WO2022105762A1

WO2022105762A1 - Goods arrangement method, device, warehousing system, and storage medium

Info

Publication number: WO2022105762A1
Application number: PCT/CN2021/131009
Authority: WO
Inventors: 赵虎; 艾鑫; 喻润方
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-11-20
Filing date: 2021-11-16
Publication date: 2022-05-27
Also published as: CN114516506A; CN112407723B; CN112407723A; CN114516505A

Abstract

The present application provides a goods arrangement method, a device, a warehousing system, and a storage medium. The goods arrangement method comprises: determining a target robot that can execute a warehouse arrangement task; determining, according to a state attribute of the target robot, a first target goods rack where the target robot executes a warehouse arrangement operation; and controlling the target robot to execute the warehouse arrangement operation on the first target goods rack. In the present application, for a goods rack using a dynamic storage position mechanism, the target robot executing the warehouse arrangement task is first determined; then, the corresponding first target goods rack is distributed to the target robot on the basis of the state attribute of the target robot; and the target robot is controlled to perform a warehouse arrangement operation on the first target goods rack. Thus, by controlling, by means of a warehouse management device, the robot to perform warehouse arrangement, automatic warehouse arrangement of the warehousing system can be achieved, the warehouse arrangement efficiency and accuracy are high, and warehousing efficiency of the warehousing system is further improved.

Description

Goods sorting method, equipment, storage system and storage medium

This application claims the priority of the Chinese patent application with the application number 202011312556.6 and the application title "Cargo Organizing Method, Equipment, Storage System and Storage Medium" filed with the China Patent Office on November 20, 2020, the entire contents of which are incorporated by reference in this application.

technical field

The present application relates to the technical field of intelligent storage, and in particular, to a method, equipment, storage system and storage medium for sorting 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.

In order to improve the storage efficiency of the storage system, it is necessary to organize the goods stored on the shelves of the storage system, that is, to organize the storage system. For dynamic storage locations, in order to ensure the reasonable and orderly storage of the goods on the shelves, it is necessary to organize the storage system. Especially important.

The formulation of the existing warehouse management strategies mostly relies on the participation of people, and requires professional warehouse personnel to determine the corresponding warehouse management strategies according to the storage conditions of the shelves in the storage system. Unreasonable and low storage efficiency.

SUMMARY OF THE INVENTION

The present application provides a cargo arrangement method, equipment, storage system and storage medium, which realizes the automatic storage of the storage system, has high storage efficiency and accuracy, and improves the storage efficiency of the storage system.

In a first aspect, the present application provides a method for organizing goods, which is applied to warehouse management equipment, including:

Determine the target robot that can perform the library task;

The first target rack for the target robot to perform the library operation is determined according to the state attribute of the target robot, wherein the storage space of each item on the first target rack is determined according to the size information of the item and the storage space on the rack. The dynamic cargo storage space is determined;

The target robot is controlled to perform a library operation on the first target shelf.

In some embodiments, the determining of a target robot that can perform a library task includes:

determining that the first robot currently in an idle state is the target robot; and/or,

It is determined that a second robot that is currently performing a picking and placing task and whose execution duration of the picking and placing task is shorter than the assigned duration is the target robot.

In some embodiments, the target robot is the second robot, and the determining of the first target rack for the target robot to perform the library operation according to the state attribute of the target robot includes:

It is determined that the shelf corresponding to the picking and placing task is the first target shelf for the target robot to perform the warehouse sorting operation.

In some embodiments, the target robot is the first robot or the second robot, and the determining a first target rack on which the target robot performs a library operation according to a state attribute of the target robot includes:

Determine the first target rack from the plurality of racks according to the rack inventory priority; or,

According to the distance between the target robot and the shelf, the first target shelf is determined from the plurality of shelves; or,

The first target rack is determined from the plurality of racks according to the rack storage priority and the distance between the target robot and the rack.

In some embodiments, it also includes:

According to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval, determine a shelf storage priority corresponding to each shelf in the plurality of shelves;

Wherein, the priority of the shelf area is the priority of the area where the shelf is located, the priority of the shelf area is proportional to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is proportional to the sorting frequency of the shelf;

The shelf occupancy is the ratio of the total length of the debris space on the shelf to the total length of the goods, the total length of the debris space is the sum of the length of the debris space on the shelf, and the length of the debris space is the adjacent first goods and second goods. The interval length between goods, and the interval length is less than the preset value, the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy rate is related to the shelf storage priority. proportional relationship;

The shelf storage interval is the time interval between the time node when the last storage management operation is performed on the shelf and the current moment.

In some embodiments, the determining, according to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval, determines a shelf storage priority corresponding to each of the multiple shelves, including:

According to the shelf area priority, the shelf occupancy rate and the shelf storage interval, the shelf storage priority corresponding to each shelf is calculated by the following formula:

Q _i =O _i ×a+P _i ×b+T _i ×c

Among them, Qi is the shelf storage priority of the _ith shelf, i=1,2,3...N, N is the total number of shelves; O _i is the shelf occupancy rate of the _ith shelf; Pi is the ith shelf The shelf area priority of each shelf; T _i is the shelf storage interval of the ith shelf; a is the weight coefficient corresponding to the shelf occupancy rate, b is the weight coefficient corresponding to the shelf area priority, and c is the shelf storage interval corresponding to weight factor.

In some embodiments, the determining the first target rack from the plurality of racks according to the distance between the target robot and the rack includes:

It is determined that a shelf whose distance from the target robot is less than a first preset distance threshold and there is no robot other than the target robot performing operations is the first target shelf.

In some embodiments, the determining the first target shelf from the plurality of shelves according to a shelf storage priority and a distance between the target robot and the shelf includes:

It is determined that the distance from the target robot is less than the second preset distance threshold, and the shelf storage priority is greater than the preset priority threshold, and there is no shelf other than the target robot to perform operations. A target shelf.

In some embodiments, the controlling the target robot to perform a library operation on the first target shelf includes:

Based on the stored goods on the first target shelf, determine a warehouse management strategy corresponding to the first target shelf;

According to the library management strategy, the target robot is controlled to perform library management operations.

In some embodiments, the determining, based on the stored goods on the first target rack, the inventory management strategy corresponding to the first target rack includes:

According to one or more of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf, determine a warehouse management strategy for sorting the stored goods on the first target shelf, Wherein, the heat of the goods represents the frequency with which the stored goods are taken out.

In some embodiments, the first target rack is a rack that is stored in a one-dimensional configuration, and the inventory management strategy corresponding to the first target rack is determined based on the stored goods on the first target rack, include:

A warehouse management strategy corresponding to the first target rack is determined according to the distance between the goods stored on the first target rack and the preset safety distance.

In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the inventory management strategy corresponding to the first target shelf is determined based on the stored goods on the first target shelf, include:

According to the goods heat of the stored goods on the first target shelf, determine the warehouse management strategy corresponding to the first target shelf, so that the goods with the goods heat higher than the preset heat are placed on each floor of the first target shelf. first row.

In some embodiments, the library management strategy includes at least one of the following:

Adjust the storage position of the stored goods so that the distance between the goods is a preset safety distance;

Adjusting the storage positions of the stored goods, so that the storage positions of the goods with the same size or the size difference within a preset range are adjacent to each other;

In the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods.

In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots;

When the target robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

In some embodiments, it also includes:

Check whether the library conditions are met;

When it is determined that the library management condition is satisfied, the step of determining the target robot that can perform the library management task is started.

In some embodiments, it also includes:

Allocate the picking and placing task to the target robot that is performing the warehouse sorting operation, control the target robot to stop performing the warehouse sorting operation, and execute the picking and placing task.

In some embodiments, it also includes:

When it is detected that the area where the target robot performs the warehouse-arranging operation on the first target rack has an overlapping area with the area where the second robot performs the picking and placing task, determine a second target rack different from the first target rack A target shelf, controlling the target robot to perform a library operation on the second target shelf.

In a second aspect, the present application provides a method for sorting goods, which is applied to a robot, including:

Receive a first control instruction sent by the warehouse management device, where the first control instruction is that the warehouse management device is determining a target robot that can perform a library management task, and determining that the target robot can perform a library management task according to the state attribute of the target robot. After the first target shelf is operated, it is sent to the target robot, wherein the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf;

According to the first control instruction, a library operation is performed on the first target rack.

In some embodiments, the first control instruction includes a warehouse management device that determines a warehouse management strategy corresponding to the first target rack based on the stored goods on the first target rack;

According to the first control instruction, performing a library management operation on the first target shelf includes:

According to the inventory management strategy corresponding to the first target shelf in the first control instruction, the inventory management operation is performed on the first target shelf.

In some embodiments, performing a library management operation on the first target shelf according to the first control instruction includes:

According to the inventory management strategy corresponding to the first target shelf, the inventory management operation is performed on the first target shelf.

In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps:

In some embodiments, the first target shelf is a shelf that is stored in a one-dimensional configuration, and the process of determining a library management strategy corresponding to the first target shelf includes the following steps:

In some embodiments, the first target rack is a rack that is stored in a two-dimensional configuration, and the process of determining a library management strategy corresponding to the first target rack includes the following steps:

Adjust the storage position of the stored goods so that the distance between the goods is the preset safe distance;

In some embodiments, the adjusting the storage position of the stored goods so that the distance between the goods is a preset safety distance, including:

determining the datum point information of said stored goods;

The storage position of the stored goods is adjusted according to the reference point information, so that the distance between the goods is a preset safety distance.

