WO2022247732A1

WO2022247732A1 - Cross-regional task processing method, apparatus and device, warehousing system, and storage medium

Info

Publication number: WO2022247732A1
Application number: PCT/CN2022/093987
Authority: WO
Inventors: 孙宗欣; 周红霞
Original assignee: 深圳市库宝软件有限公司
Priority date: 2021-05-27
Filing date: 2022-05-19
Publication date: 2022-12-01
Also published as: TW202247062A; TWI823399B; CN113213055A; CN113213055B

Abstract

A cross-regional task processing method, apparatus and device, a warehousing system, and a storage medium. When a cross-regional order task exists, a control device determines whether a current order task may form a task chain; if possible, then the task chain is issued to a robot, wherein in the task chain, the area in which the starting point of the first task is located and the area in which the end point of the last task is located are both working areas that are set by the robot; therefore, when the robot executes the task chain, it may be guaranteed that the robot executes a task when leaving the working area thereof and returning to the working area thereof. Therefore, it is guaranteed that no-load situations do not occur during a long-distance moving process of a robot between different areas, and resource waste is avoided.

Description

Cross-regional task processing method, device, equipment, storage system and storage medium

This application claims the priority of the Chinese patent application submitted to the China Patent Office on May 27, 2021, with the application number 202110587578.1, and the application name "cross-regional task processing method, device, equipment, storage system and storage medium", all of which The contents are incorporated by reference in this application.

technical field

The present disclosure relates to the technical field of intelligent warehousing, and in particular to a cross-regional task processing method, device, equipment, storage medium and storage medium.

Background technique

The intelligent warehousing system based on warehousing robots adopts an intelligent operating system to realize automatic take-out and storage of goods through system instructions. At the same time, it can run 24 hours a day, replacing manual management and operation, and improving the efficiency of warehousing. It has been widely used and accepted. favor.

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

In the existing order task processing strategy, when the control device receives a cross-regional order task, it usually controls the corresponding robot to execute the order task immediately. However, due to the long moving distance across regions, after the robot completes the order task, No tasks are performed during the return journey, that is, the robot returns empty-loaded, resulting in waste of resources.

Contents of the invention

The present disclosure provides a cross-region task processing method, device, equipment, storage medium and storage medium to solve the problems existing in the prior art.

In a first aspect, the present disclosure provides a cross-area task processing method, which is applied to a control device in a storage system, where the storage system includes a plurality of areas and a first robot working in a first area in the plurality of areas, The methods include:

Obtaining at least two order tasks, each of which includes a cross-regional goods handling task;

A task chain is generated according to the at least two order tasks, the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks, and in the task chain, the starting point of the first cargo handling task is located at the first An area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

Sending a first control instruction including the task chain to the first robot, the first control instruction is used to instruct the first robot to perform cargo handling according to the at least two cargo handling tasks in the task chain deal with.

In some embodiments, said generating a task chain according to at least two order tasks includes:

determining from the at least two order tasks the first order task whose starting point of the goods handling task is in the first area;

Acquire the second area where the end point of the first cargo handling task corresponding to the first order task is located, and determine whether there are goods in other order tasks except the first order task among the at least two order tasks The starting point of the handling task is the second order task in the second area;

If the second order task exists, determine the second order task as the next task of the first order task, and use the second order task as a new first order task, and repeat the above steps , until the area where the end point of the second cargo handling task corresponding to the second order task is located is the first area, so as to generate the task chain.

In some embodiments, the method also includes:

If the second order task does not exist, after obtaining the new order task, it is judged whether the starting point of the goods handling task corresponding to the new order task is in the second area;

If the starting point of the cargo handling task corresponding to the new order task is within the second area, then determine the new order task as the second order task.

In some embodiments, the method also includes:

If there is a discrete order task that cannot generate a task chain, then determine whether the discrete order task can be added to the generated task chain;

If it can be added to the generated task chain, the generated task chain is updated based on the discrete order task.

In some embodiments, the judging whether the discrete order task can be added to the generated task chain includes:

Determining whether there is a first target order task in the generated task chain that has the same starting area and the same end point area as the cargo handling task corresponding to the discrete order task, and is currently unprocessed;

If it exists, the discrete order task is added to the generated task chain.

In some embodiments, updating the generated task chain based on the discrete order task includes:

Adding the discrete order task to the same position as the first target order task in the generated task chain to obtain an updated task chain;

The method also includes:

Sending a second control instruction containing the updated task chain to the first robot corresponding to the generated task chain, the second control instruction is used to instruct the first robot to follow the updated task chain The goods handling task in performs goods handling processing.

Determine whether there is a second target order task in the generated task chain that is in the same area as the destination of the goods handling task corresponding to the discrete order task and that is currently unprocessed;

If it exists, the discrete order task is added to the generated task chain.

Adjusting the area where the end point of the second target task is located to the area where the starting point of the discrete order task is located, and adding the discrete order task as the next task of the adjusted second target task to obtain an updated task chain ;

The method also includes:

Sending a third control instruction including the updated task chain to the first robot corresponding to the generated task chain, the third control instruction is used to instruct the first robot to follow the updated task chain The goods handling task in performs goods handling processing.

Determine whether there is a third target order task in the generated task chain that is in the same area as the starting point of the cargo handling task corresponding to the discrete order task and that is currently unprocessed;

If it exists, the discrete order task is added to the generated task chain.

Adjust the area where the starting point of the third target task is located to the area where the end point of the discrete order task is located, and add the discrete order task as the previous task of the adjusted third target task to obtain an updated task chain ;

The method also includes:

Sending a fourth control instruction including the updated task chain to the first robot corresponding to the generated task chain, the fourth control instruction is used to instruct the first robot to follow the updated task chain The goods handling task in performs goods handling processing.

In some embodiments, also include:

If there is a first discrete order task whose starting point is in the first area and the end point is in another area different from the first area, send the fifth control instruction including the first discrete order task to the first discrete order task. For the robot, the fifth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the first discrete order task;

When there is a second discrete order task whose starting point is located in the other area and whose end point is located in the first area, the second discrete order task is preferentially assigned to the first robot executing the first discrete order task.

In some embodiments, the sending the first control instruction including the task chain to the first robot includes:

Find the target task chain from the distributed historical task chain. In the target task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as that of the next cargo handling task. The starting points of the tasks are located in the same area, and the end point of the last cargo handling task is located in the first area;

Generate an optimization task chain according to the task chain and the target task chain, and the optimization task chain traverses all areas passed by the task chain and the target task chain;

Sending a first control instruction including the optimized task chain to the first robot corresponding to the target task chain, the first control instruction is used to instruct the first robot to execute according to the cargo handling task in the optimized task chain Cargo handling.

In some embodiments, the discrete order task includes a single order task, or includes at least two order tasks, and the destination area of the cargo handling task corresponding to the previous order task is located in the cargo handling task corresponding to the latter order task. Combination of missions in the same area as the starting point.

