WO2024037508A1 - 物品转移方法、装置、设备及存储介质 - Google Patents

物品转移方法、装置、设备及存储介质 Download PDF

Info

Publication number
WO2024037508A1
WO2024037508A1 PCT/CN2023/112975 CN2023112975W WO2024037508A1 WO 2024037508 A1 WO2024037508 A1 WO 2024037508A1 CN 2023112975 W CN2023112975 W CN 2023112975W WO 2024037508 A1 WO2024037508 A1 WO 2024037508A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
transferred
transfer
items
rack
Prior art date
Application number
PCT/CN2023/112975
Other languages
English (en)
French (fr)
Inventor
林翰
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2024037508A1 publication Critical patent/WO2024037508A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)

Definitions

  • the present disclosure relates to the field of intelligent warehousing technology, and in particular, to an object transfer method, device, equipment and storage medium.
  • the warehousing system based on the container robot adopts an intelligent operating system, which realizes the automatic delivery of goods through system instructions. It can also operate 24 hours a day, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favored. .
  • the interaction between the container robot and other external institutions can only be completed through the handling device, and the interaction methods are limited and inflexible.
  • Embodiments of the present disclosure provide an object transfer method, device, equipment and storage medium to solve the problem of low object transfer efficiency in the prior art.
  • inventions of the present disclosure provide an object transfer method.
  • the object transfer method is applied to an intelligent warehousing system.
  • the object transfer method includes:
  • the instruction information is used to instruct the first robot to move to a position where the first robot's shelf is connected to the receiving device based on the transfer strategy, and transfer the items to be transferred from the first robot to the receiving device. device.
  • determining a transfer strategy for the items to be transferred based on the relative positions of the first robot and the receiving device includes: determining the relative direction and/or distance between the storage rack of the first robot and the receiving mechanism of the receiving device; and/or , determine the relative height of the storage rack used by the first robot to place the items to be transferred and the receiving mechanism; determine the transfer strategy of the items to be transferred based on the relative direction and/or distance and/or relative height.
  • determining a transfer strategy for the items to be transferred based on the relative direction and/or distance and/or relative height includes: determining the transfer strategy to: make the first transfer target based on the relative direction and/or distance.
  • the robot moves to a position where the storage rack is connected to the receiving mechanism; and/or, adjusts the height of the items to be transferred to a position corresponding to the height of the receiving mechanism or adjusts the height of the receiving mechanism to a position corresponding to the height of the items to be transferred; Transfer the items to be transferred from the first robot to the receiving mechanism.
  • determining a transfer strategy for the items to be transferred based on the relative direction and/or distance and/or relative height includes: determining the transfer strategy as: making the first object move according to the relative direction and/or distance. One robot moves to a position where the rack is in contact with the rack of the second robot; and/or, the object to be transferred is adjusted to the same height as the target rack on the rack of the second robot for placing the item to be transferred. position; transfer the items to be transferred from the first robot to the storage rack of the second robot.
  • determining a transfer strategy for the items to be transferred based on the relative direction and/or distance and/or relative height includes: determining the transfer strategy as: making the first object move according to the relative direction and/or distance.
  • a robot Move the second robot to a position that is in contact with the rack; and/or adjust the items to be transferred to a position at the same height as the target rack on the rack of the second robot for placing the items to be transferred; to be transferred
  • the items are transferred from the first robot to the storage rack of the second robot, or the items to be transferred are jointly transferred by the first robot and the second robot; accordingly, the transfer of the items to be transferred is determined based on the relative positions of the first robot and the receiving device.
  • the method further includes: sending second instruction information to the second robot.
  • the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and move from the first robot to the storage rack. Transfer the items to be transferred on the robot or transfer the items to be transferred together with the first robot.
  • determining a transfer strategy for the items to be transferred based on the relative positions of the first robot and the receiving device includes: based on the position of the idle rack on the second robot relative to the items to be transferred, Determine transfer strategy.
  • determining the transfer strategy based on the position of the idle rack on the second robot relative to the items to be transferred includes: when the idle rack and the items to be transferred are at the same height, determining the transfer strategy to directly transfer the items to be transferred to Idle racks; when the heights of the idle racks and the items to be transferred are different, determine the transfer strategy to transfer the items to be transferred to the height of the idle racks, and then transfer them to the empty racks; or, determine the transfer strategy to be the same as the height of the items to be transferred.
  • the relative position of the items is adjusted to the free rack, and then the items to be transferred are transferred to the free rack.
  • the receiving device includes at least one of a lift, a conveyor line, a shelf, and a trolley.
  • inventions of the present disclosure provide an object transfer method.
  • the object transfer method is applied to the first robot.
  • the object transfer method includes:
  • the first instruction information is used to instruct the first robot to move to a position where the first robot's shelf is connected to the receiving device based on the transfer strategy, and transfer the items to be transferred from the first robot to the receiving device,
  • the transfer strategy is determined based on the relative positions of the first robot and the receiving device;
  • the items to be transferred are transferred to the receiving device.
  • transferring the items to be transferred to the receiving device based on the transfer strategy includes: based on the transfer strategy, moving to the storage rack and receiving according to the relative direction and/or distance to the receiving device.
  • the first robot is in contact with the transfer mechanism of the items to be transferred, and transfers the items to be transferred to the receiving mechanism, and/or the clamping mechanism on the first robot cooperates with the transfer mechanism to transfer the items to be transferred to the receiving mechanism.
  • the items to be transferred are transferred to the receiving device according to the relative direction and/or distance to the second robot, including: based on the transfer strategy, moving to the storage rack A position that is connected to the rack of the second robot; based on the transfer strategy, when the idle rack and the items to be transferred are at the same height, the items to be transferred are transferred to the idle rack; when the height of the idle rack and the items to be transferred are different At the same time, the items to be transferred are moved to the height of the free rack, and then the items to be transferred are moved to the free rack.
  • transferring the items to be transferred to the idle rack includes: pushing the items to be transferred to the idle rack through a clamping mechanism on the first robot, or, using a transfer mechanism that connects the first robot to the items to be transferred. , transfer the items to be transferred to the idle rack, or, through the cooperation of the clamping mechanism and the transmission mechanism on the first robot, transfer the items to be transferred to the idle rack; or, through the clamping mechanism on the first robot and the third robot,
  • the clamping mechanisms on the two robots cooperate to clamp the items to be transferred to the idle racks, or the transfer mechanism of the first robot that connects the items to be transferred cooperates with the corresponding transfer mechanism on the second robot to transfer the items to the idle rack.
  • inventions of the present disclosure provide an object transfer method.
  • the object transfer method is applied to the second robot.
  • the object transfer method includes:
  • the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and to transfer the items to be transferred from the storage rack of the first robot, transfer The strategy is determined based on the relative positions of the first and second robots;
  • receiving the items to be transferred includes: based on the transfer strategy, moving to a position where the storage rack is in contact with the storage rack of the first robot according to the relative direction and/or distance to the first robot; receiving The first robot transfers the items to be transferred, or the clamping mechanism on the first robot cooperates with the clamping mechanism on the second robot to clamp the items to be transferred to the idle rack, or, the first robot and the clamping mechanism on the second robot cooperate with each other to clamp the items to be transferred.
  • the transfer mechanism connecting the transferred items cooperates with the corresponding transfer mechanism on the second robot to transfer the items to be transferred to the idle rack, or through the clamping mechanism and transfer mechanism on the first robot and the corresponding clamp on the second robot.
  • the holding mechanism and the transmission mechanism cooperate to transmit the items to be transferred to the empty storage rack.
  • inventions of the present disclosure provide an object transfer device.
  • the object transfer device is applied to an intelligent warehousing system.
  • the object transfer device includes:
  • a determination module configured to determine the item to be transferred, the first robot where the item to be transferred is located, and the receiving device for receiving the item to be transferred in response to receiving a new item transfer request
  • a processing determination module configured to determine a transfer strategy for the items to be transferred based on the relative positions of the first robot and the receiving device;
  • the sending module is configured to send first instruction information to the first robot.
  • the instruction information is used to instruct the first robot to move to a position where the storage rack of the first robot is connected to the receiving device based on the transfer strategy, and transfer the items to be transferred from the first robot to the receiving device. A robot is transferred to the receiving device.
  • the processing determination module is specifically configured to determine the relative direction/or distance between the storage rack of the first robot and the receiving mechanism of the receiving device; and/or determine the relationship between the storage rack used by the first robot to place the items to be transferred and The relative height of the receiving mechanism; determine the transfer strategy of the items to be transferred based on the relative direction and/or distance and/or relative height.
  • the processing determination module is specifically configured to, when the receiving device is a non-robot, determine the transfer strategy as: moving the first robot to a position where the shelf and the receiving mechanism are connected according to the relative direction and/or distance; and/or , adjust the object to be transferred to a position corresponding to the height of the receiving mechanism or adjust the height of the receiving mechanism to a position corresponding to the height of the object to be transferred; transfer the object to be transferred from the first robot to the receiving mechanism.
  • the processing determination module is specifically configured to, when the receiving device is a second robot, determine the transfer strategy as: moving the first robot to a shelf that is in contact with the shelf of the second robot based on the relative direction and/or distance. position; and/or, adjust the items to be transferred to a position that is at the same height as the target rack for placing items to be transferred on the rack of the second robot; transfer the items to be transferred from the first robot to the second robot of storage racks.
  • the processing determination module is specifically configured to, when the receiving device is a second robot, determine the transfer strategy as: moving the first robot and the second robot to a position where the shelves are in contact based on relative directions and/or distances; and /or, adjust the items to be transferred to a position that is at the same height as the target rack for placing the items to be transferred on the rack of the second robot; transfer the items to be transferred from the first robot to the rack of the second robot , or, the first robot and the second robot jointly transfer the items to be transferred; correspondingly, after determining the transfer strategy of the items to be transferred based on the relative positions of the first robot and the receiving device, it also includes: sending a second step to the second robot. Instruction information.
  • the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and transfer the items to be transferred from the first robot or transfer them together with the first robot. Items to be transferred.
  • the processing determination module is specifically configured to, when the receiving device is a second robot, determine the transfer strategy based on the position of the idle rack on the second robot relative to the items to be transferred.
  • the processing determination module is specifically configured to determine the transfer strategy to directly transfer the items to be transferred to the empty rack when the empty rack and the items to be transferred are at the same height; when the heights of the empty rack and the items to be transferred are different.
  • the transfer strategy is determined to be to transfer the items to be transferred to the height of the free rack, and then to the free rack; or, the transfer strategy is to adjust the position relative to the items to be transferred to the free rack, and then move the items to be transferred to the free rack. Move to free shelf.
  • the determining module includes that the receiving device includes at least one of a lift, a conveyor line, a shelf, and a trolley. kind.
  • inventions of the present disclosure provide an object transfer device.
  • the object transfer device is applied to the first robot.
  • the object transfer device includes:
  • the receiving module is configured to receive first instruction information.
  • the first instruction information is used to instruct the first robot to move to a position where the storage rack of the first robot is connected to the receiving device based on the transfer strategy, and transfer the items to be transferred by the first robot. Transfer to the receiving device, the transfer strategy is determined based on the relative positions of the first robot and the receiving device;
  • the processing module is used to transfer the items to be transferred to the receiving device based on the transfer strategy.
  • the processing module is specifically configured to, when the receiving device is a non-robot, move to a position where the shelf is connected to the receiving mechanism based on the relative direction and/or distance to the receiving device based on the transfer strategy; and/or , adjust the items to be transferred to a position corresponding to the height of the receiving mechanism; push the items to be transferred to the receiving mechanism through the clamping mechanism on the first robot, and/or contact the items to be transferred through the first robot
  • the transfer mechanism transports the items to be transferred to the receiving mechanism, and/or the clamping mechanism on the first robot cooperates with the transfer mechanism to transfer the items to be transferred to the receiving mechanism.
  • the processing module is specifically configured to, when the receiving device is a second robot, move to the storage rack and the storage rack of the second robot according to the relative direction and/or distance to the second robot based on the transfer strategy.
  • the relative position based on the transfer strategy, when the empty shelf and the items to be transferred are at the same height, the items to be transferred are transferred to the empty rack; when the heights of the empty shelves and the items to be transferred are different, the items to be transferred are transferred Reach the height of the free shelf, and then transfer the items to be transferred to the free shelf.
  • the processing module is specifically configured to push the items to be transferred to the idle rack through the clamping mechanism on the first robot, or to transfer the items to be transferred through the transfer mechanism of the first robot that is connected to the items to be transferred. to the idle rack, or through the cooperation of the clamping mechanism and the transmission mechanism on the first robot to transfer the items to be transferred to the idle rack; or through the clamping mechanism on the first robot and the clamping mechanism on the second robot
  • the mechanism cooperates to clamp the items to be transferred to the idle rack, or the transfer mechanism of the first robot that connects the items to be transferred cooperates with the corresponding transfer mechanism on the second robot to transfer the items to be transferred to the idle rack.
  • the items to be transferred can be transferred to the free storage rack through the cooperation of the clamping mechanism and the transfer mechanism on the first robot with the corresponding clamping mechanism and transfer mechanism on the second robot.
  • inventions of the present disclosure provide an object transfer device.
  • the object transfer device is applied to an intelligent warehousing system.
  • the object transfer device includes:
  • the receiving module is configured to receive second instruction information, and the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and move from the storage rack of the first robot to Transfer the items to be transferred, and the transfer strategy is determined based on the relative positions of the first robot and the second robot;
  • the processing module receives items to be transferred based on the transfer strategy.
  • the processing module is specifically configured to, based on the transfer strategy, move to a position where the shelf is in contact with the shelf of the first robot according to the relative direction and/or distance to the first robot; and receive the transfer of the first robot.
  • the items to be transferred, or the clamping mechanism on the first robot cooperates with the clamping mechanism on the second robot to clamp the items to be transferred to the idle rack, and/or the first robot interacts with the items to be transferred.
  • the connected transfer mechanism cooperates with the corresponding transfer mechanism on the second robot to transfer the items to be transferred to the idle rack, and/or, through the clamping mechanism and transfer mechanism on the first robot and the corresponding clamping mechanism on the second robot
  • the mechanism and the transmission mechanism cooperate to transmit the items to be transferred to the empty storage rack.
  • the embodiment of the present disclosure also provides a control device, the control device includes:
  • the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor, so that the control device executes the object transfer method as in the first aspect of the present disclosure; or, the instructions are executed by at least one processor, so as to causing the control device to execute the object transfer method of the second aspect of the present disclosure; or, the instructions are executed by at least one processor, So that the control device executes the object transfer method as in the third aspect of the present disclosure.
  • embodiments of the present disclosure also provide an object transfer system, which includes:
  • the server is configured to execute the item transfer method of the first aspect of the present disclosure
  • the first robot is configured to perform the object transfer method of the second aspect of the present disclosure
  • the first robot is used to perform the object transfer method of the third aspect of the present disclosure.
  • embodiments of the present disclosure further provide a computer-readable storage medium.
