WO2022135088A1 - 仓储机器人的控制方法、装置、设备及存储介质 - Google Patents

仓储机器人的控制方法、装置、设备及存储介质 Download PDF

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Publication number
WO2022135088A1
WO2022135088A1 PCT/CN2021/134812 CN2021134812W WO2022135088A1 WO 2022135088 A1 WO2022135088 A1 WO 2022135088A1 CN 2021134812 W CN2021134812 W CN 2021134812W WO 2022135088 A1 WO2022135088 A1 WO 2022135088A1
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WIPO (PCT)
Prior art keywords
robot
preset area
avoidance
robots
queuing
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PCT/CN2021/134812
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English (en)
French (fr)
Inventor
艾鑫
赵虎
喻润方
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深圳市海柔创新科技有限公司
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to JP2023533364A priority Critical patent/JP2024500299A/ja
Priority to EP21909086.7A priority patent/EP4238907A4/en
Publication of WO2022135088A1 publication Critical patent/WO2022135088A1/zh
Priority to US18/337,595 priority patent/US20230333562A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31005—Detect obstacles on path of vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the embodiments of the present disclosure relate to the technical field of warehousing and logistics, and in particular, to a control method, device, device, and storage medium of a warehousing robot.
  • a warehousing robot can transport goods according to a predetermined route in a warehouse where goods are stored, for example, transport the goods from the shelf to the operation table, and manually sort the goods according to the order of the goods; or transport the goods from the operation table. To the storage location on the shelf, the goods are put into storage.
  • the goods are put into storage.
  • Embodiments of the present disclosure provide a control method, device, device, and storage medium for a storage robot, so as to solve the problem of low efficiency in picking and placing goods due to easy congestion near the operating table.
  • an embodiment of the present disclosure provides a method for controlling a storage robot, which is applied to a scheduling server of an intelligent storage system, and the method includes:
  • the number of robots in the preset area satisfies the current limiting condition, including: the number of robots in the preset area is greater than a first threshold.
  • the preset area includes at least one queuing position, and the number of robots in the preset area satisfies the current limiting condition, including: the number of robots in the preset area is equal to the preset area. Set the number of at least one queuing bit in the area.
  • the preset area includes at least one queuing position, and the number of robots in the preset area satisfies the current limiting condition, including: the at least one queuing position is all occupied by robots; or , the at least one queue position is all occupied by robots, and the number of robots in the preset area is greater than a second threshold value, and the second threshold value is greater than the number of the at least one queue position.
  • the sending an avoidance instruction to a storage robot that satisfies the avoidance condition includes: sending an avoidance instruction to a storage robot that has been assigned the operating table and has not yet entered the preset area; or, An avoidance instruction is sent to a warehouse robot that has been assigned the operating table and has entered a first area but has not yet entered the preset area, where the preset area is a part of the first area.
  • the avoidance instruction is used to instruct the storage robot to enter an avoidance state and stand by in place; or, the avoidance instruction is used to instruct the storage robot to enter an avoidance state and move to a waiting area Standby later.
  • the waiting area is an area outside the preset area; or, the waiting area is an area outside the preset area and within a preset distance range of the console area; or, the waiting area is a designated avoidance area in an area other than the preset area of each console.
  • the method further includes: detecting whether the storage robot in the avoidance state is located in the waiting area; And the warehouse robot in the avoidance state sends an instruction to enter the waiting area.
  • the avoidance instruction is further used to set the priority of the warehouse robot that meets the avoidance condition to the lowest level.
  • the method further includes: when allocating the operation table to the storage robot, allocating a queue position in the preset area to the storage robot.
  • the method further includes: when the first robot enters the preset range of the operating platform, if there is at least one idle state before the first queue position allocated for the first robot If there is one queuing position, the second queuing position in the at least one queuing position is allocated to the first robot, wherein the first robot is any warehouse robot to which the queuing position of the operating table is allocated.
  • the second queuing bit is the foremost queuing bit in the at least one queuing bit that is in an idle state.
  • the method further includes: updating the queuing position of at least one second robot, the first queuing position
  • the second robot is the robot that has been allocated the queue position of the operating table and has not yet reached the corresponding queue position.
  • the method further includes: determining a third robot corresponding to the second queuing position; and the updating the queuing position of at least one second robot includes: allocating the first queuing position to all the third robot.
  • the updating the queuing position of at least one second robot includes: reassigning a queuing position to each of the second robots according to the queuing position in an idle state in the preset area
  • the queue bits are in an idle state, and the sequence of the queue bits corresponding to the at least one second robot after the reassignment is consistent with the sequence of the queue bits of the at least one second robot before the reassignment.
  • the allocating a queue position in the preset area to the storage robot includes: allocating a corresponding queue position to the storage robot according to task attribute information of the storage robot ; wherein, the task attribute information includes at least one of the following: task allocation time, task priority, and task remaining time.
  • the method when the number of robots in the preset area satisfies the current limiting condition, after sending an avoidance instruction to the warehouse robot that meets the avoidance condition, the method further includes: if the robots in the preset area meet the current limiting condition When the quantity does not meet the current limiting condition, the warehouse robot in the avoidance state is dispatched to enter the preset area.
  • scheduling storage robots in an avoidance state to enter the preset area includes: in the preset area When the fourth robot in the area leaves the preset area, a corresponding number of fifth robots in an avoidance state are determined according to the number of the fourth robots, and the fifth robot is scheduled to enter the preset area.
  • scheduling storage robots in an avoidance state to enter the preset area includes: when the preset area is When the storage robot in the first queue in the area leaves the first queue, schedule the storage robots in the second and subsequent queues in the preset area to move from the current queue to the previous one Queuing.
  • the scheduling of the storage robots in the second and subsequent queuing positions in the preset area to move from the current queuing position to the previous queuing position further includes: according to the For queuing positions currently in an idle state in the preset area, a corresponding number of fifth robots in an avoidance state are determined; and the queuing positions currently in an idle state in the preset area are allocated to the fifth robots.
  • the determining a corresponding number of fifth robots in the avoidance state includes: sorting the storage robots in the avoidance state; according to the order of the storage robots in the avoidance state , and determine the corresponding number of warehouse robots in the avoidance state as the fifth robot.
  • the sorting of the storage robots in the avoidance state includes: sorting the storage robots in the avoidance state according to task attribute information of the storage robots in the avoidance state , wherein the task attribute information includes at least one of the following: task allocation time, task priority, task remaining time; or, according to the order of entering the avoidance state, sort the warehouse robots in the avoidance state; or, according to According to the order of entering the waiting area, the storage robots in the avoidance state are sorted; or, the storage robots in the avoidance state are sorted according to the assigned queue position order.
  • the storage robot includes multiple types of robots
  • the preset area includes at least one queuing queue
  • each queuing queue includes at least one queuing position, which is the storage robot.
  • the queuing position in the queuing queue corresponding to the type is allocated to the warehousing robot.
  • an avoidance instruction is received, enter the avoidance state, and stop moving to the preset area of the console assigned to it, wherein the avoidance instruction is used for when the number of robots in the preset area of the console meets the current limiting condition,
  • the warehouse robot that meets the avoidance condition is instructed to enter the avoidance state and stop moving to the preset area.
  • the method further includes: in response to the instruction for allocating the queuing bit, moving to the queuing bit allocated to the queuing bit.
  • an avoidance instruction if an avoidance instruction is received, entering an avoidance state, and stopping moving to the preset area of the console assigned to it, including: if an avoidance instruction is received, entering the avoidance state, and Standby in place; or, if an avoidance command is received, enter the avoidance state, and move to the waiting area to be on standby.
  • an embodiment of the present disclosure provides a control device for a warehousing robot, which is applied to a scheduling server of an intelligent warehousing system, and the device includes:
  • the quantity acquisition module is used to acquire the number of robots in the preset area of the console;
  • the current limiting control module is used to send an avoidance instruction to the storage robot that meets the avoidance condition when the number of robots in the preset area meets the current limiting condition, and the avoidance instruction is used to instruct the storage robot to stop entering the preset area. Set area operation.
  • an embodiment of the present disclosure provides a control device for a storage robot, which is applied to a storage robot, and the device includes:
  • the control module is used to enter the avoidance state if an avoidance instruction is received, and stop moving to the preset area of the operating table assigned to it, wherein the avoidance instruction is used when the number of robots in the preset area of the operating table satisfies In the case of the current limiting condition, the warehouse robot that meets the avoidance condition is instructed to enter the avoidance state and stop moving to the preset area.
  • an embodiment of the present disclosure provides a scheduling server, including:
  • a processor a memory, and a computer program stored on the memory and executable on the processor; wherein the processor implements the method described in the first aspect when running the computer program.
  • an embodiment of the present disclosure provides a storage robot, including:
  • a processor a memory, and a computer program stored on the memory and executable on the processor; wherein, when the processor runs the computer program, the method described in the second aspect above is implemented.
  • an embodiment of the present disclosure provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of the methods described above is implemented.
  • the control method, device, device, and storage medium for a storage robot provided by the embodiments of the present disclosure, by setting a preset area and a current-limiting condition for current-limiting control near the operating table, the number of robots in the preset area satisfies the current-limiting condition
  • the avoidance instruction is used to instruct the warehousing robot to stop the operation of entering the preset area; if the warehousing robot receives the avoidance instruction, it will enter the avoidance state and stop to
  • the movement of the preset area of the operating table assigned to it can reduce the number of warehouse robots waiting near the operating table, avoid congestion near the operating table, and improve the efficiency of picking and placing goods.
  • FIG. 1 is a flowchart of a control method of a warehouse robot provided in Embodiment 1 of the present disclosure
  • FIG. 2 is a schematic diagram of a preset area provided by Embodiment 2 of the present disclosure.
  • FIG. 3 is a flowchart of a control method of a storage robot according to Embodiment 2 of the present disclosure
  • FIG. 5 is a schematic diagram of a queuing position and a preset area according to Embodiment 3 of the present disclosure
  • FIG. 6 is a schematic diagram of another queuing position and a preset area according to Embodiment 3 of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a control device for a storage robot according to Embodiment 4 of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a control device for a storage robot according to Embodiment 5 of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a scheduling server according to Embodiment 6 of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a storage robot according to Embodiment 6 of the present disclosure.
  • Operating table The location where goods are sorted or bins are put into storage.
  • Warehousing The material box where the goods are located passes through the operation table and is placed in the corresponding warehouse by the warehouse robot.
  • Goods sorting refers to the process of taking out the goods corresponding to the order from the warehouse or other suitable types of goods storage places and completing the packaging to form the final order package out of the warehouse.
  • the efficiency of picking and placing goods is very important to the sorting efficiency, and the efficiency of picking and placing goods can be determined by the number of order goods that are processed per unit time. The greater the number of order goods processed per unit time, the higher the efficiency of picking and placing goods.
  • the embodiments of the present disclosure are specifically applied to an intelligent warehousing system, and the intelligent warehousing system includes a warehousing robot, a scheduling server (that is, a server of the scheduling system), a warehouse, and the like.
  • the warehouse may contain racks for storing bins.
  • the scheduling server can be any type of electronic computing platform or device as the control core of the entire intelligent warehousing system. It can have corresponding storage space or computing power according to the needs of the actual situation to provide one or more application services or Functions, such as receiving orders to be released, placing orders, or controlling warehouse robots to perform pick-and-place tasks.
  • Warehousing robots are automated equipment with walking mechanisms that can move in warehouses, transport bins, and transport shelves, such as bin handling robots, rack handling robots, and Automated Guided Vehicles (AGV for short).