In some embodiments, the reference points include one or more of the following: uprights of the first target rack, marking points of the first target rack, one or more of the adjacent positions of the stored goods goods.

In some embodiments, it also includes:

receiving a second control instruction sent by the warehouse management device, where the second control instruction includes a task of picking and placing goods;

According to the second control instruction, the execution of the warehouse sorting operation is stopped, and the picking and placing task is executed.

In some embodiments, it also includes:

Receive a third control command sent by the warehouse management device, where the third control command is that the warehouse management device performs pick and place with the second robot in the area where the warehouse management device detects that the target robot performs a library operation on the first target shelf When there is an overlapping area in the area of the cargo task, after determining a second target rack different from the first target rack, and sent to the target robot, the third control instruction includes the information of the second target rack;

According to the third control instruction, a library operation is performed on the second target shelf.

In a third aspect, the present application provides 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-implemented instructions stored in the memory to cause the at least one processor to perform the above-described cargo sorting method.

In a fourth aspect, the present application provides a robot, including: a memory and at least one processor;

the memory stores computer-executable instructions;

In some embodiments, the robot includes a mobile chassis, a handling device, a storage shelf, and a lift assembly; the storage shelf, the handling device, and the elevator assembly are mounted on the mobile chassis.

In some embodiments, the handling device includes one or more of the following: a telescopic arm assembly, a suction cup, and a robotic arm.

In some embodiments, the handling device includes a pallet and a steering structure for changing the orientation of the goods placed on the pallet.

In a fifth aspect, the present application provides a storage system, including: the above warehouse management equipment and the above robot.

In a sixth aspect, the present application 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 above-mentioned cargo sorting method is implemented.

In some embodiments, the present application also provides a computer program product, including a computer program, which implements the above-mentioned method for sorting goods when the computer program is executed by a processor.

The cargo sorting method, equipment, storage system and storage medium provided by the present application, the cargo sorting method includes: determining a target robot that can perform a warehouse storage task; Wherein, the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf; the target robot is controlled to perform a library operation on the first target shelf. For the racks using the dynamic storage location mechanism, the present application firstly determines the target robot that performs the storage task, then allocates the corresponding first target rack to the target robot based on the state attributes of the target robot, and controls the target robot to organize the first target rack. Therefore, by controlling the robot to manage the warehouse through the warehouse management equipment, the automatic warehouse management of the warehousing system can be realized.

Description of drawings

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

1A is a schematic diagram of a storage situation in a one-dimensional configuration mode provided by an embodiment of the present application;

FIG. 1B is a schematic diagram of the storage situation after placing the goods provided by the embodiment shown in FIG. 1A of the application;

1C is a schematic diagram of a storage situation in a two-dimensional configuration provided by an embodiment of FIG. 1 of this application;

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

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

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

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

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

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

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

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

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

2A is an application scenario diagram of the cargo storage method provided by the embodiment of the present application;

FIG. 2B is another application scenario diagram of the cargo storage method provided by the embodiment of the present application;

FIG. 3 is a flowchart of a method for arranging goods according to an embodiment of the present application;

FIG. 4 is an example diagram of goods storage on the shelf in the embodiment of the application;

FIG. 5 is a flowchart of another cargo arrangement method provided by an embodiment of the present application;

6 is a schematic diagram of the storage situation of a problem cargo in an embodiment of the application;

FIG. 7 is a schematic diagram of the storage situation of another problem goods in the embodiment of the application;

8 is a schematic diagram of a storage situation of goods according to an embodiment of the application;

FIG. 9 is a schematic structural diagram of a cargo sorting device provided by an embodiment of the present application;

FIG. 10 is a schematic structural diagram of another cargo sorting device provided by an embodiment of the application;

11 is a schematic structural diagram of a robot provided by an embodiment of the application;

12 is a schematic structural diagram of a warehouse management device provided by an embodiment of the present application;

FIG. 13 is a schematic structural diagram of a storage system according to an embodiment of the present application.

Specific embodiments of the present application have been shown by the above-mentioned drawings, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the concepts of the present application in any way, but to illustrate the concepts of the present application 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 application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

The technical solutions of the present application and how the technical solutions of the present application 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 application will be described below with reference to the accompanying drawings.

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

The present application is applied to the scenario of dynamically configuring the cargo storage space, and the present application 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 application. 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 the one-dimensional configuration, the storage space of the goods includes the first unoccupied space and/or the first occupied space. Specifically, the first occupied space is when the goods enter and exit. The space in which the cargo has been placed in the direction.

Exemplarily, FIG. 1C is a schematic diagram of the storage situation in a two-dimensional configuration mode provided by an embodiment of the application. With the understanding of the X-Y coordinate system, the two-dimensional configuration mode refers to the depth Y direction of the goods 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 configuration mode, the storage space of the goods includes the second unoccupied space and/or the second occupied space. The space, specifically, the second unoccupied space includes the space not occupied by the goods in the direction in which the goods enter and exit.

For example, FIG. 1A is a schematic diagram of a storage situation in a one-dimensional configuration provided by an embodiment of the present application. In a one-dimensional configuration, as shown in FIG. 1A , for the above-mentioned dynamically configured cargo storage space, the unoccupied 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 placing the goods according to the embodiment shown in FIG. 1A of the application. As shown in FIG. 1B , after the goods 100a are placed, the current unoccupied spaces are

spaces

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

FIG. 1C is a schematic diagram of a storage situation in a two-dimensional configuration provided by an embodiment of FIG. 1C . As shown in FIG. 1C , considering the two-dimensional configuration, the unoccupied space on the shelf is the same as that in FIG. 1C space 101e and space 101f in . 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 application. As shown in FIG. 1D , after the goods 100b are placed, the current unoccupied spaces are space 101f and 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 application after placing the goods. 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, when 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 provided by an embodiment of the application; as shown in FIG. 1F , the handling robot 80 includes a mobile chassis 83 , a storage rack 82 , a handling device 84 , and a lifting assembly 81 . 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 embodiment can execute the cargo storage method shown in the present application, 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 lifting assembly 81 cooperates with the transport device 84 to transport the goods from the storage unit of the storage rack 82 to the rack.

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

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 FIG. 1F of the application. It can be understood with reference to FIG. 1F and FIG. 1G that the rotating mechanism 85 may be omitted according to the actual situation. For example, the handling robot 80 moves on a fixed track, and after moving to the vicinity of the shelf, the handling device 84 is always aligned with the shelf and/or the goods , and the goods can be arranged in the picking and placing direction of the handling device 84 .

Exemplarily, FIG. 1I is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1F of the present application. Please refer to FIG. 1G to facilitate understanding. As shown in FIG. 1I, the conveying 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 handling device in the embodiment shown in FIG. 1I of the present application. It can be seen from FIG. 1J and FIG. 1I that the handling 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 application. 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 shows the structure of another handling device according to the embodiment shown in FIG. 1F of the application. The handling device 84b includes one or more mechanical arms 847, which are configured on the fixed push rod 842 and/or the handling device 84b. appropriate location. 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 handling device of the embodiment shown in the present application 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.

2A and FIG. 2B are application scenario diagrams of the cargo sorting method provided by the embodiment of the present application. As shown in FIG. 2A and FIG. 2B , the cargo sorting method provided by the embodiment of the present application can be implemented by the warehouse management device 230 of the storage system 200 or the robot. 210 is executed.

The storage system 200 uses the robot 210 to perform the extraction and/or storage processing of the goods on the shelves 220 and the adjustment processing of the storage positions of the goods, so as to achieve the purpose of organizing the shelves 220 . In addition, the warehousing system 200 controls the robot 210 through path planning, status monitoring, and scheduling through the warehouse management device 230, so that the robot 210 moves to a set position, so as to perform corresponding extraction and/or storage processing of goods, and storage of goods For the adjustment processing of the position, the warehouse management device 230 also stores the storage information of each storage space of the shelf 220 and the basic information of each goods, so as to facilitate the warehouse management.

Referring to FIG. 2A , in order to place the goods 221 to be stored at the target position 222 , usually, the goods 221 to be stored are firstly placed in the storage unit of the robot 210 or on the handling device 211 , when the robot 210 receives the storage instruction from the warehouse management device 230 , the robot 210 moves to the corresponding position P1 according to the storage instruction, and then places the goods 221 to be stored on the target position 222 of the shelf 220 corresponding to the storage instruction, thereby completing the storage or storage of the goods 221 to be stored.

Referring to FIG. 2B , when the warehouse management device 230 controls the robot 210 to perform a warehouse management operation, the warehouse management device 230 can send a warehouse management instruction to the robot 210 , and when the robot 210 receives the warehouse management device 230 , When the warehouse management device 230 receives the warehouse management command, the robot 210 executes the warehouse management operation according to the reason. The warehouse instruction moves to the corresponding position P2, and then the robot 210 performs warehouse sorting operations on the goods storage positions on the shelf 220 that need to be sorted out according to the library sorting instructions. Specifically, the goods storage positions on the shelves 220 are based on the above dynamic configuration. determined by the method of space.