  • the computer-readable storage medium stores computer-executable instructions. When executed by a processor, the computer-executable instructions are used to implement the first aspect of the present disclosure.
  • embodiments of the present disclosure also provide a computer program product, the computer program product includes computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the object transfer method of the first aspect of the present disclosure; or, When the computer execution instructions are executed by the processor, they are used to implement the object transfer method of the second aspect of the present disclosure; or, when the computer execution instructions are executed by the processor, they are used to implement the item transfer method of the third aspect of the present disclosure.
  • the object transfer method, device, equipment and storage medium provided by the embodiments of the present disclosure determine the object to be transferred, the first robot where the object to be transferred is located and the receiving device for receiving it based on receiving a new object transfer request. Determine a transfer strategy for the items to be transferred, and then send first instruction information to the first robot. As a result, it is possible to directly complete the transfer of items by the first robot and the receiving device without passing through a fixed place, and adjust the corresponding transfer strategy according to the differences in the items to be transferred and the differences in the receiving device, and control the first robot to complete the transfer accordingly.
  • the corresponding transfer actions fully ensure the successful transfer of items and improve the transfer efficiency of items, thereby improving the efficiency of warehousing management.
  • Figure 1a is an application scenario diagram of the object transfer method provided by an embodiment of the present disclosure
  • Figure 1b is a side view of a robot involved in an embodiment of the present disclosure
  • Figure 1c is a top view of the robot shown in Figure 1b in an embodiment of the present disclosure
  • Figure 1d is a schematic structural diagram of another robot involved in an embodiment of the present disclosure.
  • Figure 2 is a flow chart of an object transfer method provided by an embodiment of the present disclosure
  • Figure 3a is a flow chart of an object transfer method provided by yet another embodiment of the present disclosure.
  • Figure 3b is a specific flow chart of a transfer strategy provided by yet another embodiment of the present disclosure.
  • Figure 4 is a flow chart of an object transfer method provided by yet another embodiment of the present disclosure.
  • Figure 5 is a flow chart of an object transfer method provided by yet another embodiment of the present disclosure.
  • Figure 6a is a flow chart of an object transfer method provided by yet another embodiment of the present disclosure.
  • Figure 6b is a scene diagram of the clamping mechanism in the corresponding embodiment of Figure 6a transmitting items to be transferred;
  • Figure 6c is a scene diagram of a transmission mechanism being installed on the robot in the corresponding embodiment of Figure 6a;
  • Figure 6d is a flow chart of items to be transferred from the first robot to the empty shelf provided by yet another embodiment of the present disclosure
  • Figure 6e is a scene diagram showing the cooperation between the clamping mechanism on the second robot and the items to be transferred in the corresponding embodiment of Figure 6a;
  • Figure 7 is a flow chart of an object transfer method provided by yet another embodiment of the present disclosure.
  • Figure 8 is a flow chart of an object transfer method provided by yet another embodiment of the present disclosure.
  • Figure 9 is a schematic structural diagram of an object transfer device provided by yet another embodiment of the present disclosure.
  • Figure 10 is a schematic structural diagram of an object transfer device provided by yet another embodiment of the present disclosure.
  • Figure 11 is a schematic structural diagram of an object transfer device provided by yet another embodiment of the present disclosure.
  • Figure 12 is a schematic structural diagram of a control device provided by an embodiment of the present disclosure.
  • the intelligent warehousing system In the existing warehousing system, the intelligent warehousing system generates item handling tasks, and the robots move the items corresponding to the handling tasks to the workbench or storage area for picking, outgoing, or warehousing. If a robot needs to transfer items in its storage rack, the robot needs to first take the items out of the storage rack through a handling device and then place the items to the target location. The transfer efficiency of the items is low.
  • embodiments of the present disclosure provide an object transfer method. By directly transferring the objects that need to be transferred to the receiving device through the storage rack by the first robot that transports the objects, the transfer action is simplified and the object transfer efficiency is improved, so that The robot can flexibly transfer items.
  • Figure 1a is an application scenario diagram of the object transfer method provided by an embodiment of the present disclosure.
  • the robots involved in the embodiment of the present disclosure (the first robot 110 in the figure) all include at least one layer of storage shelves 111 for placing items 101 that need to be transferred (there can be only one layer, but usually there are two One or more shelves 111, each shelf 111 can usually accommodate one or more items 101), and at least one carrying device 112 that cooperates with the shelf for picking up and placing items (the carrying device can be a clamping mechanism or transmission mechanism), there is a moving device 113 at the bottom of the robot for its movement.
  • Figure 1b is a side view of a robot involved in an embodiment of the present disclosure
  • Figure 1c is a top view of the robot.
  • the storage shelf 111 of the robot 110 has more than two levels (in the figure (Five levels), the other side of the rack is the transport device 112, and opposite the rack of the robot 110 is the rack 120 of another robot.
  • the height of the shelf can be a fixed height or an adjustable height.
  • the shelf 111 of the robot 110 in the figure has only one layer and is integrated with the handling device (ie, the plate-shaped plate in the upper part of the figure) structure), at this time, the height of the storage shelf 111 is usually adjustable.
  • the intelligent warehousing system sends instruction information to the robot 110 according to the first robot 110 and the corresponding rack 111 where the object 101 to be transferred is stored, so that the first robot 110 passes through the rack.
  • 111 transfers the item 101 to the rack 120 (or other receiving device) of another robot instead of transferring it through the carrying device 112 to complete the transfer of the item.
  • Figure 2 is a flow chart of an object transfer method provided by an embodiment of the present disclosure. This item transfer method is applied to intelligent warehousing systems. As shown in Figure 2, the object transfer method provided by this embodiment includes the following steps:
  • Step S201 In response to receiving a new item transfer request, determine the item to be transferred, the first robot where the item to be transferred is located, and the receiving device for receiving the item to be transferred.
  • the items can be cargo boxes, materials, packaging boxes of materials, and other goods that need to be handled by robots.
  • the receiving device can be another robot, or a device that can place items such as a temporary shelf. Depending on the requirements in the item transfer request, different receiving devices can be selected.
  • Item transfer requests are request tasks generated by the server in the intelligent warehousing system based on order requirements, workstation status changes, or management commands that require changing the transfer destination of items, such as item outbound or inbound orders, or temporarily storing items on temporary shelves.
  • command depending on the destination in the item transfer request, the item may be sent back directly by the original robot (i.e. the first robot), or it may be placed on the receiving device (for example, there are other items that need to be transferred on the first robot) ), the subsequent transfer is completed by the receiving device.
  • the item Before the new item transfer request, the item has at least one item transfer request (ie, the original item transfer request), and the first robot is the robot selected by the server to transfer the item based on the original item transfer request.
  • the first robot is the robot selected by the server to transfer the item based on the original item transfer request.
  • the robot needs to place the items to be transported in the storage rack to facilitate receiving multiple items to be transported at the same time. items and ensure the safety of the items).
  • the first robot when there are items placed on the robot's shelves, the first robot can also temporarily place the excess items on the carrying device. At this time, the carrying device cannot perform the carrying function.
  • Step S202 Determine a transfer strategy for the items to be transferred based on the relative positions of the first robot and the receiving device.
  • the receiving device is a device determined by the server when issuing or receiving a new item transfer request for receiving the item corresponding to the item transfer request.
  • the position of the receiving device and the first robot can be arbitrary (but generally the distance between the receiving device and the first robot is relatively close to improve the efficiency of object transfer).
  • the relative position includes the relative distance between the first robot and the receiving device, the relative angle between the receiving mechanism of the receiving device and the first robot's storage rack, and the relative height of the storage rack where the items to be transferred are located and the receiving mechanism. Based on the relative positions, the actions required to move the items to be transferred from the storage rack to the receiving mechanism can be determined, that is, the transfer strategy.
  • the actions that the first robot needs to take in order to transfer the items to be transferred to the receiving mechanism include moving to the distance between the storage rack and the receiving mechanism, adjusting the angle of the storage rack to face the receiving mechanism, and moving
  • the items to be transferred are moved to a height corresponding to the height of the receiving mechanism, or the receiving device adjusts the height of the receiving mechanism to a height corresponding to the height of the items to be transferred. At least one of the above can be directly transferred from the storage rack to the target object. to improve processing efficiency.
  • Step S203 Send the first instruction information to the first robot.
  • the instruction information is used to instruct the first robot to move to a position where the rack of the first robot is connected to the receiving device based on the transfer strategy, and to transfer the items to be transferred from the first robot to the receiving device.
  • the server will specifically send corresponding first instruction information to the first robot, so that the first robot determines the task information that needs to be completed based on the first instruction information, and then takes corresponding actions to complete the movement of the items to be transferred. .
  • the first robot can autonomously control the movement to a position where the storage rack is aligned with the receiving part of the receiving device according to the items to be transferred and the destination specified therein, and control the transportation on the storage rack.
  • Device such as conveyor belt or push rod
  • the object transfer method provided by the embodiment of the present disclosure determines the object to be transferred, the first robot where the object is to be transferred, and the receiving device used to receive it by receiving a new object transfer request, and determines the transfer strategy of the item to be transferred accordingly. , and then send the first instruction information to the first robot.
  • Figure 3a is a flow chart of an object transfer method provided by an embodiment of the present disclosure. As shown in Figure 3a, the object transfer method provided by this embodiment includes the following steps:
  • Step S301 In response to receiving a new item transfer request, determine the item to be transferred, the first robot where the item to be transferred is located, and the receiving device for receiving.
  • step S201 the content of this step is the same as step S201 in the embodiment shown in FIG. 2 and will not be described again here.
  • Step S302 Determine the relative direction and/or distance between the storage rack of the first robot and the receiving mechanism of the receiving device.
  • the relative direction and distance between the two are determined based on the storage rack on the first robot and the receiving mechanism on the receiving device respectively.
  • the corresponding receiving mechanism can also be of different types. If the receiving device is another robot, the receiving mechanism can be the rack or fork of the robot. If the receiving device is a trolley, the receiving mechanism can be A rack for placing goods on a trolley.
  • Step S303 Determine the relative height of the storage rack used by the first robot to place items to be transferred and the receiving mechanism.
  • the items to be transferred need to be moved to a height that matches the height of the receiving mechanism (such as the same height as the receiving mechanism, or slightly higher by one or two centimeters) or to a height that matches the receiving mechanism.
  • the mechanism moves to a height that matches the storage rack on which the items to be transferred are placed. Therefore, after determining the relative direction and distance between the storage rack and the receiving mechanism, it is also necessary to determine the relative height of the storage rack and receiving mechanism on which the items to be transferred are placed.
  • the relative height of the two is within the set range (such as 3cm), there is no need to adjust the height of the storage rack or receiving mechanism where the items to be transferred are located; if the relative height of the two exceeds the set range, then in the corresponding transfer strategy, It is necessary to adjust the items to be transferred from the current storage rack to a storage rack that matches the height of the receiving mechanism, or adjust the height of the receiving mechanism to facilitate subsequent transfer operations.
  • the set range such as 3cm
  • Step S304 When the receiving device is a non-robot, determine the transfer strategy of the items to be transferred based on the relative direction, distance and relative height.
  • the transfer strategy is mainly to control the action of the first robot to complete the transfer of the items to be transferred.
  • the receiving device includes at least one of a lift, a conveyor line, a shelf, and a trolley.
  • the receiving mechanism when the receiving device is a conveyor line, the receiving mechanism is a part of the conveying line used to place and transfer items; when the receiving device is a shelf, the receiving mechanism is a storage location on the shelf for placing items.
  • FIG. 3b it is a specific flow chart of the transfer strategy, which corresponds to the non-robot being the receiving device. Non-robots generally cannot move on the ground.
  • the specific transfer strategy includes the following:
  • Step S3041 Move the first robot to a position where the shelf and the receiving mechanism are in contact based on the relative direction and/or distance.
  • the first robot when moving the first robot, it is necessary to combine the specific environment and specific location (including relative direction and distance) in the warehouse where the first robot and the receiving device are located. For example, there are shelves between the first robot and the receiving device. Then the first robot needs to bypass the shelf and then cooperate with the receiving mechanism of the receiving device.
  • the action of adjusting the relative directions of the shelf and the receiving mechanism can be completed by the first robot. If the receiving device is a conveyor line, it needs to be adjusted to the position where the rack is connected to the conveyor line. If the receiving device is a shelf, it needs to be adjusted to the position where the rack is connected to the selected shelf layer on the shelf. If the receiving device is For a trolley, you need to adjust it to a position where the storage rack is connected to the shelf part of the trolley where the items are placed.
  • Step S3042 Adjust the object to be transferred to a position corresponding to the height of the receiving mechanism or adjust the height of the receiving mechanism to a position corresponding to the height of the object to be transferred.
  • the height of the items to be transferred needs to be adjusted.
  • the height of the storage rack on the robot is adjustable.
  • the height of the storage rack can be adjusted to a position corresponding to the height of the receiving mechanism.
  • the height of the storage rack on the robot is not adjustable.
  • the storage rack where the items to be transferred can usually be adjusted to a position where the height of the items to be transferred corresponds to the height of the receiving mechanism, or the height of the receiving mechanism can be adjusted. to match the height of the items to be transferred.
  • Step S3043 Transfer the items to be transferred from the first robot to the receiving mechanism.
  • the first robot can push the items to be transferred to the receiving mechanism through a transmission mechanism (such as a roller, a conveyor belt, a push rod, a mechanical arm, etc.) provided on the storage rack, or a transmission mechanism can be provided on the receiving mechanism.
  • a transmission mechanism such as a roller, a conveyor belt, a push rod, a mechanical arm, etc.
  • the first robot and the transmission mechanism on the receiving mechanism may cooperate with each other to transfer the items to be transferred to the receiving mechanism.
  • Step S305 Send the first instruction information to the first robot.
  • the instruction information is used to instruct the first robot to move to a position where the rack of the first robot is connected to the receiving device based on the transfer strategy, and to transfer the items to be transferred from the first robot to the receiving device.
  • step S203 the content of this step is the same as step S203 in the embodiment shown in FIG. 2, and will not be described again here.
  • the object transfer method determines the object to be transferred, the first robot where the object is to be transferred, and the receiving device for receiving it, and then determines the first robot's storage rack and receiving device by receiving a new object transfer request.
  • the relative position between the shelf and the receiving mechanism can be accurately determined, and when the receiving device is a non-robot, the first robot can be accurately controlled to complete the transfer of items to be transferred, effectively ensuring the successful transfer of items and improving the transfer of items. efficiency, thereby improving the efficiency of warehouse management.
  • Figure 4 is a flow chart of an object transfer method provided by an embodiment of the present disclosure. As shown in Figure 4, the object transfer method provided by this embodiment includes the following steps:
  • Step S401 In response to receiving a new item transfer request, determine the item to be transferred, the first robot where the item to be transferred is located, and the receiving device for receiving.
  • Step S402 Determine the relative direction and distance between the storage rack of the first robot and the receiving mechanism of the receiving device.