  • the robots mentioned in this embodiment all refer to storage robots.
  • a warehouse is an area for storing bins.
  • a warehouse can be provided with multiple shelves, and each shelf is placed with multiple identical or different bins according to specific placement rules.
  • the scheduling server dispatches the storage robot to assign handling tasks and the corresponding console, and the storage robot needs to go to the corresponding console to pick up/place the goods.
  • the warehousing robot transports the goods from the shelf to the operation table, and the manual sorting is carried out according to the order of the goods; or the warehousing robot transports the goods from the operation table to the storage location on the shelf, and completes the warehousing of the goods.
  • multiple warehousing robots stop at the operating table and wait to carry the goods, all the warehousing robots are crowded near the operating table, which is easy to cause congestion and lead to low efficiency of picking and placing goods.
  • the control method, device, device, and storage medium method for a warehouse robot provided by the embodiments of the present disclosure aim to solve the above technical problems.
  • FIG. 1 is a flowchart of a control method of a warehouse robot according to Embodiment 1 of the present disclosure. As shown in Figure 1, the specific steps of the method are as follows:
  • Step S101 acquiring the number of robots in a preset area of the console.
  • a preset area is set near each console. For example, as shown in FIG. 2 , taking two operating tables in the intelligent storage system as an example, corresponding preset areas are respectively set around the operating table 1 and the operating table 2 .
  • the preset area of the console is set with corresponding current limiting conditions. When the number of robots in the preset area meets the current limiting conditions, other storage robots will not be allowed to continue to enter the preset area. In this way, by controlling the number of robots in the preset area near the console, the robot can avoid as much as possible within a limited range, and minimize the congestion of the robot.
  • the current limiting conditions corresponding to the preset regions of different operating consoles may be different.
  • the specific positions of the preset areas of each operating table and the corresponding current limiting conditions can be set and adjusted according to the actual needs of the intelligent storage system, which are not specifically limited in this embodiment.
  • the current limiting condition corresponding to the preset area may be set such that the number of robots in the preset area reaches a preset upper threshold or the like.
  • the scheduling server may acquire in real time the number of storage robots in the preset area of each operating table.
  • the scheduling server may obtain the real-time position of each storage robot, and determine the number of storage robots in the preset area of each operation station according to the real-time position of each storage robot and the position of the preset area of each operation station.
  • Step S102 When the number of robots in the preset area satisfies the current limiting condition, send an avoidance instruction to the storage robot that meets the avoidance condition, and the avoidance instruction is used to instruct the storage robot to stop the operation of entering the preset area.
  • the warehouse robot assigned to the operating table will move to the operating table to complete the task assigned to it, and the warehouse robot will first enter the preset area of the operating table before reaching the operating table.
  • the scheduling server determines whether the number of warehouse robots in the preset area satisfies the corresponding current limit according to the number of robots in the preset area obtained in real time and the current limiting conditions corresponding to the preset area. condition.
  • the scheduling server can send an avoidance instruction to the storage robot to control the storage robot to stop the operation of entering the preset area.
  • Step S103 if an avoidance instruction is received, enter the avoidance state, and stop moving to the preset area of the console assigned to it, wherein the avoidance instruction is used when the number of robots in the preset area of the console meets the current limiting condition. , instructing the warehouse robot that meets the avoidance condition to enter the avoidance state and stop moving to the preset area.
  • an avoidance instruction is sent to the warehouse robot that satisfies the avoidance condition, so as to control the warehousing robot that meets the avoidance condition.
  • Conditional storage robots enter the avoidance state and stop moving to the preset area of the assigned console, which can reduce the number of storage robots waiting near the console, avoid congestion near the console, and improve the efficiency of picking and placing goods. .
  • FIG. 3 is a flowchart of a control method of a storage robot according to Embodiment 2 of the present disclosure.
  • the method when the number of robots in the preset area satisfies the current limiting condition, after sending an avoidance instruction to the warehouse robot that meets the avoidance condition, the method further includes: if the robot in the preset area When the quantity does not meet the current limiting conditions, the warehouse robots in the avoidance state are dispatched to enter the preset area.
  • Step S201 the scheduling server acquires the number of robots in a preset area of the console.
  • Step S202 according to the number of robots in the preset area, determine whether the number of robots in the preset area satisfies the current limiting condition.
  • the number of robots in the preset area satisfies the current limiting condition, including: the number of robots in the preset area is greater than the first threshold.
  • the first threshold may be a preset upper threshold corresponding to the preset area.
  • the upper threshold of the preset area may be the maximum number of warehouse robots allowed to enter the preset area at the same time, which can be set and adjusted according to the needs of the application scenario, which is not specifically limited here.
  • the current limiting control of the robots in the preset area near the operating table is realized, so as to reduce the number of robots waiting near the operating table.
  • the preset area includes at least one queuing position, that is, at least one queuing position constitutes the preset area.
  • the number of robots in the preset area meets the current limiting conditions, including: the number of robots in the preset area is equal to the number of at least one queue position in the preset area.
  • multiple queuing positions (constituting a preset area) are set around the operating table, and each queuing position is allowed to be used by only one storage robot at the same time.
  • Flow-limiting control to reduce the number of robots waiting near the operator station.
  • the preset area includes at least one queuing position, and the preset area also includes areas other than all queuing positions.
  • the preset area includes at least one queuing position, and the number of robots in the preset area satisfies the current limiting condition, which may be: at least one queuing position is fully occupied by the robot.
  • the preset area includes at least one queuing position, the number of robots in the preset area satisfies the current limiting condition, and it may also be that: at least one queuing position is all occupied by robots, and the number of robots in the preset area is greater than the second. Threshold, the second threshold is greater than the number of at least one queued bit.
  • the second threshold may be set and adjusted according to the needs of an actual application scenario, which is not specifically limited in this embodiment.
  • Step S203 If the number of robots in the preset area satisfies the current limiting condition, the scheduling server determines the storage robots that satisfy the avoidance condition.
  • the warehouse robot that meets the avoidance condition may include: a warehouse robot that has been assigned the operating table and has not entered the preset area.
  • the storage robots that have been assigned the console and have not yet entered the preset area may be far from the preset area of the console.
  • a robot with a relatively far area moves to the preset area normally, it is possible that some robots in the preset area have already completed the operation of the console and left the preset area.
  • a larger area relative to the preset area may be set around the operating table, and the storage robots that meet the avoidance conditions may include: the operating table is allocated, and the storage robot has entered the first area and has not yet entered the preset area. Send an avoidance command, wherein the preset area is a part of the first area.
  • the size, shape and specific position of the first region can be set and adjusted according to the needs of the actual application scenario, which is not specifically limited here.
  • Step S204 the scheduling server sends an avoidance instruction to the warehouse robot that satisfies the avoidance condition.
  • the avoidance instruction is used to instruct the warehouse robot to stop the operation of entering the preset area.
  • the avoidance instruction is used to instruct the warehouse robot to enter the avoidance state and stand by in place to stop entering the preset area.
  • a waiting area can be set, and the avoidance instruction is used to instruct the warehouse robot to enter the avoidance state and move to the waiting area to stand by, so as to stop entering the preset area.
  • the waiting area is an area outside the preset area, which is used for the storage robot that receives the avoidance instruction and enters the avoidance state to enter and stay.
  • a waiting area can be set up.
  • the number of robots in the preset area of the operating table meets the current limiting conditions, so that the warehouse robots that meet the avoidance conditions will enter the avoidance state and move to the waiting area to stand by and wait for the operating table.
  • the previous warehousing robot processes the order, and when the warehousing robot in front of the operating table completes the order and leaves the preset area, when the number of robots in the preset area does not meet the current limiting conditions, it will move towards the operating table.
  • all areas other than the preset area may be used as waiting areas.
  • the warehousing robot that meets the avoidance condition receives the avoidance command, it can directly stand by and enter the avoidance state.
  • the waiting area can be set to be an area outside the preset area and within a preset distance range of the console.
  • the preset distance range can be set and adjusted according to the actual application scenario, which is not specifically limited here.
  • the waiting area may also be set as a designated avoidance area in an area other than the preset area of each console.
  • a designated avoidance area can be set in an area with low robot traffic.
  • the specified avoidance area can be set and adjusted in actual application scenarios, and there is no specific limitation here.
  • a range may be directly designated as the waiting area, or a range may be designated as the area that needs to be avoided, and the area other than the area that needs to be avoided is used as the waiting area.
  • the areas that need to be avoided may include the restricted area, the main road area, the area near the operating table, the area near the shelf, or other key areas that the warehouse robot needs to pass through to perform tasks.
  • the location of the waiting area set in the intelligent storage system can be set and adjusted according to the needs of the actual application scenario, which is not specifically limited in this embodiment.
  • the number of waiting areas set in the intelligent storage system can also be set and adjusted according to the needs of actual application scenarios, which is not specifically limited in this embodiment.
  • each operating table may correspond to a waiting area, and the storage robot can only enter the waiting area corresponding to the operating table assigned to it.
  • multiple waiting areas are set in the intelligent warehousing system, and the warehousing robot can randomly enter one of the waiting areas, or enter the waiting area closest to its current position.
  • the avoidance instruction is further used to set the priority of the warehouse robot that meets the avoidance condition to the lowest level.
  • the warehousing robot with the lower priority avoids the warehousing robot with the higher priority. Therefore, when the warehousing robot receives the avoidance command, it first enters the avoidance state. Whether it is on standby or in the process of moving to the waiting area, the warehousing robot is in the avoidance state.
  • the avoidance state should take the initiative to give way to the storage robot that has not entered the avoidance state.
  • Step S205 if the avoidance instruction is received, the storage robot enters the avoidance state and stops moving to the preset area of the operating table assigned to it.
  • the warehousing robot can enter the avoidance state according to the instruction information contained in the received avoidance command, and stand by in place; or enter the avoidance state and move to the waiting area according to the instruction information contained in the received avoidance command Standby later.
  • the scheduling server can also detect that the robot is in an avoidance state. Whether the warehouse robot in the avoidance state is located in the waiting area; send an instruction to enter the waiting area to the warehouse robot outside the waiting area and in the avoidance state. In this way, it can be ensured that all warehouse robots that meet the avoidance conditions enter the waiting area as soon as possible and stand by.
  • the function of the waiting area is: if the storage robot is in the avoidance state, it should not block other storage robots, nor should it wait near the operating table (or wait in the area that needs to be avoided, such as the main road), so when the storage robot enters the avoidance state , it will detect whether the robot is in the waiting area. If it is not in the waiting area, the robot will automatically find a path to the waiting area and wait in the waiting area.
  • Step S206 If the number of robots in the preset area does not meet the current limiting condition, schedule the storage robots in the avoidance state to enter the preset area.
  • the scheduling server schedules one or more warehousing robots scheduled in the waiting area to enter the preset area area.
  • the fourth robot refers to the warehouse robot currently leaving the preset area
  • the number of the fourth robot can be one or more.
  • the fifth robot refers to the warehouse robot that is dispatched to enter the preset area when the number of robots in the preset area does not meet the corresponding current limiting conditions.
  • the number of fifth robots can be based on the number of fourth robots that leave the preset area ( That is, the number of warehousing robots that can also enter the preset area) is determined and cannot exceed the number of the fourth robot.
  • the warehousing robot in the first queuing position in the preset area leaves the first queuing position
  • the warehousing robot in the second and subsequent queuing positions in the preset area is scheduled
  • the robot moves from the current queue position to the previous queue position. In this way, at least one queuing bit at the tail of the queue in the preset area is free.