In some embodiments, at least one of the following is included:

The area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the delivery task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The pick-up task corresponding to the handling task has the same location;

The area where the starting point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the picking task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The pick-up task corresponding to the handling task has the same location;

The area where the end point of the cargo handling task is located is the same as the area where the end point of another cargo handling task is located, specifically including: the location when the robot performs the delivery task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The location of the delivery task corresponding to the handling task is the same.

In a second aspect, the present disclosure provides a cross-area task processing method, which is applied to a first robot in a storage system, the storage system includes a plurality of areas and a control device that outputs control instructions, and the multiple areas include the first robot. A first area where a robot works, the method comprising:

Receive a first control instruction sent by the control device, the first control instruction includes a task chain, the task chain is generated by the control device according to at least two order tasks, and each order in the at least two order tasks Each task includes a cross-region cargo handling task, the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks, and in the task chain, the starting point of the first cargo handling task is located in the first area , the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

Cargo handling processing is performed according to the at least two cargo handling tasks in the task chain.

In some embodiments, also include:

receiving the second control instruction sent by the control device and including the updated task chain, the updated task chain is the first task in the generated task chain according to the discrete order task that the control device cannot generate the task chain The target order task is obtained by updating the generated task chain, and the first target order task is that the cargo handling task corresponding to the discrete order task has the same starting point area and the same end point area, and is currently unprocessed order task;

Execute cargo handling processing according to the cargo handling tasks in the updated task chain.

In some embodiments, also include:

receiving the third control instruction sent by the control device and including the updated task chain, the updated task chain is the second task in the generated task chain according to the discrete order task that the control device cannot generate the task chain The target order task is obtained by updating the generated task chain, and the second target order task is an order task that is currently unprocessed in the same area as the terminal of the cargo handling task corresponding to the discrete order task;

In some embodiments, also include:

receiving the fourth control instruction sent by the control device and including the updated task chain, the updated task chain is the third task in the generated task chain according to the discrete order task that the control device cannot generate the task chain The target order task is obtained by updating the generated task chain, and the third target order task is an order task that is currently unprocessed in the same area as the starting point of the cargo handling task corresponding to the discrete order task;

In some embodiments, also include:

Receiving the fifth control instruction sent by the control device and including the first discrete order task, the first discrete order task is that the area where the starting point is located is the first area, and the area where the end point is located is other areas different from the first area. The first discrete order task in the area, sending the task including the first discrete order;

Execute cargo handling processing according to the cargo handling task in the first discrete order task;

When receiving a second discrete order task sent by the control device with a start point located in the other area and an end point located in the first area, goods handling processing is performed according to the second discrete order task.

In some embodiments, also include:

After the target task chain sent by the control device is received, if the first control instruction including the optimized task chain sent by the control device is received, the cargo handling process is performed according to the cargo handling tasks in the optimized task chain ;

Wherein, in the target task chain, the starting point of the first cargo handling task is located in the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the last cargo handling task The end point of the handling task is located in the first area;

The optimization task chain is obtained by the control device according to the task chain and the target task chain, and the optimization task chain traverses all areas passed by the task chain and the target task chain.

In some embodiments, at least one of the following is included:

In a third aspect, the present disclosure provides a cross-area task processing device, which is applied to a control device in a storage system. The storage system includes a plurality of areas and a first robot working in a first area in the plurality of areas, The devices include:

An acquisition module, configured to acquire at least two order tasks, each of which includes a cross-regional goods handling task;

A generating module, configured to generate a task chain according to the at least two order tasks, the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks, and in the task chain, the first cargo handling task The starting point is located in the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

A sending module, configured to send a first control instruction including the task chain to the first robot, the first control instruction is used to instruct the first robot to send the at least two goods in the task chain The handling task performs goods handling processing.

In a fourth aspect, the present disclosure provides a cross-area task processing device, which is applied to a first robot in a warehouse system. The warehouse system includes a plurality of areas and a control device that outputs control instructions, and the multiple areas include the first robot. A first area where the robot works, said device comprising:

A receiving module, configured to receive a first control instruction sent by the control device, the first control instruction includes a task chain, the task chain is generated by the control device according to at least two order tasks, and the at least two order tasks Each order task in the task includes a cross-region cargo handling task, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the starting point of the first cargo handling task is located at In the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

A processing module, configured to execute cargo handling processing according to the at least two cargo handling tasks in the task chain.

In a fifth aspect, the present disclosure provides a control device, which is applied to a control device in a warehousing system, the warehousing system includes a plurality of areas and a first robot working in a first area in the plurality of areas, the control The device includes: a memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the above cross-region task processing method.

In a sixth aspect, the present disclosure provides a robot, which is applied to a first robot in a storage system. The storage system includes a plurality of areas and a control device that outputs control instructions, and the multiple areas include the first robot that the robot works on. an area, the robot comprising: a memory and at least one processor;

the memory stores computer-executable instructions;

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

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

The cross-regional task processing method, device, equipment, storage medium and storage medium provided by the present disclosure, when there is a cross-regional order task, the control device determines whether the current order task can form a task chain, and if so, the task chain In this task chain, the area where the starting point of the first task is located and the area where the end point of the last task is located are both the working areas set by the robot. Therefore, when the robot executes the task chain, the robot can be guaranteed to leave Its working area and the process of returning to the working area are all performing tasks, so as to ensure that there is no empty load during the long-distance movement of the robot between different areas, and avoid waste of resources.

Description of drawings

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

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

FIG. 1B is a schematic structural view of a handling device in the embodiment shown in FIG. 1F of the present disclosure;

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

FIG. 1D is a schematic structural diagram of a handling device in the embodiment shown in FIG. 1F of the present disclosure;

FIG. 1E is a schematic structural diagram of another handling device in the embodiment shown in FIG. 1F of the present disclosure;

FIG. 1F is a schematic structural view of another handling device of the embodiment shown in FIG. 1F of the present disclosure;

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

Fig. 2 is a schematic diagram of a storage system comprising multiple regions;

FIG. 3 is a schematic diagram of a cross-region task processing method applied to a control device in a storage system provided by an embodiment of the present disclosure;

4 is a schematic diagram of generating a task chain according to at least two order tasks in an embodiment of the present disclosure;

5 is a schematic diagram of a control device adding discrete order tasks to a generated task chain in an embodiment of the present disclosure;

6 is another schematic diagram of the control device adding discrete order tasks to the generated task chain in an embodiment of the present disclosure;

FIG. 7 is another schematic diagram of the control device adding discrete order tasks to the generated task chain in an embodiment of the present disclosure;

FIG. 8 is an example diagram of cross-region task processing in an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of generating an optimized task chain according to a current task chain and a target task chain in an embodiment of the present disclosure;

FIG. 10 is another schematic diagram of generating an optimized task chain according to the current task chain and the target task chain in an embodiment of the present disclosure;

FIG. 11 is another schematic diagram of generating an optimized task chain according to the current task chain and the target task chain in an embodiment of the present disclosure;

FIG. 12 is another schematic diagram of generating an optimized task chain according to the current task chain and the target task chain in an embodiment of the present disclosure;

FIG. 13 is another schematic diagram of generating an optimized task chain according to the current task chain and the target task chain in an embodiment of the present disclosure;

FIG. 14 is a schematic diagram of a cross-regional task processing method applied to a first robot in a warehouse system provided by an embodiment of the present disclosure;

FIG. 15 is a schematic diagram of a cross-region task processing device provided by an embodiment of the present disclosure;

FIG. 16 is another schematic diagram of an apparatus for processing cross-regional tasks provided by an embodiment of the present disclosure.