  • Step S403 Determine the relative height of the storage rack used by the first robot to place items to be transferred and the receiving mechanism.
  • this step is the same as that of steps S301 to S303 in the embodiment shown in FIG. 3 and will not be described again here.
  • Steps S404 to S410 are the specific contents of the transfer strategy determined based on the relative direction, distance and relative height of the shelf and the receiving mechanism when the receiving device is the second robot. Those skilled in the art can select corresponding steps to execute as needed.
  • the transfer strategy is determined to be:
  • Step S404 Move the first robot to a position where the rack of the second robot is in contact with the rack of the second robot according to the relative direction and/or distance.
  • the first robot can be moved to the second robot.
  • the location of the second robot may be very close to the first robot (in this case, it only needs to move in a straight line), or there may be shelves, trolleys, etc. between the second robot and the first robot.
  • the first robot needs to determine the movement path by combining its own position, the position of the second robot, the relative directions of the first robot and the second robot, and the specific terrain of the warehouse.
  • Step S405 Move the first robot and the second robot to a position where the shelves are connected according to the relative direction and/or distance.
  • the second robot also needs to actively adjust its direction and move until it connects with the first robot.
  • the storage racks of the first robot are connected.
  • the first robot and the second robot can also adjust directions and travel in opposite directions at the same time to reduce the time required for the first robot and the second robot to connect.
  • This step is an optional step parallel to step S404, and those skilled in the art can select corresponding steps to execute as needed.
  • Step S406 Adjust the object to be transferred to the same height as the target rack on the rack of the second robot for placing the item to be transferred.
  • the height of the items to be transferred needs to be adjusted to the same position on the second robot as the storage rack for placing the items to be transferred.
  • the first robot and the second robot may be of the same type of robot.
  • the height of the racks on each level above them is usually the same (or the height of the racks may be adjusted to be the same, such as between the first robot and the second robot).
  • the second robots are all the robots shown in Figure 1d). Therefore, when adjusting the height of the items to be transferred, it needs to be adjusted to the same height as the target rack on the second robot, rather than a height difference (when there is a difference, it means that the rack where the items to be transferred is located is not in the same height as the target rack)
  • the same layer, but the same height does not have to be exactly the same. There will also be a certain height difference due to ground conditions and manufacturing errors).
  • the first robot and the second robot may be different types of robots.
  • the height of their racks can usually be adjusted to reach the same height (for example, the first robot is the robot in Figure 1b and Figure 1c, and the second robot is the robot in Figure 1b and Figure 1c.
  • the robot is the robot in Figure 1d).
  • you can adjust the height of one of the robot's racks such as the rack where the items to be transferred are located or the target rack) so that the height of the rack where the items to be transferred is located is the same as the height of the target rack.
  • the server when the server assigns the items to be transferred and the corresponding material transfer request to the second robot, it can directly determine that the corresponding empty rack on the second robot is the rack used to place the items to be transferred (ie, the target rack).
  • the server will preferentially hit an empty rack on the second robot with the same height as the rack where the item to be transferred is currently located as the target rack.
  • the rack with the same height is not empty, select the rack with the smallest height difference as the target rack.
  • the transfer strategy needs to be further determined based on the position of the idle shelf on the second robot relative to the items to be transferred.
  • the transfer strategy is determined to directly transfer the items to be transferred to the empty rack.
  • Case 2 When the heights of the empty shelves and the items to be transferred are different, the transfer strategy is determined to be to transfer the items to be transferred to the height of the empty shelves and then to the empty shelves.
  • the items to be transferred can be moved to different heights.
  • the transferred items are moved to a rack on the first robot that is the same height as the idle rack, and then moved from the rack to an adjacent idle rack.
  • the transfer strategy is determined to be to adjust the position relative to the items to be transferred to the free rack, and then transfer the items to be transferred to the free rack.
  • the storage rack that is, by adjusting the storage rack where the items are placed on the second robot, the rack on the second robot with the same height as the rack where the first robot places the items to be transferred becomes an empty rack, and then the items to be transferred are Move to free shelf.
  • Situations 1 to 3 are steps that are parallel to each other, and those skilled in the art can select corresponding steps to execute as needed.
  • Step S407 Transfer the items to be transferred from the first robot to the storage rack of the second robot.
  • the items to be transferred when the items to be transferred are located on a rack with the same height as the target rack, the items to be transferred can be moved directly to the target rack (i.e., the receiving mechanism) by the transfer mechanism (such as a conveyor belt or push rod) on the first robot. )superior.
  • the target rack i.e., the receiving mechanism
  • the transfer mechanism such as a conveyor belt or push rod
  • the storage rack has a baffle to prevent items from falling out.
  • the first machine The human and the second robot will open or move the baffle to a position that does not block the passage of the items to be transferred.
  • Step S408 The second robot transfers the items to be transferred.
  • the second robot can also actively obtain the item to be transferred from the storage rack of the first robot. If the item to be transferred is long, when the second robot is connected to the storage rack of the first robot, the item to be transferred has been moved. When the items are partially placed on the storage rack of the second robot, the items to be transferred can be actively transferred by the transfer mechanism (such as conveyor belt, push plate, and robotic arm) of the second robot.
  • the transfer mechanism such as conveyor belt, push plate, and robotic arm
  • Step S409 The first robot and the second robot jointly transfer the items to be transferred.
  • the transfer mechanisms on the first robot and the second robot can also work simultaneously to jointly transfer the items to be transferred to the target shelf on the second robot, so as to improve the transfer efficiency.
  • step S407 and step S408 are optional steps that are parallel to each other. Those skilled in the art can choose any step to execute according to the actual situation and needs.
  • Step S410 Send the first instruction information to the first robot.
  • the instruction information is used to instruct the first robot to move to a position where the rack of the first robot is connected to the receiving device based on the transfer strategy, and to transfer the items to be transferred from the first robot to the receiving device.
  • this step is the same as step S203 in the embodiment shown in FIG. 2 and will not be described again here.
  • Step S411 Send second instruction information to the second robot.
  • the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and transfer the items to be transferred from the first robot or transfer the items to be transferred together with the first robot. Transfer items.
  • the second instruction information is also sent to the second robot, so that the second robot can cooperate with the first robot. Work together to complete the transfer of items to be transferred, thereby improving the efficiency of item transfer.
  • the object transfer method determines the object to be transferred, the first robot where the object is to be transferred, and the receiving device for receiving it, and then determines the first robot's storage rack and receiving device by receiving a new object transfer request.
  • the second robot sends the second instruction message.
  • the first robot and the second robot can be made to operate together, further improving the efficiency of object transfer and further improving the efficiency of warehouse management.
  • Figure 5 is a flow chart of an object transfer method provided by an embodiment of the present disclosure. This method is applied to the first robot. As shown in Figure 5, the object transfer method provided by this embodiment includes the following steps:
  • Step S501 Receive first instruction information.
  • the first instruction information is used to instruct the first robot to move to a position where the first robot's shelf is connected to the receiving device based on the transfer strategy, and to transfer the items to be transferred from the first robot to the receiving device.
  • the transfer strategy is based on The relative position of the first robot and the receiving device is determined.
  • the first robot receives the items to be transferred and places the items to be transferred in the storage rack, when transporting the items to be transferred or items on other storage racks, it is the moment when the first instruction information is received. At this time The first robot may not be on the shelf where the item is to be moved, but may be on the move.
  • the first robot When the first robot receives the first instruction information, it will preferentially execute the task or action required in the first instruction information (that is, for the first robot, the task required in the first instruction information has a higher priority than the task currently being executed. higher priority), while pausing or canceling the currently executing task or action.
  • the first robot when the first robot receives the first instruction information while moving along the path set by the currently executing task, it will stop the current moving direction, determine a new movement path based on the first instruction information, and move along the path. New path moves.
  • Step S502 Based on the transfer strategy, transfer the items to be transferred to the receiving device.
  • the first instruction information will include the transfer strategy that the first robot needs to execute, and the transfer strategy includes instructions for Specific actions that need to be performed for the items to be transferred. Therefore, after the first robot receives the first instruction information, it can determine the specific actions that need to be performed based on the transfer strategy therein.
  • the first robot completes the specific actions in the transfer strategy in sequence, and can complete the process of transferring the items to be transferred to the receiving mechanism of the receiving device.
  • the first robot after receiving the first instruction information, the first robot executes the specific actions in sequence according to the specific actions contained in the first instruction information, thereby completing the process of transferring the objects to be transferred to the receiving device.
  • the first robot can perform the actions in the first instruction information in real time at any time during the process of transporting the items to be transferred, and transfer the items to be transferred, thereby improving the efficiency of warehouse management.
  • Figure 6a is a flow chart of an object transfer method provided by an embodiment of the present disclosure. This method is applied to the first robot. As shown in Figure 6a, the object transfer method provided by this embodiment includes the following steps:
  • Step S601 Receive first instruction information.
  • the first instruction information is used to instruct the first robot to move to a position where the first robot's shelf is connected to the receiving device based on the transfer strategy, and to transfer the items to be transferred from the first robot to the receiving device.
  • the transfer strategy is based on The relative position of the first robot and the receiving device is determined.
  • step S501 the content of this step is the same as step S501 in the embodiment shown in FIG. 5 and will not be described again here.
  • Step S602 When the receiving device is a non-robot, based on the transfer strategy, move to a position where the shelf and the receiving mechanism are connected according to the relative direction and/or distance to the receiving device.
  • the transfer strategy will be different depending on the receiving device.
  • the first robot When the receiving device is a non-robot (such as a shelf, a trolley, etc.), the first robot will actively move to the location of the receiving device (including the relative direction and distance) according to the transfer strategy, and adjust its orientation to the position on the shelf and receiving device.
  • the relative direction of the undertaking organization When the receiving device is a non-robot (such as a shelf, a trolley, etc.), the first robot will actively move to the location of the receiving device (including the relative direction and distance) according to the transfer strategy, and adjust its orientation to the position on the shelf and receiving device.
  • the relative direction of the undertaking organization When the receiving device is a non-robot (such as a shelf, a trolley, etc.), the first robot will actively move to the location of the receiving device (including the relative direction and distance) according to the transfer strategy, and adjust its orientation to the position on the shelf and receiving device.
  • the relative direction of the undertaking organization When the receiving device is a non-robot (such as a shelf, a trolley, etc.), the
  • Step S603 Adjust the height of the object to be transferred to a position corresponding to the height of the receiving mechanism or adjust the height of the receiving mechanism to a position corresponding to the height of the object to be transferred.
  • the first robot needs to actively adjust the items to be transferred to a position corresponding to the height of the receiving mechanism, or to accept the transfer.
  • the mechanism adjusts the height to the same height as the storage rack where the items to be transferred are located.
  • Step S604 Push the items to be transferred to the receiving mechanism through the clamping mechanism on the first robot.
  • the first robot is provided with a clamping mechanism for moving objects, such as a push rod or a mechanical arm.
  • a clamping mechanism for moving objects, such as a push rod or a mechanical arm.
  • the clamping mechanism After clamping the items to be transferred or resisting the items to be transferred, the clamping mechanism is extended. , push the items to be transferred from its own storage rack to the receiving mechanism.
  • FIG. 6b it is a scene diagram in which the clamping mechanism transfers the items to be transferred.
  • the black part is the item to be transferred 101
  • the thick line adjacent to it is the clamping mechanism 114 (which is the combination of the telescopic mechanism and the finger mechanism/push rod).
  • the two adjacent parts are the storage rack 111 of the first robot on the left and the receiving mechanism (the storage rack 120 of the second robot) on the right.
  • the process of pushing the object to be transferred onto the receiving mechanism is realized by extending the clamping mechanism.
  • the transfer strategy will clarify the moving distance, moving direction and/or moving destination of the first robot when pushing the items to be transferred through the clamping mechanism, thereby ensuring that the first robot can stably place the items to be transferred according to the transfer strategy. to the undertaking agency.
  • Step S605 The items to be transferred are transferred to the receiving mechanism through the transfer mechanism where the first robot is in contact with the items to be transferred.
  • the first robot may also be provided with a transmission mechanism, such as a conveyor belt or a rolling shaft.
  • the transmission mechanism can also play a role in moving the items to be transferred.
  • FIG. 6c it is a scene diagram in which a transfer mechanism is installed on the robot.
  • the long black bars parallel to each other in the picture are
  • the conveying mechanism 115 can be an electric roller, a conveyor belt or other conveying device.
  • the rack 111 of the first robot and the receiving mechanism the rack 120 of the second robot in the figure is also A transfer mechanism is provided to transfer items to be transferred between the two.
  • the first robot is provided with only one of the transmission mechanism or the clamping mechanism.
  • the transfer strategy will specify the corresponding type of mechanism included in the first robot to complete the transmission of the items to be transferred; or, transfer The strategy does not limit the specific mechanism used to transmit the items to be transferred.
  • the first robot selects an existing mechanism to complete the transmission action.
  • Step S606 The items to be transferred are transferred to the receiving mechanism by cooperating with the clamping mechanism on the first robot and the transfer mechanism.
  • the transmission of the items to be transferred can be completed through the cooperation of the two.
  • steps S604 to S606 are optional steps that are parallel to each other. Those skilled in the art can select one of the methods as needed to complete the transmission of the items to be transferred.
  • Step S607 When the receiving device is a second robot, based on the transfer strategy, the receiving device moves to a position where the shelf is in contact with the shelf of the second robot according to the relative direction and/or distance to the second robot.
  • the transfer strategy will inform the first robot to move to a set position so that the shelf of the first robot can dock with the shelf of the second robot.
  • the specific content of the movement includes the movement path and the steering angle, so that the first robot can complete the movement action.
  • Step S608 When the empty rack and the items to be transferred are at the same height, transfer the items to be transferred to the empty rack.
  • the items to be transferred need to be moved to the location of the empty rack (or the idle target rack) on the second robot determined by the server.
  • the empty racks are of the same height and then transferred from the first robot to the second robot.
  • FIG. 6d it is a flow chart of items to be transferred from the first robot to the empty shelf. Move items to be moved to empty shelves, including:
  • Step S6081 Push the items to be transferred to the free rack through the clamping mechanism on the first robot.
  • both the first robot and the second robot are provided with clamping mechanisms and/or transfer mechanisms, there are many different ways to transfer items to be transferred.
  • the action of transferring the items to be transferred can be directly completed by the clamping mechanism on the first robot, as shown in Figure 6b, to facilitate scheduling and avoid errors or failures that are easily caused when multiple mechanisms are required to move.
  • Step S6082 Use the transfer mechanism of the first robot to contact the items to be transferred, and transfer the items to be transferred to the empty rack.
  • step S606 The principle of this step is the same as that of step S606 and will not be described again here.
  • Step S6083 The items to be transferred are transferred to the free rack through the cooperation of the clamping mechanism and the transfer mechanism on the first robot.
  • the two mechanisms can also cooperate to complete the transmission of the items to be transferred at the same time.