  • the scheduling server determines a corresponding number of fifth robots in an avoidance state according to the currently idle queuing positions in the preset area; and assigns the currently idle queuing positions in the preset area to the fifth robot.
  • determining a corresponding number of fifth robots in an avoidance state may be implemented in the following manner:
  • Sort the storage robots in the avoidance state determine the corresponding number of storage robots in the avoidance state as the fifth robot according to the sequence of the storage robots in the avoidance state.
  • the warehousing robots in the avoidance state can be sorted according to the sorting strategy.
  • An optional sorting strategy is to sort the warehouse robots in the avoidance state according to the task attribute information of the warehouse robots in the avoidance state.
  • the task attribute information includes at least one of the following: task allocation time, task priority, and task remaining time.
  • Another optional sorting strategy is to sort the warehouse robots in the avoidance state according to the order of entering the avoidance state.
  • Another optional sorting strategy is: if a waiting area is set, the warehouse robots in the avoidance state can also be sorted according to the order of entering the waiting area.
  • Another optional sorting strategy is: if there are multiple queuing positions in the preset area, when the operation table is allocated to the warehouse robot, the warehouse robot will also be allocated a queuing position. The warehousing robots in the avoidance state are sorted.
  • Step S207 in response to the scheduling instruction, the storage robot cancels the avoidance state and moves to the preset area.
  • the scheduling server when the scheduling server schedules the warehousing robot in the avoidance state to enter the preset area, it can be implemented by sending a scheduling instruction to the warehousing robot.
  • the scheduling instruction is used to control the warehouse robot to cancel the avoidance state and move from the current position to the preset area.
  • the warehousing robot When the warehousing robot receives the scheduling instruction, it moves from the current position to the operating table assigned to it, enters the preset area of the operating table, and completes the task assigned to it on the operating table.
  • the storage robot may include a variety of different types of robots, for example, a container handling robot, a shelf handling robot, and the like.
  • different preset areas may be set for different types of storage robots, and current limiting control is performed independently for each type of storage robots.
  • only one preset area is set for each operating table, and no distinction is made for different types of storage robots, and current limiting control is performed uniformly.
  • each console includes at least one queuing queue
  • each queuing queue includes at least one queuing position.
  • the queuing position in the queuing queue corresponding to its type is allocated to the warehousing robot.
  • a corresponding queuing queue may be set for each type of warehousing robot; or, a queuing queue shared by a plurality of different types of warehousing robots may be allocated, which is not specifically limited in this embodiment.
  • the queuing mechanism of the console is very flexible. It can not only mix queuing of multiple different types of robots, but also queuing each type of robots independently of each other. According to different application scenarios, flexible queuing strategies can be selected.
  • an avoidance instruction is sent to the warehouse robot that satisfies the avoidance condition, so as to control the warehousing robot that meets the avoidance condition.
  • the warehouse robots that meet the conditions will enter the avoidance state and stop moving to the preset area of the console assigned to them; if the number of robots in the preset area does not meet the current limiting conditions, the warehouse robots in the avoidance state will be dispatched to enter the preset area. , which can reduce the number of storage robots waiting near the operating table, avoid congestion near the operating table, and improve the working efficiency of the storage robot, thereby improving the efficiency of picking and placing goods.
  • FIG. 4 is a flowchart of a control method of a warehouse robot provided in Embodiment 3 of the present disclosure.
  • the preset area includes a plurality of queuing positions in a sequence.
  • the dispatch server may allocate a queue position in a preset area of the operation table to the storage robot.
  • the preset area of the operating console may be composed of areas where multiple queuing bits are located, and the number of queuing bits included in the preset area (for example, the number of queuing bits in FIG. 5 ) N represents the number of queues in the preset area), that is, the upper limit of the robots that can be accommodated in the preset area.
  • N represents the number of queues in the preset area
  • the number of robots in the preset area when the number of robots in the preset area is equal to the number of at least one queuing position in the preset area, the number of robots in the preset area satisfies the current-limiting condition, and the current-limiting needs to be started, and other storage robots enter the avoidance state , and stop entering the preset area of the console.
  • the preset area of the console may be a connected area around the console, and at least one queuing position is set in the preset area.
  • the zone also includes the zone in addition to all queuing bits.
  • all queuing positions in the preset area can be occupied; or all queuing positions in the preset area are occupied by robots, and the number of robots in the preset area is greater than the second threshold, the preset When the number of robots in the area meets the current-limiting conditions, current-limiting begins, and other storage robots enter the avoidance state and stop entering the preset area on the operating platform.
  • the method further includes the following steps:
  • Step S301 when allocating an operating table to the storage robot, the scheduling server allocates a queuing position in a preset area of the operating table to the storage robot.
  • the dispatching robot when the dispatching robot allocates an operating table to the storage robot, it also allocates a queue position in the preset area of the operating table to the storage robot.
  • the warehousing robot moves to the queuing position allocated to it according to the operating table and queuing position allocated to it.
  • allocating queuing positions in the preset area of the operating table to the warehouse robot can be implemented in the following manner:
  • the corresponding queuing position is allocated to the warehousing robot.
  • the task attribute information includes at least one of the following: task allocation time, task priority, and task remaining time.
  • the strategy adopted for allocating queuing positions for the warehouse robot can be set and adjusted according to the actual application scenario, which is not specifically limited in this embodiment.
  • Step S302 the warehouse robot moves to the allocated queue position in response to the instruction for allocating the queue position to the storage robot.
  • the warehouse robot After determining the queuing position allocated to it, the warehouse robot can move to the queuing position allocated to it, that is, to the direction of the operating table allocated to it.
  • Step S303 When the first robot enters the preset range of the operating platform, if there is at least one queuing position in an idle state before the first queuing position allocated for the first robot, then the second queuing position in the at least one queuing position is placed.
  • the queuing position is allocated to the first robot, wherein the first robot is any warehouse robot to which the queuing position of the operating table is allocated.
  • the preset range is an area around the console that is close to the console, and the preset range may be a preset area or other areas near the console.
  • the specific position of the preset area around the console can be set and adjusted according to the requirements of the actual application scenario, and the size of the preset area around different consoles can be different, which is not specifically limited in this embodiment.
  • the first queue position refers to the queue position allocated for the current warehouse robot.
  • the second queuing bit refers to one of the at least one queuing bit in an idle state before the first queuing bit, and may be the foremost queuing bit in the at least one queuing bit in an idle state before the first queuing bit.
  • the scheduling robot can schedule the robot according to the actual idle time before the first queue position. It can improve the work efficiency of the warehouse robot by dispatching the warehouse robot to enter the most front queue position.
  • queue 1 is in front of queue 2.
  • the dispatch server can reassign queuing position 1 to robot 2, and robot 2 moves to queue position 1 according to the reassigned queuing position, waiting for picking.
  • the queue position of robot 1 can be allocated backwards according to the actual robot arrival.
  • the first robot enters a preset range around the operating platform, if there is at least one queuing position in an idle state before the first queuing position allocated for the first robot, the first queuing position in the at least one queuing position After the second queue bit is allocated to the first robot, assuming that the second queue bit is allocated to the third robot before the reallocation, the queue bit corresponding to the third robot is temporarily occupied after the reallocation.
  • the scheduling server may further update the queue position of at least one second robot.
  • the second robot is a robot that has been allocated a queuing position of the console and has not yet reached the corresponding queuing position.
  • the queue positions of other warehouse robots can be kept unchanged.
  • the queuing positions in the idle state are reassigned to them.
  • the queue positions corresponding to other warehouse robots can also be adjusted.
  • the third robot to which the second queue position is allocated is determined. After reassigning the second queue position to the first robot, the original first queue position of the first robot is allocated to the third robot.
  • queue 1 is in front of queue 2.
  • the dispatch server can reassign queue position 1 to robot 2, and robot 2 moves to queue position 1 according to the reassigned queue position, waiting for picking. Then assign queue bit 2 to robot 1. That is, the queue positions of robot 1 and robot 2 are exchanged.
  • reassign a queuing position in the idle state for each second robot after allocating the second queuing position to the first robot, according to the queuing position in the idle state in the preset area, reassign a queuing position in the idle state for each second robot, and after reassigning at least one queuing position in the idle state
  • the order of the corresponding queue positions of the second robot is the same as the order of the queue positions of at least one second robot before the reassignment.
  • robot 1, robot 2, and robot 3 are assigned queue position 1, queue position 2, and queue position 3, respectively.
  • the order of queue positions from front to back is: queue position 1, queue position 2, and queue position 3.
  • queue position 1 is reassigned to robot 1, and the queue positions of robot 2 and robot 3 are postponed. , that is, reassign queue bit 2 to robot 1, and reassign queue bit 3 to robot 2.
  • the method flow provided in the second embodiment above can be executed in real time, and the scheduling server can obtain the number of robots in the preset area of the console; when the number of robots in the preset area meets the current limiting condition, send the The warehousing robot that meets the avoidance condition sends an avoidance command, and the avoidance command is used to instruct the warehousing robot to stop the operation of entering the preset area.
  • the scheduling server can allocate the queuing position in the preset area of the operation table to the storage robot; in the preset area
  • an avoidance command is sent to the warehouse robots that meet the avoidance conditions, so that these
  • the storage robot enters the avoidance state and stops moving to the preset area of the operating table assigned to it, which can reduce the number of storage robots waiting near the operating table.
  • it can be further improved. The efficiency of picking and placing goods makes the intelligent warehousing system more intelligent and efficient.
  • FIG. 7 is a schematic structural diagram of a control device for a storage robot according to Embodiment 4 of the present disclosure.
  • the control device for a storage robot provided by the embodiment of the present disclosure can execute the processing flow provided by the embodiment of the control method for a storage robot.
  • the control device 30 of the warehouse robot includes: a quantity acquisition module 301 and a current limiting control module 302 .
  • the quantity acquisition module 301 is configured to acquire the number of robots in the preset area of the operating table.
  • the current limiting control module 302 is configured to send an avoidance instruction to the storage robot that meets the avoidance condition when the number of robots in the preset area meets the current limiting condition, and the avoidance instruction is used to instruct the storage robot to stop the operation of entering the preset area.
  • the number of robots in the preset area satisfies the current limiting condition, including: the number of robots in the preset area is greater than a first threshold.
  • the preset area includes at least one queuing position, and the number of robots in the preset area satisfies the current limiting condition, including: the number of robots in the preset area is equal to the number of at least one queuing position in the preset area. quantity.
  • the preset area includes at least one queuing position, and the number of robots in the preset area satisfies the current limiting condition, including: at least one queuing position is all occupied by robots; or, all at least one queuing position It is occupied by a robot, and the number of robots in the preset area is greater than a second threshold, and the second threshold is greater than the number of at least one queue.
  • the current limiting control module 302 is further configured to:
  • the avoidance instruction is used to instruct the storage robot to enter the avoidance state and stand by in place; or, the avoidance instruction is used to instruct the storage robot to enter the avoidance state and move to the waiting area and then stand by.
  • the waiting area is an area outside the preset area; or, the waiting area is an area outside the preset area and within a preset distance of the operating console; A designated avoidance area within an area other than the preset area of the station.
  • the current limiting control module 302 is further configured to:
  • Detect whether the warehouse robot in the avoidance state is in the waiting area send an instruction to enter the waiting area to the warehouse robot outside the waiting area and in the avoidance state.
  • the avoidance instruction is further used to set the priority of the warehouse robot that meets the avoidance condition to the lowest level.