By means of the above-mentioned drawings, certain embodiments of the present disclosure have been shown and will be described in more detail hereinafter. These drawings and written description are not intended to limit the scope of the disclosed concept in any way, but to illustrate the disclosed concept for those skilled in the art by referring to specific embodiments.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments It is a part of the embodiments of the present disclosure, but not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

Terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only, and are not intended to limit the present disclosure. The singular forms "a" and "the" used in the embodiments of the present disclosure are also intended to include plural forms unless the context clearly indicates otherwise.

Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrases "if determined" or "if detected (the stated condition or event)" could be interpreted as "when determined" or "in response to the determination" or "when detected (the stated condition or event) )" or "in response to detection of (a stated condition or event)".

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a good or system comprising a set of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the commodity or system. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or system comprising said element.

FIG. 1A is a schematic structural diagram of a robot provided by an embodiment of the present disclosure; as shown in FIG. 1A , the handling robot 80 includes a mobile chassis 83 , a storage shelf 82 , a handling device 84 , and a lifting assembly 81 . Wherein, the storage shelf 82 , the handling device 84 and the lifting assembly 81 are all installed on the mobile chassis 83 , and several storage units are arranged on the storage shelf 82 . The lifting 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 goods. The handling device 84 can be rotated around the vertical axis to adjust its orientation, so as to be aligned with the storage unit, or aligned with the shelves and/or goods. The handling device 84 is used to perform loading or unloading of goods for handling of goods between the rack and the storage unit.

Exemplarily, the storage shelf 82 can be selectively configured or not configured, and when the storage shelf 82 is not configured, the goods are stored in the accommodation space of the transport device 84 when the robot 80 is transporting the goods.

The robot 80 in the above embodiments can execute the cross-regional task processing method provided by any embodiment of the present disclosure, so as to realize cargo handling between shelves and operating platforms.

During the process of the robot 80 performing the task of storing goods, the robot 80 moves to the designated storage space for the goods, and moves the target object from the storage unit of the robot body to the shelf by adjusting components, such as a rotating mechanism, in cooperation with the handling device 84 .

Exemplarily, FIG. 1B is a schematic structural diagram of a transport device in the embodiment shown in FIG. 1A of the present disclosure.

Exemplarily, the handling device 84 is mounted on the bracket 86 through a rotating mechanism 85, and the rotating mechanism 85 is used to drive the handling device 84 to rotate around a vertical axis relative to the bracket 86, so as to align the storage unit, or align the shelf and/or or goods. The handling device 84 is used to move goods between the storage unit and the rack. If the handling device 84 is not aligned with the shelf and/or goods, the rotating mechanism 85 can be used to drive the handling device 84 to rotate relative to the bracket 86 to ensure that the handling device 84 is aligned with the shelf and/or goods.

Fig. 1C is a structure of a robot and its handling device in the embodiment shown in the present disclosure. 1A and 1B, it can be understood that the rotation mechanism 85 can be omitted according to the actual situation. For example, the handling robot 80 moves on a fixed track. After moving to the vicinity of the shelf, the handling device 84 is always aligned with the shelf and/or the goods , and the goods are arranged on the pick-up direction of the handling device 84 to get final product.

Exemplarily, FIG. 1D is a schematic structural diagram of a conveying device in the embodiment shown in FIG. 1A of the present disclosure, please cooperate with FIG. 1B to facilitate understanding. As shown in FIG. 1D , the handling device 84 includes a pallet 841 and a telescopic arm assembly. The pallet 841 is used to place goods, and can be a flat plate arranged horizontally. The telescopic arm assembly is used to push the cargo placed on the pallet 841 out of the pallet 841 or pull the cargo to the pallet 841 . The telescopic arm assembly includes a telescopic arm 843 , a fixed push rod 842 and a movable push rod 844 . The telescopic arm 843 includes a left telescopic arm and a right telescopic arm. The telescopic arm 843 can extend horizontally. side. The telescopic arm 843 is powered by a motor, and the power is transmitted by a sprocket mechanism. According to actual conditions, the sprocket mechanism can be replaced by a pulley mechanism, a screw mechanism and other transmission mechanisms. Both the fixed push rod 842 and the movable push rod 844 are mounted on the telescopic arm 843 , and the fixed push rod 842 and the movable push rod 844 can be extended together with the telescopic arm 843 . The fixed push rod 842 is located on the same side of the telescopic arm 843 as the pallet 841 , and the fixed push rod 842 is used to push the goods out of the pallet 841 when the telescopic arm 843 is stretched out. The movable push rod 844 can be received in the telescopic arm 843. When the movable push rod 844 was not received in the telescopic arm 843, the movable push rod 844, the fixed push rod 842 and the supporting plate 841 were all located on the same side of the telescopic arm 843, and the movable push rod 844 is located on the extension 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 according to actual conditions, power can also be transmitted through transmission mechanisms such as a gear set and a connecting rod mechanism. 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 transport device 84 can be designed as a finger structure like the movable push rod 844 .

Exemplarily, the handling device 84 may 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 arm assembly can be adjusted according to the size of the goods.

Exemplarily, the handling device 84 may also include a steering structure, such as a turntable, and the steering structure may be used to change the orientation of the goods placed on the pallet 841 thereof. Fig. 1E is a schematic structural view of another transporting device in the embodiment shown in Fig. 1A of the present disclosure. It can be seen from Fig. 1E and Fig. 1D that the transporting device 84 may also include a steering structure, that is, the turntable 845 in Fig. 1D, to change the placement The orientation of the goods on its pallet 841.

Exemplarily, FIG. 1F is a structural schematic diagram of another transport device according to the embodiment shown in FIG. It is rod-shaped or plate-shaped. When depositing/retrieving goods, the fixed push rod 842 can be driven to move toward the goods and/or the direction of the shelf to make a displacement in the direction of return/return. The goods are absorbed by the suction cup 846 , and the goods are transported to the shelf or the pallet 841 in cooperation with the displacement of the fixed push rod 842 .

Exemplarily, FIG. 1G is a schematic structural diagram of another conveying device according to the embodiment shown in FIG. 1A of the present disclosure. The handling device 84b includes one or more robotic arms 847 configured in place on the stationary push rod 842 and/or the handling device 84b. When depositing/retrieving goods, the fixed push rod 842 can be driven to move toward the goods and/or the direction of the shelf to make a displacement in the direction of return/return. The mechanical arm 847 grabs/hooks the goods, cooperates with the displacement of the fixed push rod 842 to transport the goods to the shelf, or transports the goods to the pallet 841 .

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

The handling device structure of the embodiments shown in the present disclosure may include one or more combinations of the above examples.

