WO2022105652A1

WO2022105652A1 - Anomaly processing method and apparatus for goods to be taken out, device, system, and storage medium

Info

Publication number: WO2022105652A1
Application number: PCT/CN2021/129702
Authority: WO
Inventors: 彭逸凡; 艾鑫
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-11-20
Filing date: 2021-11-10
Publication date: 2022-05-27
Also published as: CN112429456A; CN112429456B

Abstract

An anomaly processing method and apparatus for goods to be taken out, a device, a system, and a storage medium. The method comprises: obtaining detection information of goods (420) to be taken out, wherein said goods (420) is placed on a goods shelf (410), and a storage space (411) corresponding to said goods (420) is determined according to size information of said goods (420) and a dynamic goods storage space on the goods shelf (410) corresponding to said goods (420); determining whether there is an anomaly in the detection information; and if there is an anomaly, determining an anomaly processing policy according to the anomaly type, such that a warehousing robot (110) processes said goods (420) according to the anomaly processing policy.

Description

Abnormal handling method, device, equipment, system and storage medium for taking out goods

This disclosure claims the priority of the Chinese patent application filed on November 20, 2020 with the application number 202011312581.4 and the application title "Method, Apparatus, Equipment, System and Storage Medium for Abnormal Removal of Goods", the entire contents of which are Incorporated in this disclosure by reference.

technical field

The present disclosure relates to the technical field of intelligent warehousing, and in particular, to a method, device, device, system, and storage medium for abnormal handling of unloaded goods.

Background technique

The intelligent warehousing system based on warehousing robots adopts an intelligent operating system, which realizes the automatic removal and storage of goods through system instructions, and can run 24 hours a day without interruption, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favor.

However, due to human errors, or measurement errors of the warehousing system and warehousing robot, it will lead to abnormal storage of the container, such as inconsistent storage location, inconsistent goods, etc. The existing warehousing robot cannot automatically identify the abnormality of the goods, usually by manual labor. Identifying, and handling cargo anomalies by humans, anomaly detection and processing are inefficient.

SUMMARY OF THE INVENTION

The present disclosure provides a method, device, equipment, system and storage medium for handling abnormality of goods taken out, which can automatically identify and report abnormality of goods for warehouses adopting a dynamic goods storage space mode, thereby improving the efficiency of abnormality processing.

In a first aspect, an embodiment of the present disclosure provides a method for handling exceptions of goods to be taken out. The method is applied to a warehouse management device of a warehousing system. The method includes: obtaining detection information of goods to be taken out, wherein the goods to be taken out are It is placed on the shelf, and the storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out; it is determined whether the detection information is abnormal ; If there is an exception, determine an exception handling strategy according to the exception type, so that the warehouse robot handles the goods to be taken out according to the exception handling strategy.

Optionally, before obtaining the detection information of the goods to be taken out, the method further includes: obtaining one of a preset cargo code, a preset position, a preset size and each preset spacing of the goods to be taken out. Correspondingly, the detection information includes one or more items of size information, location information, cargo code and cargo spacing of the goods to be taken out; Correspondingly, it is determined whether the detection information is abnormal , including: when the goods to be taken out meet one or more of the following conditions, determining that the goods to be taken out are abnormal: when the goods code of the goods to be taken out is inconsistent with the preset goods code; when When the position information of the goods to be taken out is inconsistent with the preset position; when the size information of the goods to be taken out is inconsistent with the preset size; when at least one cargo spacing of the goods to be taken out is inconsistent with the corresponding preset spacing .

Optionally, when the position information of the cargo to be taken out is inconsistent with the preset position, the abnormality type is abnormal cargo location, and determining an abnormality handling strategy according to the abnormality type includes: when the abnormality type is abnormal cargo location, calculating the The position deviation between the position information of the fetched goods and the preset position; when the position deviation is less than or equal to the first preset deviation threshold, a first adjustment instruction is generated according to the position deviation, so that the storage robot can An adjustment instruction adjusts the position of at least one of the handling device and the moving chassis of the storage robot, so as to take out the goods to be taken out based on the adjusted storage robot.

Optionally, when the position information of the goods to be taken out is inconsistent with a preset position, the method further includes: updating the preset position of the goods to be taken out to the position information of the goods to be taken out.

Optionally, when the size information of the cargo to be taken out is inconsistent with the preset size, the abnormality type is abnormal cargo size, and determining an abnormality handling strategy according to the abnormality type includes: when the abnormality type is abnormal cargo size, calculating the The size deviation between the size information of the fetched goods and the preset size; when the size deviation is less than or equal to the second preset deviation threshold, a second adjustment command is generated according to the size deviation, so that the storage robot can The second adjustment instruction adjusts the handling device of the storage robot to take out the goods to be retrieved based on the adjusted handling device.

Optionally, when the size information of the goods to be taken out is inconsistent with a preset size, the method further includes: updating the preset size of the goods to be taken out to the size information of the goods to be taken out.

Optionally, when at least one of the cargo spacings of the cargo to be taken out is inconsistent with the preset spacing, the abnormality type is abnormal cargo spacing, and the abnormality handling strategy is determined according to the abnormality type, including: when the abnormality type is abnormal cargo spacing, Obtain the size information of adjacent goods corresponding to one or more of the goods spacings that are inconsistent with the preset spacing; generate a second take-out instruction according to the size information of the adjacent goods and the size information of the goods to be taken out, so that the storage The robot takes out the adjacent goods and the goods to be taken out according to the second take-out instruction.

Optionally, the handling device of the storage robot includes a left robotic arm and a right robotic arm, and when at least one of the distances between the goods of the goods to be taken out is inconsistent with the preset distance, the abnormality type is the abnormality of the goods distance, according to the abnormality type. Determining an exception handling strategy includes: obtaining size information of adjacent goods corresponding to one or more of the goods spacings that are inconsistent with the preset spacing; if the size information of the adjacent goods is less than or equal to the set size, generating a third takeout instruction, so that the storage robot can take out the adjacent goods through the left robot arm or the right robot arm according to the third retrieval instruction, and place the adjacent goods in a preset position through the left robot arm and the right robot arm. position; when the adjacent goods are placed, a fourth take-out instruction is generated, so that the storage robot takes out the to-be-taken goods according to the fourth take-out instruction.

Optionally, when the size information of the adjacent cargo is greater than the set size, the method further includes: generating a prompt message of abnormal cargo spacing according to the one or more cargo spacings that are inconsistent with the preset spacing. .

Optionally, the length of the storage space for the goods to be taken out is the sum of the length of the goods to be taken out and a preset safety length.

In a second aspect, an embodiment of the present disclosure provides a method for handling abnormality of goods taken out. The method is applied to a storage robot in a storage system. The method includes: obtaining detection information of goods to be taken out, wherein the goods to be taken out are placed in On the shelf, the storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out; determine whether the detection information is abnormal; If there is an exception, an exception handling strategy is determined according to the exception type, and the goods to be taken out are processed according to the exception handling strategy.

In a third aspect, an embodiment of the present disclosure provides a method for handling exceptions for taking out goods, the method is applied to a warehouse robot of a warehousing system, and the method includes: receiving an exception handling strategy sent by a warehouse management device, where the exception handling strategy is all The warehouse management equipment is sent when the detection information of the goods to be taken out is abnormal; wherein, the goods to be taken out are placed on the shelves, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and the size of the goods to be taken out. The dynamic goods storage space on the shelf corresponding to the goods to be taken out is determined; the goods to be taken out are processed according to the exception handling strategy.

In a fourth aspect, an embodiment of the present disclosure provides an abnormal processing device for taking out goods, which is applied to warehouse management equipment of a storage system. The device includes: a first detection information obtaining module, which is used to obtain the detection information of the goods to be taken out, wherein, The goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out; the first abnormality a judgment module for judging whether the detection information is abnormal; a first exception handling module for determining an exception handling strategy according to the exception type when there is an exception, so that the warehouse robot handles the goods to be taken out according to the exception handling strategy .

In a fifth aspect, an embodiment of the present disclosure provides an abnormal processing device for taking out goods, which is applied to a storage robot in a storage system. The device includes: a second detection information obtaining module, which is used to obtain the detection information of the goods to be taken out, wherein the The goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out; the second abnormality judgment a module for judging whether the detection information is abnormal; a second exception processing module for determining an exception handling strategy according to the exception type when there is an exception, and processing the goods to be taken out according to the exception handling strategy.

In a sixth aspect, an embodiment of the present disclosure provides an exception handling device for taking out goods, which is applied to a warehouse robot in a warehousing system. The device includes: a receiving module for receiving an exception handling strategy sent by a warehouse management device, the exception handling strategy It is sent by the warehouse management device when the detection information of the goods to be taken out is abnormal; wherein, the goods to be taken out are placed on the shelves, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out is determined; the processing module is configured to process the goods to be taken out according to the exception handling strategy.

In a seventh aspect, an embodiment of the present disclosure provides a warehouse management device, including: a memory and at least one processor;

The memory stores computer-executable instructions; and the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method for handling exceptions in any one of the first aspect.

In an eighth aspect, an embodiment of the present disclosure provides a warehouse robot, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the At least one processor executes the method for handling the exception of taking out goods according to any one of the second aspect.

In a ninth aspect, an embodiment of the present disclosure provides a warehouse robot, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the At least one processor executes the method for handling exceptions of goods taken out according to any one of the third aspects.

In a tenth aspect, an embodiment of the present disclosure provides a storage system, including: a shelf, the warehouse management device according to the seventh aspect, and the storage robot according to the ninth aspect.

In an eleventh aspect, an embodiment of the present disclosure provides a storage system, including: a shelf and the storage robot according to the eighth aspect.

In a twelfth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, the implementation of any The embodiment provides an exception handling method for taking out goods.

In a thirteenth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program, when the computer program is executed by a processor, the computer program implements the method for handling exceptions of goods taken out as provided in any embodiment of the present disclosure.

The method, device, device, system, and storage medium for handling abnormality of goods taken out provided by the embodiments of the present disclosure, for a shelf adopting the dynamic goods storage space mode, by obtaining the detection information of the goods to be taken out, and then automatically determine whether the detection information is abnormal, The real-time performance of abnormality detection is improved. At the same time, when there is an abnormality, the abnormality processing strategy is determined according to the abnormality type, so as to handle the abnormality based on the abnormality processing strategy. By solving the abnormality, the warehouse robot can take out the goods normally, which improves the safety of the goods taking out. and efficiency.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

1A is a schematic diagram of a storage situation in a one-dimensional configuration according to an embodiment of the present disclosure;

FIG. 1B is a schematic diagram of a storage situation after placing goods according to the embodiment shown in FIG. 1A of the present disclosure;

1C is a schematic diagram of a storage situation in a two-dimensional configuration provided by an embodiment of the present disclosure;

FIG. 1D is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the present disclosure after placing goods;

FIG. 1E is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the present disclosure after placing goods;

FIG. 1F is a schematic structural diagram of a robot provided by an embodiment of the present disclosure;

1G is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the disclosure;

FIG. 1H is the structure of a robot and its handling device in the embodiment shown in FIG. 1F of the disclosure;

FIG. 1I is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the disclosure;

1J is a schematic structural diagram of another conveying device in the embodiment shown in FIG. 1F of the disclosure;

1K is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the disclosure;

FIG. 1L is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the disclosure;

FIG. 1M is a diagram of an application scenario of the method for handling exceptions of goods taken out according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of a method for handling abnormality of fetched goods provided by an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of the storage situation of the shelves in the embodiment shown in FIG. 2 of the disclosure;

FIG. 4 is a schematic diagram of abnormal placement of goods in the embodiment shown in FIG. 2 of the present disclosure;

FIG. 5 is a flowchart of a method for handling exceptions of goods taken out provided by another embodiment of the present disclosure;

FIG. 6 is a flowchart of a method for handling abnormality of fetched goods provided by another embodiment of the present disclosure;

FIG. 7 is a flowchart of a method for handling an abnormality of a removed cargo provided by another embodiment of the present disclosure;

FIG. 8 is a flowchart of a method for processing an abnormality of a removed cargo provided by another embodiment of the present disclosure;

FIG. 9 is a flowchart of a method for processing an abnormality of a fetched cargo provided by another embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of a device for handling abnormality of removed goods provided by an embodiment of the present disclosure;

FIG. 11 is a schematic structural diagram of a device for handling abnormality of removed goods provided by another embodiment of the present disclosure;

FIG. 12 is a schematic structural diagram of a device for handling abnormality of removed goods provided by another embodiment of the present disclosure;

FIG. 13 is a schematic structural diagram of a warehouse management device according to an embodiment of the present disclosure;

FIG. 14 is a schematic structural diagram of a storage robot according to an embodiment of the present disclosure;

FIG. 15 is a schematic structural diagram of a storage robot according to another embodiment of the present disclosure.