  • the current limiting control module 302 is further configured to:
  • the current limiting control module 302 is further configured to:
  • the second queuing position in the at least one queuing position is allocated To the first robot, wherein the first robot is any warehouse robot assigned a queue position of the operating table.
  • the second queuing bit is the foremost queuing bit in the at least one queuing bit that is in an idle state.
  • the current limiting control module 302 is further configured to:
  • the queuing position of the at least one second robot is updated, and the second robot is the robot that has been allocated the queuing position of the console and has not yet reached the corresponding queuing position.
  • the current limiting control module 302 is further configured to:
  • the current limiting control module 302 is further configured to:
  • each second robot is reassigned a queuing bit in the idle state, and the sequence of the corresponding queuing bits of at least one second robot after the reassignment is the same as that of the at least one first robot before the reassignment.
  • the order of the queuing positions of the two robots is the same.
  • the current limiting control module 302 is further configured to:
  • a corresponding queue position is allocated to the warehousing robot; wherein, the task attribute information includes at least one of the following: task allocation time, task priority, and task remaining time.
  • the current limiting control module 302 is further configured to:
  • the warehouse robot in the avoidance state is dispatched to enter the preset set area.
  • the current limiting control module 302 is further configured to:
  • a corresponding number of fifth robots in an avoidance state are determined according to the number of the fourth robots, and the fifth robot is dispatched to enter the preset area.
  • the current limiting control module 302 is further configured to:
  • the current limiting control module 302 is further configured to:
  • the current limiting control module 302 is further configured to:
  • Sort the storage robots in the avoidance state determine the corresponding number of storage robots in the avoidance state as the fifth robot according to the sequence of the storage robots in the avoidance state.
  • the current limiting control module 302 is further configured to:
  • the storage robot includes multiple types of robots
  • the preset area includes at least one queuing queue
  • each queuing queue includes at least one queuing position
  • the current limiting control module 302 is further configured to:
  • the queuing position in the queuing queue corresponding to its type is allocated to the warehousing robot.
  • the apparatus provided by the embodiment of the present disclosure may be specifically configured to execute the method process executed by the scheduling server in any of the above method embodiments, and the specific functions will not be described again here.
  • an avoidance instruction is sent to the warehouse robot that satisfies the avoidance condition, so as to control the warehousing robot that meets the avoidance condition.
  • Conditional storage robots enter the avoidance state and stop moving to the preset area of the assigned console, which can reduce the number of storage robots waiting near the console, avoid congestion near the console, and improve the efficiency of picking and placing goods. .
  • FIG. 8 is a schematic structural diagram of a control device for a storage robot according to Embodiment 5 of the present disclosure.
  • the control device 40 of the storage robot includes: a control module 401, configured to enter an avoidance state if an avoidance instruction is received, and stop moving to the preset area of the operating table assigned to it, wherein the avoidance instruction It is used to instruct the warehouse robots that meet the avoidance conditions to enter the avoidance state and stop moving to the preset area when the number of robots in the preset area of the operating table meets the current limiting condition.
  • the preset area includes at least one queuing bit
  • the control module 401 is further configured to:
  • control module 401 is further configured to:
  • an avoidance command If an avoidance command is received, it will enter the avoidance state and stand by in place; or, if an avoidance command is received, it will enter the avoidance state, and move to the waiting area and stand by.
  • control module 401 is further configured to:
  • an avoidance instruction If an avoidance instruction is received, it enters the avoidance state and stops moving to the preset area of the console assigned to it, cancels the avoidance state and moves to the preset area in response to the scheduling instruction.
  • the apparatus provided by the embodiment of the present disclosure may be specifically used to execute the method process performed by the warehouse robot in any of the above method embodiments, and the specific functions will not be repeated here.
  • an avoidance instruction is sent to the warehouse robot that satisfies the avoidance condition, so as to control the warehousing robot that meets the avoidance condition.
  • Conditional storage robots enter the avoidance state and stop moving to the preset area of the assigned console, which can reduce the number of storage robots waiting near the console, avoid congestion near the console, and improve the efficiency of picking and placing goods. .
  • FIG. 9 is a schematic structural diagram of a scheduling server according to Embodiment 6 of the present disclosure.
  • the scheduling server is applied to the intelligent warehousing system.
  • the scheduling server 100 includes: a processor 1001 , a memory 1002 , and a computer program stored in the memory 1002 and executed on the processor 1001 .
  • an avoidance instruction is sent to the warehouse robot that satisfies the avoidance condition, so as to control the warehousing robot that meets the avoidance condition.
  • Conditional storage robots enter the avoidance state and stop moving to the preset area of the assigned console, which can reduce the number of storage robots waiting near the console, avoid congestion near the console, and improve the efficiency of picking and placing goods. .