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

Fig. 2 is a schematic diagram of a storage system including multiple areas. As shown in Fig. 2, the storage system includes A area, B area, robots R1, R2 and control equipment, wherein A area is provided with a first shelf and a second shelf, The robot R1 is set to work in area A, that is, to perform cargo handling on the first shelf and the second shelf; the third shelf and the fourth shelf are set in the B area, and the robot R2 is set to work in the B area, that is, in the The third rack and the fourth rack perform cargo transfer processing. Different shelves are provided with different warehouse locations for storing goods, so that the robots R1 and R2 only move a short distance within their respective areas to realize the handling of goods.

When there is a cross-regional order task, the robot needs to transport the goods in the current region to another region across regions. For example, if there is an order task that needs to transport the goods on the first shelf in area A to area B, then the robot R1 needs to take out the goods from the first shelf, and then transport the goods from area A to area B for processing (such as indicated by the solid arrow in Figure 2).

However, due to the long moving distance across regions, robot R1 did not perform any tasks during the process of returning from region B to region A (as shown by the dotted arrow in Figure 2) after completing the order task, that is, the robot was empty return, resulting in a waste of resources.

The cross-regional task processing method, device, equipment, storage medium and storage medium provided in the present disclosure aim to solve the above technical problems in the prior art.

The main idea of the disclosed scheme is: when there is a cross-regional order task, the control device determines whether the current order task can form a task chain, and if so, sends the task chain to the robot. In the task chain, the first task The area where the starting point of the robot is located and the area where the end point of the last task is located are both the working area set by the robot. Therefore, when the robot executes the task chain, it can ensure that the robot leaves its working area and returns to the working area. They are all performing tasks, so as to ensure that there is no no-load situation during the long-distance movement of the robot between different areas, and avoid waste of resources.

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

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

S110. Obtain at least two order tasks.

Wherein, each of the at least two order tasks includes a cross-region cargo handling task, and the control device may determine whether a task chain can be formed according to the at least two order tasks.

S120. Generate a task chain according to at least two order tasks.

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

Specifically, the task chain generated by the control device includes at least two cargo handling tasks corresponding to at least two order tasks. In the task chain, the starting point of the first cargo handling task is located in the first area, and the destination of the previous cargo handling task is The area is the same as the area where the starting point of the latter cargo handling task is located, and the end point of the last cargo handling task is located in the first area.

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

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

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

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

After the control device generates a task chain according to the order task, it sends the task chain to the first robot working in the first area through the first control instruction, and the first control instruction is used to instruct the first robot to follow at least The two cargo handling tasks execute the cargo handling process, so that the first robot performs the cargo handling task during the process of leaving the first area for other areas according to the task chain, and also performs the cargo handling task during the process of returning to the first area from other areas. Cargo handling tasks are also performed so that the first robot is not left empty when moving between different areas.

This embodiment provides a cross-regional task processing method. When there is a cross-regional order task, the control device determines whether the current order task can form a task chain, and if so, sends the task chain to the robot. , the area where the starting point of the first task is located and the area where the end point of the last task is located are both the working areas set by the robot. Therefore, when the robot executes the task chain, it can ensure that the robot leaves its working area and returns to the working area During the process, they are all performing tasks, so as to ensure that there is no no-load situation during the long-distance movement of the robot between different areas, and avoid waste of resources.

In some embodiments, the process of the control device generating a task chain according to at least two order tasks is explained.

FIG. 4 is a schematic diagram of generating a task chain according to at least two order tasks in an embodiment of the present disclosure. As shown in FIG. 4 , the process includes the following steps:

S121. Determine the first order task whose starting point of the goods handling task is in the first area from at least two order tasks;

S122. Obtain the second area where the end point of the first cargo handling task corresponding to the first order task is located;

S123. Determine whether there is a second order task whose starting point of the cargo handling task is in the second area among other order tasks except the first order task among the at least two order tasks;

S124. If there is a second order task, determine the second order task as the next task of the first order task,

S125. Determine that the area where the end point of the second cargo handling task corresponding to the second order task is located is the first area;

S126. If the destination area of the second goods handling task corresponding to the second order task is not in the first area, take the second order task as a new first order task, and return to step S122;

S127. If the area where the end point of the second goods handling task corresponding to the second order task is located is the first area, determine that the task chain generation work is completed.

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

In some embodiments, referring to FIG. 4, in the process of generating the task chain, the method further includes:

S128. If there is no second order task, continue to obtain the order task, and after obtaining the new order task, judge whether the starting point of the cargo handling task corresponding to the new order task is in the second area; if the new order task corresponds to If the starting point of the goods handling task is in the second area, then the new order task is determined as the second order task.

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

Taking the first area as the A area as an example to explain, assuming that there are currently three tasks, namely, transporting the goods from the A area to the B area (hereinafter referred to as A-B, the same below), B-D, and C-A, the control equipment will first Task A-B whose starting point is in area A is determined as the first order task, and the second area is determined as area B.

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

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

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

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

At this time, the control device further determines whether the end point of D-A is the first area, and since D-A meets the requirements, the control device determines that the generation of the task chain is completed, thereby forming a task chain of "A-B-D-A".

Therefore, through the processing flow shown in Figure 4, the control device can generate a task chain that meets the requirements based on the acquired order tasks, and then send the task chain to the robot, so as to avoid the empty load situation when the robot moves across regions and avoid Waste of resources.

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

Specifically, in actual scenarios, there may be an order task that needs to be processed urgently. If the order task cannot generate a task chain with other order tasks, the order task is considered to be a discrete order task. At this time, the control device judges the discrete order task Whether it can be added to the generated task chain, if yes, update the generated task chain based on the discrete order task, and send the updated task chain to the robot for execution, thus ensuring the discrete order task It can be processed in time to ensure the efficiency of task processing.

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

The discrete order task can also be composed of at least two order tasks, and the destination area of the cargo handling task corresponding to the previous order task is located in the same area as the starting point of the cargo handling task corresponding to the latter order task, such as B-D-C, etc. .

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

Correspondingly, the control device updates the generated task chain based on the discrete order task, including: S142. The control device adds the discrete order task to the same position as the first target order task in the generated task chain, and obtains the updated task chain;

Correspondingly, the method further includes: S151. The control device sends a second control instruction including the updated task chain to the first robot corresponding to the generated task chain, and the second control instruction is used to instruct the first robot to follow the updated task chain. The goods handling tasks in the chain perform goods handling processing.

Specifically, FIG. 5 is a schematic diagram of the control device adding discrete order tasks to the generated task chain in the embodiment of the present disclosure. As shown in FIG. For the generated task chain A-B-C-A (solid line) and the discrete order task B'-C' (dotted line), since the starting points of B-C and B'-C' in the task chain are both in area B, and the end points are both in area C Therefore, in the case that task B-C has not been processed, B-C can be considered as the first target order task that meets the conditions, and the control device can add B'-C' to the task chain.

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

Referring to Fig. 5, after the first robot receives the second control instruction, if the first robot has not started to execute task A-B, then the first robot performs the following operations sequentially according to the updated task chain:

(1) First, take out the goods 1 in area A, and transport the goods 1 from area A to area B;

(2) When located in area B, put item 1 into area B, and take out item 2 of the pick-up task corresponding to task B-C and item 4 of the pick-up task corresponding to task B'-C' and carry them at the same time, Then move them to area C together;

(3) When in area C, put cargo 2 and cargo 4 into area C, take out cargo 3 corresponding to task C-A, and transport cargo 3 from area C to area A.