  • Step S6084 The clamping mechanism on the first robot cooperates with the clamping mechanism on the second robot to clamp the items to be transferred to the free storage rack.
  • the items to be transferred can also be clamped together by the clamping mechanisms on the first robot and the second robot to complete the transfer of the items to be transferred.
  • the clamping mechanisms on the first robot and the second robot work together to effectively ensure the stability of the items to be transferred. Security and stability of the transfer process.
  • Step S6085 The transfer mechanism of the first robot that connects the items to be transferred cooperates with the corresponding transfer mechanism on the second robot to transfer the items to be transferred to the free rack.
  • the transmission mechanisms on the first robot and the second robot can also cooperate to jointly complete the transmission of the items to be transferred, especially if the items to be transferred are large in size and weight, through the cooperation of the two, By improving the delivery efficiency of items to be transferred.
  • FIG. 6e is a scene diagram in which the clamping mechanism on the second robot cooperates with the items to be transferred.
  • the black part is the item 101 to be transferred
  • the thick line in contact with it is the clamping mechanism 114 on the second robot (that is, the robot on the right) (it is a combination of a telescopic mechanism and a finger mechanism/push rod, and has two opposite settings. (composed of a finger mechanism/push rod), by extending and clamping the items to be transferred through the clamping mechanism on the second robot, and then contracting its telescopic mechanism, the items to be transferred can also be placed on the first robot storage rack 111 and the second robot. Transfer between 120 robot racks.
  • Step S6086 The items to be transferred are transferred to the free rack by cooperating with the clamping mechanism and the transfer mechanism on the first robot and the corresponding clamping mechanism and transfer mechanism on the second robot.
  • both the first robot and the second robot are equipped with a clamping mechanism and a transmission mechanism, through the cooperation of all mechanisms, the efficiency of object transmission can be ensured to the maximum extent, especially when the objects to be transferred are heavy and bulky. .
  • cooperation is not limited to the same type of mechanism.
  • Cooperation, or the clamping mechanism on the first robot cooperates with the clamping mechanism and transmission mechanism on the second robot, or the clamping mechanism and transmission mechanism on the first robot cooperate with the clamping mechanism or transmission mechanism on the second robot Any cooperation can complete the transmission of the items to be transferred.
  • Steps S6081 to S6086 are optional steps that are parallel to each other. Those skilled in the art can choose any step to implement in actual application scenarios.
  • Step S609 When the heights of the empty shelves and the items to be transferred are different, the items to be transferred are moved to the height of the empty shelves, and then the items to be transferred are transferred to the empty shelves.
  • the first robot after the first robot receives the first instruction information, it executes the specific actions contained in the first instruction information in sequence, so that it can cooperate with the second robot to jointly complete the transfer of the items to be transferred.
  • the first robot can perform the actions in the first instruction information in real time at any time during the process of transporting the items to be transferred, and cooperate with the second robot to transfer the items to be transferred, thereby improving the efficiency of warehouse management.
  • Figure 7 is a flow chart of an object transfer method provided by an embodiment of the present disclosure. This method is applied to the second robot. As shown in Figure 7, the object transfer method provided by this embodiment includes the following steps:
  • Step S701 Receive second instruction information.
  • the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and to transfer the items to be transferred from the storage rack of the first robot.
  • the transfer strategy is based on The relative positions of the first robot and the second robot are determined.
  • the server when the receiving device is a second robot, the server will hit the second robot and send the second instruction information to the second robot.
  • the second robot is a robot in a mobilizable state and has an empty shelf.
  • the second robot may be a robot that is executing or has completed the object transfer task, or may be a robot that has not yet been assigned an object transfer task.
  • the priority of the second instruction information is higher than other tasks currently received by the second robot. Therefore, the second robot can prioritize receiving the items to be transferred corresponding to the second instruction information. tasks to ensure the efficiency of item transfer.
  • Step S702 Receive items to be transferred based on the transfer strategy.
  • the second robot can cooperate with the first robot to jointly complete the transfer action of the items to be transferred.
  • the relevant content has been fully described in the foregoing embodiments and will not be repeated here.
  • the second robot after the second robot receives the second instruction information, it executes it sequentially according to the specific actions contained in the second instruction information, so that it can cooperate with the first robot to jointly complete the transfer of the items to be transferred.
  • the process of transferring to a receiving device As a result, the second robot can perform the actions in the second instruction information in real time at any time, and cooperate with the first robot to transfer the items to be transferred, thereby improving the efficiency of warehouse management.
  • Figure 8 is a flow chart of an object transfer method provided by an embodiment of the present disclosure. As shown in Figure 8, the object transfer method provided by this embodiment includes the following steps:
  • Step S801 Receive second instruction information.
  • the second instruction information is used to instruct the second robot to move to a position where the rack is connected to the rack of the first robot based on the transfer strategy, and to transfer the items to be transferred from the first robot.
  • the transfer strategy is based on the first robot. relative position to the receiving device.
  • this step is the same as step S701 in the embodiment shown in FIG. 7 and will not be described again here.
  • Step S802 Based on the transfer strategy, move to a position where the shelf is in contact with the shelf of the first robot according to the relative direction and/or distance to the first robot.
  • the second robot when the second robot moves, according to the transfer strategy determined by the server, it can actively move towards the first robot and adjust its own orientation, it can also move relative to the first robot, or it can only adjust its own orientation and wait for the first robot to move.
  • the robot moves to its current location.
  • the allocation of the distance moved by the second robot and the first robot can be determined based on the path planning corresponding to the new item transfer request, or can also be determined based on the number of items placed on the first robot and the second robot or the tasks that need to be performed.
  • the number of item handling/transfer tasks is determined (for example, a robot with fewer items moves farther).
  • Step S803 Receive the items to be transferred transferred by the first robot.
  • Step S804 The clamping mechanism on the first robot cooperates with the clamping mechanism on the second robot to clamp the items to be transferred to the free storage rack.
  • Step S805 The transfer mechanism of the first robot that connects the items to be transferred cooperates with the corresponding transfer mechanism of the second robot to transfer the items to be transferred to the free rack.
  • Step S806 The items to be transferred are transferred to the free rack by cooperating with the clamping mechanism and the transfer mechanism on the first robot and the corresponding clamping mechanism and transfer mechanism on the second robot.
  • steps S803 to S806 are the process in which the second robot and the first robot cooperate to complete the transmission of the items to be transferred. This part of the content has been fully described in the embodiment shown in FIG. 6 and will not be repeated here. Persons skilled in the art can select any one of steps S803 to S806 to implement according to the actual application scenario and in conjunction with the embodiment of FIG. 6 .
  • the second robot after receiving the second instruction information, the second robot selects the corresponding method according to the specific actions contained in the second instruction information, and cooperates with the first robot to jointly complete the transfer of the items to be transferred. to the receiving device.
  • the second robot can cooperate with the first robot in different ways to transfer the items to be transferred based on the actions in the second instruction information, thereby improving the efficiency of warehouse management.
  • Figure 9 is a schematic structural diagram of an object transfer device provided by an embodiment of the present disclosure. As shown in FIG. 9 , the object transfer device 900 is applied to an intelligent warehousing system.
  • the object transfer device 900 includes: a determination module 910 , a processing determination module 920 and a sending module 930 . in:
  • Determining module 910 configured to determine the item to be transferred, the first robot where the item to be transferred is located, and the receiving device for receiving the item to be transferred in response to receiving a new item transfer request;
  • the processing determination module 920 is used to determine the transfer strategy of the items to be transferred based on the relative positions of the first robot and the receiving device;
  • Sending module 930 configured to send first instruction information to the first robot, where the instruction information is used to instruct the first robot Based on the transfer strategy, move to a position where the storage rack of the first robot is in contact with the receiving device, and transfer the items to be transferred from the first robot to the receiving device.
  • the processing determination module 920 is specifically configured to determine the relative direction/or distance between the storage rack of the first robot and the receiving mechanism of the receiving device; and/or determine the storage rack used by the first robot to place the items to be transferred.
  • the relative height to the receiving mechanism determine the transfer strategy of the items to be transferred based on the relative direction and/or distance and/or relative height.
  • the processing determination module 920 is specifically configured to, when the receiving device is a non-robot, determine the transfer strategy as: moving the first robot to a position where the storage rack and the receiving mechanism are connected according to the relative direction and/or distance; and/ Or, adjust the height of the object to be transferred to a position corresponding to the height of the receiving mechanism or adjust the height of the receiving mechanism to a position corresponding to the height of the object to be transferred; transfer the object to be transferred from the first robot to the receiving mechanism.
  • the processing determination module 920 is specifically configured to, when the receiving device is a second robot, determine the transfer strategy as: moving the first robot to the shelf to dock with the shelf of the second robot according to the relative direction and/or distance. position; and/or, adjust the items to be transferred to a position at the same height as the target rack for placing items to be transferred on the rack of the second robot; transfer the items to be transferred from the first robot to the second Robot storage rack.
  • the processing determination module 920 is specifically configured to, when the receiving device is a second robot, determine the transfer strategy as: moving the first robot and the second robot to a position where the shelves are connected according to the relative direction and/or distance; and/or, adjust the items to be transferred to a position at the same height as the target rack for placing items to be transferred on the rack of the second robot; transfer the items to be transferred from the first robot to the storage rack of the second robot rack, or the first robot and the second robot jointly transfer the items to be transferred; accordingly, after determining the transfer strategy of the items to be transferred based on the relative positions of the first robot and the receiving device, it also includes: sending the second robot to the second robot. 2. Instruction information.
  • the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and transfer the items to be transferred from the first robot or work together with the first robot. Transfer items to be transferred.
  • the processing determination module 920 is specifically configured to, when the receiving device is a second robot, determine a transfer strategy based on the position of the idle rack on the second robot relative to the items to be transferred.
  • the processing determination module 920 is specifically configured to determine the transfer strategy to directly transfer the items to be transferred to the empty rack when the empty rack and the items to be transferred are at the same height; when the height of the empty rack and the items to be transferred are At the same time, the transfer strategy is determined to be to transfer the items to be transferred to the height of the free rack, and then to the free rack; or, the transfer strategy is to adjust the position relative to the items to be transferred to the free rack, and then to be transferred to the free rack. Items are moved to free shelves.
  • the determination module 910 includes that the receiving device includes at least one of a lift, a conveyor line, a shelf, and a trolley.
  • the object transfer device can directly complete the transmission of the objects to be transferred through the cooperation of the robot and the receiving device, solving the problem of low object transfer efficiency in the existing technology, thereby improving the efficiency of warehousing management.
  • Figure 10 is a schematic structural diagram of an object transfer device provided by an embodiment of the present disclosure. As shown in FIG. 10 , the object transfer device 1000 is applied to the first robot.
  • the object transfer device 1000 includes: a receiving module 1010 and a processing module 1020 . in:
  • the receiving module 1010 is configured to receive first instruction information.
  • the first instruction information is used to instruct the first robot to move to a position where the first robot's storage rack is connected to the receiving device based on the transfer strategy, and transfer the items to be transferred from the first The robot transfers to the receiving device, and the transfer strategy is determined based on the relative positions of the first robot and the receiving device;
  • the processing module 1020 is used to transfer the items to be transferred to the receiving device based on the transfer strategy.
  • the processing module 1020 is specifically configured to, when the receiving device is a non-robot, move to a position where the shelf is connected to the receiving mechanism based on the relative direction and/or distance to the receiving device based on the transfer strategy; and/ Or, adjust the items to be transferred to a position corresponding to the height of the receiving mechanism; push the items to be transferred to the receiving mechanism through the clamping mechanism on the first robot, and/or contact the items to be transferred through the first robot
  • the transfer mechanism in contact transfers the items to be transferred to the receiving mechanism, and/or cooperates with the transfer mechanism through the clamping mechanism on the first robot. Together, the items to be transferred will be sent to the receiving agency.
  • the processing module 1020 is specifically configured to, when the receiving device is a second robot, move to the storage shelf and the second robot according to the relative direction and/or distance to the second robot based on the transfer strategy.
  • the processing module 1020 is specifically configured to push the items to be transferred to the idle rack through the clamping mechanism on the first robot, or to push the items to be transferred through the transfer mechanism of the first robot to connect with the items to be transferred.
  • Transfer to the idle rack or, through the cooperation of the clamping mechanism and the transmission mechanism on the first robot, transfer the items to be transferred to the idle rack; or, through the clamping mechanism on the first robot and the clamping mechanism on the second robot,
  • the holding mechanism cooperates to clamp the items to be transferred to the idle rack, or the transfer mechanism of the first robot that connects the items to be transferred cooperates with the corresponding transfer mechanism on the second robot to transfer the items to be transferred to the idle rack.
  • the items to be transferred are transported to the free rack.
  • Figure 11 is a schematic structural diagram of an object transfer device provided by an embodiment of the present disclosure. As shown in FIG. 11 , the object transfer device 1100 is applied to the second robot.
  • the object transfer device 1100 includes: a receiving module 1110 and a processing module 1120 . in:
  • the receiving module 1110 is configured to receive second instruction information.
  • the second instruction information is used to instruct the second robot to move to a position where the storage rack is connected to the storage rack of the first robot based on the transfer strategy, and to move from the storage rack of the first robot to the position where the storage rack is connected to the storage rack of the first robot.
  • Transfer the items to be transferred, and the transfer strategy is determined based on the relative positions of the first robot and the second robot;
  • the processing module 1120 receives the items to be transferred based on the transfer strategy.
  • the processing module 1120 is specifically configured to, based on the transfer strategy, move to a position where the storage rack is in contact with the storage rack of the first robot according to the relative direction and/or distance to the first robot; receive the transfer of the first robot
  • the items to be transferred, or the clamping mechanism on the first robot cooperates with the clamping mechanism on the second robot to clamp the items to be transferred to the idle rack, and/or, the first robot interacts with the items to be transferred
  • the connected transfer mechanism cooperates with the corresponding transfer mechanism on the second robot to transfer the items to be transferred to the idle rack, and/or, through the clamping mechanism and transfer mechanism on the first robot and the corresponding clamp on the second robot.
  • the holding mechanism and the transmission mechanism cooperate to transmit the items to be transferred to the empty storage rack.
  • Figure 12 is a schematic structural diagram of a control device provided by an embodiment of the present disclosure. As shown in Figure 12, the control device 1200 includes: a memory 1210 and a processor 1220.
  • the memory 1210 stores computer programs that can be executed by at least one processor 1220 .
  • the computer program is executed by at least one processor 1220, so that the control device implements the object transfer method provided in any of the above embodiments.
  • the memory 1210 and the processor 1220 may be connected through the bus 1230.
  • One embodiment of the present disclosure also provides an item transfer system, which includes:
  • the server is configured to execute the item transfer method of the first aspect of the present disclosure
  • the first robot is configured to perform the object transfer method of the second aspect of the present disclosure
  • the first robot is used to perform the object transfer method of the third aspect of the present disclosure.
  • One embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by the processor to implement the object transfer method provided by any of the above method embodiments.