In the prior art, the formulation of warehouse management strategies mostly relies on the participation of users. Usually, professional warehouse managers determine corresponding warehouse management strategies according to the storage conditions of the shelves in the storage system. Unreasonable space utilization and low storage efficiency.

In order to improve the efficiency of inventory management, an embodiment of the present application provides a method for sorting goods. For a shelf that adopts a dynamic storage location mechanism, the application first determines a target robot that performs the inventory management task, and then assigns the target robot to the target robot based on the state attributes of the target robot. The corresponding first target shelf is controlled, and the target robot is controlled to perform the warehouse management operation on the first target shelf. Therefore, by controlling the robot to perform the warehouse management through the warehouse management equipment, the automatic warehouse management of the storage system can be realized, which is compared with the manual warehouse management method. , the solution of the present application has high efficiency and high accuracy in managing the warehouse, thereby helping to improve the warehousing efficiency of the warehousing system.

FIG. 3 is a flowchart of a method for sorting goods provided by an embodiment of the present application. As shown in FIG. 3 , the method for sorting goods may be executed by a warehouse management device of a storage system. The cargo arrangement method provided by this embodiment includes the following steps:

S110. Determine a target robot that can perform the library task.

The target robot is a robot in the warehousing system. When goods need to be sorted, the warehouse management device confirms the robot that can perform the warehousing task from a plurality of robots in the warehousing system, and determines the robot as the target robot.

S120: Determine a first target shelf on which the target robot performs the library operation according to the state attribute of the target robot, wherein the storage space of each item on the first target rack is determined according to the size information of the goods and the dynamic storage space of the goods on the shelf .

Among them, the state attribute is attribute information representing the state of the target robot, and the storage space of each item on the first target shelf is determined according to the size information of the item and the dynamic storage space of the goods on the shelf, that is, the first object to perform the warehouse management operation. The target shelf is a shelf that stores goods based on the above dynamic configuration of the goods storage space rules.

When the warehouse management device determines the target robot, the target robot may be in different states, for example, in an idle state that is not performing tasks, or in a working state that is performing a pick-and-place task, etc. When the state attributes of the robots are different, the target racks on which the robot performs the warehouse management operation may also be different. Therefore, the warehouse management device determines the first target shelf on which the target robot performs the warehouse management operation according to the state attributes of the target robot.

S130: Control the target robot to perform a library operation on the first target shelf.

After determining the first target rack corresponding to the target robot, the warehouse management device may send a library ordering instruction to the target robot, thereby controlling the target robot to perform a library order operation on the first target rack. When the robot receives the library ordering instruction from the warehouse management device, the robot moves to the position of the first target shelf according to the library ordering instruction, and then the robot performs the library ordering operation on the first target rack according to the library ordering instruction, thereby realizing automatic warehouse ordering.

Specifically, the content of the library management instruction may be various. For example, the library management instruction may include the identification and position of the first target rack. After the robot moves to the first target rack according to the library management instruction, the robot detects the first target rack through the sensor. The placement posture of the stored goods on the first target shelf and the distance between them and the adjacent goods, so as to determine the goods that need to perform the warehouse management operation, and perform the warehouse management operation on them; or, the warehouse management instruction includes the first A take-out instruction for any goods to be sorted on a target shelf, and/or a placement instruction for the goods, the placement instruction may include the placement position of the goods to be sorted, and the robot performs any goods according to the take-out instruction and/or the placement instruction. library operations. Wherein, the sensor includes at least one of a laser sensor, a 2D camera and a 3D camera.

This embodiment provides a method for arranging goods. For a shelf that adopts a dynamic storage location mechanism, the warehouse management device first determines a target robot that performs a warehouse-arranging task, and then allocates a corresponding first target shelf to the target robot based on the state attribute of the target robot. And control the target robot to carry out the warehouse sorting operation on the first target shelf, so that the warehouse management equipment controls the robot to carry out the warehouse sorting, which can realize the automatic warehouse sorting of the warehousing system. Warehousing efficiency of the system.

In some embodiments, determining a target robot that can perform a library task includes: determining a first robot that is currently in an idle state as a target robot; and/or, determining that a pick-and-place task is currently being performed, and the pick-and-place task is executed The second robot whose duration is shorter than the assigned duration is the target robot.

Specifically, when the warehouse management device determines the target robot, the robot in different states can be used as the target robot. The first robot in an idle state may specifically refer to a robot that does not currently perform any tasks. Since the first robot does not currently perform any tasks, the warehouse management device can control the first robot to perform a library task.

In addition, when it is determined that the second robot that is performing the picking and placing task is the target robot, the second robot needs to satisfy the condition that the execution time of the picking and placing task is shorter than the allocated time, wherein the execution time of the picking and placing task refers to the The actual time for the second robot to perform the task of picking and placing goods. The allocated time refers to the time that the warehouse management equipment allocates to the second robot according to the task priority corresponding to the task of picking and placing goods, and/or the timeliness of the order corresponding to the task of picking and placing goods. The duration of the pick-and-place task. When the execution time of the picking and placing task is shorter than the allotted time, the second robot can execute the picking and placing task and the warehouse sorting task within the allotted time, and the sum of the two execution times does not exceed the allotted time of the picking and placing task.

For example, if a second robot is currently performing a pick-and-place task, its corresponding pick-and-place task takes 3 minutes to execute, and the allocated time is 5 minutes, then the remaining time is 2 minutes, and the second robot can use the remaining time to execute library tasks.

It can be understood that, in this embodiment, the warehouse management device may only determine the first robot as the target robot, or only the second robot as the target robot, or both the first robot and the second robot may be determined as the target robot at the same time.

In this embodiment, the warehouse management device determines that the first robot that is currently in an idle state is the target robot, and/or determines that the second robot that is currently performing a pick-and-place task and whose execution time of the pick-and-place task is shorter than the assigned duration is The target robot, the target robot has the conditions to manage the warehouse, so as to realize the automatic warehouse management of the storage system.

In some embodiments, the target robot is the second robot, and determining the first target rack on which the target robot performs the warehouse storage operation according to the state attribute of the target robot includes: determining the shelf corresponding to the picking and placing task as the target robot performing the warehouse storage operation. First Target Shelf.

Specifically, when the target robot is the second robot that is currently performing the picking and placing task and the execution time of the picking and placing task is shorter than the allocated time, the warehouse management device may use the shelf corresponding to the second robot to perform the picking and placing task as the second robot. The second robot corresponds to the first target shelf. Therefore, after the target robot completes the task of picking and placing goods, the target robot can directly perform warehouse operations on the shelf, thereby greatly reducing the time required for the target robot to move to the corresponding first target shelf. time and improve the efficiency of library management.

In some embodiments, the target robot is the first robot or the second robot, and determining the first target rack on which the target robot performs the library operation according to the state attribute of the target robot includes: according to the rack storage priority, selecting from a plurality of racks Determine the first target rack; or, according to the distance between the target robot and the rack, determine the first target rack from multiple racks; or, determine the first target rack from multiple racks according to the priority of rack management and the distance between the target robot and the rack. A target shelf.

Among them, the shelf management priority represents the priority of the shelf management operation. The higher the shelf management priority of the shelf, the priority is to determine the shelf as the first target shelf for the target robot to perform the storage operation.

In addition, the first target shelf can also be determined according to the distance between the target robot and the shelf. Specifically, the closer the distance between the shelf and the target robot is, the priority is to determine the shelf as the first target shelf for the target robot to perform the library operation.

Optionally, the first target shelf can also be determined by combining the priority of the shelf storage and the distance between the target robot and the shelf at the same time.

Specifically, the implementation of determining the first target shelf in combination with the priority of the shelf management library and the distance between the target robot and the shelf can be various. For example, a reference shelf with a high priority can be selected. For example, the priority is in Multiple reference racks within the first priority range, and then select the reference rack closest to the target robot as the first target rack according to the distance between the multiple reference racks and the target robot; or the preset range of the target robot may be determined first multiple reference racks in the multiple reference racks, and then determine the rack with the highest priority among the multiple reference racks as the above-mentioned first target rack, etc., which is not limited here.

In this embodiment, when the warehouse management device determines the first target rack on which the target robot performs the warehouse management operation according to the state attribute of the target robot, the warehouse management device may, according to the priority of the shelf management and/or the distance between the target robot and the shelf, from the storage system Determining the first target rack corresponding to the target robot among the multiple racks is beneficial to improve the effectiveness and rationality of the robot performing the library operation.

In some embodiments, the method further includes: determining a shelf storage priority corresponding to each of the multiple shelves according to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval.

Among them, the priority of the shelf area is the priority of the area where the shelf is located, the priority of the shelf area is proportional to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is proportional to the sorting frequency of the shelf;

Shelf occupancy is the ratio of the total length of the debris space on the shelf to the total length of the goods, the total length of the debris space is the sum of the length of the debris space on the shelf, and the length of the debris space is the length of the interval between the adjacent first and second goods , and the interval length is less than the preset value, the total length of the goods is the sum of the lengths of the goods stored on the shelf, and the shelf occupancy rate is proportional to the shelf storage priority;

The shelf storage interval is the time interval between the time node of the last storage management operation on the shelf and the current moment.