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

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

In some embodiments, judging whether the discrete order task can be added to the generated task chain includes: S143. The control device determines whether there is a cargo handling task corresponding to the discrete order task in the generated task chain where the end point is located in the same area , and the second target order task that is currently unprocessed; if it exists, add the discrete order task to the generated task chain.

Correspondingly, the generated task chain is updated based on the discrete order task, including: S144. The control device adjusts the area where the end point of the second target task is located to the area where the starting point of the discrete order task is located, and adds the discrete order task as the adjusted The last task of the second target task of , get the updated task chain;

Correspondingly, the method further includes: S152. The control device sends a third control instruction including the updated task chain to the first robot corresponding to the generated task chain, and the third control instruction is used to instruct the first robot to follow the updated task chain. The goods handling tasks in the chain perform goods handling processing.

Specifically, FIG. 6 is another schematic diagram of the control device adding discrete order tasks to the generated task chain in the embodiment of the present disclosure. As shown in FIG. includes the generated task chain A-B-C-A (thin solid line) and discrete order task D-C (dotted line). Since the end points of B-C and D-C in the task chain are located in the same area, B-C can be considered as is the second target order task that satisfies the conditions, and the control device can add D-C to the task chain.

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

Referring to FIG. 6, after the first robot receives the third control instruction, if the first robot has not started to execute task A-B, then the first robot performs the following operations sequentially according to the updated task chain:

(2) When located in the B area, put the goods 1 into the B area, take out the goods 2 of the picking task corresponding to the task B-C, and transport it to the D area (the task shown in the thick solid line B-D in Figure 6);

(3) When located in area D, take out the goods 4 of the pick-up task corresponding to the task D-C, and transport the

goods

2 and 4 to the area C at the same time (the task shown in the thick solid line D-C in Figure 6);

(4) When located in area C, put cargo 2 and item 4 into area C, take out item 3 of the pick-up task corresponding to task C-A, and transport it to area A.

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

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

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

Correspondingly, the generated task chain is updated based on the discrete order task, including: S146. The control device adjusts the area where the starting point of the third target task is located to the area where the end point of the discrete order task is located, and adds the discrete order task as the adjusted The previous task of the third target task, get the updated task chain;

Correspondingly, the method further includes: S153. The control device sends a fourth control instruction including the updated task chain to the first robot corresponding to the generated task chain, and the fourth control instruction is used to instruct the first robot to follow the updated task chain. The goods handling tasks in the chain perform goods handling processing.

Specifically, FIG. 7 is another schematic diagram of the control device adding discrete order tasks to the generated task chain in the embodiment of the present disclosure. As shown in FIG. 7 , the discrete order task is taken as a single task as an example for explanation. FIG. 6 Including the generated task chain A-B-C-A (thin solid line) and discrete order task B-E (dotted line), since the starting point of B-C and B-E in the task chain are in the same area, therefore, in the case that task B-C has not been processed, B-C can be considered as is the third target order task that satisfies the conditions, and the control device can add B-E to the task chain.

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

Referring to FIG. 7, after the first robot receives the third control instruction, if the first robot has not started to execute task A-B, then the first robot performs the following operations sequentially according to the updated task chain:

(2) When located in the B area, put the goods 1 into the B area, and take out the goods 2 of the picking task corresponding to the task B-C and the goods 4 of the picking task corresponding to the B-E, and transport them to the E area (Figure 7 The task shown in the thick solid line B-E);

(3) When located in the E area, put the cargo 4 into the E area, and then transport the cargo 2 to the C area (the task shown in the thick solid line E-C in Figure 7);

(4) When located in area C, put the cargo 2 into area C, take out the item 3 of the pick-up task corresponding to task C-A, and move it to area A.

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

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

In some embodiments, the method also includes:

S161. If there is a first discrete order task whose starting point is the first area and the end point is other areas different from the first area, send the fifth control instruction including the first discrete order task to the first robot, and the fifth The control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the first discrete order task;

S162. When there is a second discrete order task whose starting point is located in another area and whose end point is located in the first area, preferentially assign the second discrete order task to the first robot executing the first discrete order task.

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

During the execution of the first discrete order task by the first robot, since the end point is located in the E area, the first robot does not return to the A area, but stays in the E area. At this time, the robot may be waiting in the E area, or assist in handling the cargo handling task inside the E area.

When the control device performs subsequent task allocation, if it is determined that there is a second discrete order task whose starting point is located in the E area and the end point is located in the A area, such as the task E-A in the figure, or the task combination E-C-A, the second discrete order is prioritized. The task is assigned to the first robot executing the first discrete order task, so that the first robot can return to the A area by executing the second discrete order task, avoiding the situation of returning to the A area without a load.

In this embodiment, if there is a single task or a combination of tasks that needs to be completed urgently, the control device can first send the task to the robot for execution, and the robot can stay in the corresponding area after completing the task. For a single task or task combination that starts from the area where the robot stays and ends in the first area, the single task or task combination that meets the above conditions is assigned to the first robot first, so that urgently needed tasks can be completed and tasks that need to be processed urgently can be completed. The situation that the first robot is empty can be avoided, and resource waste can be avoided.

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

In this embodiment, sending the first control instruction including the task chain to the first robot includes:

S131. Search for the target task chain from the distributed historical task chain. In the target task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as that of the next cargo handling task. The starting point is located in the same area, and the end point of the last cargo handling task is located in the first area;

S132. Generate an optimized task chain according to the task chain and the target task chain, and the optimized task chain traverses all areas passed by the task chain and the target task chain;

S133. Send the first control instruction including the optimized task chain to the first robot corresponding to the target task chain, where the first control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the optimized task chain.

Specifically, assuming that the currently generated task chain is the current task chain, and the starting point and end point of the current task chain are located in the first area, the control device can find the starting point and end point from the issued historical task chain when delivering the current task chain The end points are also located in the target task chain in the first area, and the current task chain is fused with the target task chain to obtain an optimized task chain. The optimized task chain traverses all the areas passed by the current task chain and the target task chain. According to the optimized task chain, the robot can complete all the tasks included in the current task chain and the target task chain.

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

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

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

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

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

In this embodiment, when the control device delivers the current task chain, it can search for the target task chain whose starting point and end point are also located in the first area from the delivered historical task chains, and fuse the current task chain with the target task chain , to obtain an optimized task chain, which traverses all the areas passed by the current task chain and the target task chain, so that the first robot can complete all the tasks contained in the current task chain and the target task chain according to the optimized task chain, thus The processing efficiency of the task chain can be improved.

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

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

It can be understood that when P1 and P2 are the same, the corresponding storage locations for the pick-up task and the delivery task can be respectively located on the shelves on both sides of the same aisle, so that when the robot is in the aisle, it can be rotated by rotating the fork In this way, the pick-up task and the delivery task are performed on the shelves on both sides without moving the position.

