或者，所述第一搬运机器人在所述目标工作站的等待区中的等待时间大于预设时长，向所述第一搬运机器人发送其它搬运指令。
第二方面，本发明实施例还提供了一种货物搬运方法，该方法包括：
控制服务器响应于系统任务，确定待搬运的目标容器、搬运所述目标容器的第一搬运机器人和第二搬运机器人、以及操作所述目标容器的目标工作站，并确定所述第一搬运机器人的规划行走路径，向所述第一搬运机器人发送第一搬运指令；
所述第一搬运机器人响应于所述第一搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并放置在所述目标工作站的等待区，以便放置后等待并执行其它搬运指令；
所述控制服务器确定搬运目标容器的第二搬运机器人，为所述第二搬运机器人规划行走路径，向所述第二搬运机器人发送第二搬运指令；
所述第二搬运机器人响应于所述第二搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区，以便对所述目标容器执行操作。
进一步的，在所述目标容器被操作过程中，所述第二搬运机器人始终保持与所述目标容器对接。
进一步的，所述控制服务器检测到所述目标容器被操作完毕后，向所述第二搬运机器人发送第三搬运指令；
所述第二搬运机器人响应于所述第三搬运指令，将所述目标容器从所述目标工作站的工作区搬运到存储区域，或者，将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区，以便放置后等待并执行其它搬运指令。
进一步的，所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区之后，还包括：
所述控制服务器确定搬运所述目标容器的第三搬运机器人，为所述第三搬运机器人规划行走路径，向所述第三搬运机器人发送第四搬运指令；
所述第三搬运机器人响应于所述第四搬运指令，将所述目标容器从所述目标工作站的等待区搬运到存储区域。
进一步的，所述第二搬运机器人响应于所述第二搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区之后，还包括：
所述控制服务器向所述第二搬运机器人发送放置指令；
所述第二搬运机器人将所述目标容器放置在所述工作站的工作区，以便放 置后等待并执行其它搬运指令。
进一步的，所述第二搬运机器人将所述目标容器放置在所述工作站的工作区之后，还包括：
所述控制服务器确定搬运所述目标容器的第四搬运机器人，为所述第四搬运机器人规划行走路径，向所述第四搬运机器人发送第五搬运指令；
所述第四搬运机器人响应于所述第五搬运指令，将所述目标容器从所述目标工作站的工作区搬运到存储区域。
进一步的，所述第一搬运机器人响应于所述第一搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区之后，还包括：
所述控制服务器若检测到所述目标工作站的等待区中存在预定数值的第一搬运机器人；或者，所述第一搬运机器人在所述目标工作站的等待区中的等待时间大于预设时长，向所述第一搬运机器人发送其它搬运指令；
所述第一搬运机器人接收到所述其它搬运指令后，将所述目标容器放置在所述目标工作站的等待区，并执行所述其它搬运指令中的搬运操作。
第三方面，本发明实施例提供了一种货物搬运控制方法，包括：
响应于系统任务，确定待搬运的目标容器、搬运所述目标容器的第一搬运机器人和第二搬运机器人、以及操作所述目标容器的目标工作站，并确定所述第一搬运机器人的规划行走路径，向所述第一搬运机器人发送第一搬运指令，其中，所述第一搬运指令用于指示所述第一搬运机器人根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区；
确定搬运目标容器的第二搬运机器人，为所述第二搬运机器人规划行走路径，向所述第二搬运机器人发送第二搬运指令，其中所述第二搬运指令用于指示所述第二搬运机器人根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
第四方面，本发明实施例提供了一种搬运机器人组；
其中，所述搬运机器人组中的第一搬运机器人配置为响应于搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运 指令；
所述搬运机器人组中的第二搬运机器人配置为响应于搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
第五方面，本发明实施例提供一种电子设备，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现前述的货物搬运方法。
第六方面，本发明实施例提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现前述的货物搬运方法。
本发明实施例提供的技术方案，通过控制服务器的控制，以工作站中的等待区作为临时存储目标容器的中转，第一搬运机器人将目标容器从存储区域搬运至目标工作站的等待区后，不需要排队等待，可以执行下一搬运任务；由第二搬运机器人将目标容器从等待区搬运至工作区，以便对目标容器进行操作。相比于现有的搬运机器人搬运方案，搬运机器人始终处于高度运转状态，提高了搬运机器人的工作效率。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1A是本发明实施例中提供的一种货物搬运系统的结构示意图；
图1B是本发明实施例所适用的一种搬运机器人的结构示意图；
图1C是本发明实施例所适用的一种容器的示意图；
图2A是本发明实施例一中提供的一种货物搬运系统的结构示意图；
图2B是本发明实施例所适用的一种带抓取装置的搬运机器人的结构示意图；
图3A和3B是本发明实施例二中提供的一种货物搬运系统的结构示意图；
图4是本发明实施例三中提供的一种货物搬运方法的流程图；
图5是本发明实施例四中提供的一种货物搬运方法的流程图。
具体实施方式
在介绍本发明各实施例之前，先对本发明实施例的应用场景进行说明，本发明实施例的货物搬运方案可以适用于任何需要搬运货物的场景中，如货物拣选过程、盘货过程、上货过程或补货过程等。货物代表适合于在自动库存、仓库、制造和/或零件处理系统中存储分拣、或传送的任何物品，其可以是任何的材料，可以是有生命或无生命的物体。作为一个例子，货物可以表示存储在仓库中的商品的物品。
下面详细地提供了一货物搬运系统，具体请参见图1A所示的货物搬运系统的结构示意图，该系统100包括：计算设备110、搬运机器人120、存储区域130以及工作站140；其中，计算设备110可以是任何类型的静止或移动计算设备，包括移动计算机或移动计算设备(例如，平板计算机、个人数字助理、膝上型计算机、笔记本计算机、上网本等)、移动电话(例如，智能手机)、可佩戴的计算设备(例如，智能手表、智能眼镜等)或其他类型的移动设备，或者诸如台式计算机或PC的静止计算设备。计算设备110还可以是移动式或静止式的服务器。本申请实施例中，以所述计算设备110为控制服务器为例进行说明。
存储区域130设置有多个容器131，容器131上放置有各种货物，容器131可以是任何一种能够容纳货物的设备，如，货架、托盘、料箱或笼车等。多个容器131可以排列成一个容器群组，容器群组与容器群组之间排布成阵列形式。通常，在存储区域130的一侧设置有一个或者多个工作站140，在工作站140可以进行任何一种或多种操作，如，上货、补货、盘货或拣货。例如，在拣选场景中，工作站140也可称为拣选站。