  • FIG. 10 is a schematic structural diagram of a storage robot according to Embodiment 6 of the present disclosure. Warehousing robots are used in intelligent warehousing systems. As shown in FIG. 10 , the warehouse robot 110 includes: a processor 1101 , a memory 1102 , and a computer program stored in the memory 1102 and executed on the processor 1101 .
  • an avoidance instruction is sent to the warehouse robot that satisfies the avoidance condition, so as to control the warehousing robot that meets the avoidance condition.
  • Conditional storage robots enter the avoidance state and stop moving to the preset area of the assigned console, which can reduce the number of storage robots waiting near the console, avoid congestion near the console, and improve the efficiency of picking and placing goods. .
  • an embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, implements the execution of the scheduling server or the warehouse robot in any of the foregoing method embodiments. method flow.

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Abstract

一种仓储机器人的控制方法、装置、设备及存储介质。控制方法包括：获取操作台的预设区域内的机器人数量（S101）；当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，避让指令用于指示仓储机器人停止进入预设区域的操作（S102）。

Description

仓储机器人的控制方法、装置、设备及存储介质
本公开要求于2020年12月23日提交中国专利局、申请号为202011540319.5、申请名称为“仓储机器人的控制方法、装置、设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开实施例涉及仓储物流技术领域，尤其涉及一种仓储机器人的控制方法、装置、设备及存储介质。
背景技术
随着人工智能及网络购物的日益发展，给货物的仓储、分拣、物流的智能化带来了巨大的发展机遇，近年来，基于仓储机器人运送货物的智能仓储系统日益成熟。
现有技术中，一种仓储机器人可以在仓储货物的仓库按预定路线运送货物，比如，将货物从货架运送至操作台，由人工根据货物订单进行相应的分拣；或者将货物从操作台搬运至货架上的库位，完成货物入库。当多个仓储机器人在操作台停留等待搬运货物时，多个仓储机器人全部拥在操作台附近，容易造成拥堵，导致货物取放效率低。
发明内容
本公开实施例提供一种仓储机器人的控制方法、装置、设备及存储介质，用以解决操作台附近容易拥堵导致货物取放效率低的问题。
第一方面，本公开实施例提供一种仓储机器人的控制方法，应用于智能仓储系统的调度服务器，所述方法包括：
获取操作台的预设区域内的机器人数量；当所述预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，所述避让指令用于指示所述仓储机器人停止进入所述预设区域的操作。
在一种可选的实施方式中，所述预设区域内的机器人数量满足限流条件，包括：所述预设区域内的机器人数量大于第一阈值。
在一种可选的实施方式中，所述预设区域包括至少一个排队位，所述预设区域内的机器人数量满足限流条件，包括：所述预设区域内的机器人数量等于所述预设区域内至少一个排队位的数量。
在一种可选的实施方式中，所述预设区域内包括至少一个排队位，所述预设区域内的机器人数量满足限流条件，包括：所述至少一个排队位全部被机器人占用；或者，所述至少一个排队位全部被机器人占用，且所述预设区 域内的机器人数量大于第二阈值，所述第二阈值大于所述至少一个排队位的数量。
在一种可选的实施方式中，所述向满足避让条件的仓储机器人发送避让指令，包括：向分配了所述操作台且还未进入所述预设区域的仓储机器人发送避让指令；或者，向分配了所述操作台，已进入第一区域且还未进入所述预设区域的仓储机器人发送避让指令，其中所述预设区域为所述第一区域中的一部分。
在一种可选的实施方式中，所述避让指令用于指示所述仓储机器人进入避让状态并原地待命；或者，所述避让指令用于指示所述仓储机器人进入避让状态并移动至等待区域后待命。
在一种可选的实施方式中，所述等待区域为所述预设区域以外的区域；或者，所述等待区域为所述预设区域以外且在所述操作台的预设距离范围内的区域；或者，所述等待区域为在各操作台的预设区域以外的区域内的指定避让区域。
在一种可选的实施方式中，所述向满足避让条件的仓储机器人发送避让指令之后，还包括：检测处于避让状态的仓储机器人是否位于所述等待区域内；向位于所述等待区域之外且处于避让状态的仓储机器人发送进入所述等待区域的指示。
在一种可选的实施方式中，所述避让指令还用于将所述满足避让条件的仓储机器人的优先级设置为最低级别。
在一种可选的实施方式中，还包括：为所述仓储机器人分配所述操作台时，为所述仓储机器人分配所述预设区域内的排队位。
在一种可选的实施方式中，还包括：当第一机器人进入所述操作台的预设范围内时，若在为所述第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，则将所述至少一个排队位中的第二排队位分配给所述第一机器人，其中所述第一机器人是任一分配了所述操作台的排队位的仓储机器人。
在一种可选的实施方式中，所述第二排队位为处于空闲状态的所述至少一个排队位中最前端的排队位。
在一种可选的实施方式中，所述将所述至少一个排队位中的第二排队位分配给所述第一机器人之后，还包括：更新至少一个第二机器人的排队位，所述第二机器人为已分配了所述操作台的排队位且尚未到达对应排队位的机器人。
在一种可选的实施方式中，还包括：确定所述第二排队位对应的第三机器人；所述更新至少一个第二机器人的排队位，包括：将所述第一排队位分配给所述第三机器人。
在一种可选的实施方式中，所述更新至少一个第二机器人的排队位，包括：根据所述预设区域内的处于空闲状态的排队位，为每个所述第二机器人重新分配一个处于空闲状态的排队位，且重新分配后所述至少一个第二机器 人对应排队位的顺序与重新分配之前所述至少一个第二机器人的排队位的顺序一致。
在一种可选的实施方式中，所述为所述仓储机器人分配所述预设区域内的排队位，包括：根据所述仓储机器人的任务属性信息，为所述仓储机器人分配对应的排队位；其中，所述任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间。
在一种可选的实施方式中，当所述预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令之后，还包括：若所述预设区域内的机器人数量不满足所述限流条件时，调度处于避让状态的仓储机器人进入所述预设区域。
在一种可选的实施方式中，若所述预设区域内的机器人数量不满足所述限流条件时，调度处于避让状态的仓储机器人进入所述预设区域，包括：在所述预设区域内的第四机器人离开所述预设区域时，则根据所述第四机器人的数量，确定对应数量的处于避让状态的第五机器人，调度所述第五机器人进入所述预设区域。
在一种可选的实施方式中，若所述预设区域内的机器人数量不满足所述限流条件时，调度处于避让状态的仓储机器人进入所述预设区域，包括：当所述预设区域内的第一个排队位内的仓储机器人离开所述第一个排队位时，调度所述预设区域内的第二个及以后的排队位内的仓储机器人从当前排队位移动至前一个排队位。
在一种可选的实施方式中，所述调度所述预设区域内的第二个及以后的排队位内的仓储机器人从当前排队位移动至前一个排队位之后，还包括：根据所述预设区域内的当前处于空闲状态的排队位，确定对应数量的处于避让状态的第五机器人；将所述预设区域内的当前处于空闲状态的排队位分配给所述第五机器人。
在一种可选的实施方式中，所述确定对应数量的处于避让状态的第五机器人，包括：对所述处于避让状态的仓储机器人进行排序；根据所述处于避让状态的仓储机器人的先后顺序，确定对应数量的处于避让状态的仓储机器人为第五机器人。
在一种可选的实施方式中，所述对所述处于避让状态的仓储机器人进行排序，包括：根据所述处于避让状态的仓储机器人的任务属性信息，对所述处于避让状态的仓储机器人排序，其中所述任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间；或者，按照进入避让状态的先后顺序，对所述处于避让状态的仓储机器人进行排序；或者，按照进入等待区域的先后顺序，对所述处于避让状态的仓储机器人进行排序；或者，按照已分配的排队位顺序，对所述处于避让状态的仓储机器人进行排序。
在一种可选的实施方式中，所述仓储机器人包括多种类型的机器人，所述预设区域内包括至少一个排队队列，每个所述排队队列包括至少一个排队位，为所述仓储机器人分配所述预设区域内的排队位时，根据所述仓储机器 人的类型，为所述仓储机器人分配与其类型对应的排队队列内的排队位。第二方面，本公开实施例提供一种仓储机器人的控制方法，应用于仓储机器人，所述方法包括：
若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，其中所述避让指令用于当操作台的预设区域内的机器人数量满足限流条件时，指示满足避让条件的仓储机器人进入避让状态并停止向所述预设区域移动。
在一种可选的实施方式中，还包括：响应于为其分配排队位的指令，向为其分配的排队位移动。
在一种可选的实施方式中，若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，包括：若接收到避让指令，则进入避让状态，并原地待命；或者，若接收到避让指令，则进入避让状态，并移动至等待区域后待命。
在一种可选的实施方式中，所述若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动之后，还包括：响应于调度指令，取消避让状态，并向所述预设区域移动。
第三方面，本公开实施例提供一种仓储机器人的控制装置，应用于智能仓储系统的调度服务器，所述装置包括：
数量获取模块，用于获取操作台的预设区域内的机器人数量；
限流控制模块，用于当所述预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，所述避让指令用于指示所述仓储机器人停止进入所述预设区域的操作。
第四方面，本公开实施例提供一种仓储机器人的控制装置，应用于仓储机器人，所述装置包括：
控制模块，用于若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，其中所述避让指令用于当操作台的预设区域内的机器人数量满足限流条件时，指示满足避让条件的仓储机器人进入避让状态并停止向所述预设区域移动。
第五方面，本公开实施例提供一种调度服务器，包括：
处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；其中，所述处理器运行所述计算机程序时实现上述第一方面所述的方法。
第六方面，本公开实施例提供一种仓储机器人，包括：
处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；其中，所述处理器运行所述计算机程序时实现上述第二方面所述的方法。
第七方面，本公开实施例提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时实现上述任一项所述的方法。
本公开实施例提供的仓储机器人的控制方法、装置、设备及存储介质，通过在操作台附近设置进行限流控制的预设区域及限流条件，在预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，所述避让指令用于指示所述仓储机器人停止进入所述预设区域的操作；仓储机器人若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，能够减少在操作台附近等待的仓储机器人的数量，避免了操作台附近拥堵，提高了货物取放效率。
附图说明
图1为本公开实施例一提供的仓储机器人的控制方法流程图；
图2为本公开实施例二提供的预设区域的示意图；
图3为本公开实施例二提供的仓储机器人的控制方法流程图；
图4为本公开实施例三提供的仓储机器人的控制方法流程图；
图5为本公开实施例三提供的一种排队位与预设区域的示意图；
图6为本公开实施例三提供的另一种排队位与预设区域的示意图；
图7为本公开实施例四提供的仓储机器人的控制装置的结构示意图；
图8为本公开实施例五提供的仓储机器人的控制装置的结构示意图；
图9为本公开实施例六提供的调度服务器的结构示意图；
图10为本公开实施例六提供的仓储机器人的结构示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
首先对本公开实施例所涉及的名词进行解释：
操作台：货物分拣或料箱入库的位置。
入库：货物所在料箱经过操作台，由仓储机器人放到相应库位。
货物分拣：是指从仓库或者其它合适类型的货物存储地中取出与订单对应的货物并完成打包，形成最终的订单包裹出库的过程。在货物分拣过程中，货物的取放效率对于分拣效率至关重要，货物取放的效率可以由单位时间内处理完成的订单货物取放数量所决定。单位时间内处理完成的订单货物数量越多，货物取放的效率也越高。