Specifically, the heat of different shelf areas is different, and according to the different areas where the shelves are located, the needs of the shelves are different. The shelf with high regional heat will have a high frequency of storage, and the shelf with low regional heat will have a lower frequency of storage.

Specifically, the preset value may be the average of the total lengths of all the goods on the shelf, or may be the average of the total lengths of all the goods in the warehouse, or may be the single-layer shelf where the first goods and the second goods are located The average total length of all the stored goods above, etc., are not limited here.

For example, FIG. 4 is an example diagram of goods stored on a shelf in an embodiment of the present application. As shown in FIG. 4 , four goods are placed on the shelf 220, and the lengths of each goods are a1, a2, a3, and a4, respectively. The lengths of the debris space between the cargoes are b1, b2 and b3 respectively. The preset value here refers to the average value of the total length of the four cargoes. It can be seen from Figure 4 that b1, b2 and b3 are all smaller than the preset value. This means that b1, b2 and b3 have no way to place the goods, and these three spaces are wasted. Therefore, the writing space needs to be sorted out. D represents the total length of the goods, d represents the total length of the debris space, and P represents the shelf occupied. rate, the shelf occupancy rate P can be calculated by the following formula:

P=d/D=(b1+b2+b3)/(a1+a2+a3+a4)

Specifically, the higher the shelf occupancy rate, the more scattered the boxes on the shelf, and the higher the priority of the warehouse corresponding to the shelf.

Specifically, the larger the rack storage interval, the higher the storage priority corresponding to the shelf, which indicates that the rack has not been operated for a long time.

Specifically, when the warehouse management device determines the shelf storage priority corresponding to each shelf in the multiple shelves, it can determine the shelf storage priority only according to any one of the shelf area priority, the shelf occupancy rate, and the shelf storage interval. class. For example, only determine the shelf storage priority corresponding to each shelf in the multiple shelves according to the priority of the shelf area, or only determine the shelf storage priority corresponding to each shelf in the multiple shelves according to the rack occupancy rate, or only determine the shelf storage priority according to the shelf storage. The interval determines the shelf storage priority corresponding to each shelf in the multiple shelves.

Optionally, the shelf arrangement priority can also be determined according to a combination of any two of the shelf area priority, the shelf occupancy rate, and the shelf arrangement interval. The shelf management priority corresponding to each shelf in each shelf.

Exemplarily, the shelf storage priority corresponding to each shelf in the multiple shelves is determined according to the shelf area priority and the shelf occupancy rate. For example, a shelf with a high regional heat can be preferentially selected, and a shelf with a high occupancy rate in the area can be selected. Perform library operations.

Exemplarily, the shelf storage priority corresponding to each shelf in the multiple shelves is determined according to the priority of the shelf area and the shelf storage interval. Sorting time, if a shelf has not been sorted for a long time, the shelf will be sorted first. If multiple shelves have not been sorted for the same time, the shelf with high heat in the area where the shelf is located will be sorted first.

Optionally, the shelf arrangement priority may also be determined according to the shelf area priority, the shelf occupancy rate, and the shelf arrangement interval.

In this embodiment, the warehouse management device determines the shelf storage priority corresponding to each shelf in the multiple shelves according to one or more of the shelf area priority, the shelf occupancy rate, and the shelf storage interval, so that each shelf is The priority of the corresponding shelf storage library is more scientific and reasonable.

In some embodiments, according to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval, determining a shelf storage priority corresponding to each of the multiple shelves, including:

According to the priority of the shelf area, the occupancy rate of the shelf and the shelf storage interval, the shelf storage priority corresponding to each shelf is calculated by the following formula:

Q _i =O _i ×a+P _i ×b+T _i ×c

Specifically, the weight coefficients a, b, and c are dynamic coefficients, which are not uniquely limited. The warehouse management equipment can dynamically adjust the values of the weight coefficients a, b, and c according to the current order quantity and the number of robots.

In addition, the warehouse management device can adjust the types of influencing factors used in determining the shelf arrangement priority corresponding to each shelf in the plurality of shelves by adjusting the values of the weight coefficients a, b, and c. For example, when only one of the weight coefficients a, b, and c has a non-zero value, it means that the priority of rack storage is determined only according to one of shelf area priority, rack occupancy rate, and rack storage interval; when When the three values of the weight coefficients a, b, and c are all non-zero values, it means that the shelf storage priority is determined according to the shelf area priority, the shelf occupancy rate, and the shelf storage interval.

In this embodiment, the warehouse management device calculates the shelf management priority corresponding to each shelf according to the priority of the shelf area, the shelf occupancy rate, and the shelf storage interval, so as to make the shelf management priority corresponding to each shelf more efficient. scientifically sound.

In some embodiments, determining the first target shelf from the plurality of shelves according to the distance between the target robot and the shelf includes: determining that the distance from the target robot is less than a first preset distance threshold, and there is no other than the target robot. The shelf where other robots perform operations is the first target shelf.

Among them, there is no shelf on which other robots except the target robot perform operations, specifically, there is no shelf on which other robots perform warehouse operations, or there is no shelf on which other robots perform pick-and-place operations, that is, each shelf. There is only one robot to perform the operation at the same time, so that the operations of the robots can be prevented from conflicting with each other.

In this embodiment, when the warehouse management device determines the first target shelf according to the distance between the target robot and the shelf, the distance between the warehouse management device and the target robot may be smaller than the first preset distance threshold, and there is no other than the target robot. The shelf on which the robot performs operations is the first target shelf. Therefore, by limiting the distance to less than the first preset distance threshold, the problem that the target robot takes too long to go to the first target shelf can be avoided, so as to shorten the moving time of the target robot and improve the rationale. library efficiency.

In addition, there is only one robot in each shelf to perform operations at the same time, which can also avoid the overlapping of the working areas of different robots, so as to avoid the conflicting effects of the robots' operations.

In some embodiments, determining the first target rack from the plurality of racks according to the priority of the racking library and the distance between the target robot and the rack includes: determining that the distance to the target robot is less than a second preset distance threshold, and A shelf where the priority of the shelf management library is greater than the preset priority threshold value and there is no other robot except the target robot to perform operations is the first target shelf.

In this embodiment, when the warehouse management device determines the first target rack, it can simultaneously determine the first target rack in combination with the distance between the rack and the target robot, the priority of rack management, and the rack operations of other robots, so that the first target rack is The determination result is more scientific and reasonable.

In some embodiments, controlling the target robot to perform a library operation on the first target shelf includes:

Based on the stored goods on the first target shelf, determine the warehouse management strategy corresponding to the first target shelf;

According to the library strategy, control the target robot to perform library operations.

Specifically, based on the stored goods on the first target shelf, the specific implementation manner of determining the warehouse management strategy corresponding to the first target shelf can be various, for example, it can be returned by the robot for the stored goods on the first target shelf. The detection information of the stored goods determines the goods that need to be sorted, and then determines the warehouse management strategy. The warehouse management strategy of the space, or it can be determined according to the correspondence between the heat of the stored goods and the storage area, or it can be determined according to the size of the stored goods. How to place goods with the same size in the stored goods. There are no restrictions on the management strategy, etc., together.

Specifically, when the warehouse management device controls the target robot to perform the warehouse sorting operation on the first target shelf, it can first obtain the information of the stored goods on the first target shelf, and determine the warehouse sorting strategy corresponding to the first target shelf, and then according to The library management strategy controls the target robot to perform the library management operation, thereby helping to improve the library management efficiency.

In some embodiments, determining a warehouse management strategy corresponding to the first target rack based on the stored goods on the first target rack includes: according to the goods heat, goods interval and preset safety distance of the stored goods on the first target rack One or more of the items, determine a library strategy for sorting the stored goods on the first target shelf, wherein the goods heat represents the frequency with which the stored goods are taken out.

The preset safety distance may be determined according to the type or size of the handling device of the robot. For a handling device including suction cups, the preset safety distance may be very small, such as 3 cm, or even ignored; For a handling device with a telescopic arm, the preset safety distance should be at least the width of the telescopic arm; for a handling device including a robotic arm or a robotic arm, the preset safety distance should be at least the grasping or hooking of the robotic arm. section width.

Specifically, the goods with high heat can be arranged from the first target shelf to the shelves in the area with high heat, or to the position that is convenient for the robot to take out. For example, in the two-dimensional configuration, the goods with high heat can be placed on each shelf The outermost layer of the first layer of shelves, the outermost layer is not blocked by other goods, so it is easy to take out.

Specifically, when determining the warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf, the warehouse management device may determine the warehouse management strategy according to the goods heat, goods interval and preset safety distance of the stored goods on the first target shelf One or more of the warehouse management strategy is determined. For example, the warehouse management strategy can be determined only according to any one of the cargo heat, the cargo interval and the preset safety distance of the stored goods, or at least a combination of the two. Therefore, the library management strategy can be made more scientific and reasonable, which is helpful to improve the efficiency of the library management.

In some embodiments, the first target shelf is a shelf that is stored in a one-dimensional configuration, and based on the stored goods on the first target shelf, determining a warehouse management strategy corresponding to the first target shelf includes: The cargo spacing of the stored goods and the preset safety spacing determine the warehouse management strategy corresponding to the first target shelf.

Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration, the warehouse management device can determine the warehouse corresponding to the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance Strategy.