  • the computer-readable storage medium can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
  • One embodiment of the present disclosure provides a computer program product, which includes computer-executable instructions that, when executed by a processor, are used to implement the object transfer method provided in any of the above embodiments.
  • the disclosed devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of modules is only a logical function division. In actual implementation, there may be other division methods.
  • multiple modules or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

Abstract

本公开实施例提供一种物品转移方法、装置、设备及存储介质，应用于智能仓储系统。该方法包括：响应于接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收的接收装置；基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略；向第一机器人发送第一指示信息，指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置。本公开实施例的技术方案实现了解决现有技术中物品转移效率较低的问题，充分保证物品的成功转移，并提升物品的转移效率，进而提高仓储管理效率。

Description

物品转移方法、装置、设备及存储介质
本申请要求于2022年8月19日提交中国专利局，申请号为202210999732.0、申请名称为“物品转移方法、装置、设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及智能仓储技术领域，尤其涉及一种物品转移方法、装置、设备及存储介质。
背景技术
基于料箱机器人的仓储系统采用智能操作系统，通过系统指令实现货物的自动化出库，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛地应用和青睐。
在目前的仓储系统中，料箱机器人与外部其他机构的物品交互都只能通过搬运装置完成，交互方式有限，不灵活。
发明内容
本公开实施例提供了一种物品转移方法、装置、设备及存储介质，以解决现有技术中物品转移效率较低的问题。
第一方面，本公开实施例提供了一种物品转移方法，物品转移方法应用于智能仓储系统，物品转移方法包括：
响应于接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收待转移物品的接收装置；
基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略；
向第一机器人发送第一指示信息，指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置。
可选地，基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略，包括：确定第一机器人的置物架与接收装置的承接机构间的相对方向和/或距离；和/或，确定第一机器人用于放置待转移物品的置物架与承接机构的相对高度；基于相对方向和/或距离和/或相对高度，确定待转移物品的转移策略。
可选地，当接收装置为非机器人时，基于相对方向和/或距离和/或相对高度，确定待转移物品的转移策略，包括：确定转移策略为：根据相对方向和/或距离使第一机器人移动至置物架与承接机构相对接的位置；和/或，调整待转移物品至所在高度与承接机构所在高度相对应的位置或者调整承接机构所在高度与待转移物品所在高度相对应的位置；将待转移物品由第一机器人转移至承接机构。
可选地，当接收装置为第二机器人时，基于相对方向和/或距离和/或相对高度，确定待转移物品的转移策略，包括：确定转移策略为：根据相对方向和/或距离使第一机器人移动至置物架与第二机器人的置物架相对接的位置；和/或，调整待转移物品至所在高度与第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；将待转移物品由第一机器人转移至第二机器人的置物架。
可选地，当接收装置为第二机器人时，基于相对方向和/或距离和/或相对高度，确定待转移物品的转移策略，包括：确定转移策略为：根据相对方向和/或距离使第一机器人 和第二机器人移动至置物架相对接的位置；和/或，调整待转移物品至所在高度与第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；待转移物品由第一机器人转移至第二机器人的置物架，或，由第一机器人和第二机器人共同转移待转移物品；相应的，基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略之后，还包括：向第二机器人发送第二指示信息，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人上转移待转移物品或者与第一机器人共同转移待转移物品。
可选地，当接收装置为第二机器人时，基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略，包括：基于第二机器人上空闲置物架相对于待转移物品的位置，确定转移策略。
可选地，基于第二机器人上空闲置物架相对于待转移物品的位置，确定转移策略，包括：当空闲置物架与待转移物品在同一高度时，确定转移策略为直接将待转移物品转移至空闲置物架；当空闲置物架与待转移物品的高度不同时，确定转移策略为将待转移物品转移至空闲置物架所在高度，再转移至空闲置物架；或，确定转移策略为将与待转移物品相对的位置调整为空闲置物架，再将待转移物品转移至空闲置物架。
可选地，接收装置包括提升机、输送线、货架、手推车中的至少一种。
第二方面，本公开实施例提供了一种物品转移方法，物品转移方法应用于第一机器人，物品转移方法包括：
接收第一指示信息，第一指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置，转移策略是基于第一机器人和接收装置的相对位置确定的；
基于转移策略，将待转移物品转移至接收装置。
可选地，当接收装置为非机器人时，基于转移策略，将待转移物品转移至接收装置，包括：基于转移策略，根据与接收装置之间的相对方向和/或距离移动至置物架与承接机构相对接的位置；和/或，调整待转移物品至所在高度与承接机构所在高度相对应的位置；通过第一机器人上的夹持机构将待转移物品推送至承接机构，和/或，通过第一机器人与待转移物品相接触的传送机构，将待转移物品传送至承接机构，和/或，通过第一机器人上的夹持机构与传送机构配合，将待转移物品传送至承接机构。
可选地，当接收装置为第二机器人时，基于转移策略，根据与第二机器人之间的相对方向和/或距离将待转移物品转移至接收装置，包括：基于转移策略，移动至置物架与第二机器人的置物架相对接的位置；基于转移策略，当空闲置物架与待转移物品在同一高度时，将待转移物品转移至空闲置物架；当空闲置物架与待转移物品的高度不同时，将待转移物品转移至空闲置物架所在高度，再将待转移物品转移至空闲置物架。
可选地，将待转移物品转移至空闲置物架，包括：通过第一机器人上的夹持机构将待转移物品推送至空闲置物架，或，通过第一机器人与待转移物品相接的传送机构，将待转移物品传送至空闲置物架，或，通过第一机器人上的夹持机构、传送机构配合，将待转移物品传送至空闲置物架；或者，通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架，或，通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架，或，通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
第三方面，本公开实施例提供了一种物品转移方法，物品转移方法应用于第二机器人，物品转移方法包括：
接收第二指示信息，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人的置物架上转移待转移物品，转移 策略是基于第一机器人和第二机器人的相对位置确定的；
基于转移策略，接收待转移物品。
可选地，基于转移策略，接收待转移物品，包括：基于转移策略，根据与第一机器人之间的相对方向和/或距离移动至置物架与第一机器人的置物架相对接的位置；接收第一机器人转移的待转移物品，或，通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架，或，通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架，或，通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
第四方面，本公开实施例提供了一种物品转移装置，物品转移装置应用于智能仓储系统，该物品转移装置包括：
确定模块，用于响应于接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收待转移物品的接收装置；
处理确定模块，用于基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略；
发送模块，用于向第一机器人发送第一指示信息，指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置。
可选地，处理确定模块具体用于，确定第一机器人的置物架与接收装置的承接机构间的相对方向/或距离；和/或，确定第一机器人用于放置待转移物品的置物架与承接机构的相对高度；基于相对方向和/或距离和/或相对高度，确定待转移物品的转移策略。
可选地，处理确定模块具体用于，当接收装置为非机器人时，确定转移策略为：根据相对方向和/或距离使第一机器人移动至置物架与承接机构相对接的位置；和/或，调整待转移物品至所在高度与承接机构所在高度相对应的位置或者调整承接机构所在高度与待转移物品所在高度相对应的位置；将待转移物品由第一机器人转移至承接机构。
可选地，处理确定模块具体用于，当接收装置为第二机器人时，确定转移策略为：根据相对方向和/或距离使第一机器人移动至置物架与第二机器人的置物架相对接的位置；和/或，调整待转移物品至所在高度与第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；将待转移物品由第一机器人转移至第二机器人的置物架。
可选地，处理确定模块具体用于，当接收装置为第二机器人时，确定转移策略为：根据相对方向和/或距离使第一机器人和第二机器人移动至置物架相对接的位置；和/或，调整待转移物品至所在高度与第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；将待转移物品由第一机器人转移至第二机器人的置物架，或，由第一机器人和第二机器人共同转移待转移物品；相应的，基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略之后，还包括：向第二机器人发送第二指示信息，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人上转移待转移物品或者与第一机器人共同转移待转移物品。
可选地，处理确定模块具体用于，当接收装置为第二机器人时，基于第二机器人上空闲置物架相对于待转移物品的位置，确定转移策略。
可选地，处理确定模块具体用于，当空闲置物架与待转移物品在同一高度时，确定转移策略为直接将待转移物品转移至空闲置物架；当空闲置物架与待转移物品的高度不同时，确定转移策略为将待转移物品转移至空闲置物架所在高度，再转移至空闲置物架；或，确定转移策略为将与待转移物品相对的位置调整为空闲置物架，再将待转移物品转移至空闲置物架。
可选地，确定模块中包括，接收装置包括提升机、输送线、货架、手推车中的至少一 种。
第五方面，本公开实施例提供了一种物品转移装置，物品转移装置应用于第一机器人，该物品转移装置包括：
接收模块，用于接收第一指示信息，第一指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置，转移策略是基于第一机器人和接收装置的相对位置确定的；
处理模块，用于基于转移策略，将待转移物品转移至接收装置。
可选地，处理模块具体用于，当接收装置为非机器人时，基于转移策略，根据与接收装置之间的相对方向和/或距离移动至置物架与承接机构相对接的位置；和/或，调整待转移物品至所在高度与承接机构所在高度相对应的位置；通过第一机器人上的夹持机构将待转移物品推送至承接机构，和/或，通过第一机器人与待转移物品相接触的传送机构，将待转移物品传送至承接机构，和/或，通过第一机器人上的夹持机构与传送机构配合，将待转移物品传送至承接机构。
可选地，处理模块具体用于，当接收装置为第二机器人时，基于转移策略，根据与所述第二机器人之间的相对方向和/或距离移动至置物架与第二机器人的置物架相对接的位置；基于转移策略，当空闲置物架与待转移物品在同一高度时，将待转移物品转移至空闲置物架；当空闲置物架与待转移物品的高度不同时，将待转移物品转移至空闲置物架所在高度，再将待转移物品转移至空闲置物架。
可选地，处理模块具体用于，通过第一机器人上的夹持机构将待转移物品推送至空闲置物架，或，通过第一机器人与待转移物品相接的传送机构，将待转移物品传送至空闲置物架，或，通过第一机器人上的夹持机构、传送机构配合，将待转移物品传送至空闲置物架；或者，通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架，或，通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架，或，通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
第六方面，本公开实施例提供了一种物品转移装置，物品转移装置应用于智能仓储系统，该物品转移装置包括：
接收模块，用于接收第二指示信息，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人的置物架上转移待转移物品，转移策略是基于第一机器人和第二机器人的相对位置确定的；
处理模块，基于转移策略，接收待转移物品。
可选地，处理模块具体用于，基于转移策略，根据与第一机器人之间的相对方向和/或距离移动至置物架与第一机器人的置物架相对接的位置；接收第一机器人转移的待转移物品，或，通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架，和/或，通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架，和/或，通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
第七方面，本公开实施例还提供了一种控制设备，该控制设备包括：
至少一个处理器；
以及与至少一个处理器通信连接的存储器；
其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使控制设备执行如本公开第一方面的物品转移方法；或者，指令被至少一个处理器执行，以使控制设备执行如本公开第二方面的物品转移方法；或者，指令被至少一个处理器执行， 以使控制设备执行如本公开第三方面的物品转移方法。
第八方面，本公开实施例还提供了一种物品转移系统，该物品转移系统包括：
服务器、第一机器人和第二机器人；
服务器用于执行本公开第一方面的物品转移方法；
第一机器人用于执行本公开第二方面的物品转移方法；
第一机器人用于执行本公开第三方面的物品转移方法。
第九方面，本公开实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有计算机执行指令，计算机执行指令被处理器执行时用于实现如本公开第一方面的物品转移方法；或者，计算机执行指令被处理器执行时用于实现如本公开第二方面的物品转移方法；或者，计算机执行指令被处理器执行时用于实现如本公开第三方面的物品转移方法。