控制服务器110分别与搬运机器人120进行无线通信，工作人员可以通过操作台160使控制服务器110工作，搬运机器人120在控制服务器110的控制下，执行相应的动作。例如，控制服务器110根据系统任务为搬运机器人120规划行走路径，搬运机器人120根据行走路径沿容器阵列中的空着的空间(搬运机器人120通行通道的一部分)行驶。为了方便为搬运机器人120规划行走路径，预先将搬运机器人120的工作区域(该工作区域至少包括存储区域130以及工作站140所在区域)划分为若干个子区域(例如单元格)，搬运机器人120逐个子区域地进行移动从而形成移动轨迹。
搬运机器人120可以为用于搬运容器的机器人。在一个示例中，参见图 1B所示，搬运机器人120可以包括驱动机构101，通过该驱动机构101，搬运机器人120能够在工作空间内移动。搬运机器人120还可以包括用于搬运容器的举升机构102，搬运机器人120可以运动到容器的下方，利用举升机构102举起容器，并搬运到工作站140。举升机构102升起时可以将整个容器从地面抬起，以使得搬运机器人120搬运容器，举升机构102下降时将容器放在地面上。搬运机器人120上还可以包括目标识别组件103，该目标识别组件103能够有效的对容器进行识别。
除此之外，如果是基于视觉导航，搬运机器人120还包括导航识别组件(如摄像头，图1B未示出)，用于识别铺设地面上的导航标记(如二维码)。当然，搬运机器人120还包括控制整个搬运机器人实现运动、导航等功能的控制模块(图1B未示出)。在一个示例中，搬运机器人120能够根据摄像头拍摄到的二维码信息(也可以是其它地面标识)向前行驶，并且能够根据控制系统110确定的路线行驶至控制系统110提示的容器下面。搬运机器人120将容器搬运到工作站140进行操作，该操作包括但不限于：上货、补货、拣货、盘货。如，在拣选场景中，该工作站为拣选站，在拣选站处拣货人员或拣选设备(如机械臂)从容器上拣选货物并放入拣选播种墙上的周转箱中等待打包。
图1C是本发明实施例中提供的一种容器的示意图，参见图1C，以容器为货架为例，货架131上可以容纳有货物310。当然，货物也可以放置在料箱310中，货架131上容纳有料箱310。料箱310附近可以设置有可读标记320，例如二维码，搬运机器人120行驶到容器131的正面后，通过摄像头拍摄到二维码320，以此保证搬运机器人120可以准确抓取货物或料箱310。在特定实施例中，容器131可以为高位容器，容器131包括多个延垂直方向叠加的隔层，每个隔层能够容纳多个货物或料箱310。另外，容器131还包括一个或多个支撑部330。在特定实施例中，货物或料箱310也可以从容器131内或容器131上的挂钩或杆进行悬挂。货物或料箱310在容器131上能够以任何适当的方式放置在容器131的内部或外表面。
控制服务器120为在服务器上运行的、具有数据存储、信息处理能力的软件系统，可通过无线或有线的方式与存取设备、搬运设备、硬件输入系统、其它软件系统连接。控制服务器120可以包括一个或多个服务器，可以为集中式控制架构或者分布式计算架构。服务器具有处理器121和存储器122，在存储 器122中可以具有订单池123。
以图1A中所示的货物搬运系统中的拣选场景为例，传统的“货到人”系统在每次拣选订单物品时，搬运机器人将目标货物搬运至目标工作站后，若目标工作站的存在至少一个搬运机器人，该搬运机器人需要在目标工作站中排队等待，直到将目标货物搬运至目标工作站的工作区域中，在此过程中搬运机器人不能执行其他任务，从而导致搬运机器人的工作效率较低。
本发明在现有的“货到人”系统的基础上，提供了货物搬运的方案，可以提高搬运机器人的工作效率。基于此，以下对本发明实施例的技术方案进行介绍，以解决该问题。
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部内容。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
实施例一
图2A为本发明实施例一中提供的一种货物搬运系统的结构示意图；本实施例适用于在进行货物搬运场景中，如何提高搬运机器人工作效率的情况，尤其适用于货物拣选、盘货、上货或补货等对货物进行搬运的场景中。整套系统可以由控制服务器、至少一个搬运机器人以及工作站配合来执行；其中，控制服务器可以是单线或多线程服务器，能够为货物的分拣以及搬运机器人的分配等提供策略。参见图2A，该系统200具体包括：控制服务器401、搬运机器人和工作站407；搬运机器人可以包括第一搬运机器人403和第二搬运机器人404；为了不影响工作站中工作人员或其它机器人等的工作，工作站407可以包括工作区和等待区；等待区是指工作站407中设置的搬运机器人可进行排队等待、暂存待操作容器以及各搬运机器人交接等的区域；工作区是指工作人员操作目标容器的区域。可选的，等待区设置于距离工作区较近的地方，以便工作区需要货物随时可调用。例如，在拣选场景中，该工作站407为拣选站，工 作区可以为拣选区，处于拣选区内的拣选人员或拣选设备(如机械臂)从容器上拣选货物。
其中，控制服务器401可以配置为，响应于系统任务，确定待搬运的目标容器402、搬运目标容器402的第一搬运机器人403和第二搬运机器人404、以及操作目标容器402的目标工作站407，为第一搬运机器人403和第二搬运机器人404规划行走路径，向第一搬运机器人403和第二搬运机器人404发送搬运指令；
第一搬运机器人403配置为，响应于搬运指令，根据规划的行走路径将目标容器402从存储区域搬运到目标工作站407的等待区，并放置在目标工作站407的等待区，以便放置后等待并执行其它搬运指令；
第二搬运机器人404配置为，响应于搬运指令，根据规划的行走路径将目标容器402从目标工作站407的等待区搬运到工作区。
本实施例中，系统任务是指上游系统向控制服务器401所下发的工作任务，可以为拣货任务、补货任务、盘货任务以及上货任务等。目标容器402是指容纳系统任务关联的货物的设备，如货架、托盘、料箱或笼车等；对目标容器402的操作可以是上货、补货、盘货或拣选等。可选的，系统任务不同，对目标容器402的操作不同；不同的目标工作站407可对应不同的操作，同一目标工作站407处于不同的场景下，也可以对应不同的操作。
本实施例中，采用具有相同结构的第一搬运机器人403和第二搬运机器人404配合执行目标容器402的搬运。可选的，本实施例中可根据所需要搬运的目标容器402选择具有不同结构的搬运机器人来执行搬运操作。具体的，若目标容器402为货架(不设置隔板)、托盘货架(货架每一层放置有至少一个托盘)、隔板货架(设置有隔板，每个隔板放置有至少一个料箱，料箱内容纳有物品)或笼车，则可以选择具有图1B所示的搬运机器人结构的第一搬运机器人403和第二搬运机器人404配合执行搬运操作；若目标容器402为料箱(如，放置在隔板货架上的料箱)，则可以选择如图2B所示带抓取装置的第一搬运机器人和第二搬运机器人配合执行搬运操作。具体的，如图2B所示，可以去掉将图1B所示的搬运机器人中的举升机构，再增加一个替换为用于抓取料箱的抓取装置。在本申请一实施例中，该抓取装置可以包括伸缩组件51，伸缩组件51用于抓取容器402或容器中的货物。抓取装置还包括升降组件52，该 升降组件52将伸缩组件51提升和/或下降到预设高度。伸缩组件51包括夹抱部511和滑动部512，夹抱部511通过夹抱的方式从存储区域抓取容器402如料箱或物品，夹抱部511与滑动部512滑动连接，511夹抱部可通过滑动部512延货架隔层的纵深方向滑动。夹抱部511可以包括第一抓手5111和第二抓手5112，且相对应设置在隔层的左右两侧。该第一抓手和第二抓手可以为板状结构，如图2B所示，也可以为其它结构，如杆状结构。夹抱部511还包括分别设置在第一抓手5111和第二抓手5112内侧的防滑垫5113，该防滑垫5113可折叠，在夹抱部511不抓容器或物品时该防滑垫5113折叠，在夹抱部511抓容器时该防滑垫5113张开。此外，若目标容器402为托盘(如，放置在托盘货架上的托盘)，则还可以选择具有叉车结构的第一搬运机器人和第二搬运机器人配合执行搬运操作。