The above-mentioned drawings have shown clear embodiments of the present disclosure, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by referring to specific embodiments.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.

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

The application scenarios of the embodiments of the present disclosure are explained below:

The present disclosure is applied to the scenario of dynamically configuring the cargo storage space, and the present disclosure provides a cargo placing method for dynamically configuring the cargo storage space, which is different from the fixed storage location.

Dynamically configuring the cargo storage space refers to: after the system determines the cargo to be stored, according to the size of the cargo, a first storage space that is adapted to the size of the cargo is allocated from the existing unoccupied space, wherein the unoccupied The occupied space can be any size of space, and the unoccupied space does not include the fixed storage space that has been divided; wherein, the first storage space can accommodate the goods to be stored, and the fixed storage space It refers to the pre-set storage location in the warehouse, and the fixed location is fixed and the size is determined.

The dynamic cargo storage space may be a space for dynamically configuring the cargo storage space.

Exemplarily, dynamically configuring the cargo storage space includes at least one-dimensional and/or two-dimensional configuration.

Exemplarily, FIG. 1A is a schematic diagram of the storage situation in a one-dimensional configuration mode provided by an embodiment of the present disclosure. With the understanding of the X-Y coordinate system, the one-dimensional configuration mode refers to the depth Y direction of the cargo on each layer in the cargo storage space. , can only be placed in a row, wherein, in a one-dimensional manner, the storage space of the goods includes the first unoccupied space and/or the first occupied space. Specifically, the first occupied space is in the direction of the goods entering and leaving The space on which the goods have been placed.

Exemplarily, FIG. 1C is a schematic diagram of the storage situation in a two-dimensional configuration mode provided by an embodiment of the present disclosure. With the understanding of the X-Y coordinate system, the two-dimensional configuration mode refers to the depth Y direction of the cargo on each layer in the cargo storage space. It can be placed in one row, multiple rows, or a combination of multiple rows. That is, in the two-dimensional configuration mode, the goods in the cargo storage space are allowed to be placed in multiple rows in the depth Y direction, wherein, in the two-dimensional mode, the storage space of the goods includes the second unoccupied space and/or the second occupied space. , Specifically, the second unoccupied space includes the space not occupied by the goods in the direction of the goods entering and leaving.

For example, FIG. 1A is a schematic diagram of a storage situation in a one-dimensional configuration according to an embodiment of the present disclosure. In a one-dimensional configuration, as shown in FIG. 1A , for the unoccupied space in the above dynamically configured cargo storage space, That is, the

spaces

101a, 101b and 101c in FIG. 1A are the same. After the system confirms the goods to be stored, the goods 100a, it will find the first storage space that is most suitable for the goods 100a, such as space 101c, from the unoccupied spaces, that is, the

spaces

101a, 101b and 101c.

FIG. 1B is a schematic diagram of the storage situation after the goods are placed according to the embodiment shown in FIG. 1A of the present disclosure. As shown in FIG. 1B , after the goods 100 are placed, the current unoccupied spaces become

spaces

101a, 101b and 101d, The space 101d is a newly defined unoccupied space after the space 101c is partially occupied by the goods 100 .

FIG. 1C is a schematic diagram of a storage situation in a two-dimensional configuration according to an embodiment of the present disclosure. As shown in FIG. 1C , considering the two-dimensional configuration, the unoccupied space on the shelf refers to the space 101e and the Space 101f. After the system confirms the goods to be stored, the goods 100b, it will find the first storage space that is most suitable for the goods 100b, such as space 101e, in the unoccupied space, that is, the space 101e and the space 101f.

1D is a schematic diagram of the storage situation after placing the goods in the embodiment corresponding to FIG. 1C of the disclosure. As shown in FIG. 1D , after the goods 100b are placed, the current unoccupied space becomes the space 101f and the space 101g. The space 101g is a newly defined unoccupied space after the space 101e is partially occupied by the goods 100b.

1E is a schematic diagram of the storage situation of the embodiment corresponding to FIG. 1C of the present disclosure after the goods are placed. Referring to FIGS. 1C , 1D and 1E, it can be seen that the orientations of the goods 100b in FIGS. 1D and 1E are different when they are placed, that is, the goods 100b are placed It can be turned when placed, that is, the orientation of the goods to be stored can be changed when placing the goods. After the goods 100b are placed, the current unoccupied spaces are

spaces

101f and 101h. The space 101h is the newly defined unoccupied space after the space 101e is partially occupied by the goods 100b.

Exemplarily, FIG. 1F is a schematic structural diagram of a robot according to an embodiment of the present disclosure; as shown in FIG. Among them, the storage rack 82 , the conveying device 84 and the lifting assembly 81 are all installed on the mobile chassis 83 , and several storage units are arranged on the storage rack 82 . The lift assembly 81 is used to drive the transport device 84 to move up and down, so that the transport device 84 is aligned with any storage unit on the storage rack 82, or aligned with the rack and/or the goods. The handling device 84 can be rotated about a vertical axis to adjust its orientation for alignment to a storage unit, or to a shelf and/or cargo. The handling device 84 is used to carry out the loading or unloading of goods to carry the goods between the racks and the storage unit.

Exemplarily, the storage racks 82 may be selectively configured or not configured. When the storage racks 82 are not configured, the goods are stored in the accommodating space of the handling device 84 when the robot 80 transports the goods.

The robot 80 in the above-mentioned embodiment can execute the cargo storage method provided by any embodiment of the present disclosure, so as to realize the cargo handling between the shelves and the operation platform.

When the robot 80 performs the task of storing the goods, the robot 80 moves to the position of the designated storage space for the goods, and the target object is transported from the storage unit of the robot body 81 to the rack by adjusting the components, such as the rotating mechanism, in cooperation with the conveying device 84 . superior.

Exemplarily, FIG. 1G is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the present disclosure.

Illustratively, the carrying device 84 is mounted on the bracket 86 through a rotating mechanism 85, which is used to drive the carrying device 84 to rotate about a vertical axis relative to the bracket 86 to align the storage unit, or to align the racks and/or racks. or goods. The handling device 84 is used to transport goods between the storage units and the racks. If the handling device 84 is not aligned with the shelf and/or the goods, the handling device 84 can be driven to rotate relative to the bracket 86 by the rotating mechanism 85 to ensure that the handling device 84 is aligned with the shelf and/or the goods.

FIG. 1H is the structure of a robot and its handling device in the embodiment shown in the disclosure. It can be understood from FIG. 1F and FIG. 1G that the rotating mechanism 85 may be omitted according to the actual situation. For example, the handling robot moves on a fixed track. After moving to the vicinity of the shelf, the handling device 84 is always aligned with the shelf and/or the goods, The goods may be arranged in the picking direction of the conveying device 84 .

Exemplarily, FIG. 1I is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the present disclosure. Please refer to FIG. 1G to facilitate understanding. As shown in FIG. 1I, the handling device 84 includes a pallet 841 and a telescopic arm assembly. The pallet 841 is used for placing goods and can be a horizontally arranged flat plate. The telescopic arm assembly is used to push the goods placed on the pallet 841 out of the pallet 841 or pull the goods to the pallet 841 . The telescopic arm assembly includes a telescopic arm 843 , a fixed push rod 842 and a movable push rod 844 . The telescopic arm 843 includes a left telescopic arm and a right telescopic arm, and the telescopic arm 843 can be extended horizontally. side. The telescopic arm 843 is powered by a motor, and the power is transmitted by a sprocket mechanism. According to the actual situation, the sprocket mechanism can be replaced with a pulley mechanism, a screw mechanism and other transmission mechanisms to drive. Both the fixed push rod 842 and the movable push rod 844 are installed on the telescopic arm 843 , and the fixed push rod 842 and the movable push rod 844 can extend together with the telescopic arm 843 . The fixed push rod 842 and the pallet 841 are located on the same side of the telescopic arm 843 . When the telescopic arm 843 is extended, the fixed push rod 842 is used to push out the goods from the pallet 841 . The movable push rod 844 can be retracted into the telescopic arm 843. When the movable push rod 844 is not retracted into the telescopic arm 843, the movable push rod 844, the fixed push rod 842 and the support plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is located in the extending direction of the fixed push rod 842 along the telescopic arm 843 . The movable push rod 844 can be directly driven by a motor, and can also transmit power through a transmission mechanism such as a gear set and a link mechanism according to actual conditions. When the movable push rod 844 is not retracted into the telescopic arm and the telescopic arm 843 is retracted, the movable push rod 844 is used to pull the goods to the pallet 841 .

Exemplarily, the fixed push rod 842 of the carrying device 84 can be designed as a finger structure like the movable push rod 844 .

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

Exemplarily, the handling device 84 may further include a turning structure, such as a turntable, which may be used to change the orientation of the goods placed on the pallet 841 thereof. FIG. 1J is a schematic structural diagram of another conveying device in the embodiment shown in FIG. 1F of the present disclosure. Combining with FIG. 1J and FIG. 1I, it can be seen that the conveying device 84 may further include a steering structure, that is, the turntable 845 in FIG. 1I to change the placement the orientation of the goods on its pallet 841.

Exemplarily, FIG. 1K is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the present disclosure. The conveying device 84a includes one or more suction cups 846, which are arranged on the fixed push rod 842, and the fixed push rod 842 can be Rod-shaped or plate-shaped. When storing/retrieving goods, the fixed push rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction. The goods are sucked by the suction cups 846 , and the displacement of the fixed push rod 842 is matched to carry the goods to the shelf, or to carry the goods to the pallet 841 .

Exemplarily, FIG. 1L is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1F of the present disclosure. The handling device 84b includes one or more robotic arms 847 disposed in place on the stationary push rod 842 and/or the handling device 84b. When storing/retrieving goods, the fixed push rod 842 can be driven to move in the direction of the goods and/or the shelf in the direction of the forward/backward direction. The robot arm 847 grabs/hooks the goods, and cooperates with the displacement of the fixed push rod 842 to carry the goods to the rack, or to carry the goods to the pallet 841 .

Exemplarily, the handling device (84a, 84b) may further include a turning structure, such as the turntable 845 in Figs. 1J and 1K, to change the orientation of the goods placed on the pallet 841 thereof.

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

The beneficial effect is that, compared with the telescopic arm, the use of suction cups, mechanical arms and other structures can reduce the safe distance between goods, thereby increasing the density of goods on the shelves of the storage system, improving space utilization, and reducing storage costs.

FIG. 1M is a diagram of an application scenario of the method for handling an abnormality of taking out goods provided by an embodiment of the present disclosure. As shown in FIG. 1M , the method for processing an abnormally taking out goods provided by an embodiment of the present disclosure may run on an electronic device, such as a computer, a server, etc. , can also be performed by warehouse management equipment or by a warehousing system. The intelligent warehousing system 10 uses the warehousing robot 110 to take out and/or store the goods on the shelves 120, and uses the warehouse management device 130 to perform path planning, status monitoring and scheduling for the warehousing robot 110, so as to move the warehousing robot 110 to the set position for operation. When taking out or storing goods, the warehouse management device 130 also stores the storage information of each location of the shelf 120 and the basic information of the goods, so as to facilitate warehouse management.

The storage robot 110 can be implemented by using the robot and its handling device shown in the above-mentioned FIGS. 1F to 1L. When there is a task of taking out goods in the storage system 10, the storage robot 110 moves to the storage location of the goods for which the task corresponds, and takes out the goods. Due to human error, or mistakes in the placement of the target goods, the position of the target goods will be abnormal, such as not being placed in the middle of the storage space, the storage space is occupied by other goods, or the target goods are not the goods specified in the task and other abnormal phenomena. The existing warehousing system cannot automatically identify the above-mentioned abnormality, and can only carry out abnormal investigation through manual methods, and the abnormal detection is not timely, which leads to hidden dangers in the removal of goods.

In order to improve the safety of taking out the goods, an embodiment of the present disclosure provides a method for handling the abnormality of taking out goods. For the storage system based on the dynamic storage space mode, by obtaining the detection information of the goods, it is automatically judged whether the goods are abnormal. Exception information is generated to perform exception processing according to the exception information, which improves the efficiency of exception processing and ensures the safety of the cargo take-out operation.

FIG. 2 is a flowchart of a method for handling exceptions of goods taken out according to an embodiment of the present disclosure. As shown in FIG. 2 , the method for processing exceptions of goods taken out can be executed by a storage system, warehouse management equipment, or other electronic devices, such as computers, servers, etc. Wait. The method for handling exceptions to take out goods provided by this embodiment includes the following steps:

In step S201, the detection information of the goods to be taken out is obtained.