第十方面，本公开实施例还提供了一种计算机程序产品，该计算机程序产品包含计算机执行指令，计算机执行指令被处理器执行时用于实现如本公开第一方面的物品转移方法；或者，计算机执行指令被处理器执行时用于实现如本公开第二方面的物品转移方法；或者，计算机执行指令被处理器执行时用于实现如本公开第三方面的物品转移方法。
本公开实施例提供的物品转移方法、装置、设备及存储介质，通过接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收的接收装置，并据此确定待转移物品的转移策略，然后，向第一机器人发送第一指示信息。由此，能够实现不经过固定场所而直接由第一机器人和接收装置完成物品的转移，且根据待转移物品的不同和接收装置的不同而调整对应的转移策略，并据此控制第一机器人完成对应的转移动作，充分保证物品的成功转移，并提升物品的转移效率，进而提高仓储管理效率。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1a为本公开实施例提供的物品转移方法的一种应用场景图；
图1b为本公开实施例中涉及的一种机器人的侧视图；
图1c为本公开实施例中图1b所示机器人的俯视图；
图1d为本公开实施例中涉及的另一种机器人的结构示意图；
图2为本公开一个实施例提供的物品转移方法的流程图；
图3a为本公开又一个实施例提供的物品转移方法的流程图；
图3b为本公开又一个实施例提供的转移策略的具体流程图；
图4为本公开又一个实施例提供的物品转移方法的流程图；
图5为本公开又一个实施例提供的物品转移方法的流程图；
图6a为本公开又一个实施例提供的物品转移方法的流程图；
图6b为图6a中对应实施例中的夹持机构传送待转移物品的场景图；
图6c为图6a中对应实施例中的机器人上设置传送机构的场景图；
图6d为本公开又一个实施例提供的待转移物品从第一机器人到空闲置物架的流程图；
图6e为图6a中对应实施例中的第二机器人上的夹持机构与待转移物品配合的场景图；
图7为本公开又一个实施例提供的物品转移方法的流程图；
图8为本公开又一个实施例提供的物品转移方法的流程图；
图9为本公开又一个实施例提供的物品转移装置的结构示意图；
图10为本公开又一个实施例提供的物品转移装置的结构示意图；
图11为本公开又一个实施例提供的物品转移装置的结构示意图；
图12为本公开一个实施例提供的控制设备的结构示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
现有的仓储系统中，智能仓储系统会生成物品搬运任务，并由机器人将搬运任务对应的物品搬运到工作台或存储区，以进行拣选、出库或入库。如果机器人需要转移其置物架中的物品，则需要该机器人先通过搬运装置将物品从置物架中取出，再将物品放置到目标位置，物品的转移效率低。
为了解决这一问题，本公开实施例提供一种物品转移方法，通过将需要转移的物品由搬运该物品的第一机器人通过置物架直接转移给接收装置，简化转移动作，提高物品转移效率，使得机器人能够灵活的完成物品转移。
下面对本公开实施例的应用场景进行解释：
图1a为本公开实施例提供的物品转移方法的一种应用场景图。如图1a所示，本公开实施例中涉及的机器人(如图中第一机器人110)均包括至少一层用于放置需要转移的物品101的置物架111(可以只有一层，但通常有两层或更多层置物架111，每层置物架111通常可以容纳一个或多个物品101)，和至少一个与置物架配合的用于取放物品的搬运装置112(搬运装置可以是夹持机构或传送机构)，机器人底部有移动装置113以供其运动。
如图1b和图1c所示，其中图1b为本公开实施例中涉及的一种机器人的侧视图，图1c为该机器人的俯视图，图中机器人110的置物架111有两层以上(图中为五层)，置物架的另一侧为搬运装置112，与机器人110的置物架相对的是另一机器人的置物架120。此时，置物架的高度可以为固定高度，也可以为可调节的高度。
如图1d所示，其为本公开实施例中涉及的另一种机器人的结构示意图，图中机器人110的置物架111仅有一层，且与搬运装置集成在一起(即图中上部的板状结构)，此时，置物架111的高度通常为可调节的高度。
结合图1a至图1d，在进行物品转移流程中，智能仓储系统根据待转移物品101所存放的第一机器人110和对应置物架111，向机器人110发送指示信息，使第一机器人110通过置物架111将物品101转移到另一机器人的置物架120(或其他接收装置)中，而不是通过搬运装置112进行转移，完成物品的转移。
需说明的是，图1所示场景中物品、置物架、机器人和搬运装置仅以一个为例进行示例说明，但本公开不以此为限制，也就是说，物品、置物架、机器人和搬运装置的个数可以是任意的。
以下通过具体实施例详细说明本公开提供的物品转移方法。
图2为本公开一个实施例提供的物品转移方法的流程图。该物品转移方法应用于智能仓储系统。如图2所示，本实施例提供的物品转移方法包括以下步骤：
步骤S201、响应于接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收待转移物品的接收装置。
具体的，物品可以是货箱、物料、物料的包装箱等需要机器人搬运的货物。
接收装置可以是另一个机器人，也可以是临时货架等能够放置物品的装置，根据物品转移请求中的要求不同，可以选择不同的接收装置。
物品转移请求为智能仓储系统中的服务器根据订单需求、工作站状态变化或管理人员命令而生成的需要改变物品转移目的地的请求任务，如物品出库或入库命令，或将物品暂存在临时货架上的命令，根据物品转移请求中的目的地不同，该物品可能被原机器人(即第一机器人)直接送回，也可以放置在接收装置上(如第一机器人上还有其他需要转移的物品)，由接收装置完成后续转移。
在新的物品转移请求前，该物品有至少一个物品转移请求(即原物品转移请求)，第一机器人为服务器基于原物品转移请求选择的用于转移该物品的机器人。
进一步地，在接收到新的物品转移请求时，该待转移物品已经被放置到第一机器人的置物架中(机器人需要将待搬运的物品放置在置物架中，以方便同时接收多个待搬运的物品，并保证物品的安全性)。
一些实施例中，当机器人的置物架上均放置有物品时，第一机器人也可以将多余的物品暂时放置在搬运装置上，此时搬运装置无法执行搬运的功能。
步骤S202、基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略。
具体的，接收装置为服务器在发出或接收到新的物品转移请求时确定的用于接收物品转移请求对应物品的装置。接收装置与第一机器人的位置可以是任意的(但一般接收装置与第一机器人的距离较近，以提高物品转移效率)，在确定如何转移物品时，需要首先确定第一机器人与接收装置的相对位置。
相对位置包括第一机器人与接收装置的相对距离、接收装置的承接机构与第一机器人置物架的相对角度、待转移物品所在置物架与承接机构的相对高度。根据相对位置，能够确定将待转移物品从置物架移动至承接机构所需要采取的动作，即转移策略。
在转移策略中，第一机器人为了向承接机构转移待转移物品所需要采取的动作，包括移动到置物架与承接机构相接的距离，调整至置物架的角度与承接机构相正对，并将待转移物品移动至所在高度与承接机构相对应的高度，或接收装置将承接机构所在高度调整至与待转移物品所在高度对应，以上至少其中一者，从而能够直接从置物架转移到目标物体，以提高处理效率。
步骤S203、向第一机器人发送第一指示信息。
其中，指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置。
具体的，根据转移策略，服务器会具体向第一机器人发送对应的第一指示信息，以便第一机器人根据第一指示信息确定需要完成的任务信息，进而采取相应动作，以完成待转移物品的移动。
第一机器人在接收到该第一指示信息时，能够根据其中指定的待转移物品和移动目的地，自主控制移动到置物架与接收装置的承接部分相对齐的位置，并控制置物架上的搬运装置(如传送带或推杆)，完成物品的转移。
本公开实施例提供的物品转移方法，通过接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收的接收装置，并据此确定待转移物品的转移策略，然后，向第一机器人发送第一指示信息。由此，能够实现通过第一机器人的置物架和接收装置配合，完成物品的转移，且使第一机器人根据待转移物品的不同和接收装置的不同而调整对应的转移策略，执行对应的转移动作，充分保证物品的成功转移，并提升物品的转移效率，进而提高仓储管理效率。
图3a为本公开一个实施例提供的物品转移方法的流程图。如图3a所示，本实施例提供的物品转移方法包括以下步骤：
步骤S301、响应于接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收的接收装置。
具体的，本步骤与图2所示实施例中的步骤S201内容相同此处不再赘述。
步骤S302、确定第一机器人的置物架与接收装置的承接机构间的相对方向和/或距离。
具体的，在确定第一机器人和接收装置的相对位置时，分别以第一机器人上的置物架和接收装置上的承接机构为基准，来来判断两者的相对方向和距离。
根据接收装置不同，其对应的承接机构也可以有不同种类，如接收装置为另一机器人，则承接机构可以为该机器人的置物架或货叉，如接收装置为手推车，则承接机构可以为该手推车上放置货物的架子。
步骤S303、确定第一机器人用于放置待转移物品的置物架与承接机构的相对高度。
具体的，为提高待转移物品的转移效率，在进行转移前，需要将待转移物品移动至所在高度与承接机构相配合的高度(如与承接机构高度相同，或略高一两厘米)或者承接机构移动至与放置待转移物品的置物架相配合的高度，因此，在确定置物架与承接机构的相对方向和距离后，还需要确定放置待转移物品的置物架和承接机构的相对高度。
若两者的相对高度在设定范围内(如3cm)，则不需要调整待转移物品所在置物架或承接机构的高度；若两者的相对高度超过设定范围，则对应的转移策略中，需要调整待转移物品从当前置物架至与承接机构高度相配合的置物架上，或调整承接机构的高度，以便进行后续转移动作。
步骤S304、当接收装置为非机器人时，基于相对方向、距离和相对高度，确定待转移物品的转移策略。
具体的，接收装置为非机器人时，由于非机器人的调节能力有限，因此，转移策略主要是控制第一机器人的动作，以完成待转移物品的转移。
一些实施例中，接收装置包括提升机、输送线、货架、手推车中的至少一种。
具体的，当接收装置为输送线时，承接机构为输送线上用于放置和转运物品的部分；当接收装置为货架时，承接机构为货架上的用于放置物品的库存位置。
进一步地，如图3b所示，其为转移策略的具体流程图，对应于非机器人为接收装置，非机器人一般不能够在地面移动，其具体的转移策略包括如下：
步骤S3041、根据相对方向和/或距离使第一机器人移动至置物架与承接机构相对接的位置。
具体的，在使第一机器人移动时，需要结合第一机器人和接收装置所在的仓库中的具体环境和具体位置(包括相对方向和距离)，如第一机器人和接收装置之间间隔了货架，则第一机器人需要绕过货架再与接收装置的承接机构相配合。
由于接收装置并非机器人，因此，调整置物架和承接机构相对方向的动作可以由第一机器人完成。如接收装置为输送线，则需要调整至置物架与输送线相接的位置，如接收装置为货架，则需要调整至置物架与货架上选定的货架层相接的位置，如接收装置为手推车，则需要调整至置物架与手推车上放置物品的架子部分相接的位置。
步骤S3042、调整待转移物品至所在高度与承接机构所在高度相对应的位置或者调整承接机构所在高度与待转移物品所在高度相对应的位置。
具体的，置物架与承接机构相对之后，还需要调整待转移物品的所在高度。
一些实施例中，机器人上的置物架的高度可调，此时，可以调整置物架的高度至于承接机构的高度相对应的位置。
一些实施例中，机器人上的置物架高度不可调，此时，通常可以调整待转移物品所在的置物架，至待转移物品所在高度与承接机构相对应的位置，或者，调整承接机构的高度 至与待转移物品所在高度匹配。
步骤S3043、将待转移物品由第一机器人转移至承接机构。
具体的，可以是第一机器人通过设置在置物架上的传动机构(如辊筒，传送带、推杆、机械臂等)将待转移物品推送至承接机构，也可以是通过承接机构上设置传动机构将待转移物品拉至承接机构，也可以是第一机器人和承接机构上的传动机构相互配合以将待转移物品转移至承接机构。
步骤S305、向第一机器人发送第一指示信息。
其中，指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置。
具体的，本步骤与图2所示实施例中的步骤S203内容相同，此处不再赘述。
本公开实施例提供的物品转移方法，通过接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收的接收装置，然后确定第一机器人的置物架和接收装置的承接机构的相对方向、距离、相对高度，并在接收装置为非机器人时，据此确定第一机器人需要执行的转移策略，然后向第一机器人发送第一指示信息。由此，能够准确的确定置物架和承接机构间的相对位置，并在接收装置为非机器人时，准确控制第一机器人完成待转移物品的传递，有效保证物品的成功转移，并提升物品的转移效率，进而提高仓储管理效率。
图4为本公开一个实施例提供的物品转移方法的流程图。如图4所示，本实施例提供的物品转移方法包括以下步骤：
步骤S401、响应于接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收的接收装置。
步骤S402、确定第一机器人的置物架与接收装置的承接机构间的相对方向和距离。
步骤S403、确定第一机器人用于放置待转移物品的置物架与承接机构的相对高度。
具体的，本步骤与图3所示实施例中的步骤S301至步骤S303内容相同，此处不再赘述。
步骤S404至步骤S410为在接收装置为第二机器人时，根据置物架和承接机构的相对方向、距离和相对高度确定的转移策略的具体的内容，本领域技术人员可以根据需要选择对应步骤执行。
当接收装置为第二机器人时，确定转移策略为：
步骤S404、根据相对方向和/或距离使第一机器人移动至置物架与第二机器人的置物架相对接的位置。
具体的，若接收装置为第二机器人，此时，可以让第一机器人向第二机器人移动。
由于第二机器人为实时确定，第二机器人所在位置可能与第一机器人距离很近(此时只需要直线移动即可)，也可能第二机器人与第一机器人之间间隔货架、手推车等，此时需要第一机器人结合自身位置、第二机器人的位置、第一机器人与第二机器人的相对方向和仓库的具体地形，确定移动路径。
步骤S405、根据相对方向和/或距离使第一机器人和第二机器人移动至置物架相对接的位置。
具体的，若第二机器人的置物架(即接收装置的承接机构)的朝向或第二机器人所在的位置不便与第一机器人直接对接，则还需要第二机器人也主动调整方向并移动，直至与第一机器人的置物架相对接。
一些实施例中，也可以第一机器人和第二机器人同时调整方向并对向行驶，以减小第一机器人和第二机器人相对接所需要的时间。
本步骤为与步骤S404相平行的可选步骤，本领域技术人员可以根据需要选择对应步骤执行。
步骤S406、调整待转移物品至所在高度与第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置。
具体的，在第一机器人的置物架和第二机器人的置物架相对接之后，需要将待转移物品所在的高度调整至第二机器人上用于放置待转移物品的置物架相同的位置。
一些实施例中，第一机器人和第二机器人可以为同一种类的机器人，此时，其上每一层的置物架的高度通常相同(或可以通过调整置物架高度至相同，如第一机器人和第二机器人均为图1d中所示的机器人)。故调整待转移物品的高度时，需要调整至与第二机器人上目标置物架相同的高度，而不是有差值的高度(有差值时，说明待转移物品所在的置物架与目标置物架不在同一层，但是同一高度并不是必须完全相同，由于地面状况，制造误差，也会有一定高度差)。
一些实施例中，第一机器人和第二机器人可以为不同种类的机器人，此时，其置物架的高度通常可以通过调整达到相同高度(如第一机器人为图1b和图1c中机器人，第二机器人为图1d中机器人)，此时可以通过调节其中一个机器人的置物架(如待转移物品所在置物架或目标置物架)高度，使待转移物品所在置物架高度与目标置物架高度相同。
进一步地，服务器在向第二机器人分配待转移物品和对应的物料转移请求时，能够直接确定第二机器人上的对应空置置物架为用于放置待转移物品的置物架(即目标置物架)。
一些实施例中，服务器会优先命中第二机器人上与待转移物品当前所在置物架相同高度的空置置物架为目标置物架，在相同高度的置物架非空置时，选择高度差最小的置物架为目标置物架。
进一步地，由于目标置物架可能为空闲置物架，也可能为非空闲置物架，因此，需要进一步基于第二机器人上空闲置物架相对于待转移物品的位置，确定转移策略。
具体的，由于第二机器人的多个置物架上可能放置有物品，因此需要确定其中的空闲置物架为目标置物架。根据空闲置物架的位置不同，具体转移策略会有变化。
进一步地，根据空闲置物架的位置不同确定的具体转移策略，包括；
情况一(未示出)、当空闲置物架与待转移物品在同一高度时，确定转移策略为直接将待转移物品转移至空闲置物架。