Among them, the cargo spacing of the stored cargo is the spacing between two adjacent cargoes.

In this embodiment, the warehouse management device can determine the warehouse management strategy corresponding to the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance, so that the warehouse management strategy can be made more scientific and reasonable, which is helpful for To improve library efficiency.

In some embodiments, the first target shelf is a shelf that is stored in a two-dimensional configuration, and based on the stored goods on the first target shelf, determining a warehouse management strategy corresponding to the first target shelf includes: The goods heat of the stored goods is used to determine the warehouse management strategy corresponding to the first target shelf, so that the goods with the goods heat higher than the preset heat are placed in the first row of each floor of the first target shelf.

Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration, the warehouse management device can determine the warehouse management strategy corresponding to the first target shelf according to the heat of the goods stored on the first target shelf, so that the goods Goods whose heat is higher than the preset heat are placed in the outermost row of each layer of the first target rack.

Among them, the heat of the goods represents the frequency that the stored goods are taken out, and the heat of the goods is higher than the preset heat, which means that the goods are taken out more frequently. Therefore, the goods can be considered as hot goods, so the goods can be placed in the first place. The outermost row of each layer of the target shelf, thus making it easier for the robot to pick up the goods.

In some embodiments, the warehouse management strategy includes: adjusting the storage positions of the stored goods, so that the distance between the goods is a preset safe distance. Therefore, on the premise that the robot can pick up the goods normally, the distance between the goods can be shortened as much as possible, so that more goods can be placed.

In some embodiments, the inventory management strategy includes: adjusting the storage positions of the stored goods, so that the storage positions of the goods with the same size or the size difference within a preset range are adjacent to each other. Therefore, by arranging the goods with the same or similar size adjacent to each other, the goods can be arranged more reasonably, so that the positions of the goods are more standardized and reasonable.

In some embodiments, the inventory management strategy includes: in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is inversely proportional to the size of the goods. Specifically, when sorting out the warehouse, firstly adjust the position of the small-sized goods. For the larger-sized goods, try not to adjust the position or adjust the position as little as possible, so as to reduce the workload of the robot and improve the efficiency of the warehouse. .

In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots; when the target robot is a multi-storage unit robot , the target robot includes at least one multi-storage unit robot.

Specifically, if the target robot is a single-fork robot, at least two single-fork robots are allocated as a group, the target robot includes at least one group of single-fork robots, and the single-fork robots in each group cooperate with each other to complete the library. Work.

For example, if the goods to be sorted are on the inner side of the shelf and are blocked by obstacles, single-fork robot A is required to remove the obstacles, and single-fork robot B takes out the goods to be sorted for sorting.

If the target robot is a multi-storage-unit robot (for example, a multi-storage-unit robot), since a single multi-storage-unit robot can complete the library work alone, there is no need to group robots, and a single multi-storage-unit robot can be directly assigned to handle the library.

In some embodiments, it also includes:

Check whether the library conditions are met;

When it is determined that the library condition is satisfied, the step of determining the target robot that can perform the library task is started.

Specifically, the warehouse sorting conditions for performing the warehouse sorting operation can be preset, and when the warehouse management device detects that the current warehouse sorting conditions are satisfied, it starts to execute the steps of the goods sorting method, thereby performing the warehouse sorting.

For example, it can be set to perform the database management task every time T. After completing the database management task for the first time, the warehouse management device starts timing. When the accumulated time reaches the time T, the warehouse management device starts to perform the next database management task. And so on.

In this embodiment, by setting the warehouse management condition, when the warehouse management device determines that the warehouse management condition is satisfied, it automatically starts to execute the warehouse management task, so that the automatic warehouse management of the storage system can be realized.

In some embodiments, the method further includes: assigning a picking and placing task to the target robot that is performing the warehouse handling operation, and controlling the target robot to stop performing the warehouse handling operation, and perform the picking and placing task.

Specifically, if the warehouse management device currently receives a new task of picking and placing goods, and there is no idle robot, that is, all robots are currently performing tasks. At this time, the warehouse management device can assign the task of picking and placing goods to those currently executing the task. The target robot of the warehouse operation controls the target robot to stop performing the warehouse operation and perform the task of picking and placing goods, thereby ensuring the normal progress of the task of picking and placing goods.

In some embodiments, the method further includes: when it is detected that the area where the target robot performs the stocking operation on the first target shelf has an overlapping area with the area where the second robot performs the picking and placing task, determining that it is different from the first target shelf the second target shelf, and control the target robot to perform the library operation on the second target shelf.

Specifically, if the warehouse management device detects the area where the target robot performs the warehouse-arranging operation on the first target shelf, there is an overlapping area with the area where the second robot performs the picking and placing task. For example, the area where the target robot performs the warehouse-arranging operation is the same as The area where the second robot performs the task of picking and placing goods is the same, or the second robot needs to pass through the area where the target robot performs the warehouse operation when performing the task of picking and placing goods, then it means that the target robot and the second robot have conflicting work areas, and the target robot is in During the warehouse handling operation, it may affect the second robot's task of picking up and placing goods, for example, blocking its travel route.

In this embodiment, if it is detected that the area where the target robot performs warehouse operations on the first target rack and the area where the second robot performs picking and placing tasks has an overlapping area, the warehouse management device re-assigns a new second target to the target robot Shelf, and control the target robot to perform warehouse operations on the second target shelf, so as to avoid the impact of the target robot on the second robot's picking and placing tasks, thereby improving the picking and placing efficiency of the storage system.

FIG. 5 is a flowchart of a method for sorting goods provided by an embodiment of the present application. As shown in FIG. 5 , the method for sorting goods may be executed by a robot of a storage system. The cargo arrangement method provided by this embodiment includes the following steps:

S210. Receive a first control instruction sent by the warehouse management device, where the first control instruction is that the warehouse management device determines the target robot that can perform the warehouse management task, and determines the first target rack of the target robot to perform the warehouse management operation according to the state attribute of the target robot. After that, send it to the target robot, wherein the storage space of each item on the first target shelf is determined according to the size information of the item and the dynamic item storage space on the shelf;

S220. According to the first control instruction, perform a library management operation on the first target shelf.

In some embodiments, the first control instruction includes an inventory management strategy corresponding to the first target rack determined by the warehouse management device based on the stored goods on the first target rack.

According to the first control instruction, performing a library management operation on the first target rack includes: performing a library management operation on the first target rack according to a library management strategy corresponding to the first target rack in the first control instruction.

In some embodiments, according to the first control instruction, performing a library operation on the first target shelf includes:

Specifically, the first control instruction may also only contain relevant information of the first target rack, such as position information, etc. After the robot moves to the corresponding position of the first target rack according to the first control instruction, the robot may formulate a library management strategy by itself , thereby helping to reduce the work pressure of warehouse management equipment.

It can be understood that the robot itself can be equipped with a processor, and the processor can determine the warehouse management strategy according to the stored goods on the shelf. Specifically, the robot can obtain inspection information of the stored goods, such as size and location, through sensors (for example, laser sensors, ultrasonic sensors, infrared sensors, 2D cameras, 3D cameras, etc.), and then judge according to the inspection information of the goods. Whether there is a problem item among the stocked items on the shelf. Wherein, the distance information of the problem cargo may be greater than its corresponding preset safety distance. For each adjacent cargo, if the distance information of at least one adjacent cargo is greater than the corresponding preset safety distance, the adjacent cargo is determined to be a problem cargo, and a warehouse management strategy is determined according to the situation of the problem cargo.

Optionally, the inspection information includes the distance information and the posture of the adjacent goods, and according to the inspection information of the at least one adjacent goods, judging whether there is a problem goods in the at least one adjacent goods, including: obtaining the preset safety distance and the pre-set safety distance of each adjacent goods. Set the pose; for each adjacent cargo, when the inspection information of the adjacent cargo satisfies any of the following conditions, determine the adjacent cargo as the problem cargo: the distance information of the adjacent cargo is greater than the preset safety distance of the adjacent cargo; The cargo pose is inconsistent with the preset pose, and then the library strategy is determined according to the situation of the problem cargo.

Exemplarily, FIG. 6 is a schematic diagram of a storage situation of a problem goods in the embodiment of the application. As shown in FIG. 6 , goods 51 , goods 52 , goods 53 and goods 54 are stored on the shelf 50 . However, since the position and posture of the cargo 52 adjacent to the left of the cargo 53 is wrong, that is, the cargo 52 is deflected, so the problem cargo is the cargo 52, so the determined warehouse management strategy is to adjust the placement posture of the cargo 52, and then according to the adjusted and the space between the cargo 51, the cargo 52, the cargo 53 and the cargo 54, adjust the debris space between the cargo 51, the cargo 52, the cargo 53, and the cargo 54.

Exemplarily, FIG. 7 is a schematic diagram of another storage situation of problematic goods in the embodiment of the application. As shown in FIG. 7 , goods 61 , goods 62 , goods 63 , and goods 64 are stored on the shelf 60 . However, due to the wrong storage position of the left side of the goods 63 adjacent to the goods 62, that is, the goods 62 have shifted in translation and deviate from the original position 66, resulting in an excessively large distance between the goods 62 and the goods 61, while the distance with the goods 63 is too large. Therefore, the problem goods are goods 62, so the determined inventory management strategy can be various, for example, it can be to adjust the problem goods 62, and then according to the adjusted goods 62, and goods 61, goods 62, goods 63 and goods 64, adjust the debris space between the cargo 61, the cargo 62, the cargo 63 and the cargo 64, or directly adjust the cargo 61 to reduce the larger debris space caused by the placement problem of the problematic cargo 62.