搬运指令是指控制服务器401向搬运机器人所下发的搬运目标容器402的指令，搬运指令中可以包括搬运机器人的行走路径、目标容器402标识、工作站407标识以及等待区或工作区标识等。可选的，向第一搬运机器人403所下发的搬运指令可以作为第一搬运指令，该指令中可以包括目标容器402标识、第一搬运机器人403所在位置到存储区域内目标容器402的行走路径、存储区域内目标容器402位置到目标工作站407的等待区的行走路径、目标工作站407标识、以及等待区标识等；对应的，向第二搬运机器人404所下发的搬运指令可以作为第二搬运指令，该指令中可以包括目标容器402标识、第二搬运机器人404所在位置到等待区中目标容器402的行走路径、等待区中目标容器402到工作区中工作人员408的行走路径、工作区标识以及等待区标识等。
示例性的，目标容器402标识可以是二维码或者类似于二维码的其它图形标记，也可以是RFID或者类似于RFID的其它具有无线发射功能的电子标签。搬运机器人可以通过目标容器402标识识别目标容器402，进而执行对目标容器402的搬运操作。等待区或工作区标识是指用于唯一指待某一区域的标志，可以是区域的编号、地理位置或标志性东西如物品及物品的摆放等。
下面将以拣选场景为例对具体的操作过程进行详细说明，当然本实施例的方案并不限于适用拣选场景，还可以适用于上货、补货、盘货或其它操作的场景。参见图2A，具体的操作过程可以为：当有新的待拣选订单生成时，上游系统向控制服务器401发送包括待拣选订单信息的拣选任务；控制服务器401 接收到上游系统下发的拣选任务后，响应该拣选任务，依据待拣选订单信息获取其对应的仓储信息，并依据待拣选订单的仓储信息、订单信息以及拣选策略等，确定该系统任务所命中的待搬运的目标容器402及操作目标容器402的目标工作站407；而后控制服务器401基于路径最短原则以及各搬运机器人的工作状态确定搬运目标容器402的第一搬运机器人403和第二搬运机器人404以及第一搬运机器人403和第二搬运机器人404的行走路径，向第一搬运机器人403发送搬运指令；第一搬运机器人403响应于搬运指令，根据自主导航功能以及搬运指令中包含的目标容器402标识和行走路径，行驶至存储区域中目标容器402所在位置处，可以是利用配置于其上的结构如抓取装置等获取目标容器402(如，料箱)，还可以是利用举升机构102将目标容器402(如，货架)托起；而后依据搬运指令中的行走路径、目标工作站标识以及等待区标识等的指示，将目标容器402从存储区域搬运至目标工作站407中的等待区，并将目标容器402放置于等待区中指定区域，此时第一搬运机器人402可继续响应控制服务器401发送的其它搬运指令，如将位于等待区中空的目标容器402搬回至存储区域等。当控制服务器401检测目标工作站407需要对目标容器402中的货物进行拣选时，向第二搬运机器人404发送搬运指令；第二搬运机器人404响应该搬运指令，依据该搬运指令的指示行驶至等待区中目标容器402的位置处，获取该目标容器402，而后将目标容器402从等待区搬运至工作区中指定工作人员408或拣选设备(如，机械臂)面前，以便工作人员408或拣选设备(如机械臂)对目标容器402中的货物进行拣选。
需要说明的是，第二搬运机器人404及行走路径还可以是控制服务器401检测到第一搬运机器人403将目标容器402搬运至等待区后或即将搬运至等待区时所确定的，也可以是当控制服务器401检测到目标工作站407需要对目标容器402中的货物进行拣选时，依据路径最短原则以及各搬运机器人的工作状态实时确定的搬运目标容器402的第二搬运机器人404以及第二搬运机器人404的行走路径。
为了提高搬运机器人的工作效率，本实施例中控制服务器401在确定目标工作站之后，可对工作站407内的情况进行实时检测，以保证等待区内处于排队等待状态的第一搬运机器人403的个数不超过预定数值，或者是等待区内不会出现第一搬运机器人403排队等待的现象，使第一搬运机器人403始终处于 搬运工作状态，进而提高其工作效率。可选的，控制服务器401还可配置为，若检测到目标工作站的等待区中存在预定数值的第一搬运机器人403；或者，第一搬运机器人403在目标工作站407的等待区中的等待时间大于预设时长，向第一搬运机器人403发送其它搬运指令。
本实施例中，预定数值是预先确定的，可根据实际情况进行动态调整；对应的，预设时长也是预先设置的参数，可根据实际情况进行动态调整；还可以依据当前工作站407的情况，同时调整预设数值和预设时长。具体的，当控制服务器401检测到本次搬运目标容器402的第一搬运机器人403处于排队等待状态，则向该第一搬运机器人403发送其它搬运指令。示例性的，控制服务器401可通过下述方式确定第一搬运机器人403处于排队等待状态：
1)当第一搬运机器人407搬运将目标容器402搬运至目标工作站407的等待区后，控制服务器401检测到该第一搬运机器人403前排队等待的第一搬运机器人403的个数大于设定数值，则确定该第一搬运机器人403处于排队等待状态；
2)若控制服务器401检测到该第一搬运机器人403前排队等待的第一搬运机器人403的个数小于或等于设定数值，但是该第一搬运机器人403在等待区等待时间大于预设时长，则也可以确定该第一搬运机器人403处于排队等待状态。
具体的，若控制服务器401检测到第一搬运机器人403将目标容器从存储区域搬运至目标工作站407的等待区，则对第一搬运机器人403目前所处的状态进行检测；若检测到第一搬运机器人403处于排队等待状态，则向其发送其它搬运指令；第一搬运机器人403响应该其它搬运指令，将目标容器402放置等待区内指定位置处，并依据其它搬运指令的指示执行其它搬运指令中的搬运操作。若检测到第一搬运机器人403不处于排队等待状态，则检测到目标工作站407需要对该第一搬运机器人403所搬运的目标容器402进行操作时，第一搬运机器人403也可以直接将该目标容器402从等待区搬运至工作区，不需要额外的第二搬运机器人404配合操作。此外，若第一搬运机器人403只工作于存储区域至工作站407的等待区域，控制服务器401也可以调度第二搬运机器人404从第一搬运机器人403上直接获取目标容器402，而后将目标容器402从等待区搬运至工作区。
本发明实施例提供的技术方案，通过控制服务器的控制，以工作站中的等待区作为临时存储目标容器的中转，第一搬运机器人将目标容器从存储区域搬运至目标工作站的等待区后，不需要排队等待，可以执行下一搬运任务；由第二搬运机器人将目标容器从等待区搬运至工作区，以便对目标容器进行操作。相比于现有的搬运机器人搬运方案，搬运机器人始终高度运转状态，提高了搬运机器人的工作效率。
实施例二