Wherein, the goods to be taken out may be any articles to be taken out, or boxes, bags, etc. containing articles. The goods to be taken out are placed on the shelf, and the detection information may include any information obtained by detecting the goods to be taken out. The storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out. The size information may include the length of the goods to be taken out, and may also include one or more of width, height, and the like.

Specifically, the shelf where the storage space of the goods to be taken out is located is a shelf based on the dynamic goods storage space mechanism, that is, the storage space of each goods on the shelf is determined according to the size of the goods, and the storage space may be different in size. That is, when the sizes of the goods stored in the shelves are inconsistent, the sizes of the corresponding storage spaces are also different. In the traditional storage system, each storage space of the shelf is a predetermined storage space of the same size, so that when determining the storage space of the container, the storage space corresponding to each storage space on the shelf is regarded as separate. , a non-continuous space. On the shelf based on the mechanism of dynamically configuring the storage space of goods, when determining the storage space of the goods, the free storage space on the shelf is regarded as a continuous space, and then according to the size information of the goods and the space size of each continuous storage space , to determine the location and size of the storage space for the goods.

Specifically, the storage space on the shelf where the goods to be taken out are placed is a dynamic goods storage space, that is, the shelf can be divided into storage spaces of any size smaller than its physical size. Goods on shelves can be stored in one-dimensional and/or two-dimensional configurations. FIG. 3 is a schematic diagram of the storage situation of the shelves in the embodiment shown in FIG. 2 of the present disclosure. As shown in FIG. 3 , boxes 211 to 221 are placed on the shelf 210, and it can be seen that the size of the storage space of the goods on the shelf is dynamic Yes, it is determined based on the size of the stored goods, and the size of the storage space corresponding to different sizes of goods is different.

Specifically, the storage space of each item in the rack where the item to be taken out is placed is determined according to the size of the corresponding item and at least one continuous storage space existing on the rack, that is, the storage space corresponding to each item on the rack is dynamic .

Further, the storage space of the goods to be taken out is determined by the warehouse management device according to the dynamic goods storage space of the shelves and the length and width of the goods to be taken out.

Optionally, the length of the storage space of the goods to be taken out is the sum of the length of the goods to be taken out and a preset safety length. The length of the storage space of the goods to be taken out is set as the sum of the length of the goods to be taken out and the preset safety length, so that the safe distance of the goods can be considered when storing the goods, and the safety of taking and placing the goods can be improved. Similarly, the width of the storage space for the goods to be taken out may be the sum of the width of the goods to be taken out and the preset safety width. Wherein, the preset safety length and the preset safety width may be default, or may be determined according to the handling device of the storage robot of the storage system.

Specifically, the size information of the goods to be taken out can be obtained through a size sensor. The size sensor may be a vision sensor, a ranging sensor, an ultrasonic sensor, etc. The vision sensor may specifically be a 2D camera or a 3D camera. The position information of the goods to be taken out can be collected by the position sensor on the shelf. The cargo code is usually set on the cargo, and each cargo can correspond to a unique cargo code to distinguish different cargoes. The cargo code may include the identification code of the cargo or the cargo code, which may be in the form of a bar code, a two-dimensional code, a number, and the like. The distance between the goods may include the distance between the goods to be taken out and the adjacent goods, and may also include the distance between the goods to be taken out and the shelf frame.

Specifically, the detection information of the goods to be taken out can be obtained through the warehousing robot, and the detection information of the goods to be taken out can be sent to the storage system, such as the warehouse management equipment of the storage system, that is, the detection information of the goods to be taken out is passively received by the warehouse management equipment. Alternatively, the warehouse management device can actively obtain the detection information of the goods to be taken out.

Further, before obtaining the detection information of the goods to be taken out, the method further includes: obtaining a goods take-out task, wherein the goods take-out task may include identification information or a preset cargo code of the goods to be taken out, and may also include the storage of the goods to be taken out. Spatial location, cargo location and other information. Then, a movement command is generated according to the storage space position in the task of taking out the goods, so as to control the movement of the warehouse robot according to the movement command, so as to move to the position corresponding to the position of the storage space, and collect the detection information of the goods to be taken out, and send the detection information to Warehouse management equipment.

Step S202, judging whether the detection information is abnormal.

Specifically, when the goods to be taken out are put into the warehouse, the size of the storage space needs to be determined according to the size information of the goods to be taken out. The size of the goods to be taken out can be determined by the measuring sensor. During the measurement process, due to human error or measurement error of the measuring sensor, a measurement error will occur, which will cause the goods to be taken out. . Therefore, before taking out the goods to be taken out, in order to ensure the safety of the take-out operation, the goods themselves and the shelves, it is necessary to detect abnormal conditions.

Specifically, whether there is an abnormality can be determined according to a comparison result between the detection information and the preset information. When the detection information is inconsistent with the preset information, it is determined that there is an abnormality.

Specifically, the preset information may include one or more items of preset cargo code, preset position, preset size, and preset distances of the cargo to be taken out.

Further, the preset information may also be included in the cargo taking out task, or the preset information of the cargo to be taken out is determined by the identification information in the cargo taking out task and the pre-established correspondence between the preset information and the identification information. Alternatively, the preset information can be identified by identifying the cargo code of the goods to be taken out to obtain the identification information of the goods to be taken out, and then the preset information of the goods to be taken out can be obtained according to the correspondence between the pre-stored preset information and the identification information.

Optionally, before obtaining the detection information of the goods to be taken out, the method further includes: obtaining one or more of a preset cargo code, a preset position, a preset size and each preset interval of the goods to be taken out. ; Correspondingly, the detection information may include one or more of the size information, position information, cargo code and distance of the goods to be taken out; Correspondingly, the determination of the to-be-extracted goods according to the detection information Whether the goods are abnormal includes: when the goods to be taken out meet one or more of the following conditions, determining that the goods to be taken out are abnormal: when the goods code of the goods to be taken out is the same as the preset goods code When it is inconsistent; when the position information of the goods to be taken out is inconsistent with the preset position; when the size information of the goods to be taken out is inconsistent with the preset size; When the set spacing is inconsistent.

Specifically, the preset cargo code, the preset position, the preset size and each preset spacing can be obtained according to the cargo taking out task. The goods removal task can be generated by the warehouse management equipment of the warehouse system, or input by the user.

Further, the cargo taking out task may only include preset cargo codes, and the warehousing system may pre-establish a preset corresponding relationship between each preset cargo code, preset position, preset size, and each preset spacing, and then according to the preset The corresponding relationship and the preset cargo code corresponding to the goods to be taken out determine the preset position, the preset size and each preset spacing corresponding to the goods to be taken out.

Specifically, when the cargo code of the cargo to be taken out is inconsistent with the preset cargo code, a prompt message of cargo inconsistency may be generated. The cargo code of the cargo to be taken out is inconsistent with the preset cargo code, that is, the cargo code of the cargo to be taken out is different from the preset cargo code. Exemplarily, the cargo take-out task issued by the storage system is: the cargo to be taken out is cargo A32 (preset cargo code), and the storage space is L1-309. However, when the storage robot moves to the position corresponding to the storage space L1-309, it recognizes The cargo code of the cargo to be taken out, the identification result is that the cargo placed in the storage space L1-309 is A23, which is inconsistent with the preset cargo code A32 specified in the task, and it is determined that there is an abnormality.

Specifically, when the goods to be taken out are put into the warehouse, it is necessary to determine the storage space of the goods to be taken out according to the size information of the goods to be taken out and the storage situation of the warehouse, and then according to the storage space of the goods to be taken out. Take out goods and place them in the center, upper left corner or other positions of the storage space. During placement, due to measurement errors or operation errors of the storage robot, the position information of the goods to be taken out in the storage space may be inconsistent with the planned position, that is, the preset position.

Exemplarily, FIG. 4 is a schematic diagram of abnormal placement of goods in the embodiment shown in FIG. 2 of the disclosure. As shown in FIG. 4 , the shelf 410 includes two storage spaces, a storage space 411 and a storage space 412 The size of the storage space 412 is different, the goods 420 to be taken out are placed on the storage space 411, the coordinate system is established with the center O of the storage space as the coordinate origin, and the center C of the goods to be taken out 420 The preset position of the storage space 411 of the shelf 410 is (0, 0), that is, the center C of the goods to be taken out 420 coincides with the coordinate origin O, that is, the goods to be taken out 420 should be placed in the center of the storage space 411. In FIG. 4 , the preset placement position of the goods to be taken out 420 is represented by a dotted line, However, the actual position information (1, 1) of the center C of the goods 420 to be taken out is inconsistent and abnormal.

Specifically, the size information of the goods to be taken out is inconsistent with the preset size, and any one or more of the length, width and height of the goods to be taken out may be different from the preset size. When the size information of the goods to be taken out is inconsistent with the preset size, the storage robot may not be able to safely take out the goods to be taken out from the storage space of the shelf to the storage rack, or the handling device of the storage robot may not be able to take out the size. , or the storage shelves of the warehousing robot cannot accommodate the goods of this size, resulting in failure to take out the goods. Therefore, by detecting the size information of the goods to be taken out and comparing it with the preset size, when the size information is inconsistent with the preset size, the abnormal size of the goods can be generated according to the size information and the preset size. Exemplarily, the abnormal cargo size prompt information may be: the actual length of the B57 cargo is 60 cm, the preset length is 56 cm, and the cargo length is abnormal.

It should be understood that the goods on the shelves need to be placed with sufficient spacing to ensure the safety of the storage and removal of goods.

Specifically, the distance between the goods to be taken out may include the distances corresponding to the left, right, front and rear directions of the goods to be taken out, which may be the distance between the goods to be taken out and the adjacent goods, or the distance between the goods to be taken out and the shelf frame Pitch. When the distance between one or more of the goods to be taken out is inconsistent with the corresponding preset distance, it will lead to failure to take out the goods to be taken out, or even damage to the goods to be taken out or the shelf. Therefore, by detecting the individual cargo spacings of the cargoes to be taken out and comparing them with the corresponding preset spacings, whether there is an abnormality in the cargo spacings can be determined in time according to the comparison results.

Further, when the distance between the goods to be taken out is abnormal, the goods corresponding to the abnormal distance between the goods, including the goods to be taken out and its adjacent goods, can be marked as abnormal goods.

Exemplarily, assuming that the distance between the goods to be taken out and the goods on the left side of the goods to be taken out is abnormal, that is, the distance between the goods to be taken out and the goods on the left side is smaller than the preset safety distance, the goods to be taken out and the goods on the left side are marked as abnormal goods.

In addition, if the obtained detection information of the goods to be taken out is null, that is, no goods are detected in the corresponding storage space, abnormal information can be generated, so that the abnormality can be reported without detecting the goods, so as to A more comprehensive response to different abnormal states.

Step S203, if there is an exception, determine an exception handling strategy according to the exception type, so that the warehouse robot handles the goods to be taken out according to the exception handling strategy.

Among them, the abnormal type can be determined by the reason for the abnormality. If the cargo code of the goods to be taken out is abnormal, if the cargo code of the goods to be taken out is inconsistent with the preset cargo code, the abnormal type can be the abnormal cargo code; when the goods to be taken out are abnormal If the position information of the goods to be taken out is abnormal, if the position information of the goods to be taken out is inconsistent with the current position, the abnormal type can be the abnormal position of the goods; when the size information of the goods to be taken out is abnormal, if the size information of the goods to be taken out is inconsistent with the preset size If the distance between the goods to be taken out is abnormal, if at least one of the distances between the goods to be taken out is inconsistent with the corresponding preset distance, the abnormal type can be the abnormal cargo distance.

Specifically, when there is an abnormality in the goods to be taken out, the warehouse management device determines the abnormality handling strategy corresponding to the abnormality type according to the abnormality type, and can also send the abnormality handling strategy to the warehouse robot, so that the warehouse robot can process the abnormality according to the abnormality handling strategy. The abnormality of the goods to be taken out is solved, so that the storage robot can take out the goods to be taken out normally.

Further, the correspondence between each exception type and the exception handling strategy may be established in advance, and then the corresponding exception handling strategy is determined based on the correspondence and the exception type of the goods to be taken out.

Optionally, the method for handling the abnormality of the goods to be taken out further includes: if there is no abnormality in the goods to be taken out, taking out the goods to be taken out by a warehouse robot; or generating a first take-out instruction of the goods to be taken out by a warehouse management device, So that the warehouse robot can take out the goods to be taken out according to the first take-out instruction.