具体的，在空闲置物架与待转移物品所在置物架高度相同时，不需要进一步处理，可以直接完成待转移物品的转移。
情况二(未示出)、当空闲置物架与待转移物品的高度不同时，确定转移策略为将待转移物品转移至空闲置物架所在高度，再转移至空闲置物架。
具体的，若空闲置物架所在高度与待转移物品所在置物架高度不同，(如待转移物品重量较轻或体积较小，方便在第一机器人的不同置物架间转移时，)则可以将待转移物品移动到第一机器人上与空闲置物架相同高度的置物架上，然后在从该置物架移动到相接的空闲置物架上。
情况三(未示出)、确定转移策略为将与待转移物品相对的位置调整为空闲置物架，再将待转移物品转移至空闲置物架。
具体的，与情况二相对，(如待转移物品重量较重，而第二机器人上的物品较轻，方便在第二机器人的不同置物架间转移时，)也可以在第二机器人上调整空闲置物架的位置，即通过调整第二机器人上物品放置的置物架，使第二机器人上与第一机器人放置待转移物品的置物架相同高度的置物架变为空闲置物架，再将待转移物品转移至空闲置物架。
情况一至情况三为相互平行的步骤，本领域技术人员可以根据需要选择对应步骤执行。
步骤S407、将待转移物品由第一机器人转移至第二机器人的置物架。
具体的，当待转移物品位于与目标置物架相同高度的置物架上时，可以将待转移物品直接由第一机器人上的传送机构(如传送带或推杆)移动到目标置物架(即承接机构)上。
一些实施例中，置物架上有防止物品掉出的挡板，则在转移待转移物品时，第一机器 人和第二机器人会将该挡板打开或移动至不会阻挡待转移物品通过的位置。
步骤S408、由第二机器人转移待转移物品。
具体的，也可以由第二机器人主动从第一机器人的置物架上获取该待转移物品，如待转移物品较长，当第二机器人与第一机器人的置物架相对接时，待转移物品已部分搭放在第二机器人的置物架上时，就可以由第二机器人的传送机构(如传送带、推板、机械臂)主动转移该待转移物品。
步骤S409、由第一机器人和第二机器人共同转移待转移物品。
具体的，也可以由第一机器人和第二机器人上的传送机构同时工作，共同将待转移物品转移到第二机器人上的目标置物架，以提高转移效率。
本步骤与步骤S407、步骤S408为相互平行的可选步骤，本领域技术人员可以根据实际情况和需求选择任一步骤执行。
步骤S410、向第一机器人发送第一指示信息。
其中，指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置。
具体的，本步骤与图2所示实施例中的步骤S203相同，此处不再赘述。
步骤S411、向第二机器人发送第二指示信息。
其中，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人上转移待转移物品或者与第一机器人共同转移待转移物品。
具体的，在确定第二机器人所需要执行的转移策略后，在向第一机器人发送第一指示信息的同时，也向第二机器人发送第二指示信息，以便第二机器人与第一机器人配合，共同完成待转移物品的转移，从而提高物品转移效率。
本公开实施例提供的物品转移方法，通过接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收的接收装置，然后确定第一机器人的置物架和接收装置的承接机构的相对方向、距离、相对高度，并在接收装置为第二机器人时，确定第一机器人和第二机器人需要执行的转移策略，然后向第一机器人发送第一指示信息、向第二机器人发送第二指示信息。由此，能够使第一机器人和第二机器人共同动作，进一步提高物品转移效率，进而提高仓储管理效率。
图5为本公开一个实施例提供的物品转移方法的流程图。本方法应用于第一机器人，如图5所示，本实施例提供的物品转移方法包括以下步骤：
步骤S501、接收第一指示信息。
其中，第一指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置，转移策略是基于第一机器人和接收装置的相对位置确定的。
具体的，第一机器人在接收到待转移物品并将待转移物品放置到置物架中之后，在运送待转移物品或其他置物架上的物品时，为接收到第一指示信息的时刻，此时第一机器人可能不在待转移物品所在的货架，而是在移动途中。
当第一机器人接收到第一指示信息时，会优先执行第一指示信息中要求的任务或动作(即对于第一机器人而言，第一指示信息中要求的任务相对于当前正在执行的任务具有更高的优先级)，而暂停或取消当前正在执行的任务或动作。
示例性的，第一机器人在沿当前正在执行的任务所设定的路径移动时，接收到第一指示信息，会停止当前的移动方向，并基于第一指示信息确定新的移动路径，并沿新的路径移动。
步骤S502、基于转移策略，将待转移物品转移至接收装置。
具体的，第一指示信息会包含第一机器人需要执行的转移策略，转移策略包含了针对 待转移物品所需要执行的具体动作，因此，当第一机器人接收到第一指示信息后，就能根据其中的转移策略，确定需要执行的具体动作。
然后，第一机器人依次完整转移策略中的具体动作，就能完成将待转移物品转移至接收装置的承接机构中的过程。
本公开实施例提供的物品转移方法，第一机器人在接受到第一指示信息之后，根据第一指示信息中包含的具体动作，依次执行，从而完成将待转移物品转移至接收装置的过程。由此，能够使第一机器人在搬运待转移物品的过程中的任意时刻，实时执行第一指示信息中的动作，转移待转移物品，进而提高仓储管理效率。
图6a为本公开一个实施例提供的物品转移方法的流程图。本方法应用于第一机器人，如图6a所示，本实施例提供的物品转移方法包括以下步骤：
步骤S601、接收第一指示信息。
其中，第一指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置，转移策略是基于第一机器人和接收装置的相对位置确定的。
具体的，本步骤与图5所示实施例中的步骤S501内容相同，此处不再赘述。
步骤S602、当接收装置为非机器人时，基于转移策略，根据与接收装置之间的相对方向和/或距离移动至置物架与承接机构相对接的位置。
具体的，对应接收装置不同，转移策略也会有差异。
当接收装置为非机器人(如货架、手推车等)时，第一机器人会根据转移策略主动移动到接收装置所在的位置(包括相对方向和距离)，并调整自身朝向至置物架与接收装置上的承接机构相对的方向。
具体动作可以参见图3实施例中的描述，此处不再进一步展开。
步骤S603、调整待转移物品至所在高度与承接机构所在高度相对应的位置或者调整承接机构所在高度与待转移物品所在高度相对应的位置。
具体的，由于承接机构的高度和第一机器人上待转移物品所在的承接机构的高度通常不同，因此，需要第一机器人主动将待转移物品调整至与承接机构所在高度相对应的位置，或承接机构调整高度至于待转移物品所在置物架的高度相同。
具体调整方式可以参考图3和图4实施例中的描述，此处不再赘述。
步骤S604、通过第一机器人上的夹持机构将待转移物品推送至承接机构。
具体的，第一机器人上设置有用于移动物品的夹持机构，如推杆、机械臂，通过夹持机构，在夹取住待转移物品或抵住待转移物品后，通过伸出夹持机构，将待转移物品从自身的置物架推送到承接机构上。
如图6b所示，其为夹持机构传送待转移物品的场景图，其中黑色部分为待转移物品101，与其相邻的粗线条为夹持机构114(其为伸缩机构与手指机构/推杆的结合，且有两个相对设置的手指机构/推杆共同构成)，相邻的两个部分，左边为第一机器人的置物架111，右边为承接机构(第二机器人的置物架120)，图中，夹持机构114与待转移物品101相抵接后，通过伸长夹持机构，实现推送待转移物品到承接机构上的过程。
进一步地，转移策略会明确第一机器人通过夹持机构推送待转移物品时的移动距离、移动方向和/或移动的目的地，从而保证第一机器人能够根据转移策略，将待转移物品稳定的放置到承接机构中。
步骤S605、通过第一机器人与待转移物品相接触的传送机构，将待转移物品传送至承接机构。
具体的，除夹持机构外，第一机器人上还可能设置有传送机构，如传送带或滚动轴，通过传送机构，同样能够起到移动待转移物品的作用。
如图6c所示，其为机器人上设置传送机构的场景图。图中相互平行的黑色长条即传 送机构115，可以是电动辊轮，也可以是传送带或其他传送装置，通过传送机构，可以在第一机器人的置物架111与承接机构(图中为第二机器人的置物架120，其上也设置有传送机构)间传送待转移物品。
一些实施例中，第一机器人上只设置有传送机构或夹持机构中的一种，此时转移策略会指定第一机器人上包含的对应种类的机构，完成待转移物品的传送；或者，转移策略不限定具体传送待转移物品所使用的机构，由第一机器人选择存在的机构完成传送动作。
步骤S606、通过第一机器人上的夹持机构与传送机构配合，将待转移物品传送至承接机构。
具体的，当第一机器人上同时包含夹持机构和传送机构时，可以通过两者的配合，共同完成待转移物品的传送。
进一步的，步骤S604至步骤S606为相互平行的可选步骤，本领域技术人员可以根据需要选择其中一种方式，完成待转移物品的传送。
步骤S607、当接收装置为第二机器人时，基于转移策略，根据与第二机器人之间的相对方向和/或距离移动至置物架与第二机器人的置物架相对接的位置。
具体的，当接收装置为第二机器人时，转移策略中会告知第一机器人运动到设定位置，以使第一机器人的置物架与第二机器人置物架的对接。
其中移动的具体内容包括移动的路径和转向的角度，由此，第一机器人能够完成移动动作。
步骤S608、当空闲置物架与待转移物品在同一高度时，将待转移物品转移至空闲置物架。
具体的，在第一机器人的置物架与第二机器人的置物架对接后，需要根据服务器确定的第二机器人上空闲置物架(或空闲的目标置物架)的位置，将待转移物品移动至与空闲置物架相同高度，然后从第一机器人上传送至第二机器人上。
进一步地，如图6d所示，其为待转移物品从第一机器人到空闲置物架的流程图。将待转移物品转移至空闲置物架，包括：
步骤S6081、通过第一机器人上的夹持机构将待转移物品推送至空闲置物架。
具体的，由于第一机器人和第二机器人上面都设置有夹持机构和/或传送机构，因此，在传送待转移物品时，存在多种不同的方式。
一些实施例中，可以由第一机器人上的夹持机构直接完成传送待转移物品的动作，参考图6b所示，以方便调度，避免需要多个机构运动时容易造成的误差或故障。
步骤S6082、通过第一机器人与待转移物品相接触的传送机构，将待转移物品传送至空闲置物架。
具体的，若第一机器人上存在传送机构，也可以由传送机构单独完成，如待转移物品较重的情况，参考图6c所示。
本步骤与步骤S606的原理相同，此处不再赘述。
步骤S6083、通过第一机器人上的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
具体的，若第一机器人上同时存在传送机构和夹持机构，为提高转移效率，也可以由两种机构共同配合，同时完成待转移物品的传送。
步骤S6084、通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架。
具体的，为进一步提高转移效率，也可以通过第一机器人和第二机器人上的夹持机构共同夹持待转移物品，以完成待转移物品的传送。
当待转移物品体积较大，单个夹持机构无法有效保证待转移物品在传送过程中的稳定性时，通过第一机器人和第二机器人上的夹持机构共同作用，能够有效保证待转移物品的 安全性和转移过程的稳定性。
步骤S6085、通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架。
具体的，与步骤S6084类似，也可以由第一机器人和第二机器人上的传送机构配合，共同完成待转移物品的传送，尤其是待转移物品体积和重量较大的情况，通过两者配合，通过提高待转移物品的传送效率。
参考图6e所示，其为第二机器人上的夹持机构与待转移物品配合的场景图。其中黑色部分为待转移物品101，与其相接触的粗线条为第二机器人(即右边的机器人)上的夹持机构114(其为伸缩机构与手指机构/推杆的结合，且有两个相对设置的手指机构/推杆共同构成)，通过第二机器人上的夹持机构伸出并夹住待转移物品之后，再收缩其伸缩机构，也能完成待转移物品在第一机器人置物架111和第二机器人置物架120间的转移。
步骤S6086、通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
具体的，当第一机器人和第二机器人上均同时设置有夹持机构、传送机构时，通过所有机构的配合，能够最大限度保证物品传送效率，尤其是待转移物品重量大、体积大的情况。
进一步地，不限于同一种类的机构的配合，也可以存在第一机器人上的夹持机构与第二机器人上的传送机构配合，或者第一机器人上的传送机构与第二机器人上的夹持机构配合，或者第一机器人上的夹持机构与第二机器人上的夹持机构和传送机构共同配合，或者第一机器人上的夹持机构和传送机构与第二机器人上的夹持机构或传送机构任一的配合，均能完成待转移物品的传送。
步骤S6081至步骤S6086为相互平行的可选步骤，本领域技术人员可以实际应用场景，选择任一步骤实施。
步骤S609、当空闲置物架与待转移物品的高度不同时，将待转移物品转移至空闲置物架所在高度，再将待转移物品转移至空闲置物架。
具体的，当空闲置物架与待转移物品所在的置物架高度不同时，还涉及待转移物品在置物架之间的位置调换。
具体待转移物品的位置调换方法可以参考图4所示实施例中的描述，此处不再赘述。
本公开实施例提供的物品转移方法，第一机器人在接受到第一指示信息之后，根据第一指示信息中包含的具体动作，依次执行，从而能够与第二机器人配合，共同完成将待转移物品转移至接收装置的过程。由此，能够使第一机器人在搬运待转移物品的过程中的任意时刻，实时执行第一指示信息中的动作，与第二机器人配合，转移待转移物品，进而提高仓储管理效率。
图7为本公开一个实施例提供的物品转移方法的流程图。本方法应用于第二机器人，如图7所示，本实施例提供的物品转移方法包括以下步骤：
步骤S701、接收第二指示信息。
其中，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人的置物架上转移待转移物品，转移策略是基于第一机器人和第二机器人的相对位置确定的。
具体的，当接收装置为第二机器人时，服务器会命中第二机器人，并向第二机器人发送第二指示信息，第二机器人为处于可调动状态且存在空闲置物架的机器人。
进一步地，第二机器人可以为正在执行或已执行完毕物品转移任务的机器人，也可以为尚未分配物品转移任务的机器人。当第二机器人接收到第二指示信息时，第二指示信息的优先级高于第二机器人当前已接收的其他任务，因此，第二机器人能够优先执行第二指示信息中对应的接收待转移物品的任务，以保证物品转移效率。
步骤S702、基于转移策略，接收待转移物品。
具体的，根据第二指示信息中的转移策略，第二机器人能够与第一机器人配合，共同完成待转移物品的传送动作，相关内容在前述实施例中已充分描述，此处不再赘述。
本公开实施例提供的物品转移方法，第二机器人在接受到第二指示信息之后，根据第二指示信息中包含的具体动作，依次执行，从而能够与第一机器人配合，共同完成将待转移物品转移至接收装置的过程。由此，能够使第二机器人在任意时刻，实时执行第二指示信息中的动作，与第一机器人配合，转移待转移物品，进而提高仓储管理效率。
图8为本公开一个实施例提供的物品转移方法的流程图。如图8所示，本实施例提供的物品转移方法包括以下步骤：
步骤S801、接收第二指示信息。
其中，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人上转移待转移物品，转移策略是基于第一机器人和接收装置的相对位置确定的。
具体的，本步骤与图7所示实施例中的步骤S701相同，此处不再赘述。
步骤S802、基于转移策略，根据与第一机器人之间的相对方向和/或距离移动至置物架与第一机器人的置物架相对接的位置。
具体的，第二机器人在移动时，根据服务器确定的转移策略，可以主动向第一机器人移动并调整自身的朝向，也可以与第一机器人相对移动，也可以只调整自身朝向，并等待第一机器人移动至自身所在的位置。
进一步地，第二机器人与第一机器人移动的距离的分配，可以根据新的物品转移请求对应的路径规划确定，也可以根据第一机器人和第二机器人上所放置的物品的数量或需要执行的物品搬运/转移任务的数量确定(如物品较少的机器人移动距离更多)。
步骤S803、接收第一机器人转移的待转移物品。
步骤S804、通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架。
步骤S805、通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架。
步骤S806、通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
具体的，步骤S803至步骤S806为第二机器人与第一机器人配合共同完成待转移物品的传送的过程，这一部分内容在图6所示实施例中的已充分描述，此处不再重复，本领域技术人员可以根据实际应用场景，结合图6实施例，选择步骤S803至步骤S806中的任一步骤实施。