图3A为本发明实施例二中提供的一种货物搬运系统的结构示意图；本实施例在上述实施例的基础上进一步的优化。参见图3A，该系统具体包括：控制服务器401、搬运机器人和工作站407，搬运机器人可以包括第一搬运机器人403和第二搬运机器人404，工作站407可以包括等待区和工作区。其中，
控制服务器401可以配置为，响应于系统任务，确定待搬运的目标容器402、搬运目标容器402的第一搬运机器人403和第二搬运机器人404、以及操作目标容器402的目标工作站407，为第一搬运机器人403和第二搬运机器人404规划行走路径，向第一搬运机器人403和第二搬运机器人404发送搬运指令；第一搬运机器人403可以配置为，响应于搬运指令，根据规划的行走路径将目标容器402从存储区域搬运到目标工作站407的等待区，并放置在目标工作站407的等待区，以便放置后等待并执行其它搬运指令；第二搬运机器人404可以配置为，响应于搬运指令，根据规划的行走路径将目标容器402从目标工作站407的等待区搬运到工作区。
在第二搬运机器人404将目标容器402搬运至目标工作站407的工作区后，可以直接将目标容器402放置于工作区指定的位置处，比便工作人员408对目标容器进行操作，而该第二搬运机器人404可执行其它搬运操作即解除该第二搬运机器人404与目标容器402之间的关联关系。也可以始终保持与目标容器402对接，即目标容器402始终保持与该第二搬运机器人404之间的关联关系，在目标容器402被执行操作的过程中，该第二搬运机器人404始终在工作区的某一位置处等待目标容器402的操作被执行完毕，或者是目标容器402始终在该第二搬运机器人404上，工作人员408直接在第二搬运机器人404上执行对目标容器402的操作。
示例性的，第二搬运机器人404还可以配置为，在目标容器402被操作过程中，始终保持与目标容器402对接。或者是将目标容器402从目标工作站407的等待区搬运到工作区后，将目标容器402放置在工作站的工作区，以便放置后等待并执行其它搬运指令。
若第二搬运机器人配置为在目标容器402被操作过程中，始终保持与目标容器402对接，示例性的，该第二搬运机器人404还可以配置为，在目标容器402被操作完毕后，将目标容器402从目标工作站407的工作区搬运到存储区域，或者，将目标容器402从目标工作站407的工作区搬运到等待区，并放置在目标工作站407的等待区，以便放置后等待并执行其它搬运指令。
下面以目标工作站分别为第1和第N工作站为例进行说明，当然本实施例中并不限于第1和第N工作站，其它工作站也适用。参见图3A，具体的操作过程可以为：当控制服务器401检测到目标容器402被操作完毕后，向第二搬运机器人404发送搬运指令，或者是工作区内的工作人员直接向第二搬运机器人404发送搬运指令，第二搬运机器人404依据搬运指令的指示可以直接将目标容器402从目标工作站407的工作区搬回到存储区域该目标容器的位置处，如图3A中第1工作站所示的情况。需要说明的是，第二搬运机器人404在实际搬运过程中的行走路径可能不需要穿越等待区，也可能需要穿越，本实施例所示的图中只是示例出第二搬运机器人404直接将目标容器402从工作站的工作区搬回至存储区域，并不对具体的行走路径进行限定。
为了提高工作效率，可以对搬运机器人的工作区域进行划分，可选的，第第一搬运机器人403可以只工作于存储区域至工作站407等待区的区域；第二搬运机器人可以只工作于工作站407内工作区与等待区之间。具体的操作过程还可以为：当控制服务器401检测到目标容器402被操作完毕后，向第二搬运机器人404发送搬运指令，或者是工作区内的工作人员直接向第二搬运机器人404发送搬运指令，第二搬运机器人404依据搬运指令的指示可以将目标容器402从目标工作站407的工作区搬回到该目标工作站407的等待区中，并依据搬运指令的指示将目标容器402放置等待区中的指定位置处，以便放置后等待并执行其它搬运指令，如图3A中第N工作站所示的情况。
在本发明实施例的一种可选实施方式中，搬运机器人还可以包括第三搬运机器人405，第三搬运机器人405可以具有与第一搬运机器人403相同的结构， 且此处的第三搬运机器人405可以是原先将目标容器402从存储区域搬运至目标工作站407等待区的第一搬运机器人403，也可以不是。此外，第三搬运机器人405和第一搬运机器人403一样，也可以只工作于存储区域至工作站407等待区的区域。
示例性的，控制服务器还可以配置为，确定搬运目标容器402的第三搬运机器人405，为第三搬运机器人规划行走路径，向第三搬运机器人405发送搬运指令；第三搬运机器人405可以配置为，响应于搬运指令，将目标容器402从目标工作站407的等待区搬运到存储区域。
继续参见图3A中第N工作站所示的情况。具体的操作过程可以为：当控制服务器401检测到第二搬运机器人404将目标容器402放置于目标工作站407的等待区后，基于路径最短原则及各搬运机器人的工作状态确定搬运该目标容器402的第三搬运机器人405，以及该第三搬运机器人405的行走路径，并向第三搬运机器人405发送包括目标容器402标识、行走路径、等待区标识以及目标容器402在存储区域的位置等的搬运指令；第三搬运机器人405响应于该搬运指令，依据搬运指令的指示从目标工作站407的等待区获取目标容器402，而后将目标容器402从等待区搬回至存储区域存储该目标容器402的位置处。
若第二搬运机器人404将目标容器402从目标工作站407的等待区搬运到工作区后，将目标容器402放置在工作站的工作区，以便放置后等待并执行其它搬运指令。在本发明实施例的一种可选实施方式中，搬运机器人还可以包括第四搬运机器人406，第四搬运机器人406可以与第一搬运机器人403具有相同的结构，且此处并不对搬运机器人的工作区域进行限定，因此，该第四搬运机器人406可能是原先将目标容器402从存储区域搬运至目标工作站407等待区的第一搬运机器人403，也可能不是。
示例性的，控制服务器401还可以配置为，确定搬运目标容器402的第四搬运机器人406，为第四搬运机器人406规划行走路径，向第四搬运机器人406发送搬运指令；第四搬运机器人406配置为，响应于搬运指令，将目标容器402从目标工作站407的工作区搬运到存储区域。
参见图3B中所示的情况。具体的操作过程可以为：当控制服务器401检测到第二搬运机器人404将目标容器402从目标工作站407的等待区搬运至工 作区后，向第二搬运机器人404发送其它搬运指令；第二搬运机器人404响应该其它搬运指令，将目标容器402放置工作区内指定位置处，并依据其它搬运指令的指示执行其它搬运指令中的搬运操作。工作区内的工作人员408对目标容器进行操作如拣选；在控制服务器401检测到目标容器402被操作完毕或控制服务器401接收到工作人员408发送的操作完毕指令，则基于路径最短原则及各搬运机器人的工作状态确定搬运该目标容器402的第四搬运机器人406，以及该第四搬运机器人406的行走路径，并向第四搬运机器人406发送包括目标容器402标识、行走路径、工作区标识以及目标容器402在存储区域的位置等的搬运指令；第四搬运机器人406响应该搬运指令，依据该搬运指令的指示从目标工作站407的工作区获取目标容器402，而后将目标容器402从等待区搬回至存储区域存储该目标容器402的位置处。
本发明实施例提供的技术方案，通过控制服务器的控制，以工作站中的等待区作为临时存储目标容器的中转，第一搬运机器人将目标容器从存储区域搬运至目标工作站的等待区后，不需要排队等待，可以执行下一搬运任务；由第二搬运机器人将目标容器从等待区搬运至工作区，以便对目标容器进行操作；而后由至少一个第二搬运机器人相互配合，将目标容器从工作区搬回至存储区域。相比于现有的搬运机器人搬运方案，搬运机器人始终高度运转状态，提高了搬运机器人的工作效率。