Specifically, when it is determined that there is no abnormality in the goods to be taken out, the warehouse management device will generate a first take-out instruction for the goods to be taken out, and send the first take-out instruction to the corresponding storage robot, so that the storage robot can take out the goods according to the first take-out instruction. Instructions to take out the goods to be taken out for subsequent operations, such as operations such as outgoing the goods to be taken out or sorting out the warehouse.

Further, if the goods to be taken out are abnormal, abnormal information of the goods to be taken out can also be generated.

Specifically, the abnormal information of the goods to be taken out may include the specific content of the abnormal information.

Specifically, when the cargo code of the goods to be taken out is inconsistent with the preset cargo code, the generating abnormal information of the goods to be taken out includes: generating abnormal information of the cargo code; when at least one of the distances between the goods of the goods to be taken out is When it is inconsistent with the preset distance, the generating abnormal information on the goods to be taken out includes: generating abnormal information on the distance between the goods; when the position information of the goods to be taken out is inconsistent with the preset position, the generating abnormal information on the goods to be taken out includes: : generating abnormal information on the position of the goods; when the size information of the goods to be taken out is inconsistent with the preset size, the generating abnormal information of the goods to be taken out includes: generating abnormal information on the size of the goods.

Exemplarily, the abnormal information of the cargo code may be "the cargo code of the cargo to be taken out is wrong, please check", or "the cargo code of the cargo to be taken out is X, which does not match the preset cargo code, please check", where X represents the cargo to be taken out. The actual cargo code of the goods to be taken out; the abnormal information of the cargo spacing can be "the cargo spacing of the cargo to be taken out is wrong, please check", or "the left cargo spacing of the cargo to be taken out is N1, the right cargo spacing is N2, and the distance between the preset cargoes is N1. If it does not match, please check”; the abnormal cargo position information can be “The position of the cargo to be taken out is wrong, please check”, or “The center coordinates of the cargo to be taken out are (x1, y1), which do not match the coordinates of the preset position, please check ”; The abnormal information of the goods size can be “The size information of the goods to be taken out is wrong, please check”, or “The height of the goods to be taken out is h1, which does not match the preset height, please check”.

The method for handling the abnormality of the removed goods provided by the embodiments of the present disclosure, for a shelf adopting the dynamic goods storage space mode, by obtaining the detection information of the goods to be removed, and then automatically determining whether the detection information is abnormal, and improving the real-time performance of abnormality detection; at the same time; , when there is an exception, the exception handling strategy is determined according to the exception type, so that the exception is handled based on the exception handling strategy. By solving the exception, the warehousing robot can take out the goods normally, which improves the safety and efficiency of the goods taking out.

FIG. 5 is a flowchart of a method for handling exceptions of goods taken out provided by another embodiment of the present disclosure. The method for processing exceptions of goods taken out provided in this embodiment is aimed at the situation that the position information of the goods to be taken out is inconsistent with the preset position, and the exception type is: If the position of the goods is abnormal, the method for handling the abnormality of taking out goods provided in this embodiment is based on the embodiment shown in FIG. 2, further refines steps S202 and S203, and adds a step of obtaining a preset position before step S201, And after step S202, the steps of adding deviation judgment, updating position information, and adjusting the robot are added. As shown in FIG. 5 , the abnormal handling method for taking out goods provided by this embodiment includes the following steps:

Step S301, obtaining the preset position of the goods to be taken out.

Wherein, the preset position is the position on the storage space of the goods to be taken out stored in the storage system. The goods to be taken out are usually boxes in the shape of a cuboid or a cube, and the preset position can be the coordinates of a designated point of the goods to be taken out, such as the coordinates of the center point, the coordinates of any one or more of the eight vertices, etc.

Step S302, detecting the position information of the goods to be taken out.

The detected position information of the goods to be taken out is the position information of the goods to be taken out when they are actually placed, specifically the position information of the goods to be taken out relative to their storage space, and may also be the position of the goods to be taken out relative to their corresponding shelves Information such as the position of the uprights relative to the shelf. Location information can be described in the form of coordinates or codes.

Exemplarily, the position information of the goods to be taken out may be A3-56-34, indicating that the position information of the goods to be taken out is: the third floor of the A shelf, 56 cm from the left border of the A shelf, and 34 cm from the front border of the A shelf. . The position information of the cargo box to be taken out can also be (20, 10), indicating that the distance between the cargo box to be taken out and the left edge of the storage space is 20 cm, and the distance from the front edge of the storage space is 10 cm.

Specifically, the position information of the goods to be taken out can be detected by the position sensor on the storage space corresponding to the goods to be taken out, and the position information can also be detected by the position sensor provided on the storage robot.

Further, the placement image of the goods to be taken out can be collected through the vision sensor of the storage robot, and then the position information of the goods to be taken out can be identified according to the placement image, and the identified position information can be sent to the warehouse management equipment of the storage system, so that the warehouse management The device determines whether the two are consistent according to the comparison result between the location information and the pre-stored preset location information.

Step S303, when the position information of the goods to be taken out is inconsistent with the preset position, the preset position of the goods to be taken out is updated to the position information of the goods to be taken out.

Specifically, when the actual position information of the goods to be taken out is inconsistent with the pre-stored preset position, the stored preset position can be updated to the actually detected position information to ensure the accuracy of the information.

Specifically, the situation that the position information of the goods to be taken out is inconsistent with the preset position can be reported to the storage system via the storage robot, and then the storage system can update the stored preset position to the actually detected position information. The position information of the goods to be taken out measured by the position sensor on the storage space can also be obtained through the warehouse management equipment of the storage system, and then it is judged whether the position information is consistent with the preset position. If it is inconsistent, the stored preset position is updated to the location information.

Further, when the position information is inconsistent with the preset position, the method further includes: generating abnormal cargo position information.

Specifically, the abnormal cargo position information may include identification information, position information and preset position information of the cargo to be taken out, and may also include a position deviation between the position information and the preset position information.

Step S304: Calculate the position deviation between the position information of the goods to be taken out and the preset position.

The positional deviation can be a distance deviation and/or an angular deviation. Exemplarily, the distance deviation may include the sum of the difference between the position information of the goods to be taken out and each corresponding item of the preset position information; when the position information is the coordinates of each designated point, the preset position is the preset position of each designated point. In the case of coordinates, the distance deviation may also be the sum of the distances between the coordinates of each specified point and the preset coordinates. In addition, the angular deviation can be calculated from the coordinates of each specified point.

Step S305, when the position deviation is less than or equal to the first preset deviation threshold, a first adjustment instruction is generated according to the position deviation, so that the storage robot adjusts the handling device and the storage robot according to the first adjustment instruction. /or move the position of the chassis to take out the goods to be taken out based on the adjusted storage robot.

Wherein, when the position deviation includes a distance deviation and/or an angle deviation, the first preset deviation threshold may correspondingly include a first distance deviation and/or a first angle deviation, and the first adjustment instruction may include a Adjustment and adjustment of the angle, wherein the adjustment of the position can be translation in any direction forward, backward, left and right, and the adjustment of the angle can be to adjust the angle of the goods relative to the shelf or adjacent goods. The handling device of the storage robot is a device that can take out and store goods, and its specific form can be a telescopic arm, a fork, a mechanical arm, etc.; the mobile chassis is usually set at the bottom of the storage robot, including wheels, such as universal wheels, directional Wheels, etc., to control the movement of the warehouse robot according to the relevant instructions. For details, please refer to the transport device and the mobile chassis in FIG. 1F to FIG. 1L.

Specifically, the first adjustment instruction of the storage robot can be generated according to the position deviation, and the first adjustment instruction can also be sent to the storage robot, so that the storage robot can adjust the handling of the storage robot according to the first adjustment instruction. The position of the device and/or the mobile chassis, when the warehouse robot is adjusted, generates a cargo take-out instruction, so as to carry out the take-out of the goods to be taken out based on the adjusted state according to the cargo take-out command.

Specifically, when the position deviation is the sum of the distances between the position information of each designated point and the preset position, the first preset deviation threshold may be a distance threshold, such as 1 meter; when the position deviation is the difference between the position information and the preset position information When the difference of each corresponding item is the sum, the first preset deviation threshold may be a difference threshold, such as 2 meters.

Specifically, when the position deviation Δp is less than or equal to the preset fine-tuning deviation threshold p ₁ , that is, when Δp≤p ₁ , where the preset fine-tuning deviation threshold is smaller than the first preset deviation threshold, the handling of the storage robot can be adjusted only according to the position deviation device. When the position deviation Δp is greater than the preset fine-tuning deviation threshold p ₁ and less than or equal to the first preset deviation threshold, that is, when p ₁ <Δp≤p ₂ , the mobile chassis of the warehouse robot can be adjusted first according to the position deviation, and the mobile chassis adjustment is completed. Then, adjust the handling device of the warehouse robot according to the position deviation.

Exemplarily, Δp is (16.5, 20), p ₁ is (10, 10), p ₂ is (25, 25), p ₁ <Δp≤p ₂ , indicating that the actual position of the goods to be taken out is offset from the preset position. 16.5cm to the left and 20cm to the back The robot performs operations such as taking out the goods to be taken out or out of the warehouse.

Further, the first preset deviation threshold may be determined according to performance parameters of the handling device of the warehouse robot.

Specifically, since the storage robot moves according to the movement command of the storage system, and the movement command is generated according to the preset position of the goods to be taken out, in order to ensure the effective and accurate taking out of the goods to be taken out, it is necessary to The above-mentioned position deviation adjusts the position of the handling device of the storage robot to ensure that the handling device is adjusted to the position corresponding to the actual position information of the goods to be taken out, and the goods to be taken out are taken out based on the adjusted handling device, which improves the safety of taking out. It avoids the damage of goods or the loss of shelf dumping caused by the removal of goods in the case of abnormal position.

Further, when the position deviation is greater than the first preset deviation threshold, it means that the position deviation of the goods to be taken out is too large, and abnormal position information of the goods can be generated, and the information can include the abnormal degree of the position deviation. A corresponding display device displays this information for manual inspection and maintenance of the position of the goods to be taken out. The operator can restore or move the position of the goods to be taken out according to the information, and update the corresponding position information after restoration or movement to a preset position.

In this embodiment, whether there is a position abnormality is determined by the preset position of the goods to be taken out and the actual position of the goods to be taken out obtained by automatic detection. The accuracy of the information stored in the storage system; the position deviation is calculated. When the deviation is small, the abnormal situation can be handled by adjusting the handling device and mobile chassis of the storage robot, so that the goods to be taken out can be taken out through the adjusted storage robot, which improves the abnormal situation. The efficiency of processing and the intelligence of the warehousing system.

FIG. 6 is a flowchart of a method for handling exceptions of goods taken out provided by another embodiment of the present disclosure. The method for processing abnormality of goods taken out provided in this embodiment is aimed at the situation that the size information of the goods to be taken out is inconsistent with the preset size, and the exception type is: If the size of the goods is abnormal, the method for handling the abnormality of the removed goods provided in this embodiment is based on the embodiment shown in FIG. 2 , further refines steps S202 and S203, and adds a step of obtaining a preset size before step S201, And after step S202, the steps of updating the size information, judging the deviation, and adjusting the robot are added. As shown in FIG. 6 , the method for handling the abnormality of the removed goods provided by this embodiment includes the following steps:

In step S401, the preset size of the goods to be taken out is obtained.

Wherein, the preset size may be stored in the storage system, may be in the memory of the robot and/or in the memory of the warehouse management device. The preset size may include the length, height and width of the goods to be taken out.

Step S402, detecting the size information of the goods to be taken out.

Specifically, the warehousing robot can detect the size information of the goods to be taken out, and send the size information to the warehouse management equipment of the storage system; the size information of the goods to be taken out can also be detected by measuring sensors arranged on the shelves.

Step S403, when the size information of the goods to be taken out is inconsistent with the preset size, update the preset size of the goods to be taken out to the size information of the goods to be taken out.

Specifically, when the actual size information of the goods to be taken out is inconsistent with one or more of the pre-stored preset sizes, that is, they are not the same, the stored preset size can be updated to the actual detected size information, to ensure the accuracy of the information.

Specifically, the situation that the size information of the goods to be taken out is inconsistent with the preset size can be reported to the storage system via the storage robot, and then the storage system can update the stored preset size to the size information actually detected. The size information of the goods to be taken out measured by the measurement sensor on the storage space can also be obtained through the warehouse management equipment of the storage system, and then it is judged whether the size information is consistent with the preset size. When inconsistent, the stored preset size is updated to the size information.

Further, when the size information of the cargo to be taken out is inconsistent with the preset size, the method further includes: generating abnormal cargo size information.