In addition, the corresponding storage locations for the picking task and the putting task can also be located at different heights of the same shelf, so that when the robot is located close to the shelf, it can perform picking at different heights by lifting tasks as well as delivery tasks without having to move locations.

In addition, the corresponding storage locations for the pick-up task and the delivery task can also be the same storage location, and this location is a deep location, that is, a location that can store multiple goods. Perform pick-up tasks as well as put-off tasks without moving locations.

In this embodiment, the location where the robot performs the pick-up task and the delivery task is the same, so that the moving distance required to perform the task in the same area can be further shortened, and the task processing efficiency can be improved.

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

Specifically, assuming that the cargo handling task and another cargo handling task are Task-P and Task-Q respectively, the position of the robot when performing the picking task corresponding to Task-P is P3, and when the robot executes the picking task corresponding to Task-Q The position of P3 is P4, and P3 and P4 are the same. Specifically, P3 and P4 can be completely coincident, or the distance between P3 and P4 is less than a preset distance (for example, five meters, etc.).

It can be understood that when P3 and P4 are the same, the corresponding warehouse locations of the two pick-up tasks can be respectively located on the shelves on both sides of the same aisle, so that when the robot is in the aisle, the fork can be rotated Carry out two pick-up tasks on both side racks without moving positions.

In addition, the corresponding storage locations of the two picking tasks can also be located at different heights of the same shelf, so that when the robot is located close to the shelf, the two picking tasks can be performed at different heights by lifting tasks without moving locations.

In addition, the corresponding storage locations for the two pick-up tasks can also be the same storage location, and this location is a deep location, that is, a location that can store multiple goods. Therefore, the robot can perform two tasks in this deep location. Pick-up tasks without having to move locations.

In this embodiment, the location where the robot performs the two pick-up tasks is the same, so that the moving distance required to perform the tasks in the same area can be further shortened, and the task processing efficiency can be improved.

In some embodiments, the area where the end point of the cargo handling task described in the foregoing embodiments is located is the same as the area where the end point of another cargo handling task is located, specifically including: when the robot performs the delivery task corresponding to the cargo handling task The position is the same as the position when the robot performs the delivery task corresponding to another cargo handling task.

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

It can be understood that when P5 and P6 are the same, the corresponding warehouse locations of the two delivery tasks can be respectively located on the shelves on both sides of the same aisle, so that when the robot is in the aisle, the robot can rotate the fork. Carry out two kinds of loading tasks on the shelves on both sides, without moving the position.

In addition, the corresponding storage locations of the two delivery tasks can also be located at different heights of the same shelf, so that when the robot is located close to the shelf, the two delivery tasks can be performed at different heights by lifting and lowering. tasks without moving locations.

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

In this embodiment, the location where the robot performs the two delivery tasks is the same, so that the moving distance required to perform the task in the same area can be further shortened, and the task processing efficiency can be improved.

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

In some embodiments, corresponding to the methods applied to control equipment in the foregoing embodiments, a cross-regional task processing method applied to the first robot in the storage system is provided, wherein the storage system includes multiple regions and outputs control instructions For the control device, the plurality of areas includes a first area where the first robot works.

FIG. 14 is a schematic diagram of a cross-regional task processing method applied to the first robot in the storage system provided by an embodiment of the present disclosure. As shown in FIG. 14 , the method mainly includes the following steps:

S210. Receive a first control instruction sent by the control device, where the first control instruction includes a task chain.

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

S220. Execute cargo handling processing according to at least two cargo handling tasks in the task chain.

For specific limitations on the cross-regional task processing method applied to the first robot in the storage system, reference may be made to the limitations of the foregoing embodiments on the cross-regional task processing method applied to the control device in the storage system, which will not be repeated here.

In some embodiments, the method further includes: S231. Receive a second control instruction sent by the control device that includes an updated task chain, where the updated task chain is the control device based on discrete order tasks that cannot generate a task chain and generated The first target order task in the task chain is obtained by updating the generated task chain. The first target order task is the cargo handling task corresponding to the discrete order task. order task;

S232. Execute cargo handling processing according to the cargo handling task in the updated task chain.

In some embodiments, the method also includes:

S241. Receive a third control instruction sent by the control device that includes an updated task chain, where the updated task chain is the discrete order task that cannot be generated by the control device and the second target order task in the generated task chain, It is obtained by updating the generated task chain that the second target order task is an order task that is in the same area as the end point of the cargo handling task corresponding to the discrete order task and is currently unprocessed;

S242. Execute cargo handling processing according to the cargo handling task in the updated task chain.

In some embodiments, the method also includes:

S251. Receive the fourth control instruction sent by the control device that includes the updated task chain. The updated task chain is the discrete order task that the control device cannot generate the task chain and the third target order task in the generated task chain. It is obtained by updating the generated task chain that the third target order task is an order task that is in the same area as the starting point of the cargo handling task corresponding to the discrete order task and is currently unprocessed;

S252. Execute cargo handling processing according to the cargo handling task in the updated task chain.

In some embodiments, the method also includes:

S261. Receive the fifth control instruction including the first discrete order task sent by the control device, the first discrete order task is located in the first area where the start point is located, and the area where the end point is located is different from the first area For the first discrete order task in other regions, send the task containing the first discrete order;

S262. Execute cargo handling processing according to the cargo handling task in the first discrete order task;

S263. When receiving a second discrete order task sent by the control device with a starting point located in the other area and an end point located in the first area, perform cargo handling processing according to the second discrete order task.

In some embodiments, the method also includes:

S271. After receiving the target task chain sent by the control device, if the first control instruction including the optimized task chain sent by the control device is received, perform cargo handling processing according to the cargo handling task in the optimized task chain;

Among them, in the target task chain, the starting point of the first cargo handling task is located in the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is Located in the first area; the optimization task chain is obtained by the control device according to the task chain and the target task chain, and the optimization task chain traverses all areas passed by the task chain and the target task chain.

In some embodiments, the area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the delivery task corresponding to the cargo handling task, and the location where the robot performs another cargo handling task. The pickup tasks corresponding to the handling tasks have the same location.

In some embodiments, the area where the starting point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the picking task corresponding to the cargo handling task, and the location where the robot performs another cargo handling task. The pickup tasks corresponding to the handling tasks have the same location.

In some embodiments, the area where the end point of the cargo handling task is located is the same as the area where the end point of another cargo handling task is located. The location of the delivery task corresponding to the handling task is the same.

It should be understood that although the steps in the flow charts in the above embodiments are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figure may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution order is not necessarily sequential Instead, it may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

In some embodiments, a cross-area task processing device is provided, which is applied to a control device in a warehouse system, and the warehouse system includes a plurality of areas and a first robot working in a first area in the plurality of areas.

FIG. 15 is a schematic diagram of a cross-regional task processing device provided by an embodiment of the present disclosure. As shown in FIG. 15 , the device includes:

An acquisition module 110, configured to acquire at least two order tasks, each of which includes a cross-region cargo handling task;

The generation module 120 is configured to generate a task chain according to at least two order tasks. The task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the starting point of the first cargo handling task is located in the first area, and the previous The area where the end point of a cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

The sending module 130 is configured to send a first control instruction including a task chain to the first robot, and the first control instruction is used to instruct the first robot to perform cargo handling processing according to at least two cargo handling tasks in the task chain.