实施例三
图4为本发明实施例三提供的一种货物搬运方法的流程图，本实施例适用于如何提高搬运机器人的工作效率的情况，尤其适用于解决搬运机器人将货物搬运至目标工作站的工作区的过程中，若目标工作站存在至少一个搬运机器人的情况下，该搬运机器人需排队等待，工作效率低下的问题。该方法可以由控制服务器和至少一个搬运机器人配合来执行。参见图4，该方法具体包括：
S410，控制服务器响应于系统任务，确定待搬运的目标容器、搬运目标容器的第一搬运机器人、以及操作目标容器的目标工作站，并确定第一搬运机器人的规划行走路径，向第一搬运机器人发送第一搬运指令。
其中，第一搬运机器人可以是具有图1B所示的搬运机器人的机构，还可以是具有抓取装置如图2B所示的机构等。第二搬运机器人与第一搬运机器人 具有相同的结构。
第一搬运指令中可以包括目标容器标识、第一搬运机器人所在位置到存储区域内目标容器的行走路径、存储区域内目标容器位置到目标工作站的等待区的行走路径、目标工作站标识、以及等待区标识等。目标容器标识可以是二维码或者类似于二维码的其它图形标记，也可以是RFID或者类似于RFID的其它具有无线发射功能的电子标签。搬运机器人可以通过目标容器标识识别目标容器，进而执行对目标容器的搬运操作。等待区或工作区标识是指用于唯一指待某一区域的标志，可以是区域的编号、地理位置或标志性东西如物品及物品的摆放等。
S420，第一搬运机器人响应于第一搬运指令，根据规划的行走路径将目标容器从存储区域搬运到目标工作站的等待区，并放置在目标工作站的等待区，以便放置后等待并执行其它搬运指令。
示例性的，第一搬运机器人响应于第一搬运指令，根据规划的行走路径将目标容器从存储区域搬运到所述目标工作站的等待区之后，还可以包括：控制服务器若检测到目标工作站的等待区中存在预定数值的第一搬运机器人；或者，第一搬运机器人在目标工作站的等待区中的等待时间大于预设时长，向第一搬运机器人发送其它搬运指令；第一搬运机器人接收到其它搬运指令后，将目标容器放置在目标工作站的等待区，并执行其它搬运指令中的搬运操作。
其中，预定数值是预先确定的，可根据实际情况进行动态调整；对应的，预设时长也是预先设置的参数，可根据实际情况进行动态调整；示例性的，还可以依据当前工作站的情况，同时调整预设数值和预设时长。
可选的，工作站可以是拣选站、补货站或盘货站等中的一个；示例性的，若工作站是拣选站，当第一搬运机器人搬运将目标容器搬运至拣选站的等待区后，控制服务器检测到该第一搬运机器人前排队等待的第一搬运机器人的个数大于设定数值，则确定该第一搬运机器人处于排队等待状态；若控制服务器检测到该第一搬运机器人前排队等待的第一搬运机器人的个数小于或等于设定数值，但是该第一搬运机器人在等待区等待时间大于预设时长，则也可以确定该第一搬运机器人处于排队等待状态。
需要说明的是，若排队等待的第一搬运机器人只有一个，但是需要等待大于预设时长的时间才能轮到该第一搬运机器人所搬运的货物拣选，也可以确定 该第一搬运机器人处于排队等待状态。
若目标工作站为拣选站，系统任务为补货任务。具体的操作过程可以是：当控制服务器检测到拣选站某一货物需要补货时，依据补货任务确定该货物所关联的目标容器、需补货的目标工作站、以及基于路径最短原则及各搬运机器人的工作状态从存储区域中选择一搬运机器人作为第一搬运机器人，并向该第一搬运机器人下发包括目标容器标识、目标工作站标识、等待区标识以及行走路径的第一搬运指令；第一搬运机器响应该第一搬运指令从存储区域中获取补货任务关联的目标容器并将其搬运至拣选站的等待区；当控制服务器检测到第一搬运机器人将所需要补货的目标容器从存储区域搬运至拣选站的等待区，且该第一搬运机器人当前处于排队等待状态，则向第一搬运机器人发送其它搬运指令；该第一搬运机器人响应其它搬运指令，将目标容器放置于等待区中指定位置处，并执行其它搬运指令中的搬运操作。
S430，控制服务器确定搬运目标容器的第二搬运机器人，为第二搬运机器人规划行走路径，向第二搬运机器人发送第二搬运指令。
本实施例中，第二搬运指令中可以包括目标容器2标识、第二搬运机器人所在位置到等待区中目标容器的行走路径、等待区中目标容器到工作区中工作人员的行走路径、工作区标识以及等待区标识等。
需要说明的是，步骤S430控制服务器确定第二搬运机器人以及第二搬运机器人的行走路径，可以在步骤S410控制服务器响应系统任务确定第一搬运机器人及其行走路径时确定的；还可以在步骤S420之后，控制服务器检测到第一搬运机器人将目标容器搬运至目标工作站的等待区或即将搬运至目标工作站的等待区时确定的；还可以是当控制服务器检测目标工作站需要对目标容器中的货物进行操作时，依据路径最短原则以及各搬运机器人的工作状态实时确定的搬运目标容器的第二搬运机器人以及第二搬运机器人的行走路径。
例如，可以为当控制服务器接收到拣选站发送的目标容器对应的处理指令或控制服务器检测目标工作站需要对目标容器中的货物进行补货时，从距离工作区最近的搬运机器人中随机选择一处于空闲状态的搬运机器人作为第二搬运机器人，并向该第二搬运机器人下发第二搬运指令。
S440，第二搬运机器人响应于第二搬运指令，根据规划的行走路径将目标容器从目标工作站的等待区搬运到工作区，以便对目标容器执行操作。
本发明实施例提供的技术方案，通过控制服务器的控制，以工作站中的等待区作为临时存储目标容器的中转，第一搬运机器人将目标容器从存储区域搬运至目标工作站的等待区后，不需要排队等待，可以执行下一搬运任务；由第二搬运机器人将目标容器从等待区搬运至工作区，以便对目标容器进行操作。相比于现有的搬运机器人搬运方案，搬运机器人始终高度运转状态，提高了搬运机器人的工作效率。
实施例四
图5为本发明实施例四提供的一种货物搬运方法的流程图，本实施例在上述实施例的基础上进一步对第二搬运机器人将目标容器搬运至目标工作站的工作区后的操作进行优化。具体的，第二搬运机器人可以直接将目标容器放置于工作区指定的位置处，比便工作人员对目标容器进行操作，而该第二搬运机器人可执行其它搬运操作即解除该第二搬运机器人与目标容器之间的关联关系。也可以始终保持与目标容器对接，即目标容器始终保持与该第二搬运机器人之间的关联关系，在目标容器被执行操作的过程中，该第二搬运机器人始终在工作区的某一位置处等待目标容器的操作被执行完毕，或者是目标容器始终在该第二搬运机器人上，工作人员直接在第二搬运机器人上执行对目标容器的操作。
本实施例对在目标容器被操作过程中，第二搬运机器人始终保持与目标容器对接情况下，目标容器被操作完毕后，从目标工作站的工作区搬运至存储区的过程进行详细的说明。参见图5，该方法具体包括：
S510，控制服务器响应于系统任务，确定待搬运的目标容器、搬运目标容器的第一搬运机器人、以及操作目标容器的目标工作站，并确定第一搬运机器人的规划行走路径，向第一搬运机器人发送第一搬运指令。
S520，第一搬运机器人响应于第一搬运指令，根据规划的行走路径将目标容器从存储区域搬运到目标工作站的等待区，并放置在目标工作站的等待区，以便放置后等待并执行其它搬运指令。
S530，控制服务器确定搬运目标容器的第二搬运机器人，为第二搬运机器人规划行走路径，向第二搬运机器人发送第二搬运指令。
S540，第二搬运机器人响应于第二搬运指令，根据规划的行走路径将目标 容器从目标工作站的等待区搬运到工作区，以便对目标容器执行操作。