Specifically, the abnormal cargo size information may include the cargo to be taken out, size information and a preset size, and may also include size information and a size deviation of the preset size.

Step S404: Calculate the size deviation between the size information of the goods to be taken out and the preset size.

The size deviation may include one or more of length deviation, width deviation and height deviation, the width deviation is the deviation between the size information and the width of the preset size, and the height deviation is the deviation between the size information and the height of the preset size, The length deviation is the deviation between the size information and the length of the preset size. This step may be performed by a warehouse robot, warehouse management device, or other electronic device of the warehouse system.

Step S405, when the size deviation is less than or equal to a second preset deviation threshold, a second adjustment instruction is generated according to the size deviation, so that the storage robot adjusts the handling device of the storage robot according to the second adjustment instruction, The removal of the goods to be removed is performed based on the adjusted handling device.

Specifically, the second adjustment instruction of the storage robot can be generated according to the size deviation, and the second adjustment instruction can also be sent to the storage robot, so that the storage robot can adjust the handling device of the storage robot according to the second adjustment instruction , after the adjustment of the handling device is completed, a cargo take-out instruction is generated, so as to carry out the take-out of the goods to be taken out based on the adjusted state according to the cargo take-out instruction.

Specifically, the handling device of the warehouse robot may be a handling device with adjustable width. When the size deviation is the width deviation, that is, when there is a deviation between the width of the goods to be taken out and the preset width, the width of the two arms of the handling device of the storage robot can be adjusted according to the width deviation, so that the to-be-removed goods can be taken out according to the adjusted handling device. The removal of goods.

Specifically, when the dimensional deviation is a height deviation or a length deviation, the handling device of the storage robot can be moved according to the height deviation or the length deviation.

Specifically, the second preset deviation threshold may be determined according to the adjustable range of the handling device of the storage robot.

Further, when the size deviation is greater than the second preset deviation threshold, it means that the size deviation of the goods to be taken out is too large and exceeds the adjustment range of the handling device, and it is necessary to generate a prompt message that the size deviation of the goods is too large, so as to pass the corresponding display. The device displays this information for manual inspection and maintenance of the goods to be taken out, reducing the situation that the goods cannot be handled due to excessive dimensional deviation.

In this embodiment, the preset size of the goods to be taken out and the actual size information of the goods to be taken out obtained by automatic detection are used to determine whether there is an abnormal size, and if there is, the preset size is updated to the actual size information , improve the accuracy of the information stored in the storage system; and calculate the size deviation. When the deviation is small, the abnormal situation can be handled by adjusting the handling device of the storage robot, so that the goods to be taken out are taken out through the adjusted handling device, which improves the abnormality. The efficiency of processing and the intelligence of the warehousing system.

FIG. 7 is a flowchart of a method for handling exceptions of goods taken out provided by another embodiment of the present disclosure. The method for processing exceptions of goods taken out provided in this embodiment is aimed at the situation that the distance between the goods to be taken out is inconsistent with the preset distance, and the exception type is: If the distance between the goods is abnormal, the method for handling the abnormality of taking out goods provided in this embodiment is based on the embodiment shown in FIG. 2, further refines steps S202 and S203, and adds a step of obtaining a preset distance before step S201, And after step S202, steps related to taking out adjacent goods are added. As shown in FIG. 7 , the abnormal processing method for taking out goods provided by this embodiment includes the following steps:

In step S501, each preset distance of the goods to be taken out is obtained.

Wherein, the preset spacing may include preset left spacing and preset right spacing of the goods to be taken out, and may also include preset front spacing and/or preset rear spacing. The preset distance is the distance between the pre-stored goods to be taken out and their adjacent objects, such as adjacent goods or shelf columns.

In step S502, the distance between each cargo of the cargo to be taken out is obtained.

Wherein, the cargo spacing corresponding to the preset spacing may include the left cargo spacing and the cargo right spacing of the cargo to be taken out, and may also include the cargo front spacing and/or the cargo rear spacing. The left distance of the goods is the distance between the goods to be taken out and the adjacent objects on the left side. Correspondingly, the right distance of the goods is the distance with the adjacent objects on the right side, and the front distance of the goods is the distance with the adjacent objects on the front side. The rear distance of the cargo is the distance from the adjacent objects on the rear side.

Specifically, the distance between the goods to be taken out can be obtained based on the vision sensor set on the storage robot, and the distance between the goods is sent to the warehouse management device. The visual sensor can be a 2D camera, a 3D camera, and other devices.

Step S503, when at least one of the cargo spacings of the cargo to be taken out is inconsistent with a preset spacing, obtain size information of adjacent cargoes corresponding to one or more cargo spacings inconsistent with the preset spacing.

The adjacent goods are other goods adjacent to the goods to be taken out, which may be located on the left side, the right side, the front side or the rear side of the goods to be taken out.

Specifically, when the goods are taken out, the distance between the goods to be taken out and the adjacent goods is usually more concerned. When the distance between one of the goods to be taken out is inconsistent with the corresponding preset distance, which may be that the distance between the goods is smaller than the corresponding preset distance, it means that the distance between the goods is abnormal, and it is necessary to obtain the adjacent goods corresponding to the abnormal distance between the goods. Size Information.

When the goods to be taken out are adjacent to the uprights of the rack, that is, when the goods to be taken out are on the leftmost or rightmost side of the rack, if the distance between the goods to be taken out and the uprights is abnormal, the uprights cannot be moved. , you can directly generate the abnormal spacing prompt information. Alternatively, by detecting the status of the adjacent goods of the goods to be taken out, it can be judged whether the distance between the adjacent goods and the goods to be taken out can be moved so that the distance between the abnormal goods is consistent with the corresponding preset distance.

Further, when at least one of the distances between the goods to be taken out is inconsistent with the preset distance, the method further includes:

According to the one or more cargo distances that are inconsistent with the preset distances, a warning message about abnormal cargo distances is generated.

Wherein, the abnormal spacing prompt information may include the identification of the goods to be taken out, the abnormal spacing of the goods and the corresponding preset spacing.

Step S504, generating a second take-out instruction according to the size information of the adjacent goods and the size information of the goods to be taken out, so that the storage robot can take out the adjacent goods and the goods to be taken out according to the second take-out instruction.

Specifically, since the distance between the goods to be taken out and the adjacent goods is smaller than the preset distance, the handling device of the storage robot cannot extend between the two to carry out the taking out of the goods to be taken out. At this point, the warehouse management device can generate a second take-out instruction to instruct the warehouse robot to take out the goods to be taken out and the adjacent goods at the same time through its handling device, and transport them to the operation center, where the adjacent goods and the adjacent goods are manually The goods to be taken out are separated, and the adjacent goods are returned to their original storage space by the storage robot.

Further, the handling device of the warehousing robot may include a left robotic arm and a right robotic arm, when at least one of the distances between the goods to be taken out is inconsistent with the preset distance, when one or more distances inconsistent with the preset distance are obtained. After the size information of the adjacent goods corresponding to the distance between the goods, it also includes:

If the size information of the adjacent goods is less than or equal to the set size, a third take-out instruction is generated, so that the storage robot can take out the adjacent goods through the left robotic arm or the right robotic arm according to the third take-out instruction, and place the adjacent goods at a preset position through the left robotic arm and the right robotic arm; after the adjacent goods are placed, a fourth take-out instruction is generated, so that the storage robot can take out according to the fourth The instruction to take out the goods to be taken out.

Specifically, referring to FIGS. 1I and 1L, the left and right robotic arms of the warehouse robot may be the two telescopic arms 843 in FIG. 1I, including a left telescopic arm and a right telescopic arm, or may be two The robotic arm 847, or, alternatively, can be any other type of mechanical structure capable of taking out the goods, and the left robotic arm or the right robotic arm can be extended independently.

When the distance between the goods to be taken out and the goods adjacent to the goods is too small, if it is smaller than the width of any one of the robotic arms of the handling device, there is not enough space to take out the goods to be taken out. At this time, the warehouse management equipment can generate a third take-out instruction by generating , so that the warehouse robot can take out the adjacent goods through a single arm, that is, through a robotic arm that can be extended independently, such as the left robotic arm or the right robotic arm, first take out the adjacent goods, and use the left robotic arm and the right robotic arm to take out the adjacent goods. The goods are placed in the storage racks of the storage robot, other idle positions of the racks, or preset positions on the ground. After the adjacent goods are placed, the warehouse management device generates a fourth take-out instruction, so that the storage robot can take out the goods to be taken out according to the fourth take-out instruction, so that when the distance is abnormal, the goods to be taken out can still be taken out normally, which improves the ability to take out the goods. efficiency and intelligence of the storage system.

Specifically, when the size information of the adjacent goods is greater than the set size, the warehouse robot cannot take out the adjacent goods normally by taking out the adjacent goods with a single arm, and it is necessary to remind the relevant personnel to deal with the abnormality by generating a prompt message about the abnormal distance between the goods. , so that the abnormal spacing is dealt with in time, and the processing efficiency of the goods is improved.

It should be noted that when there are multiple abnormalities in the goods to be taken out, such as the inconsistency between the cargo code and the preset cargo code, the inconsistency between the position information and the preset position, the inconsistency between the size information and the preset size, and the at least one cargo spacing and the corresponding preset. When at least two of the distances are inconsistent, they can be processed in sequence in combination with the methods described in the above embodiments, wherein the processing of abnormal cargo distances should be placed after the processing of abnormal position information.

In this embodiment, it is determined whether there is an abnormal cargo spacing by using the preset spacing of the goods to be taken out and the actual cargo spacing of the goods to be taken out obtained by automatic detection, and if so, by detecting the adjacent goods corresponding to the abnormal spacing Based on the size information, the adjacent goods and the goods to be taken out are taken out at the same time, or the adjacent goods are taken out by a single arm, and then the goods to be taken out are taken out, so that when the distance is abnormal, the to be taken out can still be taken out normally and safely. Goods, improve the efficiency of goods taking out and the efficiency of exception handling, and also improve the intelligence of the warehousing system.

FIG. 8 is a flowchart of a method for processing an abnormality of a picked-up cargo provided by another embodiment of the present disclosure. The method can be applied to a warehousing robot of a warehousing system, as shown in FIG. 8 , the method can include:

In step S801, the detection information of the goods to be taken out is obtained.

The goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out.

Step S802, judging whether the detection information is abnormal.

Step S803: If there is an exception, determine an exception handling strategy according to the exception type, and process the goods to be taken out according to the exception handling strategy.

Optionally, before obtaining the detection information of the goods to be taken out, the method further includes: obtaining one of a preset cargo code, a preset position, a preset size and each preset spacing of the goods to be taken out. Correspondingly, the detection information includes one or more items of size information, location information, cargo code and cargo spacing of the goods to be taken out; Correspondingly, it is determined whether the detection information is abnormal , including: when the goods to be taken out meet one or more of the following conditions, determining that the goods to be taken out are abnormal: when the goods code of the goods to be taken out is inconsistent with the preset goods code; when When the position information of the goods to be taken out is inconsistent with the preset position; when the size information of the goods to be taken out is inconsistent with the preset size;

When at least one cargo spacing of the cargo to be taken out is inconsistent with the corresponding preset spacing.

Optionally, when the position information of the cargo to be taken out is inconsistent with the preset position, the abnormality type is abnormal cargo location, and determining an abnormality handling strategy according to the abnormality type includes: when the abnormality type is abnormal cargo location, calculating the The position deviation between the position information of the fetched goods and the preset position; when the position deviation is less than or equal to the first preset deviation threshold, a first adjustment instruction is generated according to the position deviation, and the first adjustment instruction is adjusted according to the first adjustment instruction. The position of the handling device and/or the mobile chassis of the warehouse robot for taking out the goods to be taken out after adjustment.

Optionally, when the position information of the goods to be taken out is inconsistent with the preset position, the method further includes: sending the position information of the goods to be taken out to the warehouse management device, so that the warehouse management device can store the goods to be taken out. The preset position of the goods to be taken out is updated to the position information of the goods to be taken out.

Optionally, when the size information of the cargo to be taken out is inconsistent with the preset size, the abnormality type is abnormal cargo size, and determining an abnormality handling strategy according to the abnormality type includes: when the abnormality type is abnormal cargo size, calculating the The size deviation between the size information of the fetched goods and the preset size; when the size deviation is less than or equal to a second preset deviation threshold, a second adjustment instruction is generated according to the size deviation, and the second adjustment instruction is adjusted according to the second adjustment instruction. The handling device of the warehouse robot is used for taking out the goods to be taken out based on the adjusted handling device.