After determining the problem goods, the robot can adjust the storage position of the goods according to the problem goods. For example, it can adjust the posture of the goods so that the posture of the goods is consistent with the preset posture; or, the goods can also be stored. Adjust the position to make the storage position of the goods more scientific and reasonable; alternatively, the robot can adjust the pose and storage position of the goods at the same time to obtain a larger unoccupied space.

Exemplarily, FIG. 8 is a schematic diagram of the storage situation of goods on the shelf after the warehouse is sorted according to the embodiment of the application. As shown in FIG. 8 , the shelf 510 includes goods 511 to 521. A larger unoccupied space 522 is obtained. Then, when the subsequent robot performs picking and placing tasks, the unoccupied space 522 can be used to place other goods, so that the unoccupied space 522 can be reasonably utilized.

In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: according to one or more of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf , and determine a warehouse-arranging strategy for sorting the stored goods on the first target shelf, wherein the goods heat represents the frequency of taking out the stored goods.

Specifically, when the warehouse management device or robot determines the warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf, it can determine the warehouse management strategy corresponding to the first target shelf according to the goods heat, goods interval and preset value of the stored goods on the first target shelf. One or more of the safety distances are used to determine the warehouse management strategy. For example, the warehouse management can be determined only according to any one of the cargo heat of the stored goods, the cargo spacing, and the preset safety distance, or at least a combination of the two. Therefore, the library management strategy can be made more scientific and reasonable, which helps to improve the efficiency of the library management.

In some embodiments, the first target rack is a rack that is stored in a one-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target rack includes the following steps: according to the distance between goods stored on the first target rack and the Preset the safety distance, and determine the warehouse management strategy corresponding to the first target shelf.

Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration, the warehouse management device or robot can determine the corresponding shelf of the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance. Library strategy.

The preset safety distance can be determined according to the type or size of the handling device of the robot. For a handling device including suction cups, the preset safety distance can be very small, such as 3cm, or even negligible; for a handling device including the left and right telescopic arms For a handling device, the preset safety distance should be at least the width of the telescopic arm; for a handling device including a robotic arm or a robotic arm, the preset safety distance should be at least the grasping or hooking part of the robotic arm. width.

In this embodiment, the warehouse management device or robot can determine the warehouse management strategy corresponding to the first target shelf according to the distance between the goods stored on the first target shelf and the preset safety distance, so that the warehouse management strategy can be more scientific and reasonable. Helps improve library efficiency.

In some embodiments, the first target shelf is a shelf that is stored in a two-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: according to the heat of goods stored on the first target shelf, A warehouse management strategy corresponding to the first target shelf is determined, so that the goods with the heat of the goods higher than the preset heat are placed in the first row of each layer of the first target shelf.

Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration, the warehouse management device or robot may determine the warehouse management strategy corresponding to the first target shelf according to the heat of the goods stored on the first target shelf, so as to The goods whose temperature is higher than the preset temperature are placed in the outermost row of each layer of the first target rack.

In some embodiments, adjusting the storage positions of the stored goods so that the distance between the goods is a preset safe distance includes: determining reference point information of the stored goods; adjusting the storage positions of the stored goods according to the reference point information, Make the distance between the goods the preset safety distance.

In some embodiments, the reference points include one or more of the following: uprights of the first target rack, marking points of the first target rack, one or more items placed adjacent to the stored items.

where the reference point is a set point with a known position on the shelf. The number of reference points can be one or more, which needs to be determined according to the location of the stored goods. The marking point may be a position point on which a preset marker is attached, and the preset marker may be a two-dimensional code, a circular code, a barcode, an RFID (Radio Frequency Identification, radio frequency identification) label, etc., or a magnetic nail.

Exemplarily, an image of each reference point may be captured by a vision sensor of the robot, and then the image may be recognized based on an image recognition algorithm, so as to determine the position information corresponding to the reference point according to the recognition result.

Specifically, the storage position of the stored goods is adjusted according to the reference point information, and the adjusted position is closer to the reference point than the position before adjustment.

Exemplarily, in order to improve the space utilization rate of the shelf, the stored goods can be adjusted to the end of the space close to the reference point, such as the end of the shelf column, so that the end away from the reference point can reserve more space for storage. other goods.

Specifically, when the robot adjusts the storage position of the stored goods, it first identifies the stored goods to determine the reference point information of the stored goods, and then adjusts the storage position of the stored goods according to the reference point information, so that the goods are The distance between them is a preset safe distance, so that the distance between the goods can be shortened as much as possible on the premise that the robot can pick up the goods normally, so that more goods can be placed.

In some embodiments, it also includes:

According to the second control instruction, the execution of the warehouse sorting operation is stopped, and the task of picking and placing goods is executed.

In some embodiments, it also includes:

Receive a third control command sent by the warehouse management device, where the third control command is that the warehouse management device detects that there is an overlapping area in the area where the target robot performs the warehouse operation on the first target shelf and the area where the second robot performs the picking and placing task. After determining the second target rack different from the first target rack, the third control instruction sent to the target robot includes the information of the second target rack;

According to the third control instruction, the library management operation is performed on the second target rack.

Specifically, if the warehouse management device detects that the area where the target robot performs warehouse operations on the first target rack has an overlapping area with the area where the second robot performs picking and placing tasks, it means that the target robot and the second robot have working areas. Conflict, when the target robot performs warehouse operations, it may affect the second robot's execution of the task of picking up and placing goods, for example, blocking its travel route.

In this embodiment, if it is detected that the area where the target robot performs warehouse operations on the first target rack and the area where the second robot performs picking and placing tasks has an overlapping area, the warehouse management device re-assigns a new second target to the target robot Shelf, and control the target robot to perform warehouse operations on the second target shelf, so as to prevent the target robot from affecting the second robot's picking and placing tasks, thereby improving the picking and placing efficiency of the storage system.

In some embodiments, a cargo sorting device is provided, and the cargo sorting device can be applied to warehouse management equipment. FIG. 9 is a schematic structural diagram of the cargo sorting device provided by an embodiment of the application. As shown in FIG. 9 , the cargo sorting device The device includes:

a robot determination module 910, configured to determine a target robot that can perform the library task;

The rack determination module 920 is configured to determine, according to the state attribute of the target robot, a first target rack on which the target robot performs the warehouse management operation, wherein the storage space of each item on the first target rack is determined according to the item The size information and dynamic cargo storage space on the shelf are determined;

The library control module 930 is configured to control the target robot to perform a library operation on the first target rack.

In some embodiments, the robot determination module 910 is specifically configured to: determine that the first robot currently in an idle state is the target robot; and/or determine that a picking and placing task is currently being performed and the duration of the picking and placing task is performed. The second robot in the allocated time period is the target robot.

In some embodiments, the target robot is the second robot, and the shelf determination module 920 specifically uses the first target shelf for the target robot to perform the library operation according to the state attribute of the target robot. In: determining that the shelf corresponding to the picking and placing task is the first target shelf on which the target robot performs the warehouse sorting operation.

In some embodiments, the target robot is the first robot or the second robot, and the rack determination module 920 is specifically configured to: determine the first target rack from a plurality of racks according to a rack storage priority ; or, according to the distance between the target robot and the shelf, determine the first target shelf from the plurality of shelves; or, according to the shelf management priority and the distance between the target robot and the shelf, from the multiple shelves The first target rack is determined from among the racks.

In some embodiments, the rack determination module 920 is further configured to: determine the rack storage corresponding to each of the multiple racks according to one or more of the priority of the rack area, the rack occupancy rate, and the rack storage interval Priority; wherein, the priority of the shelf area is the priority of the area where the shelf is located, the priority of the shelf area is proportional to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is proportional to the sorting frequency of the shelf. ; the shelf occupancy is the ratio of the total length of the debris space on the shelf to the total length of the goods, the total length of the debris space is the sum of the length of the debris space on the shelf, and the length of the debris space is the adjacent first goods and the first The interval length between two goods, and the interval length is less than a preset value, the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy rate and the shelf storage priority A proportional relationship; the shelf storage interval is the time interval between the time node when the last storage management operation is performed on the shelf and the current moment.

In some embodiments, the rack determination module 920 is specifically configured to: calculate the rack storage priority corresponding to each shelf by the following formula according to the rack area priority, the rack occupancy rate, and the rack storage interval:

Q _i =O _i ×a+P _i ×b+T _i ×c

In some embodiments, the rack determination module 920 is specifically configured to: determine that the rack whose distance from the target robot is less than a first preset distance threshold and there is no robot other than the target robot performing operations is the said rack First Target Shelf.

In some embodiments, the rack determination module 920 is specifically configured to: determine that the distance to the target robot is less than a second preset distance threshold, and the priority of rack storage is greater than a preset priority threshold, and there is no removal of the target The rack on which the robot other than the robot performs operations is the first target rack.