由于第二搬运机器人在目标工作站的等待区获取目标容器时，可能存在目标容器被等待区内的其他物品或容器所阻挡，此时控制服务器可向第二搬运机器人发送阻挡物转移指令，第二搬运机器人响应该指令，将该阻挡物转移，从而能够获取到目标容器。示例性的，还可以包括：当控制服务器检测到目标容器被等待区内的阻挡物品或容器阻挡住第一预设通道时，可向第二搬运机器人发送阻挡物转移指令；第二搬运机器人响应于阻挡物转移指令，根据阻挡物转移指令的指示按照第二预设通道搬移阻挡物品或容器，以使目标容器不被阻挡物品阻挡住；其中，第一预设通道为目标容器的当前位置到目标工作站的工作区的行走路径；第二预设通道为第二机器人当前位置到阻挡物品或容器所在位置的行走路径。
具体的，当控制服务器检测到第二搬运机器人在工作站的等待区内，无法按照第一预设通道中目标容器的当前位置获取到目标容器，即第一预设通道内存在其他物品或容器阻挡住了第二搬运机器人获取目标容器，控制服务器将向第二搬运机器人下发包含第二预设通道的阻挡物转移指令；第二搬运机器人响应阻挡物转移指令，按照第二预设通道将阻挡物品搬移，从而能够获取到目标容器，并按照第一预设通道将目标容器搬运至目标站的工作区。
S550，控制服务器检测到目标容器被操作完毕后，向第二搬运机器人发送第三搬运指令。
需要说明的是，第二搬运机器人接收到搬运指令后，可以执行步骤S560的操作，也可以执行步骤S570的操作。具体执行操作，可依据搬运系统中是否对搬运机器人工作区域进行划分以及各搬运机器人的工作状态等确定。
S560，第二搬运机器人响应于第三搬运指令，将目标容器从目标工作站的工作区搬运到存储区域。
S570，第二搬运机器人响应于第三搬运指令，将目标容器从目标工作站的工作区搬运到等待区，并放置在目标工作站的等待区，以便放置后等待并执行其它搬运指令。
S580，控制服务器确定搬运目标容器的第三搬运机器人，为第三搬运机器人规划行走路径，向第三搬运机器人发送第四搬运指令。
S590，第三搬运机器人响应于第四搬运指令，将目标容器从目标工作站的 等待区搬运到存储区域。
本发明实施例提供的技术方案，通过控制服务器的控制，以工作站中的等待区作为临时存储目标容器的中转，第一搬运机器人将目标容器从存储区域搬运至目标工作站的等待区后，不需要排队等待，可以执行下一搬运任务；由第二搬运机器人将目标容器从等待区搬运至工作区，以便对目标容器进行操作；而后由至少一个第二搬运机器人相互配合，将目标容器从工作区搬回至存储区域。相比于现有的搬运机器人搬运方案，搬运机器人始终高度运转状态，提高了搬运机器人的工作效率。
示例性的，若第二搬运机器人响应于第二搬运指令，根据规划的行走路径将目标容器从所述目标工作站的等待区搬运到工作区之后，还包括：控制服务器向第二搬运机器人发送放置指令；第二搬运机器人将目标容器放置在工作站的工作区，以便放置后等待并执行其它搬运指令。
此时，第二搬运机器人将目标容器放置在工作站的工作区之后，还可以包括：控制服务器确定搬运目标容器的第四搬运机器人，为第四搬运机器人规划行走路径，向第四搬运机器人发送第五搬运指令；第四搬运机器人响应于第五搬运指令，将目标容器从目标工作站的工作区搬运到存储区域。
本发明还提供一种货物搬运控制方法，该方法应用于控制服务器侧，包括：
响应于系统任务，确定待搬运的目标容器、搬运所述目标容器的第一搬运机器人和第二搬运机器人、以及操作所述目标容器的目标工作站，并确定所述第一搬运机器人的规划行走路径，向所述第一搬运机器人发送第一搬运指令，其中，所述第一搬运指令用于指示所述第一搬运机器人根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区；
确定搬运目标容器的第二搬运机器人，为所述第二搬运机器人规划行走路径，向所述第二搬运机器人发送第二搬运指令，其中所述第二搬运指令用于指示所述第二搬运机器人根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
在所述目标容器被操作过程中，控制所述第二搬运机器人始终保持与所述目标容器对接。
该实施例中，所述方法还包括：
检测到所述目标容器被操作完毕后，向所述第二搬运机器人发送第三搬运指令其中，所述第三搬运指令用于指示所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到存储区域，或者，指示所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到等待区，并将所述目标容器放置在所述目标工作站的等待区。
在所述第三搬运指令用于指示所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到等待区，并将所述目标容器放置在所述目标工作站的等待区的情况下，所述方法还包括：
确定搬运所述目标容器的第三搬运机器人，为所述第三搬运机器人规划行走路径，向所述第三搬运机器人发送第四搬运指令，其中，所述第四搬运指令用于指示所述第三搬运机器人将所述目标容器从所述目标工作站的等待区搬运到存储区域。
该实施例中，所述方法还包括：
根据第二搬运机器人响应于所述第二搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区之后的位置信息向所述第二搬运机器人发送放置指令，其中，所述放置指令用于指示所述第二搬运机器人将所述目标容器放置在所述工作站的工作区。
该实施例中，所述方法还包括：
根据所述第二搬运机器人将所述目标容器放置在所述工作站的工作区之后的位置信息确定搬运所述目标容器的第四搬运机器人，为所述第四搬运机器人规划行走路径，向所述第四搬运机器人发送第五搬运指令，其中，所述第五搬运指令用于指示所述第四搬运机器人将所述目标容器从所述目标工作站的工作区搬运到存储区域。
该实施例中，所述方法还包括：
根据所述第一搬运机器人响应于所述第一搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区之后的位置信息确定所述第一搬运机器人处于排队等待状态的情况下向所述第一搬运机器人发送其它搬运指令，其中，所述其他搬运指令用于指示所述第一搬运机器人将所述目标容器放置在所述目标工作站的等待区，并执行所述其它搬运指令中的搬运操作。
可以通过如下方式确定所述第一搬运机器人处于排队等待状态包括：
所述目标工作站的等待区中等待的第一搬运机器人超过设定数值；或者，
所述第一搬运机器人在所述目标工作站的等待区中的等待时间大于预设时长。
所述货物搬运控制方法的具体细节可以参见前述实施例中控制服务器的操作，此处不再赘述。
本发明一实施例还提供一种搬运机器人组，所述搬运机器人组中包括至少两个搬运机器人；
其中，所述搬运机器人组中的第一搬运机器人配置为响应于搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运指令；
所述搬运机器人组中的第二搬运机器人配置为响应于搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
所述第二搬运机器人还配置为，在所述目标容器被操作过程中，始终保持与所述目标容器对接。
所述第二搬运机器人还配置为，在所述目标容器被操作完毕后，将所述目标容器从所述目标工作站的工作区搬运到存储区域；或者，
所述第二搬运机器人还配置为，将所述目标容器从所述目标工作站的工作区搬运到等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运指令。