Optionally, when the size information of the goods to be taken out is inconsistent with a preset size, the method further includes: sending the size information of the goods to be taken out to a warehouse management device, so that the warehouse management device can The preset size of the goods to be taken out is updated to the size information of the goods to be taken out.

Optionally, when at least one of the cargo spacings of the cargo to be taken out is inconsistent with the preset spacing, the abnormality type is abnormal cargo spacing, and the abnormality handling strategy is determined according to the abnormality type, including: when the abnormality type is abnormal cargo spacing, Obtain size information of adjacent goods corresponding to one or more of the goods spacings that are inconsistent with the preset spacing; The second fetching instruction fetches the adjacent goods and the goods to be fetched.

Optionally, the handling device of the storage robot includes a left robotic arm and a right robotic arm, and when at least one of the distances between the goods of the goods to be taken out is inconsistent with the preset distance, the abnormality type is the abnormality of the goods distance, according to the abnormality type. Determining an exception handling strategy includes: obtaining size information of adjacent goods corresponding to one or more of the goods spacings that are inconsistent with the preset spacing; if the size information of the adjacent goods is less than or equal to the set size, generating a third takeout instruction, so as to take out the adjacent goods through the left robot arm or the right robot arm according to the third retrieval instruction, and place the adjacent goods at the preset position through the left robot arm and the right robot arm; After the adjacent goods are placed, a fourth take-out instruction is generated to take out the goods to be taken out according to the fourth take-out instruction.

The method provided in this embodiment is based on the methods provided in the foregoing embodiments, and replaces the execution body with a storage robot. The specific implementation principle, process, and beneficial effects can be found in the foregoing embodiments, which will not be repeated here.

FIG. 9 is a flowchart of a method for processing an abnormality of a picked-out cargo provided by another embodiment of the present disclosure. The method can be applied to a warehousing robot of a warehousing system, as shown in FIG. 9 , the method can include:

Step S901: Receive an exception handling strategy sent by the warehouse management device, where the exception handling strategy is sent by the warehouse management device when the detection information of the goods to be taken out is abnormal.

Step S902: Process the goods to be taken out according to the exception handling strategy.

Optionally, the detection information includes one or more items of size information, position information, cargo code and cargo spacing of the cargo to be taken out; correspondingly, when the cargo to be taken out satisfies any of the following conditions: One or more items, the goods to be taken out are abnormal: when the goods code of the goods to be taken out is inconsistent with the preset goods code; when the position information of the goods to be taken out is inconsistent with the preset position;

When the size information of the goods to be taken out is inconsistent with the preset size; when at least one goods spacing of the goods to be taken out is inconsistent with the corresponding preset spacing.

Optionally, when the position information of the goods to be taken out is inconsistent with the preset position, the abnormality type is abnormal goods location, and receiving the abnormality handling strategy sent by the warehouse management equipment includes: receiving the first adjustment instruction sent by the warehouse management equipment, Wherein, the first adjustment instruction is that when the abnormal type is abnormal cargo position and the position deviation between the position information of the cargo to be taken out and the preset position is less than or equal to the first preset deviation threshold The position deviation is generated; correspondingly, processing the goods to be taken out according to the exception handling strategy includes: adjusting the position of the handling device and/or the mobile chassis of the warehouse robot according to the first adjustment instruction, and The removal of the goods to be removed is performed after the adjustment.

Optionally, when the size information of the goods to be taken out is inconsistent with the preset size, the abnormality type is the abnormality of the size of the goods, and receiving the abnormality processing strategy sent by the warehouse management equipment includes: receiving a second adjustment instruction sent by the warehouse management equipment, Wherein, the second adjustment instruction is that when the abnormality type is abnormal cargo size and the size deviation between the size information of the cargo to be taken out and the preset size is less than or equal to the second preset deviation threshold The size deviation is generated; correspondingly, processing the goods to be taken out according to the exception handling strategy includes: adjusting the handling device of the storage robot according to the second adjustment instruction, based on the adjusted handling device Take out the goods to be taken out.

Optionally, when at least one of the cargo spacings of the goods to be taken out is inconsistent with the preset spacing, the abnormality type is abnormal cargo spacing, and receiving the abnormality processing strategy sent by the warehouse management equipment includes: receiving the first information sent by the warehouse management equipment. Two fetching instructions, wherein the second fetching instruction is that when the abnormality type is abnormal cargo spacing, the warehouse management equipment, according to the size information of adjacent cargoes corresponding to one or more cargo spacings that are inconsistent with the preset spacing, and The size information of the goods to be taken out is generated; correspondingly, processing the goods to be taken out according to the exception handling strategy includes: taking out the adjacent goods and the goods to be taken out according to the second taking out instruction.

Optionally, the handling device of the storage robot includes a left robotic arm and a right robotic arm. When at least one of the distances between the goods to be taken out is inconsistent with the preset distance, the abnormality type is the abnormality of the distance between the goods, and the receiving warehouse management The exception handling strategy sent by the equipment includes: receiving a third fetch instruction sent by the warehouse management equipment, wherein the third fetch instruction is an exception type of the warehouse management equipment that is abnormal in the distance between goods and inconsistent with the preset distance. or when the size information of adjacent goods corresponding to the distance between the goods is less than or equal to the set size; correspondingly, processing the goods to be taken out according to the exception handling strategy includes: according to the third take-out instruction, The adjacent goods are taken out by the left robot arm or the right robot arm, and the adjacent goods are placed at a preset position by the left robot arm and the right robot arm; when the adjacent goods are placed, the warehouse management equipment is received The sent fourth fetching instruction, the goods to be fetched are fetched according to the fourth fetching instruction.

The method performed by the warehouse robot provided in this embodiment corresponds to the process on the robot side in the method provided by the foregoing embodiments shown in FIG. 2 to FIG. 7 . For the specific implementation principle, process and beneficial effects, refer to the foregoing embodiment, which is not described here. Repeat.

FIG. 10 is a schematic structural diagram of a device for handling abnormality of a removed cargo provided by an embodiment of the present disclosure. The device can be applied to warehouse management equipment of a warehouse system. As shown in Figure 10, the device includes:

The first detection information obtaining module 1001 is used to obtain the detection information of the goods to be taken out, wherein the goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and The dynamic goods storage space on the shelf corresponding to the goods to be taken out is determined; the first abnormality judging module 1002 is used to judge whether the detection information is abnormal; the first abnormality processing module 1003 is used to determine the abnormality according to the abnormality The type determines an exception handling strategy, so that the warehouse robot handles the goods to be taken out according to the exception handling strategy.

Optionally, before obtaining the detection information of the goods to be taken out, the first detection information obtaining module 1001 is further configured to: obtain the preset cargo code, the preset position, the preset size and each of the goods to be taken out. One or more of the preset distances; correspondingly, the detection information includes one or more of the size information, position information, cargo code and cargo spacing of the goods to be taken out; correspondingly, the first An abnormality judging module 1002 is specifically configured to: when the goods to be taken out meet one or more of the following conditions, determine that the goods to be taken out are abnormal:

When the cargo code of the cargo to be taken out is inconsistent with the preset cargo code; when the position information of the cargo to be taken out is inconsistent with the preset position; when the size information of the cargo to be taken out is inconsistent with the preset size; when When at least one cargo spacing of the cargo to be taken out is inconsistent with the corresponding preset spacing.

Optionally, when the position information of the cargo to be taken out is inconsistent with the preset position, the abnormality type is abnormal cargo position, and the first abnormality processing module 1003 is specifically configured to: when the abnormal type is abnormal cargo position, calculate the The position deviation between the position information of the goods to be taken out and the preset position; when the position deviation is less than or equal to the first preset deviation threshold, a first adjustment instruction is generated according to the position deviation, so that the storage robot can The first adjustment instruction adjusts the position of the handling device and/or the mobile chassis of the storage robot, so as to take out the goods to be taken out based on the adjusted storage robot.

Optionally, when the position information of the goods to be taken out is inconsistent with the preset position, the first exception handling module 1003 is further configured to: update the preset position of the goods to be taken out to the predetermined position of the goods to be taken out The location information of the goods.

Optionally, when the size information of the cargo to be taken out is inconsistent with the preset size, the abnormality type is abnormal cargo size, and the first abnormality processing module 1003 is specifically configured to: when the abnormality type is abnormal cargo size, calculate the The size deviation between the size information of the goods to be taken out and the preset size; when the size deviation is less than or equal to the second preset deviation threshold, a second adjustment instruction is generated according to the size deviation, so that the storage robot The second adjustment instruction adjusts the handling device of the storage robot to take out the goods to be retrieved based on the adjusted handling device.

Optionally, when the size information of the goods to be taken out is inconsistent with the preset size, the first exception handling module 1003 is further configured to: update the preset size of the goods to be taken out to the to-be-taken out size. Dimensional information of the goods.

Optionally, when at least one of the cargo spacings of the cargo to be taken out is inconsistent with the preset spacing, the abnormality type is abnormal cargo spacing, and the first abnormality processing module 1003 is specifically configured to: when the abnormality type is abnormal cargo spacing When the size information of the adjacent goods corresponding to one or more of the goods spacing inconsistent with the preset distance is obtained; according to the size information of the adjacent goods and the size information of the goods to be taken out, a second take-out instruction is generated to The warehouse robot is made to take out the adjacent goods and the goods to be taken out according to the second take-out instruction.

Optionally, the handling device of the storage robot includes a left robotic arm and a right robotic arm, and when at least one of the distances between the goods to be taken out is inconsistent with the preset distance, the abnormality type is the abnormality of the distance between the goods, and the first An exception handling module 1003 is specifically configured to: obtain the size information of adjacent goods corresponding to one or more of the goods spacings that are inconsistent with the preset spacing; if the size information of the adjacent goods is less than or equal to the set size, generate the first Three take-out instructions, so that according to the third take-out instruction, the warehouse robot takes out the adjacent goods through the left robot arm or the right robot arm, and places the adjacent goods on the left robot arm and the right robot arm. At the preset position; after the adjacent goods are placed, a fourth take-out instruction is generated, so that the storage robot takes out the goods to be taken out according to the fourth take-out instruction.

Optionally, when the size information of the adjacent cargo is greater than the set size, the first exception handling module 1003 is further configured to: according to the one or more cargo distances inconsistent with the preset distance, Generates a message for abnormal cargo spacing.

The device for handling abnormality of the removed goods provided in this embodiment can execute the abnormal processing methods for the removed goods provided by the embodiments shown in FIG. 2 to FIG. 7 of the present disclosure, and has functional modules and beneficial effects corresponding to the execution methods.

FIG. 11 is a schematic structural diagram of a device for handling abnormality of taken out goods provided by another embodiment of the present disclosure. The device can be applied to a storage robot of a storage system. As shown in Figure 11, the device includes:

The second detection information obtaining module 1101 is used to obtain the detection information of the goods to be taken out, wherein the goods to be taken out are placed on the shelves, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and The dynamic goods storage space on the shelf corresponding to the goods to be taken out is determined; the second abnormality judgment module 1102 is used to judge whether the detection information is abnormal; the second abnormality processing module 1103 is used to judge whether there is abnormality in the abnormality The type determines an exception handling strategy, and the goods to be taken out are processed according to the exception handling strategy.

Optionally, before obtaining the detection information of the goods to be taken out, the second detection information obtaining module 1101 is further configured to: obtain the preset cargo code, the preset position, the preset size and each of the goods to be taken out. One or more of the preset distances; correspondingly, the detection information includes one or more of the size information, position information, cargo code and cargo spacing of the goods to be taken out; correspondingly, the first The second abnormality judging module 1102 is specifically configured to: when the goods to be taken out meet one or more of the following conditions, determine that the goods to be taken out are abnormal: when the goods code of the goods to be taken out is the same as the preset When the cargo codes are inconsistent; when the position information of the cargo to be taken out is inconsistent with the preset position; when the size information of the cargo to be taken out is inconsistent with the preset size; when at least one cargo spacing of the cargo to be taken out is inconsistent with the corresponding When the preset spacing is inconsistent.

Optionally, when the position information of the cargo to be taken out is inconsistent with the preset position, the abnormality type is abnormal cargo position, and the second abnormality processing module 1103 is specifically configured to: when the abnormal type is abnormal cargo position, calculate the The position deviation between the position information of the goods to be taken out and the preset position; when the position deviation is less than or equal to the first preset deviation threshold, a first adjustment command is generated according to the position deviation, and the adjustment is made according to the first adjustment command The position of the handling device and/or the moving chassis of the warehouse robot is adjusted to take out the goods to be taken out.