In some embodiments, the warehouse management control module 930 is specifically configured to: determine the warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf; and control all the warehouse management strategies according to the warehouse management strategy. Describe the target robot to perform the library operation.

In some embodiments, the library control module 930 is specifically configured to: determine whether the first target shelf is to be stored according to one or more of the goods heat, the goods interval and the preset safety distance of the goods stored on the first target shelf. A strategy for sorting out the stored goods on the target shelf, wherein the goods heat represents the frequency of the stored goods being taken out.

In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the library control module 930 is specifically configured to: according to the distance between goods stored on the first target shelf and the preset safety distance , and determine the library strategy corresponding to the first target shelf.

In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the library control module 930 is specifically configured to: determine the first target shelf according to the goods heat of the goods stored on the first target shelf A stock-arranging strategy corresponding to a target rack, so that goods with a temperature higher than a preset temperature are placed in the first row of each layer of the first target rack.

In some embodiments, the warehouse management strategy includes at least one of the following: adjusting the storage positions of the stored goods so that the distance between the goods is a preset safe distance; adjusting the storage positions of the stored goods, In order to make the storage positions of the goods with the same size or the size difference within a preset range adjacent to each other; in the process of adjusting the storage positions of the stored goods, the position adjustment priority of the goods is inversely proportional to the size of the goods.

In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots; when the target robot When the robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

In some embodiments, the method further includes: a processing module configured to detect whether the library management condition is satisfied; when it is determined that the library management condition is satisfied, start executing the step of determining the target robot that can perform the library management task.

In some embodiments, the processing module is further configured to assign a picking and placing task to a target robot that is performing a warehouse handling operation, control the target robot to stop performing the warehouse handling operation, and execute the picking and placing task.

In some embodiments, the processing module is further configured to: when it is detected that the area where the target robot performs the warehouse sorting operation on the first target shelf has an overlapping area with the area where the second robot performs the picking and placing task, A second target rack different from the first target rack is determined, and the target robot is controlled to perform a library operation on the second target rack.

For the specific limitation of the cargo sorting device, please refer to the above definition of the cargo sorting method applied to the warehouse management equipment, and the corresponding functional modules and beneficial effects of the execution method will not be repeated here. Each module in the above-mentioned cargo sorting device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In some embodiments, a cargo sorting device is provided, and the cargo sorting device can be applied to a robot. FIG. 10 is a schematic structural diagram of the cargo sorting device provided in an embodiment of the application. As shown in FIG. 10 , the cargo sorting device includes :

The receiving module 1010 is configured to receive a first control instruction sent by the warehouse management equipment, where the first control instruction is that the warehouse management equipment determines the target robot that can perform the library task, and determines the target robot according to the state attribute of the target robot. It is sent to the target robot after the target robot executes the first target rack of the warehouse operation, wherein the storage space of each item on the first target rack is based on the size information of the goods and the dynamics on the rack. The cargo storage space is determined;

The library management module 1020 is configured to perform a library management operation on the first target shelf according to the first control instruction.

The library management module 1020 is specifically configured to: perform a library management operation on the first target rack according to the library management strategy corresponding to the first target rack in the first control instruction.

In some embodiments, the warehouse management module 1020 is specifically configured to: determine a warehouse management strategy corresponding to the first target shelf based on the stored goods on the first target shelf; The library strategy is to perform a library management operation on the first target shelf.

In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: according to one of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf Item or items, determine a library strategy for sorting the stored goods on the first target shelf, wherein the goods heat represents the frequency with which the stored goods are taken out.

In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the process of determining a library strategy corresponding to the first target shelf includes the following steps: The distance between the goods for storing the goods and the preset safety distance are used to determine the warehouse management strategy corresponding to the first target rack.

In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: The goods heat of the stored goods is determined, and the warehouse management strategy corresponding to the first target shelf is determined, so that the goods with the goods heat higher than the preset heat are placed in the first row of each floor of the first target shelf.

In some embodiments, the warehouse management strategy includes at least one of the following: adjusting the storage positions of the stored goods so that the distance between the goods is a preset safe distance; adjusting the storage positions of the stored goods so that The storage positions of the goods with the same size or the size difference within the preset range are adjacent to each other; in the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is inversely proportional to the size of the goods.

In some embodiments, the library management module 1020 is specifically configured to: determine the reference point information of the stored goods; adjust the storage position of the stored goods according to the reference point information, so that the distance between the goods is a preset safe distance spacing.

In some embodiments, the method further includes: a receiving module, configured to receive a second control instruction sent by the warehouse management device, where the second control instruction includes a task of picking and placing goods; stopping the execution of the warehouse management operation according to the second control instruction, and execute the pick-and-place task.

In some embodiments, the receiving module is further configured to: receive a third control instruction sent by the warehouse management device, where the third control instruction is that the warehouse management device detects that the target robot executes on the first target shelf When there is an overlapping area between the area where the warehouse is operated and the area where the second robot performs the pick-and-place task, after determining the second target shelf different from the first target shelf, it is sent to the target robot, and the third target shelf is sent to the target robot. The control instruction includes the information of the second target rack; according to the third control instruction, a library management operation is performed on the second target rack.

For the specific limitations of the cargo sorting device, please refer to the above definition of the cargo sorting method applied to the robot, and the corresponding functional modules and beneficial effects of the execution method will not be repeated here. Each module in the above-mentioned cargo sorting device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

FIG. 11 is a schematic structural diagram of a robot provided by an embodiment of the present application. As shown in FIG. 11 , the robot includes: a memory 1110 , a processor 1120 and a computer program.

The computer program is stored in the memory 1110 and is configured to be executed by the processor 1120 to implement the method for sorting goods applied to a robot provided by any embodiment of the present application.

The memory 1110 and the processor 1120 are connected through a bus 1130 .

Of course, the robot also includes handling devices, sensors and moving devices. The handling device may be a fork, a robotic arm, etc., for picking up and/or storing goods. The sensor can be disposed on the robot body of the robot, and can also be disposed on the conveying device, and the sensor can include one or more of a laser sensor, an ultrasonic sensor, an infrared sensor, a 2D camera, a 3D camera, and the like.

Further, the robot may further include a storage unit for storing goods.

Optionally, the robot includes a mobile chassis, a handling device, a storage shelf and a lifting assembly; the storage shelf, the handling device and the lifting assembly are mounted on the mobile chassis.

Optionally, the handling device includes one or more of the following: a telescopic arm assembly, a suction cup and a mechanical arm.

Optionally, the handling device includes a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.

FIG. 12 is a schematic structural diagram of a warehouse management device provided by an embodiment of the present application. As shown in FIG. 12 , the robot includes: a memory 1210 , a processor 1220 and a computer program.

Wherein, the computer program is stored in the memory 1210 and configured to be executed by the processor 1220 to implement the method for sorting goods provided in any embodiment of the present application and applied to a warehouse management device.

FIG. 13 is a schematic structural diagram of a storage system provided by an embodiment of the application. As shown in FIG. 9 , the storage system includes a robot 1310 , a warehouse management device 1320 and a shelf 1330 .

Among them, the robot 1310 is the robot provided by the embodiment shown in FIG. 11 of the application, the shelf 1330 is used to store goods; the warehouse management device 1320 is used to generate a pick-and-place instruction and a warehouse-arranging instruction, so that the robot 1310 is based on the pick-and-place instruction and the management instruction. The library instructions perform the corresponding operations.

In some embodiments, a computer-readable storage medium is provided, and computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the above-mentioned cargo sorting method is implemented.

In the several embodiments provided in this application, 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 application may be integrated into one processing unit, or each module may exist physically alone, or two or more modules may be integrated into 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 application. 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 convenience of representation, the buses in the drawings of the present application 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 foregoing 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 application, but not to limit them; although the present application 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 application. scope.

Claims

A cargo arrangement method, applied to warehouse management equipment, is characterized in that, comprising:

Determine the target robot that can perform the library task;

The first target rack for the target robot to perform the library operation is determined according to the state attribute of the target robot, wherein the storage space of each item on the first target rack is determined according to the size information of the item and the storage space on the rack. The dynamic cargo storage space is determined;

The target robot is controlled to perform a library operation on the first target shelf.
The method according to claim 1, wherein the determining of a target robot that can perform a library task comprises:

determining that the first robot currently in an idle state is the target robot; and/or,

It is determined that a second robot that is currently performing a picking and placing task and whose execution duration of the picking and placing task is shorter than the assigned duration is the target robot.
The method according to claim 2, wherein the determining, according to the state attribute of the target robot, the first target rack on which the target robot performs the library operation comprises:

When the target robot is the second robot, it is determined that the shelf corresponding to the picking and placing task is the first target shelf on which the target robot performs the warehouse sorting operation.
The method according to claim 2, wherein the determining, according to the state attribute of the target robot, the first target rack on which the target robot performs the library operation comprises:

When the target robot is the first robot or the second robot, the first target rack is determined from a plurality of racks according to the rack storage priority; or,

According to the distance between the target robot and the shelf, the first target shelf is determined from the plurality of shelves; or,

The first target rack is determined from the plurality of racks according to the rack storage priority and the distance between the target robot and the rack.
The method of claim 4, further comprising:

According to one or more of a shelf area priority, a shelf occupancy rate, and a shelf storage interval, determine a shelf storage priority corresponding to each shelf in the plurality of shelves;