在所述第二搬运机器人还配置为将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区的情况下，
所述机器人组中的第三机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的等待区搬运到存储区域。
所述第二搬运机器人还配置为，将所述目标容器从所述目标工作站的等待区搬运到工作区后，将所述目标容器放置在所述工作站的工作区，等待并执行其它搬运指令。
所述搬运机器人组中的第四搬运机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的工作区搬运到存储区域。
所述搬运机器人组具体工作细节可以参见前述实施例，此处不再赘述。
本发明实施例还提供一种电子设备，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现前述的货物搬运方法。
本发明实施例还提供一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现前述的货物搬运方法。
上述实施例序号仅仅为了描述，不代表实施例的优劣。
本领域普通技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个计算装置上，或者分布在多个计算装置所组成的网络上，可选地，他们可以用计算机装置可执行的程序代码来实现，从而可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件的结合。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间的相同或相似的部分互相参见即可。
以上所述仅为本发明的优选实施例，并不用于限制本发明，对于本领域技术人员而言，本发明可以有各种改动和变化。凡在本发明的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (30)

  1. 一种货物搬运系统，其特征在于，包括：控制服务器、搬运机器人和工作站，所述工作站包括工作区和等待区；其中，
    所述控制服务器配置为，响应于系统任务，确定待搬运的目标容器、搬运所述目标容器的第一搬运机器人和第二搬运机器人、以及操作所述目标容器的目标工作站，为所述第一搬运机器人和所述第二搬运机器人规划行走路径，向所述第一搬运机器人和所述第二搬运机器人发送搬运指令；
    所述第一搬运机器人配置为，响应于搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运指令；
    所述第二搬运机器人配置为，响应于搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
  2. 根据权利要求1所述的系统，其特征在于，
    所述第二搬运机器人还配置为，在所述目标容器被操作过程中，始终保持与所述目标容器对接。
  3. 根据权利要求2所述的系统，其特征在于，
    所述第二搬运机器人还配置为，在所述目标容器被操作完毕后，将所述目标容器从所述目标工作站的工作区搬运到存储区域；或者，
    所述第二搬运机器人还配置为，将所述目标容器从所述目标工作站的工作区搬运到等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运指令。
  4. 根据权利要求3所述的系统，其特征在于，在所述第二搬运机器人还配置为将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区的情况下，
    所述控制服务器还配置为，确定搬运所述目标容器的第三搬运机器人，为所述第三搬运机器人规划行走路径，向所述第三搬运机器人发送搬运指令；
    所述第三搬运机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的等待区搬运到存储区域。
  5. 根据权利要求1所述的系统，其特征在于，
    所述第二搬运机器人还配置为，将所述目标容器从所述目标工作站的等待区搬运到工作区后，将所述目标容器放置在所述工作站的工作区，等待并执行其它搬运指令。
  6. 根据权利要求5所述的系统，其特征在于，
    所述控制服务器还配置为，确定搬运所述目标容器的第四搬运机器人，为所述第四搬运机器人规划行走路径，向所述第四搬运机器人发送搬运指令；
    所述第四搬运机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的工作区搬运到存储区域。
  7. 根据权利要求1所述的系统，其特征在于，
    所述控制服务器还配置为，若检测到所述目标工作站的等待区中存在预定数值的第一搬运机器人；或者，所述第一搬运机器人在所述目标工作站的等待区中的等待时间大于预设时长，向所述第一搬运机器人发送其它搬运指令。
  8. 一种货物搬运方法，其特征在于，包括：
    控制服务器响应于系统任务，确定待搬运的目标容器、搬运所述目标容器的第一搬运机器人和第二搬运机器人、以及操作所述目标容器的目标工作站，并确定所述第一搬运机器人的规划行走路径，向所述第一搬运机器人发送第一搬运指令；
    所述第一搬运机器人响应于所述第一搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运指令；
    所述控制服务器确定搬运目标容器的第二搬运机器人，为所述第二搬运机器人规划行走路径，向所述第二搬运机器人发送第二搬运指令；
    所述第二搬运机器人响应于所述第二搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
  9. 根据权利要求8所述的方法，其特征在于，在所述目标容器被操作过程中，所述第二搬运机器人始终保持与所述目标容器对接。
  10. 根据权利要求9所述的方法，其特征在于，还包括：
    所述控制服务器检测到所述目标容器被操作完毕后，向所述第二搬运机器人发送第三搬运指令；
    所述第二搬运机器人响应于所述第三搬运指令，将所述目标容器从所述目 标工作站的工作区搬运到存储区域，或者，
    所述第二搬运机器人响应于所述第三搬运指令，将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区，以便放置后等待并执行其它搬运指令。
  11. 根据权利要求10所述的方法，其特征在于，所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区之后，还包括：
    所述控制服务器确定搬运所述目标容器的第三搬运机器人，为所述第三搬运机器人规划行走路径，向所述第三搬运机器人发送第四搬运指令；
    所述第三搬运机器人响应于所述第四搬运指令，将所述目标容器从所述目标工作站的等待区搬运到存储区域。
  12. 根据权利要求8所述的方法，其特征在于，所述第二搬运机器人响应于所述第二搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区之后，还包括：
    所述控制服务器向所述第二搬运机器人发送放置指令；
    所述第二搬运机器人将所述目标容器放置在所述工作站的工作区，等待并执行其它搬运指令。