Optionally, when the position information of the goods to be taken out is inconsistent with the preset position, the second exception handling module 1103 is further configured to: send the position information of the goods to be taken out to the warehouse management device, so that the The warehouse management device updates the preset position of the goods to be taken out to the position information of the goods to be taken out.

Optionally, when the size information of the cargo to be taken out is inconsistent with the preset size, the abnormality type is abnormal cargo size, and the second abnormality processing module 1103 is specifically configured to: when the abnormality type is abnormal cargo size, calculate the The size deviation between the size information of the goods to be taken out and the preset size; when the size deviation is less than or equal to the second preset deviation threshold, a second adjustment instruction is generated according to the size deviation, and the adjustment is made according to the second adjustment instruction The conveying device of the storage robot is used to take out the goods to be taken out based on the adjusted conveying device.

Optionally, when the size information of the goods to be taken out is inconsistent with the preset size, the second exception handling module 1103 is further configured to: send the size information of the goods to be taken out to the warehouse management device, so that the The warehouse management device updates the preset size of the goods to be taken out to size information of the goods to be taken out.

Optionally, when at least one of the cargo spacings of the cargo to be taken out is inconsistent with the preset spacing, the abnormality type is abnormal cargo spacing, and the second abnormality processing module 1103 is specifically configured to: when the abnormality type is abnormal cargo spacing When the size information of the adjacent goods corresponding to one or more of the goods spacing inconsistent with the preset distance is obtained; according to the size information of the adjacent goods and the size information of the goods to be taken out, a second take-out instruction is generated to The adjacent goods and the to-be-taken goods are taken out according to the second take-out instruction.

Optionally, the handling device of the storage robot includes a left robotic arm and a right robotic arm, and when at least one of the distances between the goods to be taken out is inconsistent with the preset distance, the abnormality type is the abnormality of the distance between the goods, and the first The second exception processing module 1103 is specifically configured to: obtain the size information of the adjacent goods corresponding to one or more of the goods spacings that are inconsistent with the preset distance; if the size information of the adjacent goods is less than or equal to the set size, generate the first three fetching instructions, to fetch the adjacent goods through the left robotic arm or the right robotic arm according to the third fetching instruction, and place the adjacent goods at a preset position through the left robotic arm and the right robotic arm; After the adjacent goods are placed, a fourth take-out instruction is generated to take out the goods to be taken out according to the fourth take-out instruction.

Optionally, when the size information of the adjacent cargo is greater than the set size, the second exception processing module 1103 is further configured to: according to the one or more cargo distances inconsistent with the preset distance, Generates a message for abnormal cargo spacing.

The device for handling abnormality of fetched goods provided in this embodiment can execute the method for handling abnormality of fetched goods provided by the embodiment shown in FIG. 8 of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.

FIG. 12 is a schematic structural diagram of a device for processing an abnormality of a removed cargo provided by another embodiment of the present disclosure. The device can be applied to a storage robot of a storage system. As shown in Figure 12, the device includes:

The receiving module 1201 is configured to receive an exception handling strategy sent by a warehouse management device, where the exception handling strategy is sent by the warehouse management device when the detection information of the goods to be taken out is abnormal; wherein the goods to be taken out are placed on a shelf Above, the storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out; the processing module 1202 is used for processing according to the abnormality A policy handles the goods to be picked up.

Optionally, when the position information of the goods to be taken out is inconsistent with the preset position, the abnormal type is abnormal goods position, and the receiving module 1201 is specifically configured to: receive the first adjustment instruction sent by the warehouse management device, wherein all the The first adjustment instruction is that when the abnormality type is abnormality of the position of the goods, and the positional deviation between the position information of the goods to be taken out and the preset position is less than or equal to the first preset deviation threshold, according to the position The deviation is generated; correspondingly, the processing module 1202 is specifically configured to: adjust the position of the handling device and/or the mobile chassis of the storage robot according to the first adjustment instruction, and perform the goods to be taken out after adjustment. take out.

Optionally, when the size information of the goods to be taken out is inconsistent with the preset size, the abnormal type is abnormal goods size, and the receiving module 1201 is specifically configured to: receive the second adjustment instruction sent by the warehouse management device, wherein the The second adjustment instruction is that when the abnormality type is abnormal cargo size, and the size deviation between the size information of the cargo to be taken out and the preset size is less than or equal to a second preset deviation threshold correspondingly, the processing module 1202 is specifically configured to: adjust the handling device of the storage robot according to the second adjustment instruction, and take out the goods to be retrieved based on the adjusted handling device.

Optionally, when at least one of the distances between the goods to be taken out is inconsistent with the preset distance, the abnormal type is the abnormal distance between the goods, and the receiving module 1201 is specifically configured to: receive the second take-out instruction sent by the warehouse management device. , wherein the second take-out instruction is that when the abnormality type is abnormal cargo spacing, the warehouse management device will, according to the size information of adjacent cargoes corresponding to one or more cargo spacings that are inconsistent with the preset spacing, and the The size information of the goods to be taken out is generated; correspondingly, the processing module 1202 is specifically configured to: take out the adjacent goods and the goods to be taken out according to the second take-out instruction.

Optionally, the handling device of the storage robot includes a left robotic arm and a right robotic arm, and when at least one of the distances between the goods of the goods to be taken out is inconsistent with the preset distance, the abnormal type is the abnormal distance between the goods, and the receiving Module 1201 is specifically configured to: receive a third fetching instruction sent by the warehouse management device, wherein the third fetching instruction is one or more fetching instructions of the warehouse management device whose abnormality type is abnormal spacing between goods and is inconsistent with the preset spacing. The size information of the adjacent goods corresponding to the distance between the goods is generated when the size information is less than or equal to the set size; correspondingly, the processing module 1202 is specifically configured to: take out through the left robot arm or the right robot arm according to the third take-out instruction The adjacent goods are placed at a preset position through the left robotic arm and the right robotic arm; when the adjacent goods are placed, receive a fourth take-out instruction sent by the warehouse management device, according to the The fourth fetching instruction fetches the goods to be fetched.

The device for handling abnormality of the removed goods provided in this embodiment can execute the abnormal processing method for the removed goods provided by the embodiment shown in FIG. 9 of the present disclosure, and has corresponding functional modules and beneficial effects of the execution method.

FIG. 13 is a schematic structural diagram of a warehouse management device according to an embodiment of the present disclosure. As shown in FIG. 13 , the warehouse management apparatus may include: a memory 1301 and at least one processor 1302; the memory 1301 stores computer-executed instructions; the at least one processor 1302 executes the computer-executed instructions stored in the memory 1301, so that all The at least one processor 1302 executes the method for handling an abnormality of taking out goods in any of the embodiments shown in FIG. 2 to FIG. 7 .

The relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps in FIG. 2 to FIG. 7 , and details are not repeated here.

FIG. 14 is a schematic structural diagram of a storage robot according to an embodiment of the present disclosure. As shown in FIG. 14 , the warehouse robot may include: a memory 1401 and at least one processor 1402; the memory 1401 stores computer-executed instructions; the at least one processor 1402 executes the computer-executed instructions stored in the memory 1401, so that the At least one processor 1402 executes the exception handling method for taking out goods in the embodiment shown in FIG. 8 .

The relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps in FIG. 8 , and details are not repeated here.

FIG. 15 is a schematic structural diagram of a storage robot according to another embodiment of the present disclosure. As shown in FIG. 15, the warehouse robot may include: a memory 1501 and at least one processor 1502; the memory 1501 stores computer-executed instructions; the at least one processor 1502 executes the computer-executed instructions stored in the memory 1501, so that the At least one processor 1502 executes the abnormal handling method for taking out goods in the embodiment shown in FIG. 9 .

The relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps in FIG. 9 , and details are not repeated here.

An embodiment of the present disclosure further provides a storage system, including: a shelf, the warehouse management device shown in FIG. 13 , and the storage robot shown in FIG. 15 .

The embodiment of the present disclosure further provides another storage system, including: a shelf and the storage robot shown in FIG. 14 .

For the specific working process and effects of the storage system provided by the present disclosure, reference may be made to the foregoing embodiments, which will not be repeated here.

An embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the taking out of goods provided by any of the embodiments corresponding to FIG. 2 to FIG. 9 of the present disclosure Exception handling method.

Among them, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present disclosure also provides a program product comprising an executable computer program stored in a readable storage medium. At least one processor of a warehouse management device, a storage robot or a storage system can read the computer program from a readable storage medium, and the at least one processor executes the computer program so that the robot team control device implements the taking out goods provided by the various embodiments above. Exception handling method.

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

The modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional module in each embodiment of the present disclosure may be integrated in one processing unit, or each module may exist physically alone, or two or more modules may be integrated in one unit. The units formed by the above modules can be implemented in the form of hardware, or can be implemented in the form of hardware plus software functional units.

The above-mentioned integrated modules implemented in the form of software functional modules may be stored in a computer-readable storage medium. The above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the various embodiments of the present disclosure. part of the method.

It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuit (Application Specific Integrated Circuit, Referred to as ASIC) and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the invention can be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

The memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one magnetic disk memory, and may also be a U disk, a removable hard disk, a read-only memory, a magnetic disk or an optical disk, and the like.

The bus can be an Industry Standard Architecture (ISA for short) bus, a Peripheral Component (PCI for short) bus, or an Extended Industry Standard Architecture (EISA for short) bus or the like. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.

The above-mentioned storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Except programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. A storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium may be located in Application Specific Integrated Circuits (ASIC for short). Of course, the processor and the storage medium may also exist in the electronic device or the host device as discrete components.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present disclosure. scope.

Claims

A method for handling abnormality of fetched goods, characterized in that the method is applied to warehouse management equipment of a warehousing system, and the method comprises:

The detection information of the goods to be taken out is obtained, wherein the goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and the storage space on the shelf corresponding to the goods to be taken out. The dynamic cargo storage space is determined;

Determine whether the detection information is abnormal;

If there is an exception, an exception handling strategy is determined according to the exception type, so that the warehouse robot handles the goods to be taken out according to the exception handling strategy.
The method according to claim 1, wherein before obtaining the detection information of the goods to be taken out, the method further comprises:

Obtaining one or more of the preset cargo code, preset position, preset size and each preset spacing of the cargo to be taken out;

The detection information includes one or more of the size information, location information, cargo code, and distance between the cargoes to be taken out; and the judging whether the detection information is abnormal includes:

When the goods to be taken out meet one or more of the following conditions, it is determined that the goods to be taken out are abnormal:

When the cargo code of the cargo to be taken out is inconsistent with the preset cargo code;

When the position information of the goods to be taken out is inconsistent with the preset position;

When the size information of the goods to be taken out is inconsistent with the preset size;

When at least one cargo spacing of the cargo to be taken out is inconsistent with the corresponding preset spacing.
The method according to claim 2, wherein, when the position information of the goods to be taken out is inconsistent with the preset position, the abnormal type is the abnormal position of the goods, and the abnormal processing strategy is determined according to the abnormal type, including:

When the abnormal type is abnormal cargo position, calculate the position deviation between the position information of the cargo to be taken out and the preset position;

When the position deviation is less than or equal to the first preset deviation threshold, a first adjustment instruction is generated according to the position deviation, so that the storage robot adjusts the handling device and the moving chassis of the storage robot according to the first adjustment instruction At least one of the positions is used to take out the goods to be taken out based on the adjusted storage robot.
The method according to claim 3, wherein when the position information of the goods to be taken out is inconsistent with the preset position, the method further comprises:

The preset position of the goods to be taken out is updated to the position information of the goods to be taken out.
The method according to claim 2, wherein when the size information of the goods to be taken out is inconsistent with the preset size, the abnormality type is abnormality of the size of the goods, and determining the abnormality handling strategy according to the abnormality type, comprising:

When the abnormal type is abnormal cargo size, calculate the size deviation between the size information of the cargo to be taken out and the preset size;

When the size deviation is less than or equal to the second preset deviation threshold, a second adjustment instruction is generated according to the size deviation, so that the storage robot adjusts the handling device of the storage robot according to the second adjustment instruction to adjust the storage robot based on the adjustment The latter carrying device takes out the goods to be taken out.
The method according to claim 5, wherein when the size information of the goods to be taken out is inconsistent with a preset size, the method further comprises:

The preset size of the goods to be taken out is updated to the size information of the goods to be taken out.
The method according to claim 2, wherein when at least one of the cargo spacings of the cargo to be taken out is inconsistent with the preset spacing, the abnormality type is abnormal cargo spacing, and determining the abnormality handling strategy according to the abnormality type, comprising:

When the abnormal type is abnormal cargo spacing, obtain the size information of adjacent cargoes corresponding to one or more said cargo spacings that are inconsistent with the preset spacing;

According to the size information of the adjacent goods and the size information of the goods to be taken out, a second take-out instruction is generated, so that the warehouse robot takes out the adjacent goods and the goods to be taken out according to the second take-out instruction.
The method according to claim 2, wherein the handling device of the storage robot comprises a left robotic arm and a right robotic arm, and when at least one of the distances between the goods to be taken out is inconsistent with a preset distance, an abnormal The type is cargo spacing exception, and the exception handling strategy is determined according to the exception type, including:

Obtaining size information of adjacent cargoes corresponding to one or more of the cargo spacings that are inconsistent with the preset spacing;

If the size information of the adjacent goods is less than or equal to the set size, a third take-out instruction is generated, so that the storage robot can take out the adjacent goods through the left robotic arm or the right robotic arm according to the third take-out instruction, and placing the adjacent cargo at a preset position through the left robotic arm and the right robotic arm;

After the adjacent goods are placed, a fourth take-out instruction is generated, so that the storage robot takes out the goods to be taken out according to the fourth take-out instruction.
The method according to claim 8, wherein when the size information of the adjacent goods is greater than the set size, the method further comprises:

According to the one or more cargo distances that are inconsistent with the preset distances, a warning message about abnormal cargo distances is generated.
The method according to any one of claims 1-9, wherein the length of the storage space of the goods to be taken out is the sum of the length of the goods to be taken out and a preset safety length.
A method for handling abnormality in taking out goods, characterized in that the method is applied to a warehousing robot of a warehousing system, and the method comprises:

The detection information of the goods to be taken out is obtained, wherein the goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and the storage space on the shelf corresponding to the goods to be taken out. The dynamic cargo storage space is determined;

Determine whether the detection information is abnormal;

If there is an exception, an exception handling strategy is determined according to the exception type, and the goods to be taken out are processed according to the exception handling strategy.
The method according to claim 11, wherein before obtaining the detection information of the goods to be taken out, the method further comprises:

Obtaining one or more of the preset cargo code, preset position, preset size and each preset spacing of the cargo to be taken out;

The detection information includes one or more of the size information, location information, cargo code, and distance between the cargoes to be taken out; and the judging whether the detection information is abnormal includes:

When the goods to be taken out meet one or more of the following conditions, it is determined that the goods to be taken out are abnormal:

When the cargo code of the cargo to be taken out is inconsistent with the preset cargo code;

When the position information of the goods to be taken out is inconsistent with the preset position;

When the size information of the goods to be taken out is inconsistent with the preset size;

When at least one cargo spacing of the cargo to be taken out is inconsistent with the corresponding preset spacing.
The method according to claim 12, wherein when the position information of the goods to be taken out is inconsistent with the preset position, the abnormal type is the abnormal position of the goods, and the abnormal processing strategy is determined according to the abnormal type, comprising:

When the abnormal type is abnormal cargo position, calculate the position deviation between the position information of the cargo to be taken out and the preset position;

When the position deviation is less than or equal to the first preset deviation threshold, generate a first adjustment instruction according to the position deviation, and adjust at least one of the handling device and the mobile chassis of the warehouse robot according to the first adjustment instruction. position for taking out the goods to be taken out after adjustment.
The method according to claim 13, wherein when the position information of the goods to be taken out is inconsistent with the preset position, the method further comprises:

The position information of the goods to be taken out is sent to the warehouse management device, so that the warehouse management device updates the preset position of the goods to be taken out to the position information of the goods to be taken out.
The method according to claim 12, wherein when the size information of the goods to be taken out is inconsistent with the preset size, the abnormality type is abnormality of the size of the goods, and determining the abnormality handling strategy according to the abnormality type, comprising:

When the abnormal type is abnormal cargo size, calculate the size deviation between the size information of the cargo to be taken out and the preset size;

When the size deviation is less than or equal to a second preset deviation threshold, a second adjustment instruction is generated according to the size deviation, and the handling device of the storage robot is adjusted according to the second adjustment instruction, so as to be based on the adjusted The handling device takes out the goods to be taken out.
The method according to claim 15, wherein when the size information of the goods to be taken out is inconsistent with a preset size, the method further comprises:

The size information of the goods to be taken out is sent to the warehouse management device, so that the warehouse management device updates the preset size of the goods to be taken out to the size information of the goods to be taken out.
The method according to claim 12, wherein when at least one of the cargo spacings of the cargo to be taken out is inconsistent with the preset spacing, the abnormality type is abnormal cargo spacing, and determining the abnormality handling strategy according to the abnormality type, comprising:

When the abnormal type is abnormal cargo spacing, obtain the size information of adjacent cargoes corresponding to one or more cargo spacings that are inconsistent with the preset spacing;

According to the size information of the adjacent goods and the size information of the goods to be taken out, a second take-out instruction is generated to take out the adjacent goods and the goods to be taken out according to the second take-out instruction.
The method according to claim 12, wherein the handling device of the storage robot comprises a left robotic arm and a right robotic arm, and when at least one of the distances between the goods to be taken out is inconsistent with a preset distance, an abnormality The type is cargo spacing exception, and the exception handling strategy is determined according to the exception type, including:

Obtaining size information of adjacent goods corresponding to one or more of the goods spacings that are inconsistent with the preset spacing;

If the size information of the adjacent goods is less than or equal to the set size, a third take-out instruction is generated, so as to take out the adjacent goods by the left robot arm or the right robot arm according to the third take-out command, and pass the left the robotic arm and the right robotic arm place the adjacent cargo at a preset position;

After the adjacent goods are placed, a fourth take-out instruction is generated to take out the goods to be taken out according to the fourth take-out instruction.
The method according to claim 18, wherein when the size information of the adjacent goods is greater than the set size, the method further comprises:

According to the one or more cargo distances that are inconsistent with the preset distances, a warning message about abnormal cargo distances is generated.
The method according to any one of claims 11-19, wherein the length of the storage space for the goods to be taken out is the sum of the length of the goods to be taken out and a preset safety length.
A method for handling abnormality of taking out goods, characterized in that the method is applied to a warehousing robot of a warehousing system, and the method comprises:

Receive an exception handling strategy sent by the warehouse management device, the exception handling strategy is sent by the warehouse management device when the detection information of the goods to be taken out is abnormal; wherein, the goods to be taken out are placed on the shelf, and the goods to be taken out The storage space corresponding to the goods is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out;

The goods to be taken out are processed according to the exception handling strategy.
The method according to claim 21, wherein the detection information includes one or more of size information, position information, cargo code and cargo spacing of the cargo to be taken out; When one or more of the following conditions are met, the goods to be taken out are abnormal:

When the cargo code of the cargo to be taken out is inconsistent with the preset cargo code;

When the position information of the goods to be taken out is inconsistent with the preset position;

When the size information of the goods to be taken out is inconsistent with the preset size;

When at least one cargo spacing of the cargo to be taken out is inconsistent with the corresponding preset spacing.
The method according to claim 22, wherein when the position information of the goods to be taken out is inconsistent with the preset position, the abnormal type is abnormal goods position, and receiving the abnormal processing strategy sent by the warehouse management equipment comprises:

Receive a first adjustment instruction sent by the warehouse management equipment, wherein the first adjustment instruction is that the warehouse management equipment is abnormal in the abnormal type of the goods location, and the position deviation between the position information of the goods to be taken out and the preset position is less than or equal to the first preset deviation threshold, generated according to the position deviation;

Processing the goods to be taken out according to the exception handling strategy, including:

According to the first adjustment instruction, the position of at least one of the handling device and the moving chassis of the storage robot is adjusted, and after the adjustment, the goods to be taken out are taken out.
The method according to claim 22, wherein when the size information of the goods to be taken out is inconsistent with the preset size, the abnormality type is abnormality of the size of the goods, and receiving the abnormality processing strategy sent by the warehouse management equipment, comprising:

Receive a second adjustment instruction sent by the warehouse management device, wherein the second adjustment instruction is that the abnormal type of the warehouse management device is the abnormal size of the goods, and the size deviation between the size information of the goods to be taken out and the preset size is less than or equal to the second preset deviation threshold, generated according to the size deviation;

Processing the goods to be taken out according to the exception handling strategy, including:

According to the second adjustment instruction, the conveying device of the storage robot is adjusted, and the goods to be taken out are taken out based on the adjusted conveying device.
The method according to claim 22, wherein when at least one of the distances between the goods of the goods to be taken out is inconsistent with the preset distance, the abnormality type is the abnormality of the distance between the goods, and the abnormality processing strategy sent by the warehouse management equipment is received, include:

Receive a second fetching instruction sent by the warehouse management device, wherein the second fetching instruction is that when the abnormality type of the warehouse management device is abnormal cargo spacing, according to the corresponding one or more cargo spacings inconsistent with the preset spacing The size information of the adjacent goods and the size information of the goods to be taken out are generated;

Processing the goods to be taken out according to the exception handling strategy, including:

The adjacent goods and the goods to be taken out are taken out according to the second take-out instruction.
The method according to claim 22, wherein the handling device of the storage robot comprises a left robotic arm and a right robotic arm, and when at least one of the distances between the goods to be taken out is inconsistent with a preset distance, an abnormality The type is abnormal distance between goods, and the abnormal processing strategy sent by the receiving warehouse management equipment, including:

Receive a third fetching instruction sent by the warehouse management device, wherein the third fetching instruction is an error message corresponding to one or more cargo spacings of which the abnormality type of the warehouse management device is an abnormal cargo spacing and is inconsistent with the preset spacing. Generated when the size information of the adjacent goods is less than or equal to the set size;

Processing the goods to be taken out according to the exception handling strategy, including:

According to the third take-out instruction, the adjacent goods are taken out by the left robot arm or the right robot arm, and the adjacent goods are placed at a preset position by the left robot arm and the right robot arm;

After the adjacent goods are placed, a fourth take-out instruction sent by the warehouse management device is received, and the goods to be taken out are taken out according to the fourth take-out instruction.
The method according to any one of claims 21-26, wherein the length of the storage space for the goods to be taken out is the sum of the length of the goods to be taken out and a preset safety length.
An abnormal handling device for taking out goods, characterized in that it is applied to warehouse management equipment of a warehousing system, and the device comprises:

The first detection information obtaining module is used to obtain the detection information of the goods to be taken out, wherein the goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and the size of the goods to be taken out. The dynamic cargo storage space on the shelf corresponding to the cargo to be taken out is determined;

a first abnormality judging module for judging whether the detection information is abnormal;

The first exception handling module is configured to determine an exception handling strategy according to the exception type when there is an exception, so that the warehouse robot handles the goods to be taken out according to the exception handling strategy.
An abnormal handling device for taking out goods, characterized in that it is applied to a warehousing robot of a warehousing system, and the device comprises:

The second detection information obtaining module is used to obtain the detection information of the goods to be taken out, wherein the goods to be taken out are placed on the shelf, and the storage space corresponding to the goods to be taken out is based on the size information of the goods to be taken out and the size of the goods to be taken out. The dynamic cargo storage space on the shelf corresponding to the cargo to be taken out is determined;

a second abnormality judging module for judging whether the detection information is abnormal;

The second exception handling module is configured to determine an exception handling strategy according to the exception type when there is an exception, and process the goods to be taken out according to the exception handling strategy.
An abnormal handling device for taking out goods, characterized in that it is applied to a warehousing robot of a warehousing system, and the device comprises:

a receiving module, configured to receive an exception handling strategy sent by a warehouse management device, where the exception handling strategy is sent by the warehouse management device when the detection information of the goods to be taken out is abnormal; wherein the goods to be taken out are placed on a shelf , the storage space corresponding to the goods to be taken out is determined according to the size information of the goods to be taken out and the dynamic goods storage space on the shelf corresponding to the goods to be taken out;

A processing module, configured to process the goods to be taken out according to the exception processing strategy.
A warehouse management device, comprising: a memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method for handling an abnormality in taking out goods according to any one of claims 1-10.
A warehousing robot, characterized in that it comprises: a memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method for handling an abnormality in taking out goods according to any one of claims 11-20.
A warehousing robot, characterized in that it comprises: a memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method for handling an exception of a fetched cargo according to any one of claims 21-27.
A storage system is characterized by comprising: a shelf, the warehouse management device according to claim 31 , and the storage robot according to claim 33 .
A storage system is characterized by comprising: a shelf and the storage robot of claim 32 .
A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, the computer-executable instructions according to any one of claims 1-27 are implemented. Exception handling method for unloaded goods.
A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the method for handling an abnormality in taking out goods according to any one of claims 1-27 is implemented.