Wherein, the priority of the shelf area is the priority of the area where the shelf is located, the priority of the shelf area is proportional to the heat of the area where the shelf is located, and the heat of the area where the shelf is located is proportional to the sorting frequency of the shelf;

The shelf occupancy is the ratio of the total length of the debris space on the shelf to the total length of the goods, the total length of the debris space is the sum of the length of the debris space on the shelf, and the length of the debris space is the adjacent first goods and second goods. The interval length between goods, and the interval length is less than the preset value, the total length of the goods is the sum of the lengths of the goods stored on the shelf, wherein the shelf occupancy rate is related to the shelf storage priority. proportional relationship;

The shelf storage interval is the time interval between the time node when the last storage management operation is performed on the shelf and the current moment.
The method according to claim 5, characterized in that, determining the shelf layout corresponding to each shelf in the plurality of shelves according to one or more of shelf area priority, shelf occupancy rate, and shelf layout interval. Library priorities, including:

According to the shelf area priority, the shelf occupancy rate and the shelf storage interval, the shelf storage priority corresponding to each shelf is calculated by the following formula:

Q i =O i ×a+P i ×b+T i ×c

Among them, Qi is the shelf storage priority of the ith shelf, i=1,2,3...N, N is the total number of shelves; O i is the shelf occupancy rate of the ith shelf; Pi is the ith shelf The shelf area priority of each shelf; T i is the shelf storage interval of the ith shelf; a is the weight coefficient corresponding to the shelf occupancy rate, b is the weight coefficient corresponding to the shelf area priority, and c is the shelf storage interval corresponding to weight factor.
The method according to claim 4, wherein the determining the first target shelf from the plurality of shelves according to the distance between the target robot and the shelf comprises:

It is determined that a shelf whose distance from the target robot is less than a first preset distance threshold and there is no robot other than the target robot performing operations is the first target shelf.
The method according to claim 4, wherein the determining the first target rack from the plurality of racks according to a rack storage priority and a distance between the target robot and the rack, comprising:

It is determined that the distance from the target robot is less than the second preset distance threshold, and the shelf storage priority is greater than the preset priority threshold, and there is no shelf other than the target robot to perform operations. A target shelf.
The method according to any one of claims 1-8, wherein the controlling the target robot to perform a library operation on the first target shelf comprises:

Based on the stored goods on the first target shelf, determine a warehouse management strategy corresponding to the first target shelf;

According to the library management strategy, the target robot is controlled to perform library management operations.
The method according to claim 9, wherein the determining, based on the stored goods on the first target rack, the inventory management strategy corresponding to the first target rack comprises:

According to one or more of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf, determine a warehouse management strategy for sorting the stored goods on the first target shelf, Wherein, the heat of the goods represents the frequency with which the stored goods are taken out.
The method according to claim 9 or 10, wherein the first target rack is a rack stored in a one-dimensional configuration, and the determination of the first target rack is based on the stored goods on the first target rack. A library strategy corresponding to a target shelf, including:

According to the distance between the goods stored on the first target shelf and the preset safety distance, the warehouse management strategy corresponding to the first target shelf is determined.
The method according to claim 9 or 10, wherein the first target shelf is a shelf stored in a two-dimensional configuration, and the determination of the first target shelf is based on the stored goods on the first target shelf. A library strategy corresponding to a target shelf, including:

According to the goods heat of the stored goods on the first target shelf, determine the warehouse management strategy corresponding to the first target shelf, so that the goods with the goods heat higher than the preset heat are placed on each floor of the first target shelf. The first row, the first row is the outermost row of each shelf.
The method according to any one of claims 9-12, wherein the library management strategy includes at least one of the following:

Adjust the storage position of the stored goods so that the distance between the goods is a preset safety distance;

Adjusting the storage positions of the stored goods, so that the storage positions of the goods with the same size or the size difference within a preset range are adjacent to each other;

In the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods.
The method according to any one of claims 1-13, wherein,

When the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots;

When the target robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.
The method according to any one of claims 1-14, further comprising:

Check whether the library conditions are met;

When it is determined that the library management condition is satisfied, the step of determining the target robot that can perform the library management task is started.
The method according to any one of claims 1-15, further comprising:

Allocate the picking and placing task to the target robot that is performing the warehouse sorting operation, control the target robot to stop performing the warehouse sorting operation, and execute the picking and placing task.
The method according to any one of claims 1-16, further comprising:

When it is detected that the area where the target robot performs the warehouse-arranging operation on the first target rack has an overlapping area with the area where the second robot performs the picking and placing task, determine a second target rack different from the first target rack A target shelf, controlling the target robot to perform a library operation on the second target shelf.
A cargo sorting method, applied to a robot, is characterized in that, comprising:

Receive a first control instruction sent by the warehouse management device, where the first control instruction is that the warehouse management device is determining a target robot that can perform a library management task, and determining that the target robot can perform a library management task according to the state attribute of the target robot. After the first target shelf is operated, it is sent to the target robot, wherein the storage space of each goods on the first target shelf is determined according to the size information of the goods and the dynamic goods storage space on the shelf;

According to the first control instruction, a library operation is performed on the first target rack.
The method according to claim 18, wherein the first control instruction comprises a warehouse management device corresponding to the first target rack determined by the warehouse management device based on the stored goods on the first target rack;

According to the first control instruction, performing a library management operation on the first target shelf includes:

According to the inventory management strategy corresponding to the first target shelf in the first control instruction, the inventory management operation is performed on the first target shelf.
The method according to claim 18, wherein the performing a library operation on the first target shelf according to the first control instruction comprises:

Based on the stored goods on the first target shelf, determine a warehouse management strategy corresponding to the first target shelf;

According to the inventory management strategy corresponding to the first target shelf, the inventory management operation is performed on the first target shelf.
The method according to claim 19 or 20, wherein the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps:

According to one or more of the goods heat, goods interval and preset safety distance of the goods stored on the first target shelf, determine a warehouse management strategy for sorting the stored goods on the first target shelf, Wherein, the heat of the goods represents the frequency with which the stored goods are taken out.
The method according to any one of claims 19 to 21, wherein the first target shelf is a shelf stored in a one-dimensional configuration, and the process of determining a library management strategy corresponding to the first target shelf includes the following steps: The following steps:

A warehouse management strategy corresponding to the first target rack is determined according to the distance between the goods stored on the first target rack and the preset safety distance.
The method according to any one of claims 19 to 21, wherein the first target shelf is a shelf stored in a two-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target shelf includes: The following steps:

According to the goods heat of the stored goods on the first target shelf, determine the warehouse management strategy corresponding to the first target shelf, so that the goods with the goods heat higher than the preset heat are placed on each floor of the first target shelf. The first row, the first row is the outermost row of each shelf.
The method according to any one of claims 19-23, wherein the library management strategy includes at least one of the following:

Adjust the storage position of the stored goods so that the distance between the goods is the preset safe distance;

Adjusting the storage positions of the stored goods, so that the storage positions of the goods with the same size or the size difference within a preset range are adjacent to each other;

In the process of adjusting the storage position of the stored goods, the position adjustment priority of the goods is in inverse proportion to the size of the goods.
The method according to claim 24, wherein the adjusting the storage position of the stored goods so that the distance between the goods is a preset safety distance, comprising:

determining the datum point information of said stored goods;

The storage position of the stored goods is adjusted according to the reference point information, so that the distance between the goods is a preset safety distance.
The method according to claim 25, wherein the reference point comprises one or more of the following: a column of the first target rack, a marking point of the first target rack, placed adjacent to the stored goods one or more items at a location.
The method according to any one of claims 18-26, further comprising:

receiving a second control instruction sent by the warehouse management device, where the second control instruction includes a task of picking and placing goods;

According to the second control instruction, the execution of the warehouse sorting operation is stopped, and the picking and placing task is executed.
The method according to any one of claims 18-27, further comprising:

Receive a third control command sent by the warehouse management device, where the third control command is that the warehouse management device performs pick and place with the second robot in the area where the warehouse management device detects that the target robot performs a library operation on the first target shelf When there is an overlapping area in the area of the cargo task, after determining a second target rack different from the first target rack, and sent to the target robot, the third control instruction includes the information of the second target rack;

According to the third control instruction, a library operation is performed on the second target shelf.
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-implemented instructions stored in the memory to cause the at least one processor to perform the cargo sorting method of any one of claims 1-17.
A robot, comprising: a memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes computer-implemented instructions stored in the memory to cause the at least one processor to perform the method of sorting goods of any of claims 18-28.
The robot according to claim 30, wherein the robot comprises a mobile chassis, a transport device, a storage rack and a lifting assembly; the storage rack, the transport device and the lifting assembly are mounted on the mobile chassis.
The robot according to claim 31, wherein the conveying device comprises one or more of the following: a telescopic arm assembly, a suction cup and a mechanical arm.
The robot according to claim 31 or 32, wherein the conveying device comprises a pallet and a steering structure, and the steering structure is used to change the orientation of the goods placed on the pallet.
A warehousing system, characterized by comprising: the warehouse management device according to claim 29 and the robot according to any one of claims 30-33.
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 1-28 are implemented. Methods of sorting the goods.