此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示 或暗示相对重要性或者隐含指明所指示的技术特征的数量。在以下各实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
本公开实施例具体的应用于智能仓储系统，智能仓储系统包括仓储机器人，调度服务器(也就是调度系统的服务器)，仓库等。其中仓库中可以包含存储料箱的货架。
调度服务器可以是以任何类型的电子计算平台或者设备，作为整个智能仓储系统的控制核心，其可以根据实际情况的需要，具备相应的存储空间或者计算能力，以提供一项或者多项应用服务或者功能，例如接收待出库的订单，下发订单或者控制仓储机器人执行取放货任务。
仓储机器人是具有行走机构，可以在仓库中移动，搬运料箱，搬运货架等的自动化设备，例如，料箱搬运机器人、货架搬运机器人、无人搬运车(Automated Guided Vehicle，简称AGV)等。本实施例中提到的机器人均指仓储机器人。
仓库是用于存放料箱的区域。为了便于进行管理，仓库中可以设置有多个货架，每个货架上按照特定放置规则放置有多个相同或者不同的料箱。
在需要取放货物时，调度服务器调度为仓储机器人分配搬运任务以及对应的操作台，仓储机器人需要前往对应的操作台拿取/放置货物。比如，仓储机器人将货物从货架运送至操作台，由人工根据货物订单进行相应的分拣；或者仓储机器人将货物从操作台搬运至货架上的库位，完成货物入库。当多个仓储机器人在操作台停留等待搬运货物时，多个仓储机器人全部拥在操作台附近，容易造成拥堵，导致货物取放效率低。
本公开实施例提供的仓储机器人的控制方法、装置、设备及存储介质的方法，旨在解决如上技术问题。
下面以具体地实施例对本公开的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
实施例一
图1为本公开实施例一提供的仓储机器人的控制方法流程图。如图1所示，该方法具体步骤如下：
步骤S101、获取操作台的预设区域内的机器人数量。
在实际应用中，智能仓储系统中通常设置有多个操作台。本实施例中，每个操作台附近设置有预设区域。例如，如图2所示，以智能仓储系统中的两个操作台为例，操作台1和操作台2周围分别设置有对应的预设区域。
操作台的预设区域设置有对应的限流条件，当预设区域内的机器人数量满足限流条件时，将不允许其他仓储机器人继续进入预设区域。这样通过控制操作台附近预设区域内的机器人数量，机器人可以在有限的范围能尽可能避让，尽量减少机器人的拥堵。
其中，不同操作台的预设区域对应的限流条件可以不同。
各个操作台的预设区域的具体位置和对应的限流条件均可以根据智能仓储系统的实际需要进行设置和调整，本实施例此处不做具体限定。例如，可以设定预设区域对应的限流条件为预设区域内的机器人数量达到预先设定的上限阈值等。
本实施例中，调度服务器可以实时地获取每个操作台的预设区域内的仓储机器人的数量。
示例性地，调度服务器可以获取各个仓储机器人的实时位置，根据各个仓储机器人的实时位置，以及各个操作台的预设区域的位置，来确定各个操作台的预设区域内仓储机器人的数量。
步骤S102、当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，避让指令用于指示仓储机器人停止进入预设区域的操作。
当预设区域内的机器人数量满足限流条件时，首先确定满足避让条件的仓储机器人，然后向满足避让条件的仓储机器人发送避让指令，以指示满足避让条件的仓储机器人停止进入预设区域的操作。
对于任意一个操作台，分配了该操作台的仓储机器人将会移动至该操作台完成为其分配的任务，仓储机器人在到达操作台前会先进入该操作台的预设区域。
对于任意一个操作台的预设区域，调度服务器根据实时获取的预设区域内的机器人数量，以及预设区域对应的限流条件，判断该预设区域内仓储机器人的数量是否满足对应的限流条件。
在任一仓储机器人向操作台移动过程中，在进入操作台的预设区域之前，如果该预设区域内仓储机器人的数量已经满足对应的限流条件，则禁止仓储机器人继续进入该预设区域。此时，调度服务器可以向仓储机器人发送避让指令，以控制仓储机器人停止进入该预设区域的操作。
步骤S103、若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，其中避让指令用于当操作台的预设区域内的机器人数量满足限流条件时，指示满足避让条件的仓储机器人进入避让状态并停止向预设区域移动。
仓储机器人向操作台移动的过程中，在进入操作台的预设区域之前，若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动。
本公开实施例通过在操作台附近设置预设区域及其对应的限流条件，当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，以控制满足避让条件的仓储机器人，进入避让状态，并停止向为其分配的操作台的预设区域移动，能够减少在操作台附近等待的仓储机器人的数量，避免了操作台附近拥堵，提高了货物取放效率。
实施例二
图3为本公开实施例二提供的仓储机器人的控制方法流程图。在上述实 施例一的基础上，本实施例中，当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令之后，还包括：若预设区域内的机器人数量不满足限流条件时，调度处于避让状态的仓储机器人进入预设区域。
如图3所示，该方法具体步骤如下：
步骤S201、调度服务器获取操作台的预设区域内的机器人数量。
该步骤与上述步骤S101实现方式一致，此处不再赘述。
步骤S202、根据预设区域内的机器人数量，确定预设区域内的机器人数量是否满足限流条件。
本实施例的一种可选的实施方式中，预设区域内的机器人数量满足限流条件，包括：预设区域内的机器人数量大于第一阈值。
其中，第一阈值可以是预先设置的预设区域对应的上限阈值。预设区域的上限阈值可以是该预设区域中允许同时进入的仓储机器人的最大数量，可以根据是应用场景的需要进行设置和调整，此处不做具体限定。
这一实施方式中，通过限定预设区域内机器人的数量，实现对操作台附近的预设区域内机器人的限流控制，以减少操作台附近等待的机器人的数量。
本实施例的另一种可选的实施方式中，预设区域包括至少一个排队位，也就是至少一个排队位构成了预设区域。预设区域内的机器人数量满足限流条件，包括：预设区域内的机器人数量等于预设区域内至少一个排队位的数量。
这一实施方式中，操作台周围设置有多个排队位(构成预设区域)，每个排队位同时只允许一个仓储机器人使用，通过设置有限的排队位，来对操作台附近的仓储机器人进行限流控制，以减少操作台附近等待的机器人的数量。
本实施例的另一种可选的实施方式中，预设区域内包括至少一个排队位，预设区域内还包括除所有排队位之外的区域。
可选地，预设区域内包括至少一个排队位，预设区域内的机器人数量满足限流条件，可以为：至少一个排队位全部被机器人占用。
可选地，预设区域内包括至少一个排队位，预设区域内的机器人数量满足限流条件，还可以为：至少一个排队位全部被机器人占用，且预设区域内的机器人数量大于第二阈值，第二阈值大于至少一个排队位的数量。第二阈值可以根据实际应用场景的需要进行设置和调整，本实施例此处不做具体限定。
步骤S203、若预设区域内的机器人数量满足限流条件，调度服务器确定满足避让条件的仓储机器人。
可选地，满足避让条件的仓储机器人可以包括：分配了该操作台且还未进入预设区域的仓储机器人。
在预设区域内的机器人数量满足限流条件时，对于分配了该操作台且还未进入预设区域的仓储机器人，可能一部分仓储机器人距离操作台的预设区 域还比较远，当距离预设区域比较远的机器人正常移动至预设区域时，可能预设区域内有的机器人已经完成操作台的操作离开了预设区域。对于这些仓储机器人，应该暂时允许其继续向操作台移动。可选地，可以在操作台周围设置相对于预设区域较大的一个区域，满足避让条件的仓储机器人可以包括：分配了操作台，已进入第一区域且还未进入预设区域的仓储机器人发送避让指令，其中预设区域为第一区域中的一部分。
第一区域的大小、形状和具体位置可以根据实际应用场景的需要进行设置和调整，此处不做具体限定。
步骤S204、调度服务器向满足避让条件的仓储机器人发送避让指令。
在确定满足避让条件的仓储机器人之后，向满足避让条件的仓储机器人发送避让指令。
其中，避让指令用于指示仓储机器人停止进入预设区域的操作。
可选地，避让指令用于指示仓储机器人进入避让状态并原地待命，以停止进入预设区域。
可选地，可以设置等待区域，避让指令用于指示仓储机器人进入避让状态并移动至等待区域后待命，以停止进入预设区域。
其中，等待区域是位于预设区域以外的区域，用于接收到避让指令进入避让状态的仓储机器人能够进入和停留的区域。
为了防止操作台附近堵塞，可以设置等待区域，在操作台的预设区域内的机器人数量满足限流条件，让满足避让条件的仓储机器人会进入避让状态，并移动至等待区域待命，等待操作台前的仓储机器人处理订单，待操作台前的仓储机器人完成订单离开预设区域，预设区域内的机器人数量不满足限流条件时，再向操作台方向前进。
可选地，可以将预设区域以外的区域都作为等待区域。这样，满足避让条件的仓储机器人接收到避让指令时，可以直接原地待命并进入避让状态。
可选地，可以设置等待区域为预设区域以外且在操作台的预设距离范围内的区域。这样，满足避让条件的仓储机器人接收到避让指令时，可以移动到距离操作台比较近的等待区域内进行避让。其中预设距离范围可以根据实际应用场景进行设置和调整，此处不做具体限定。
可选地，还可以设置等待区域为在各操作台的预设区域以外的区域内的指定避让区域。例如，可以在机器人流量比较小的区域设置一个指定避让区域。指定避让区域的可以实际应用场景进行设置和调整，此处不做具体限定。
可选地，设定一个等待区域位置时，可以直接划定一个范围作为等待区域，或者，可以划定一个范围作为需要避让的区域，而将该需要避让的区域以外的区域作为等待区域。其中，需要避让的区域可以包括限流区域、主干道区域、操作台附近的区域、货架附近的区域，或者其他仓储机器人执行任务的所需经过的关键区域。
智能仓储系统中设置的等待区域的位置，可以根据实际应用场景的需要进行设置和调整，本实施例此处不做具体限定。
另外，智能仓储系统中设置的等待区域的数量，也可以根据实际应用场景的需要进行设置和调整，本实施例此处不做具体限定。
可选地，每个操作台的限流区域可以对应一个等待区域，仓储机器人只能进入为其分配的操作台对应的等待区域。
可选地，智能仓储系统中设置多个等待区域，仓储机器人可以随机地进入其中一个等待区域，或者进入距离其当前位置最近的等待区域。
本实施例的一种可选的实施方式中，避让指令还用于将满足避让条件的仓储机器人的优先级设置为最低级别。当两个不同优先级的仓储机器人相遇需要其中一方避让时，优先级低的仓储机器人避让优先级高的仓储机器人。因此，仓储机器人在接收到避让指令时，首先进入避让状态，无论是原地待命还是在移动至等待区域的过程中，仓储机器人都处于避让状态，如果有其他机器人与其他未进入避让状态的仓储机器人(例如，完成在操作台的操作正在向仓库搬运获取的仓储机器人等)相遇，该处于避让状态应该主动为未进入避让状态的仓储机器人的让行。
步骤S205、若接收到避让指令，则仓储机器人进入避让状态，并停止向为其分配的操作台的预设区域移动。
该步骤中，仓储机器人可以根据接收到的避让指令所包含的指令信息，进入避让状态，并原地待命；或者根据接收到的避让指令所包含的指令信息，进入避让状态，并移动至等待区域后待命。
本实施例中，若设置了等待区域，避让指令用于指示仓储机器人进入避让状态并移动至等待区域后待命，那么，在向满足避让条件的仓储机器人发送避让指令之后，调度服务器还可以检测处于避让状态的仓储机器人是否位于等待区域内；向位于等待区域之外且处于避让状态的仓储机器人发送进入等待区域的指示。这样，可以确保所有满足避让条件的仓储机器人尽快进入等待区域内待命。
等待区域的功能为：如果仓储机器人处于避让状态，它不应阻塞其他仓储机器人，也不应该在操作台附近等待(或者在主干道等需要避让的区域等待)，所以当仓储机器人进入避让状态时，会检测该机器人是否在等待区域，如果不在等待区域，则该机器人会自动寻找一条路径前往等待区域，并在等待区域内等待。
步骤S206、若预设区域内的机器人数量不满足限流条件时，调度处于避让状态的仓储机器人进入预设区域。
一种可选的实施方式中，在预设区域内的第四机器人离开预设区域时，则根据第四机器人的数量，确定对应数量的处于避让状态的第五机器人，调度第五机器人进入预设区域。
本实施例中，当有仓储机器人离开预设区域时，使得预设区域内的机器人数量不满足对应的限流条件时，调度服务器调度在等待区域中调度的一个或者多个仓储机器人进入预设区域。
其中，第四机器人是指当前从预设区域内离开的仓储机器人，第四机器 人的数量可以是一个或者多个。第五机器人是指在预设区域内的机器人数量不满足对应的限流条件时，被调度进入预设区域的仓储机器人，第五机器人的数量可以根据离开预设区域的第四机器人的数量(也即预设区域内还可以进入仓储机器人的数量)确定，不能超过第四机器人的数量。
另一种可选的实施方式中，当预设区域内的第一个排队位内的仓储机器人离开第一个排队位时，调度预设区域内的第二个及以后的排队位内的仓储机器人从当前排队位移动至前一个排队位。这样，预设区域内队列尾部的至少一个排队位空闲。调度服务器根据预设区域内的当前处于空闲状态的排队位，确定对应数量的处于避让状态的第五机器人；将预设区域内的当前处于空闲状态的排队位分配给第五机器人。
该步骤的上述任意一种可选的实施方中，确定对应数量的处于避让状态的第五机器人，具体可以采用如下方式实现：
对处于避让状态的仓储机器人进行排序；根据处于避让状态的内的仓储机器人的先后顺序，确定对应数量的处于避让状态的仓储机器人为第五机器人。
进一步地，可以根据排序策略，对处于避让状态的仓储机器人进行排序。
一种可选的排序策略为：根据处于避让状态的仓储机器人的任务属性信息，对处于避让状态的仓储机器人排序。其中，任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间。
另一种可选的排序策略为：按照进入避让状态的先后顺序，对处于避让状态的仓储机器人进行排序。
另一种可选的排序策略为：若设置了等待区域，还可以按照进入等待区域的先后顺序，对处于避让状态的仓储机器人进行排序。
另一种可选的排序策略为：若预设区域内包括多个排队位，则为仓储机器人分配操作台时，还会为仓储机器人分配排队位，那么可以按照已分配的排队位顺序，对处于避让状态的仓储机器人进行排序。
步骤S207、响应于调度指令，仓储机器人取消避让状态，并向预设区域移动。
本实施例中，调度服务器调度处于避让状态的仓储机器人进入预设区域时，可以通过向仓储机器人发送调度指令的方式实现。