  13. 根据权利要求12所述的方法，其特征在于，所述第二搬运机器人将所述目标容器放置在所述工作站的工作区之后，还包括：
    所述控制服务器确定搬运所述目标容器的第四搬运机器人，为所述第四搬运机器人规划行走路径，向所述第四搬运机器人发送第五搬运指令；
    所述第四搬运机器人响应于所述第五搬运指令，将所述目标容器从所述目标工作站的工作区搬运到存储区域。
  14. 根据权利要求8所述的方法，其特征在于，所述第一搬运机器人响应于所述第一搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区之后，还包括：
    所述控制服务器若检测到所述目标工作站的等待区中存在预定数值的第一搬运机器人；或者，所述第一搬运机器人在所述目标工作站的等待区中的等待时间大于预设时长，向所述第一搬运机器人发送其它搬运指令；
    所述第一搬运机器人接收到所述其它搬运指令后，将所述目标容器放置在 所述目标工作站的等待区，并执行所述其它搬运指令中的搬运操作。
  15. 一种货物搬运控制方法，其特征在于，包括：
    响应于系统任务，确定待搬运的目标容器、搬运所述目标容器的第一搬运机器人和第二搬运机器人、以及操作所述目标容器的目标工作站，并确定所述第一搬运机器人的规划行走路径，向所述第一搬运机器人发送第一搬运指令，其中，所述第一搬运指令用于指示所述第一搬运机器人根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区；
    确定搬运目标容器的第二搬运机器人，为所述第二搬运机器人规划行走路径，向所述第二搬运机器人发送第二搬运指令，其中所述第二搬运指令用于指示所述第二搬运机器人根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
  16. 根据权利要求15所述的方法，其特征在于，在所述目标容器被操作过程中，控制所述第二搬运机器人始终保持与所述目标容器对接。
  17. 根据权利要求16所述的方法，其特征在于，还包括：
    检测到所述目标容器被操作完毕后，向所述第二搬运机器人发送第三搬运指令其中，所述第三搬运指令用于指示所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到存储区域，或者，指示所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到等待区，并将所述目标容器放置在所述目标工作站的等待区。
  18. 根据权利要求17所述的方法，其特征在于，在所述第三搬运指令用于指示所述第二搬运机器人将所述目标容器从所述目标工作站的工作区搬运到等待区，并将所述目标容器放置在所述目标工作站的等待区的情况下，所述方法还包括：
    确定搬运所述目标容器的第三搬运机器人，为所述第三搬运机器人规划行走路径，向所述第三搬运机器人发送第四搬运指令，其中，所述第四搬运指令用于指示所述第三搬运机器人将所述目标容器从所述目标工作站的等待区搬运到存储区域。
  19. 根据权利要求15所述的方法，其特征在于，还包括：
    根据第二搬运机器人响应于所述第二搬运指令，根据规划的行走路径将所 述目标容器从所述目标工作站的等待区搬运到工作区之后的位置信息向所述第二搬运机器人发送放置指令，其中，所述放置指令用于指示所述第二搬运机器人将所述目标容器放置在所述工作站的工作区。
  20. 根据权利要求19所述的方法，其特征在于，还包括：
    根据所述第二搬运机器人将所述目标容器放置在所述工作站的工作区之后的位置信息确定搬运所述目标容器的第四搬运机器人，为所述第四搬运机器人规划行走路径，向所述第四搬运机器人发送第五搬运指令，其中，所述第五搬运指令用于指示所述第四搬运机器人将所述目标容器从所述目标工作站的工作区搬运到存储区域。
  21. 根据权利要求15所述的方法，其特征在于，还包括：
    根据所述第一搬运机器人响应于所述第一搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区之后的位置信息确定所述第一搬运机器人处于排队等待状态的情况下向所述第一搬运机器人发送其它搬运指令，其中，所述其他搬运指令用于指示所述第一搬运机器人将所述目标容器放置在所述目标工作站的等待区，并执行所述其它搬运指令中的搬运操作。
  22. 根据权利要求21所述的方法，其特征在于，确定所述第一搬运机器人处于排队等待状态包括：
    所述目标工作站的等待区中等待的第一搬运机器人超过设定数值；或者，
    所述第一搬运机器人在所述目标工作站的等待区中的等待时间大于预设时长。
  23. 一种搬运机器人组，其特征在于，所述搬运机器人组中包括至少两个搬运机器人；
    其中，所述搬运机器人组中的第一搬运机器人配置为响应于搬运指令，根据规划的行走路径将所述目标容器从存储区域搬运到所述目标工作站的等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运指令；
    所述搬运机器人组中的第二搬运机器人配置为响应于搬运指令，根据规划的行走路径将所述目标容器从所述目标工作站的等待区搬运到工作区。
  24. 根据权利要求23所述的搬运机器人组，其特征在于，所述第二搬运 机器人还配置为，在所述目标容器被操作过程中，始终保持与所述目标容器对接。
  25. 根据权利要求24所述的搬运机器人组，其特征在于，
    所述第二搬运机器人还配置为，在所述目标容器被操作完毕后，将所述目标容器从所述目标工作站的工作区搬运到存储区域；或者，
    所述第二搬运机器人还配置为，将所述目标容器从所述目标工作站的工作区搬运到等待区，并将所述目标容器放置在所述目标工作站的等待区，等待并执行其它搬运指令。
  26. 根据权利要求25所述的搬运机器人组，其特征在于，在所述第二搬运机器人还配置为将所述目标容器从所述目标工作站的工作区搬运到等待区，并放置在所述目标工作站的等待区的情况下，
    所述机器人组中的第三机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的等待区搬运到存储区域。
  27. 根据权利要求23所述的搬运机器人组，其特征在于，
    所述第二搬运机器人还配置为，将所述目标容器从所述目标工作站的等待区搬运到工作区后，将所述目标容器放置在所述工作站的工作区，等待并执行其它搬运指令。
  28. 根据权利要求27所述的搬运机器人组，其特征在于，
    所述搬运机器人组中的第四搬运机器人配置为，响应于搬运指令，将所述目标容器从所述目标工作站的工作区搬运到存储区域。
  29. 一种电子设备，其特征在于，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求15-22任意一项所述的货物搬运控制方法。
  30. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求15-22任意一项所述的货物搬运控制方法。
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CN109279252A (zh) 2019-01-29
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