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

FIG. 16 is another schematic diagram of a cross-regional task processing device provided by an embodiment of the present disclosure. As shown in FIG. 16 , the device includes:

The receiving module 210 is configured to receive the first control instruction sent by the control device, the first control instruction includes a task chain, the task chain is generated by the control device according to at least two order tasks, and each order task in the at least two order tasks includes a cross For cargo handling tasks in an area, the task chain includes at least two cargo handling tasks corresponding to at least two order tasks. In the task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as The starting point of the latter cargo handling task is located in the same area, and the end point of the last cargo handling task is located in the first area;

The processing module 220 is configured to perform cargo handling processing according to at least two cargo handling tasks in the task chain.

For specific limitations on the device for processing cross-regional tasks, refer to the above-mentioned limitations on the method for processing cross-regional tasks, which will not be repeated here. Each module in the above cross-regional task processing device can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

In some embodiments, a control device is provided, which is applied to a storage system. The storage system includes a plurality of areas and a first robot working in a first area in the plurality of areas. The control device includes: a memory and at least one processor;

the memory stores computer-executable instructions;

At least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the cross-region task processing method applied to the control device in the foregoing embodiments.

Wherein, the memory and the processor are electrically connected directly or indirectly to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses or signal lines, for example, they may be connected through a bus. Computer-executed instructions for implementing the data access control method are stored in the memory, including at least one software function module that can be stored in the memory in the form of software or firmware. The processor runs the software programs and modules stored in the memory to execute various Functional application and data processing.

The memory can be, but not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable only Read memory (Erasable Programmable Read-Only Memory, EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Wherein, the memory is used to store programs, and the processor executes the programs after receiving execution instructions. Further, the software programs and modules in the memory may also include an operating system, which may include various software components and/or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may Communicate with various hardware or software components to provide an operating environment for other software components.

The processor can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP) and the like. Various methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

In some embodiments, a robot is provided, which is applied to a storage system. The storage system includes a plurality of areas and a control device that outputs control instructions. The plurality of areas include a first area where the robot works, and the robot includes: a memory and at least one processor ;

the memory stores computer-executable instructions;

At least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the cross-region task processing method applied to the robot in the foregoing embodiments.

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

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

In some embodiments, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the various method embodiments of the present disclosure are implemented.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware. The computer programs can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the procedures of the embodiments of the above-mentioned methods. Wherein, any reference to memory, storage, database or other media used in various embodiments provided by the present disclosure may include non-volatile and/or volatile memory. Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the applications disclosed herein. The present disclosure is intended to cover any modification, use or adaptation of the present disclosure. These modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. . The specification and examples are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

A cross-area task processing method, characterized in that it is applied to a control device in a storage system, the storage system includes a plurality of areas and a first robot working in a first area in the plurality of areas, the method include:

Obtaining at least two order tasks, each of which includes a cross-regional goods handling task;

A task chain is generated according to the at least two order tasks, the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks, and in the task chain, the starting point of the first cargo handling task is located at the first An area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

Sending a first control instruction including the task chain to the first robot, the first control instruction is used to instruct the first robot to perform cargo handling according to the at least two cargo handling tasks in the task chain deal with.
The method according to claim 1, wherein said generating a task chain according to at least two order tasks comprises:

determining from the at least two order tasks the first order task whose starting point of the goods handling task is in the first area;

Acquire the second area where the end point of the first cargo handling task corresponding to the first order task is located, and determine whether there are goods in other order tasks except the first order task among the at least two order tasks The starting point of the handling task is the second order task in the second area;

If the second order task exists, determine the second order task as the next task of the first order task, and use the second order task as a new first order task, and repeat the above steps , until the area where the end point of the second cargo handling task corresponding to the second order task is located is the first area, so as to generate the task chain.
The method according to claim 2, further comprising:

If the second order task does not exist, after obtaining the new order task, it is judged whether the starting point of the goods handling task corresponding to the new order task is in the second area;

If the starting point of the cargo handling task corresponding to the new order task is within the second area, then determine the new order task as the second order task.
The method according to claim 1, further comprising:

If there is a discrete order task that cannot generate a task chain, then determine whether the discrete order task can be added to the generated task chain;

If it can be added to the generated task chain, the generated task chain is updated based on the discrete order task.
The method according to claim 4, wherein the judging whether the discrete order task can be added to the generated task chain comprises:

Determining whether there is a first target order task in the generated task chain that has the same starting area and the same end point area as the cargo handling task corresponding to the discrete order task, and is currently unprocessed;

If it exists, the discrete order task is added to the generated task chain.
The method according to claim 5, wherein said updating said generated task chain based on said discrete order task comprises:

Adding the discrete order task to the same position as the first target order task in the generated task chain to obtain an updated task chain;

The method also includes:

Sending a second control instruction containing the updated task chain to the first robot corresponding to the generated task chain, the second control instruction is used to instruct the first robot to follow the updated task chain The goods handling task in performs goods handling processing.
The method according to claim 4, wherein the judging whether the discrete order task can be added to the generated task chain comprises:

Determine whether there is a second target order task in the generated task chain that is in the same area as the destination of the goods handling task corresponding to the discrete order task and that is currently unprocessed;

If it exists, the discrete order task is added to the generated task chain.
The method according to claim 7, wherein said updating said generated task chain based on said discrete order task comprises:

Adjusting the area where the end point of the second target task is located to the area where the starting point of the discrete order task is located, and adding the discrete order task as the next task of the adjusted second target task to obtain an updated task chain ;

The method also includes:

Sending a third control instruction including the updated task chain to the first robot corresponding to the generated task chain, the third control instruction is used to instruct the first robot to follow the updated task chain The goods handling task in performs goods handling processing.
The method according to claim 5, wherein said judging whether said discrete order task can be added to the generated task chain comprises:

Determine whether there is a third target order task in the generated task chain that is in the same area as the starting point of the cargo handling task corresponding to the discrete order task and that is currently unprocessed;

If it exists, the discrete order task is added to the generated task chain.
The method according to claim 9, wherein said updating said generated task chain based on said discrete order task comprises:

Adjust the area where the starting point of the third target task is located to the area where the end point of the discrete order task is located, and add the discrete order task as the previous task of the adjusted third target task to obtain an updated task chain ;

The method also includes:

Sending a fourth control instruction including the updated task chain to the first robot corresponding to the generated task chain, the fourth control instruction is used to instruct the first robot to follow the updated task chain The goods handling task in performs goods handling processing.
The method according to claim 1, further comprising:

If there is a first discrete order task whose starting point is in the first area and the end point is in another area different from the first area, send the fifth control instruction including the first discrete order task to the first discrete order task. For the robot, the fifth control instruction is used to instruct the first robot to perform cargo handling processing according to the cargo handling task in the first discrete order task;

When there is a second discrete order task whose starting point is located in the other area and whose end point is located in the first area, the second discrete order task is preferentially assigned to the first robot that executes the first discrete order task.
The method according to claim 1, wherein the sending the first control instruction including the task chain to the first robot comprises:

Find the target task chain from the distributed historical task chain. In the target task chain, the starting point of the first cargo handling task is located in the first area, and the area where the end point of the previous cargo handling task is located is the same as that of the next cargo handling task. The starting points of the tasks are located in the same area, and the end point of the last cargo handling task is located in the first area;

Generate an optimization task chain according to the task chain and the target task chain, and the optimization task chain traverses all areas passed by the task chain and the target task chain;

Sending a first control instruction including the optimized task chain to the first robot corresponding to the target task chain, the first control instruction is used to instruct the first robot to execute according to the cargo handling task in the optimized task chain Cargo handling.
The method according to any one of claims 4-11, characterized in that the discrete order task includes a single order task, or includes at least two order tasks, and the destination of the goods handling task corresponding to the previous order task A combination of tasks whose area is the same as the starting point of the goods handling task corresponding to the latter order task.
The method according to any one of claims 1-12, comprising at least one of the following:

The area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the delivery task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The pick-up task corresponding to the handling task has the same location;

The area where the starting point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the picking task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The pick-up task corresponding to the handling task has the same location;

The area where the end point of the cargo handling task is located is the same as the area where the end point of another cargo handling task is located, specifically including: the location when the robot performs the delivery task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The location of the delivery task corresponding to the handling task is the same.
A cross-regional task processing method, characterized in that it is applied to a first robot in a storage system, the storage system includes a plurality of regions and a control device that outputs control instructions, and the plurality of regions include the first robot working The first area of the method includes:

Receive a first control instruction sent by the control device, the first control instruction includes a task chain, the task chain is generated by the control device according to at least two order tasks, and each order in the at least two order tasks Each task includes a cross-region cargo handling task, the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks, and in the task chain, the starting point of the first cargo handling task is located in the first area , the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

Cargo handling processing is performed according to the at least two cargo handling tasks in the task chain.
The method according to claim 15, further comprising:

receiving the second control instruction sent by the control device and including the updated task chain, the updated task chain is the first task in the generated task chain according to the discrete order task that the control device cannot generate the task chain The target order task is obtained by updating the generated task chain, and the first target order task is that the cargo handling task corresponding to the discrete order task has the same starting point area and the same end point area, and is currently unprocessed order task;

Execute cargo handling processing according to the cargo handling tasks in the updated task chain.
The method according to claim 15, further comprising:

receiving the third control instruction sent by the control device and including the updated task chain, the updated task chain is the second task in the generated task chain according to the discrete order task that the control device cannot generate the task chain The target order task is obtained by updating the generated task chain, and the second target order task is an order task that is currently unprocessed in the same area as the terminal of the cargo handling task corresponding to the discrete order task;

Execute cargo handling processing according to the cargo handling tasks in the updated task chain.
The method according to claim 15, further comprising:

receiving the fourth control instruction sent by the control device and including the updated task chain, the updated task chain is the third task in the generated task chain according to the discrete order task that the control device cannot generate the task chain The target order task is obtained by updating the generated task chain, and the third target order task is an order task that is currently unprocessed in the same area as the starting point of the cargo handling task corresponding to the discrete order task;

Execute cargo handling processing according to the cargo handling tasks in the updated task chain.
The method according to claim 15, further comprising:

Receiving the fifth control instruction sent by the control device and including the first discrete order task, the first discrete order task is that the area where the starting point is located is the first area, and the area where the end point is located is other areas different from the first area. The first discrete order task in the area, sending the task including the first discrete order;

Execute cargo handling processing according to the cargo handling task in the first discrete order task;

When receiving a second discrete order task sent by the control device with a start point located in the other area and an end point located in the first area, goods handling processing is performed according to the second discrete order task.
The method according to claim 15, further comprising:

After the target task chain sent by the control device is received, if the first control instruction including the optimized task chain sent by the control device is received, the cargo handling process is performed according to the cargo handling tasks in the optimized task chain ;

Wherein, in the target task chain, the starting point of the first cargo handling task is located in the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the last cargo handling task The end point of the handling task is located in the first area;

The optimization task chain is obtained by the control device according to the task chain and the target task chain, and the optimization task chain traverses all areas passed by the task chain and the target task chain.
The method according to any one of claims 16-19, wherein the discrete order task includes a single order task, or includes at least two order tasks, and the destination of the goods handling task corresponding to the previous order task A combination of tasks whose area is the same as the starting point of the goods handling task corresponding to the latter order task.
The method according to any one of claims 15-20, comprising at least one of the following:

The area where the end point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the delivery task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The pick-up task corresponding to the handling task has the same location;

The area where the starting point of the cargo handling task is located is the same as the area where the starting point of another cargo handling task is located, specifically including: the location when the robot performs the picking task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The pick-up task corresponding to the handling task has the same location;

The area where the end point of the cargo handling task is located is the same as the area where the end point of another cargo handling task is located, specifically including: the location when the robot performs the delivery task corresponding to the cargo handling task, and the location where the robot performs the other cargo handling task. The location of the delivery task corresponding to the handling task is the same.
A cross-regional task processing device, characterized in that it is applied to a control device in a storage system, the storage system includes a plurality of regions and a first robot working in a first region in the plurality of regions, the device include:

An acquisition module, configured to acquire at least two order tasks, each of which includes a cross-regional goods handling task;

A generating module, configured to generate a task chain according to the at least two order tasks, the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks, and in the task chain, the first cargo handling task The starting point is located in the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

A sending module, configured to send a first control instruction including the task chain to the first robot, the first control instruction is used to instruct the first robot to send the at least two goods in the task chain The handling task performs goods handling processing.
A cross-regional task processing device, characterized in that it is applied to a first robot in a storage system, the storage system includes a plurality of regions and a control device that outputs control instructions, and the plurality of regions include the first robot working The first area of the device includes:

A receiving module, configured to receive a first control instruction sent by the control device, the first control instruction includes a task chain, the task chain is generated by the control device according to at least two order tasks, and the at least two order tasks Each order task in the task includes a cross-region cargo handling task, and the task chain includes at least two cargo handling tasks corresponding to the at least two order tasks. In the task chain, the starting point of the first cargo handling task is located at In the first area, the area where the end point of the previous cargo handling task is located is the same as the area where the starting point of the next cargo handling task is located, and the end point of the last cargo handling task is located in the first area;

A processing module, configured to execute cargo handling processing according to the at least two cargo handling tasks in the task chain.
A control device, characterized in that it is applied to a control device in a storage system, the storage system includes a plurality of areas and a first robot working in a first area in the plurality of areas, and the control device includes: memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the cross-region task processing method according to any one of claims 1-14.
A robot, characterized in that it is applied to a first robot in a storage system, the storage system includes multiple areas and a control device that outputs control instructions, the multiple areas include the first area where the robot works, and the Said robot comprises: memory and at least one processor;

the memory stores computer-executable instructions;

The at least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the cross-region task processing method according to any one of claims 15-22.
A storage system, characterized by comprising: the control device as claimed in claim 25 and the robot as claimed in claim 26.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the method according to any one of claims 1-22 is realized. Cross-region task processing method.