其中，调度指令用于控制仓储机器人取消避让状态，并从当前所在位置向预设区域移动。
仓储机器人在接收到调度指令时，从当前位置向为其分配的操作台移动，进入操作台的预设区域，并在该操作台完成为其分配的任务。本实施例的一种可选的实施方式中，仓储机器人可以包括多种不同类型的机器人，例如，料箱搬运机器人，货架搬运机器人等。
可选地，对于每个操作台，可以针对不同类型的仓储机器人设置不同的预设区域，对每个类型的仓储机器人分别独立地进行限流控制。
可选地，每个操作台仅设置一个预设区域，对于不同类型的仓储机器人 不做区分，统一进行限流控制。
可选地，每个操作台仅设置一个预设区域，预设区域内包括至少一个排队队列，每个排队队列包括至少一个排队位。为仓储机器人分配预设区域内的排队位时，根据仓储机器人的类型，为仓储机器人分配与其类型对应的排队队列内的排队位。其中，可以为每种类型的仓储机器人设置对应的排队队列；或者，可以为多种不同类型的仓储机器人分配它们共用的排队队列，本实施例此处不做具体限定。
这样，操作台排队机制十分灵活，既可以多个不同类型的机器人混合排队，又可以每种类型的机器人各自排队，相互独立，根据具体应用场景的不同，可以选择灵活的排队策略。
本公开实施例通过在操作台附近设置预设区域及其对应的限流条件，当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，以控制满足避让条件的仓储机器人，进入避让状态，并停止向为其分配的操作台的预设区域移动；若预设区域内的机器人数量不满足限流条件时，调度处于避让状态的仓储机器人进入预设区域，能够减少在操作台附近等待的仓储机器人的数量，避免了操作台附近拥堵，并且可以提高仓储机器人的工作效率，从而能够提高货物取放效率。
实施例三
图4为本公开实施例三提供的仓储机器人的控制方法流程图。在上述实施例一或者实施例二的基础上，本实施例中，预设区域内包括多个具有先后顺序的排队位。在为仓储机器人分配操作台时，调度服务器可以为仓储机器人分配操作台的预设区域内的排队位。
本实施例的一种可选的实施方式中，如图5所示，操作台的预设区域可以由多个排队位所在区域构成，预设区域包括的排队位的数量(例如图5中用N表示预设区域内排队位的数量)也就是该预设区域内可容纳机器人的上限值。这一实施方式中，当预设区域内的机器人数量等于预设区域内至少一个排队位的数量时，预设区域内的机器人数量满足限流条件，需要开始限流，其他仓储机器人进入避让状态，并停止进入所操作台的述预设区域。
本实施例的另一种可选的实施方式中，如图6所示，操作台的预设区域可以是操作台周围的一个连通的区域，预设区域内设置有至少一个排队位，预设区域内还包括除所有排队位之外的区域。这一实施方式中，可以在预设区域内所有的排队位全部被占用；或者预设区域内所有的排队位全部被机器人占用，且预设区域内的机器人数量大于第二阈值时，预设区域内的机器人数量满足限流条件，开始限流，其他仓储机器人进入避让状态，并停止进入所操作台的述预设区域。
如图4所示，该方法还包括如下步骤：
步骤S301、为仓储机器人分配操作台时，调度服务器为仓储机器人分配操作台的预设区域内的排队位。
本实施例中，调度机器人在为仓储机器人分配操作台时，也为仓储机器人分配该操作台的预设区域内的排队位。该仓储机器人根据为其分配的操作台及排队位，向为其分配的排队位移动。
示例性地，为仓储机器人分配操作台的预设区域内的排队位，具体可以采用如下方式实现：
根据仓储机器人的任务属性信息，为仓储机器人分配对应的排队位。其中，任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间。
另外，为仓储机器人分配排队位所采用的策略可以根据实际应用场景进行设置和调整，本实施例此处不做具体限定。
步骤S302、仓储机器人响应于为其分配排队位的指令，向为其分配的排队位移动。
在确定为其分配的排队位之后，仓储机器人可以向为其分配的排队位移动，也即是向为其分配的操作台的方向移动。
步骤S303、当第一机器人进入操作台的预设范围内时，若在为第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，则将至少一个排队位中的第二排队位分配给第一机器人，其中第一机器人是任一分配了操作台的排队位的仓储机器人。
其中，预设范围是操作台周围的距离操作台较近的区域，预设范围可以是预设区域，也可以是操作台附近的其他区域。操作台周围的预设范围的具体位置可以根据实际应用场景的需求进行设置和调整，不同的操作台周围的预设区域的大小可以不同，本实施例此处不做具体限定。
第一排队位是指为当前的仓储机器人分配的排队位。第二排队位是指在第一排队位之前的处于空闲状态的至少一个排队位中的一个，可以是在第一排队位之前的处于空闲状态的至少一个排队位中的最前端的排队位。
当仓储机器人进入操作台周围的预设范围内，也即到达操作台附近时，如果在为其分配的第一排队位之前有空闲的排队位，则调度机器人可以根据第一排队位之前实际空闲的排队位，调度仓储机器人进入其中最前端的排队位，可以提高该仓储机器人的工作效率。
例如，如果为机器人1分配操作台1的预设区域内的排队位1，为机器人2分配操作台1的预设区域内的排队位2，排队位1在排队位2的前面。如果机器人2比机器人1先到达操作台附近时，那么调度服务器可以将排队位1重新分配给机器人2，机器人2根据重新分配的排队位移动至排队位1，等待拣货。机器人1的排队位可以根据实际机器人到达的情况向后分配。
示例性地，当第一机器人进入操作台周围的预设范围内时，若在为第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，将至少一个排队位中的第二排队位分配给第一机器人之后，假设在重新分配之前第二排队位分配给了第三机器人，那么在重新分配之后，第三机器人对应的排队位暂时被占用。
一种可选的实施方式中，当第一机器人进入操作台的预设范围内时，若在为第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，则将至少一个排队位中的第二排队位分配给第一机器人之后，调度服务器还可以更新至少一个第二机器人的排队位。其中，第二机器人为已分配了操作台的排队位且尚未到达对应排队位的机器人。
可选地，当第一机器人进入操作台的预设范围内时，若在为第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，则将至少一个排队位中的第二排队位分配给第一机器人之后，可以保持其他仓储机器人(包括第三机器人)的排队位不变。在其他仓储机器人到达操作台周围的预设范围内时，根据预设区域内各排队位的实际空闲情况，为其重新分配处于空闲状态的排队位。
可选地，当第一机器人进入操作台的预设范围内时，若在为第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，则将至少一个排队位中的第二排队位分配给第一机器人之后，还可以调整其他仓储机器人对应的排队位。
示例性地，将第二排队位重新分配给第一机器人之前，确定第二排队位分配给的第三机器人。将第二排队位重新分配给第一机器人之后，将第一机器人原有的第一排队位分配给第三机器人。
例如，如果为机器人1分配操作台1的预设区域内的排队位1，为机器人2分配操作台1的预设区域内的排队位2，排队位1在排队位2的前面。如果机器人2比机器人1先到达操作台附近的预设范围内时，那么调度服务器可以将排队位1重新分配给机器人2，机器人2根据重新分配的排队位移动至排队位1，等待拣货。然后将排队位2分配给机器人1。也就是将机器人1和机器人2的排队位进行了交换。
示例性地，将第二排队位分配给第一机器人之后，根据预设区域内处于空闲状态的排队位，为每个第二机器人重新分配一个处于空闲状态的排队位，并且重新分配后至少一个第二机器人对应排队位的顺序与重新分配之前至少一个第二机器人的排队位的顺序一致不变。例如，为机器人1，机器人2和机器人3分别分配了排队位1，排队位2和排队位3，排队位由前到后的顺序为：排队位1，排队位2，排队位3。假设机器人3到达操作台附近的预设范围内时，排队位1，排队位2和排队位3均空闲，则将排队位1重新分配给机器人1，机器人2和机器人3的排队位往后顺延，也就是将排队位2重新分配给机器人1，将排队位3重新分配给机器人2。
在本实施例的过程中，可以实时地执行上述实施例二提供的方法流程，调度服务器获取操作台的预设区域内的机器人数量；当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，避让指令用于指示仓储机器人停止进入预设区域的操作。
本公开实施例通过在预设区域设置多个具有先后顺序的排队位，在为仓储机器人分配操作台时，调度服务器可以为仓储机器人分配操作台的预设区 域内的排队位；在预设区域内的所有排队位全部被机器人占用，或者预设区域内的所有排队位全部被机器人占用且预设区域内的机器人数量大于第二阈值时，向满足避让条件的仓储机器人发送避让指令，使得这些仓储机器人进入避让状态，并停止向为其分配的操作台的预设区域移动，能够减少在操作台附近等待的仓储机器人的数量，同时通过指定预设区域内仓储机器人的排队顺序，能够进一步提高货物取放效率，使得智能仓储系统更加智能和高效。
实施例四
图7为本公开实施例四提供的仓储机器人的控制装置的结构示意图。本公开实施例提供的仓储机器人的控制装置可以执行仓储机器人的控制方法实施例提供的处理流程。如图7所示，该仓储机器人的控制装置30包括：数量获取模块301和限流控制模块302。
具体地，数量获取模块301，用于获取操作台的预设区域内的机器人数量。
限流控制模块302，用于当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，避让指令用于指示仓储机器人停止进入预设区域的操作。
在一种可选的实施方式中，预设区域内的机器人数量满足限流条件，包括：预设区域内的机器人数量大于第一阈值。
在一种可选的实施方式中，预设区域包括至少一个排队位，预设区域内的机器人数量满足限流条件，包括：预设区域内的机器人数量等于预设区域内至少一个排队位的数量。
在一种可选的实施方式中，预设区域内包括至少一个排队位，预设区域内的机器人数量满足限流条件，包括：至少一个排队位全部被机器人占用；或者，至少一个排队位全部被机器人占用，且预设区域内的机器人数量大于第二阈值，第二阈值大于至少一个排队位的数量。
在一种可选的实施方式中，限流控制模块302还用于：
向分配了操作台且还未进入预设区域的仓储机器人发送避让指令；或者，向分配了操作台，已进入第一区域且还未进入预设区域的仓储机器人发送避让指令，其中预设区域为第一区域中的一部分。
在一种可选的实施方式中，避让指令用于指示仓储机器人进入避让状态并原地待命；或者，避让指令用于指示仓储机器人进入避让状态并移动至等待区域后待命。
在一种可选的实施方式中，等待区域为预设区域以外的区域；或者，等待区域为预设区域以外且在操作台的预设距离范围内的区域；或者，等待区域为在各操作台的预设区域以外的区域内的指定避让区域。
在一种可选的实施方式中，限流控制模块302还用于：
检测处于避让状态的仓储机器人是否位于等待区域内；向位于等待区域之外且处于避让状态的仓储机器人发送进入等待区域的指示。
在一种可选的实施方式中，避让指令还用于将满足避让条件的仓储机器人的优先级设置为最低级别。
在一种可选的实施方式中，限流控制模块302还用于：
为仓储机器人分配操作台时，为仓储机器人分配预设区域内的排队位。
在一种可选的实施方式中，限流控制模块302还用于：
当第一机器人进入操作台的预设范围内时，若在为第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，则将至少一个排队位中的第二排队位分配给第一机器人，其中第一机器人是任一分配了操作台的排队位的仓储机器人。
在一种可选的实施方式中，第二排队位为处于空闲状态的至少一个排队位中最前端的排队位。
在一种可选的实施方式中，限流控制模块302还用于：
将至少一个排队位中的第二排队位分配给第一机器人之后，更新至少一个第二机器人的排队位，第二机器人为已分配了操作台的排队位且尚未到达对应排队位的机器人。
在一种可选的实施方式中，限流控制模块302还用于：
将至少一个排队位中的第二排队位分配给第一机器人之前，确定第二排队位对应的第三机器人；将至少一个排队位中的第二排队位分配给第一机器人之后，将第一排队位分配给第三机器人。
在一种可选的实施方式中，限流控制模块302还用于：
根据预设区域内的处于空闲状态的排队位，为每个第二机器人重新分配一个处于空闲状态的排队位，且重新分配后至少一个第二机器人对应排队位的顺序与重新分配之前至少一个第二机器人的排队位的顺序一致。
在一种可选的实施方式中，限流控制模块302还用于：
根据仓储机器人的任务属性信息，为仓储机器人分配对应的排队位；其中，任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间。
在一种可选的实施方式中，限流控制模块302还用于：
当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令之后，若预设区域内的机器人数量不满足限流条件时，调度处于避让状态的仓储机器人进入预设区域。
在一种可选的实施方式中，限流控制模块302还用于：
在预设区域内的第四机器人离开预设区域时，则根据第四机器人的数量，确定对应数量的处于避让状态的第五机器人，调度第五机器人进入预设区域。
在一种可选的实施方式中，限流控制模块302还用于：
当预设区域内的第一个排队位内的仓储机器人离开第一个排队位时，调度预设区域内的第二个及以后的排队位内的仓储机器人从当前排队位移动至前一个排队位。
在一种可选的实施方式中，限流控制模块302还用于：
调度预设区域内的第二个及以后的排队位内的仓储机器人从当前排队位移动至前一个排队位之后，根据预设区域内的当前处于空闲状态的排队位，确定对应数量的处于避让状态的第五机器人；将预设区域内的当前处于空闲状态的排队位分配给第五机器人。
在一种可选的实施方式中，限流控制模块302还用于：
对处于避让状态的仓储机器人进行排序；根据处于避让状态的仓储机器人的先后顺序，确定对应数量的处于避让状态的仓储机器人为第五机器人。
在一种可选的实施方式中，限流控制模块302还用于：
根据处于避让状态的仓储机器人的任务属性信息，对处于避让状态的仓储机器人排序，其中任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间；或者，按照进入避让状态的先后顺序，对处于避让状态的仓储机器人进行排序；或者，按照进入等待区域的先后顺序，对处于避让状态的仓储机器人进行排序；或者，按照已分配的排队位顺序，对处于避让状态的仓储机器人进行排序。
在一种可选的实施方式中，仓储机器人包括多种类型的机器人，预设区域内包括至少一个排队队列，每个排队队列包括至少一个排队位，限流控制模块302还用于：
为仓储机器人分配预设区域内的排队位时，根据仓储机器人的类型，为仓储机器人分配与其类型对应的排队队列内的排队位。
本公开实施例提供的装置可以具体用于执行上述任一方法实施例中调度服务器所执行的方法流程，具体功能此处不再赘述。
本公开实施例通过在操作台附近设置预设区域及其对应的限流条件，当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，以控制满足避让条件的仓储机器人，进入避让状态，并停止向为其分配的操作台的预设区域移动，能够减少在操作台附近等待的仓储机器人的数量，避免了操作台附近拥堵，提高了货物取放效率。
实施例五
图8为本公开实施例五提供的仓储机器人的控制装置的结构示意图。如图8所示，该仓储机器人的控制装置40包括：控制模块401，用于若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，其中避让指令用于当操作台的预设区域内的机器人数量满足限流条件时，指示满足避让条件的仓储机器人进入避让状态并停止向预设区域移动。
在一种可选的实施方式中，预设区域内包括至少一个排队位，控制模块401还用于：
响应于为其分配排队位的指令，向为其分配的排队位移动。
在一种可选的实施方式中，控制模块401还用于：
若接收到避让指令，则进入避让状态，并原地待命；或者，若接收到避让指令，则进入避让状态，并移动至等待区域后待命。
在一种可选的实施方式中，控制模块401还用于：
若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动之后，响应于调度指令，取消避让状态，并向预设区域移动。
本公开实施例提供的装置可以具体用于执行上述任一方法实施例中仓储机器人所执行的方法流程，具体功能此处不再赘述。
本公开实施例通过在操作台附近设置预设区域及其对应的限流条件，当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，以控制满足避让条件的仓储机器人，进入避让状态，并停止向为其分配的操作台的预设区域移动，能够减少在操作台附近等待的仓储机器人的数量，避免了操作台附近拥堵，提高了货物取放效率。
实施例六
图9为本公开实施例六提供的调度服务器的结构示意图。调度服务器应用于智能仓储系统。如图9所示，该调度服务器100包括：处理器1001，存储器1002，以及存储在存储器1002上并可在处理器1001上运行的计算机程序。
其中，处理器1001运行计算机程序时实现上述任一方法实施例中调度服务器所执行的处理流程。
本公开实施例通过在操作台附近设置预设区域及其对应的限流条件，当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，以控制满足避让条件的仓储机器人，进入避让状态，并停止向为其分配的操作台的预设区域移动，能够减少在操作台附近等待的仓储机器人的数量，避免了操作台附近拥堵，提高了货物取放效率。
实施例七
图10为本公开实施例六提供的仓储机器人的结构示意图。仓储机器人应用于智能仓储系统。如图10所示，该仓储机器人110包括：处理器1101，存储器1102，以及存储在存储器1102上并可在处理器1101上运行的计算机程序。
其中，处理器1101运行计算机程序时实现上述任一方法实施例中仓储机器人所执行的方法流程。
本公开实施例通过在操作台附近设置预设区域及其对应的限流条件，当预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，以控制满足避让条件的仓储机器人，进入避让状态，并停止向为其分配的操作台的预设区域移动，能够减少在操作台附近等待的仓储机器人的数量，避免了操作台附近拥堵，提高了货物取放效率。
另外，本公开实施例还提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机程序，计算机程序被处理器执行时实现上述任一方法实施例中调度服务器或者仓储机器人所执行的方法流程。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分 配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (32)

  1. 一种仓储机器人的控制方法，其特征在于，应用于智能仓储系统的调度服务器，所述方法包括：
    获取操作台的预设区域内的机器人数量；
    当所述预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，所述避让指令用于指示所述仓储机器人停止进入所述预设区域的操作。
  2. 根据权利要求1所述的方法，其特征在于，所述预设区域内的机器人数量满足限流条件，包括：
    所述预设区域内的机器人数量大于第一阈值。
  3. 根据权利要求1所述的方法，其特征在于，所述预设区域包括至少一个排队位，所述预设区域内的机器人数量满足限流条件，包括：
    所述预设区域内的机器人数量等于所述预设区域内至少一个排队位的数量。
  4. 根据权利要求1所述的方法，其特征在于，所述预设区域内包括至少一个排队位，所述预设区域内的机器人数量满足限流条件，包括：
    所述至少一个排队位全部被机器人占用；
    或者，
    所述至少一个排队位全部被机器人占用，且所述预设区域内的机器人数量大于第二阈值，所述第二阈值大于所述至少一个排队位的数量。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，所述向满足避让条件的仓储机器人发送避让指令，包括：
    向分配了所述操作台且还未进入所述预设区域的仓储机器人发送避让指令；
    或者，
    向分配了所述操作台，已进入第一区域且还未进入所述预设区域的仓储机器人发送避让指令，其中所述预设区域为所述第一区域中的一部分。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，
    所述避让指令用于指示所述仓储机器人进入避让状态并原地待命；
    或者，
    所述避让指令用于指示所述仓储机器人进入避让状态并移动至等待区域后待命。
  7. 根据权利要求6所述的方法，其特征在于，
    所述等待区域为所述预设区域以外的区域；
    或者，
    所述等待区域为所述预设区域以外且在所述操作台的预设距离范围内的区域；
    或者，
    所述等待区域为在各操作台的预设区域以外的区域内的指定避让区域。
  8. 根据权利要求6或7所述的方法，其特征在于，所述向满足避让条件的仓储机器人发送避让指令之后，还包括：
    检测处于避让状态的仓储机器人是否位于所述等待区域内；
    向位于所述等待区域之外且处于避让状态的仓储机器人发送进入所述等待区域的指示。
  9. 根据权利要求6所述的方法，其特征在于，所述避让指令还用于将所述满足避让条件的仓储机器人的优先级设置为最低级别。
  10. 根据权利要求3或4所述的方法，其特征在于，还包括：
    为所述仓储机器人分配所述操作台时，为所述仓储机器人分配所述预设区域内的排队位。
  11. 根据权利要求10所述的方法，其特征在于，还包括：
    当第一机器人进入所述操作台的预设范围内时，若在为所述第一机器人分配的第一排队位之前存在处于空闲状态的至少一个排队位，则将所述至少一个排队位中的第二排队位分配给所述第一机器人，其中所述第一机器人是任一分配了所述操作台的排队位的仓储机器人。
  12. 根据权利要求11所述的方法，其特征在于，所述第二排队位为处于空闲状态的所述至少一个排队位中最前端的排队位。
  13. 根据权利要求11或12所述的方法，其特征在于，所述将所述至少一个排队位中的第二排队位分配给所述第一机器人之后，还包括：
    更新至少一个第二机器人的排队位，所述第二机器人为已分配了所述操作台的排队位且尚未到达对应排队位的机器人。
  14. 根据权利要求13所述的方法，其特征在于，还包括：
    确定所述第二排队位对应的第三机器人；
    所述更新至少一个第二机器人的排队位，包括：
    将所述第一排队位分配给所述第三机器人。
  15. 根据权利要求13所述的方法，其特征在于，所述更新至少一个第二机器人的排队位，包括：
    根据所述预设区域内的处于空闲状态的排队位，为每个所述第二机器人重新分配一个处于空闲状态的排队位，且重新分配后所述至少一个第二机器人对应排队位的顺序与重新分配之前所述至少一个第二机器人的排队位的顺序一致。
  16. 根据权利要求10所述的方法，其特征在于，所述为所述仓储机器人分配所述预设区域内的排队位，包括：
    根据所述仓储机器人的任务属性信息，为所述仓储机器人分配对应的排队位；
    其中，所述任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间。
  17. 根据权利要求1至16中任一项所述的方法，其特征在于，当所述预 设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令之后，还包括：
    若所述预设区域内的机器人数量不满足所述限流条件时，调度处于避让状态的仓储机器人进入所述预设区域。
  18. 根据权利要求17所述的方法，其特征在于，若所述预设区域内的机器人数量不满足所述限流条件时，调度处于避让状态的仓储机器人进入所述预设区域，包括：
    在所述预设区域内的第四机器人离开所述预设区域时，则根据所述第四机器人的数量，确定对应数量的处于避让状态的第五机器人，调度所述第五机器人进入所述预设区域。
  19. 根据权利要求17所述的方法，其特征在于，若所述预设区域内的机器人数量不满足所述限流条件时，调度处于避让状态的仓储机器人进入所述预设区域，包括：
    当所述预设区域内的第一个排队位内的仓储机器人离开所述第一个排队位时，调度所述预设区域内的第二个及以后的排队位内的仓储机器人从当前排队位移动至前一个排队位。
  20. 根据权利要求19所述的方法，其特征在于，所述调度所述预设区域内的第二个及以后的排队位内的仓储机器人从当前排队位移动至前一个排队位之后，还包括：
    根据所述预设区域内的当前处于空闲状态的排队位，确定对应数量的处于避让状态的第五机器人；
    将所述预设区域内的当前处于空闲状态的排队位分配给所述第五机器人。
  21. 根据权利要求18或20所述的方法，其特征在于，所述确定对应数量的处于避让状态的第五机器人，包括：
    对所述处于避让状态的仓储机器人进行排序；
    根据所述处于避让状态的仓储机器人的先后顺序，确定对应数量的处于避让状态的仓储机器人为第五机器人。
  22. 根据权利要求21所述的方法，其特征在于，所述对所述处于避让状态的仓储机器人进行排序，包括：
    根据所述处于避让状态的仓储机器人的任务属性信息，对所述处于避让状态的仓储机器人排序，其中所述任务属性信息包括以下至少一项：任务分配时间，任务优先级，任务剩余时间；
    或者，
    按照进入避让状态的先后顺序，对所述处于避让状态的仓储机器人进行排序；
    或者，
    按照进入等待区域的先后顺序，对所述处于避让状态的仓储机器人进行排序；
    或者，
    按照已分配的排队位顺序，对所述处于避让状态的仓储机器人进行排序。
  23. 根据权利要求10所述的方法，其特征在于，所述仓储机器人包括多种类型的机器人，所述预设区域内包括至少一个排队队列，每个所述排队队列包括至少一个排队位，
    为所述仓储机器人分配所述预设区域内的排队位时，根据所述仓储机器人的类型，为所述仓储机器人分配与其类型对应的排队队列内的排队位。
  24. 一种仓储机器人的控制方法，其特征在于，应用于仓储机器人，所述方法包括：
    若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，其中所述避让指令用于当操作台的预设区域内的机器人数量满足限流条件时，指示满足避让条件的仓储机器人进入避让状态并停止向所述预设区域移动。
  25. 根据权利要求24所述的方法，其特征在于，还包括：
    响应于为其分配排队位的指令，向为其分配的排队位移动。
  26. 根据权利要求24或25所述的方法，其特征在于，若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，包括：
    若接收到避让指令，则进入避让状态，并原地待命；
    或者，
    若接收到避让指令，则进入避让状态，并移动至等待区域后待命。
  27. 根据权利要求26所述的方法，其特征在于，所述若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动之后，还包括：
    响应于调度指令，取消避让状态，并向所述预设区域移动。
  28. 一种仓储机器人的控制装置，其特征在于，应用于智能仓储系统的调度服务器，所述装置包括：
    数量获取模块，用于获取操作台的预设区域内的机器人数量；
    限流控制模块，用于当所述预设区域内的机器人数量满足限流条件时，向满足避让条件的仓储机器人发送避让指令，所述避让指令用于指示所述仓储机器人停止进入所述预设区域的操作。
  29. 一种仓储机器人的控制装置，其特征在于，应用于仓储机器人，所述装置包括：
    控制模块，用于若接收到避让指令，则进入避让状态，并停止向为其分配的操作台的预设区域移动，其中所述避让指令用于当操作台的预设区域内的机器人数量满足限流条件时，指示满足避让条件的仓储机器人进入避让状态并停止向所述预设区域移动。
  30. 一种调度服务器，其特征在于，包括：
    处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；
    其中，所述处理器运行所述计算机程序时实现如权利要求1至23中任一项所述的方法。
  31. 一种仓储机器人，其特征在于，包括：
    处理器，存储器，以及存储在所述存储器上并可在所述处理器上运行的计算机程序；
    其中，所述处理器运行所述计算机程序时实现如权利要求24至27中任一项所述的方法。
  32. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至27中任一项所述的方法。
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