本公开实施例提供的物品转移方法，第二机器人在接受到第二指示信息之后，根据第二指示信息中包含的具体动作，选择对应方式，与第一机器人配合，共同完成将待转移物品转移至接收装置的过程。由此，能够使第二机器人能够通过不同的方式，基于第二指示信息中的动作，与第一机器人配合，转移待转移物品，进而提高仓储管理效率。
图9为本公开一个实施例提供的物品转移装置的结构示意图。如图9所示，该物品转移装置900应用于智能仓储系统，该物品转移装置900包括：确定模块910、处理确定模块920和发送模块930。其中：
确定模块910，用于响应于接收到新的物品转移请求，确定待转移物品、待转移物品所在的第一机器人和用于接收待转移物品的接收装置；
处理确定模块920，用于基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略；
发送模块930，用于向第一机器人发送第一指示信息，指示信息用于指示第一机器人 基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置。
可选地，处理确定模块920具体用于，确定第一机器人的置物架与接收装置的承接机构间的相对方向/或距离；和/或，确定第一机器人用于放置待转移物品的置物架与承接机构的相对高度；基于相对方向和/或距离和/或相对高度，确定待转移物品的转移策略。
可选地，处理确定模块920具体用于，当接收装置为非机器人时，确定转移策略为：根据相对方向和/或距离使第一机器人移动至置物架与承接机构相对接的位置；和/或，调整待转移物品至所在高度与承接机构所在高度相对应的位置或者调整承接机构所在高度与待转移物品所在高度相对应的位置；将待转移物品由第一机器人转移至承接机构。
可选地，处理确定模块920具体用于，当接收装置为第二机器人时，确定转移策略为：根据相对方向和/或距离使第一机器人移动至置物架与第二机器人的置物架相对接的位置；和/或，调整待转移物品至所在高度与第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；将待转移物品由第一机器人转移至第二机器人的置物架。
可选地，处理确定模块920具体用于，当接收装置为第二机器人时，确定转移策略为：根据相对方向和/或距离使第一机器人和第二机器人移动至置物架相对接的位置；和/或，调整待转移物品至所在高度与第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；将待转移物品由第一机器人转移至第二机器人的置物架，或，由第一机器人和第二机器人共同转移待转移物品；相应的，基于第一机器人和接收装置的相对位置，确定待转移物品的转移策略之后，还包括：向第二机器人发送第二指示信息，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人上转移待转移物品或者与第一机器人共同转移待转移物品。
可选地，处理确定模块920具体用于，当接收装置为第二机器人时，基于第二机器人上空闲置物架相对于待转移物品的位置，确定转移策略。
可选地，处理确定模块920具体用于，当空闲置物架与待转移物品在同一高度时，确定转移策略为直接将待转移物品转移至空闲置物架；当空闲置物架与待转移物品的高度不同时，确定转移策略为将待转移物品转移至空闲置物架所在高度，再转移至空闲置物架；或，确定转移策略为将与待转移物品相对的位置调整为空闲置物架，再将待转移物品转移至空闲置物架。
可选地，确定模块910中包括，接收装置包括提升机、输送线、货架、手推车中的至少一种。
在本实施例中，物品转移装置通过各模块的结合，能够通过机器人与接收装置配合，直接完成待转移物品的传送，解决现有技术中物品转移效率较低的问题，从而仓储管理效率。
图10为本公开一个实施例提供的物品转移装置的结构示意图。如图10所示，该物品转移装置1000应用于第一机器人，该物品转移装置1000包括：接收模块1010和处理模块1020。其中：
接收模块1010，用于接收第一指示信息，第一指示信息用于指示第一机器人基于转移策略，移动至第一机器人的置物架与接收装置相对接的位置，并将待转移物品由第一机器人转移至接收装置，转移策略是基于第一机器人和接收装置的相对位置确定的；
处理模块1020，用于基于转移策略，将待转移物品转移至接收装置。
可选地，处理模块1020具体用于，当接收装置为非机器人时，基于转移策略，根据与接收装置之间的相对方向和/或距离移动至置物架与承接机构相对接的位置；和/或，调整待转移物品至所在高度与承接机构所在高度相对应的位置；通过第一机器人上的夹持机构将待转移物品推送至承接机构，和/或，通过第一机器人与待转移物品相接触的传送机构，将待转移物品传送至承接机构，和/或，通过第一机器人上的夹持机构与传送机构配 合，将待转移物品传送至承接机构。
可选地，处理模块1020具体用于，当接收装置为第二机器人时，基于转移策略，根据与所述第二机器人之间的相对方向和/或距离移动至置物架与第二机器人的置物架相对接的位置；基于转移策略，当空闲置物架与待转移物品在同一高度时，将待转移物品转移至空闲置物架；当空闲置物架与待转移物品的高度不同时，将待转移物品转移至空闲置物架所在高度，再将待转移物品转移至空闲置物架。
可选地，处理模块1020具体用于，通过第一机器人上的夹持机构将待转移物品推送至空闲置物架，或，通过第一机器人与待转移物品相接的传送机构，将待转移物品传送至空闲置物架，或，通过第一机器人上的夹持机构、传送机构配合，将待转移物品传送至空闲置物架；或者，通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架，或，通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架，或，通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
本实施例中提供的物品转移转置的相关功能和效果已在前述实施例中充分说明，本领域技术人员可以参阅前述实施例，理解并应用本实施例提供的物品转移转置。
图11为本公开一个实施例提供的物品转移装置的结构示意图。如图11所示，该物品转移装置1100应用于第二机器人，该物品转移装置1100包括：接收模块1110和处理模块1120。其中：
接收模块1110，用于接收第二指示信息，第二指示信息用于指示第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从第一机器人的置物架上转移待转移物品，转移策略是基于第一机器人和第二机器人的相对位置确定的；
处理模块1120，基于转移策略，接收待转移物品。
可选地，处理模块1120具体用于，基于转移策略，根据与第一机器人之间的相对方向和/或距离移动至置物架与第一机器人的置物架相对接的位置；接收第一机器人转移的待转移物品，或，通过第一机器人上的夹持机构与第二机器人上的夹持机构配合，将待转移物品夹持至空闲置物架，和/或，通过第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将待转移物品传送至空闲置物架，和/或，通过第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将待转移物品传送至空闲置物架。
本实施例中提供的物品转移转置的相关功能和效果已在前述实施例中充分说明，本领域技术人员可以参阅前述实施例，理解并应用本实施例提供的物品转移转置。
图12为本公开一个实施例提供的控制设备的结构示意图，如图12所示，该控制设备1200包括：存储器1210和处理器1220。
其中，存储器1210存储有可被至少一个处理器1220执行的计算机程序。该算机程序被至少一个处理器1220执行，以使控制设备实现如上任一实施例中提供的物品转移方法。
其中，存储器1210和处理器1220可以通过总线1230连接。
相关说明可以对应参见方法实施例所对应的相关描述和效果进行理解，此处不予赘述。
本公开一个实施例还提供了一种物品转移系统，该物品转移系统包括：
服务器、第一机器人和第二机器人；
服务器用于执行本公开第一方面的物品转移方法；
第一机器人用于执行本公开第二方面的物品转移方法；
第一机器人用于执行本公开第三方面的物品转移方法。
相关说明可以对应参见方法实施例所对应的相关描述和效果进行理解，此处不予赘述。
本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程 序被处理器执行以实现如上任一方法实施例提供的物品转移方法。
其中，计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本公开一个实施例提供了一种计算机程序产品，其包含计算机执行指令，该计算机执行指令被处理器执行时用于实现如上任一实施例中提供的物品转移方法。
在本公开所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (21)

  1. 一种物品转移方法，其特征在于，应用于智能仓储系统，所述物品转移方法包括：
    响应于接收到新的物品转移请求，确定待转移物品、所述待转移物品所在的第一机器人和用于接收所述待转移物品的接收装置；
    基于所述第一机器人和所述接收装置的相对位置，确定所述待转移物品的转移策略；
    向所述第一机器人发送第一指示信息，所述指示信息用于指示所述第一机器人基于所述转移策略，移动至所述第一机器人的置物架与所述接收装置相对接的位置，并将所述待转移物品由所述第一机器人转移至所述接收装置。
  2. 根据权利要求1所述的方法，其特征在于，所述基于所述第一机器人和所述接收装置的相对位置，确定所述待转移物品的转移策略，包括：
    确定所述第一机器人的置物架与所述接收装置的承接机构间的相对方向和/或距离；
    和/或，确定所述第一机器人用于放置所述待转移物品的置物架与所述承接机构的相对高度；
    基于所述相对方向和/或距离和/或所述相对高度，确定所述待转移物品的转移策略。
  3. 根据权利要求2所述的方法，其特征在于，当所述接收装置为非机器人时，所述基于所述相对方向和/或距离和/或所述相对高度，确定所述待转移物品的转移策略，包括：
    确定所述转移策略为：
    根据所述相对方向和/或距离使所述第一机器人移动至所述置物架与所述承接机构相对接的位置；和/或，调整所述待转移物品至所在高度与所述承接机构所在高度相对应的位置或者调整所述承接机构所在高度与所述待转移物品所在高度相对应的位置；
    将所述待转移物品由所述第一机器人转移至所述承接机构。
  4. 根据权利要求2所述的方法，其特征在于，当所述接收装置为第二机器人时，所述基于所述相对方向和/或距离和/或所述相对高度，确定所述待转移物品的转移策略，包括：
    确定所述转移策略为：
    根据所述相对方向和/或距离使所述第一机器人移动至所述置物架与所述第二机器人的置物架相对接的位置；
    和/或，调整所述待转移物品至所在高度与所述第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；
    将所述待转移物品由所述第一机器人转移至所述第二机器人的置物架。
  5. 根据权利要求2所述的方法，其特征在于，当所述接收装置为第二机器人时，所述基于所述相对方向和/或距离和/或所述相对高度，确定所述待转移物品的转移策略，包括：
    确定所述转移策略为：
    根据所述相对方向和/或距离使所述第一机器人和第二机器人移动至所述置物架相对接的位置；
    和/或，调整所述待转移物品至所在高度与所述第二机器人的置物架上用于放置待转物品的目标置物架所在高度相同的位置；
    所述待转移物品由所述第一机器人转移至所述第二机器人的置物架，或，由所述第一机器人和所述第二机器人共同转移所述待转移物品；
    所述基于所述第一机器人和所述接收装置的相对位置，确定所述待转移物品的转移策略之后，还包括：
    向所述第二机器人发送第二指示信息，所述第二指示信息用于指示所述第二机器人基于所述转移策略，移动至置物架与所述第一机器人的置物架相对接的位置，并从所述第一 机器人上转移所述待转移物品或者与所述第一机器人共同转移所述待转移物品。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，当所述接收装置为第二机器人时，所述基于所述第一机器人和所述接收装置的相对位置，确定所述待转移物品的转移策略，包括：
    基于所述第二机器人上空闲置物架相对于所述待转移物品的位置，确定所述转移策略。
  7. 根据权利要求6所述的方法，其特征在于，所述基于所述第二机器人上空闲置物架相对于所述待转移物品的位置，确定所述转移策略，包括：
    当所述空闲置物架与所述待转移物品在同一高度时，确定所述转移策略为直接将所述待转移物品转移至所述空闲置物架；
    当所述空闲置物架与所述待转移物品的高度不同时，确定所述转移策略为将所述待转移物品转移至所述空闲置物架所在高度，再转移至所述空闲置物架；或，确定所述转移策略为将与所述待转移物品相对的位置调整为空闲置物架，再将所述待转移物品转移至所述空闲置物架。
  8. 根据权利要求1至5中任一项所述的方法，其特征在于，所述接收装置包括提升机、输送线、货架、手推车中的至少一种。
  9. 一种物品转移方法，其特征在于，应用于第一机器人，所述物品转移方法包括：
    接收第一指示信息，所述第一指示信息用于指示所述第一机器人基于转移策略，移动至所述第一机器人的置物架与接收装置相对接的位置，并将待转移物品由所述第一机器人转移至所述接收装置，所述转移策略是基于所述第一机器人和所述接收装置的相对位置确定的；
    基于所述转移策略，将待转移物品转移至所述接收装置。
  10. 根据权利要求9所述的物品转移方法，其特征在于，当所述接收装置为非机器人时，所述基于所述转移策略，将待转移物品转移至所述接收装置，包括：
    基于所述转移策略，根据与所述接收装置之间的相对方向和/或距离移动至所述置物架与所述接收装置的承接机构相对接的位置；
    和/或，调整所述待转移物品至所在高度与所述承接机构所在高度相对应的位置；
    通过所述第一机器人上的夹持机构将所述待转移物品推送至所述承接机构，和/或，通过所述第一机器人与待转移物品相接触的传送机构，将所述待转移物品传送至所述承接机构，和/或，通过所述第一机器人上的夹持机构与传送机构配合，将所述待转移物品传送至所述承接机构。
  11. 根据权利要求9所述的物品转移方法，其特征在于，当所述接收装置为第二机器人时，所述基于所述转移策略，将待转移物品转移至所述接收装置，包括：
    基于所述转移策略，根据与所述第二机器人之间的相对方向和/或距离移动至所述置物架与所述第二机器人的置物架相对接的位置；
    基于所述转移策略，当空闲置物架与所述待转移物品在同一高度时，将所述待转移物品转移至所述空闲置物架；
    当所述空闲置物架与所述待转移物品的高度不同时，将所述待转移物品转移至所述空闲置物架所在高度，再将所述待转移物品转移至所述空闲置物架。
  12. 根据权利要求11所述的物品转移方法，其特征在于，所述将所述待转移物品转移至所述空闲置物架，包括：
    通过所述第一机器人上的夹持机构将所述待转移物品推送至所述空闲置物架，或，通过所述第一机器人与待转移物品相接的传送机构，将所述待转移物品传送至所述空闲置物架，或，通过所述第一机器人上的夹持机构、传送机构配合，将所述待转移物品传送至所述空闲置物架；
    或者，通过所述第一机器人上的夹持机构与第二机器人上的夹持机构配合，将所述待 转移物品夹持至所述空闲置物架，或，通过所述第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将所述待转移物品传送至所述空闲置物架，或，通过所述第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将所述待转移物品传送至所述空闲置物架。
  13. 一种物品转移方法，其特征在于，应用于第二机器人，所述物品转移方法包括：
    接收第二指示信息，所述第二指示信息用于指示所述第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从所述第一机器人的置物架上转移待转移物品，所述转移策略是基于所述第一机器人和所述第二机器人的相对位置确定的；
    基于所述转移策略，接收所述待转移物品。
  14. 根据权利要求13所述的物品转移方法，其特征在于，所述基于所述转移策略，接收所述待转移物品，包括：
    基于所述转移策略，根据与所述第一机器人之间的相对方向和/或距离移动至所述置物架与所述第一机器人的置物架相对接的位置；
    接收所述第一机器人转移的所述待转移物品，或，通过所述第一机器人上的夹持机构与第二机器人上的夹持机构配合，将所述待转移物品夹持至空闲置物架，或，通过所述第一机器人与待转移物品相接的传送机构与第二机器人上对应的传送机构配合，将所述待转移物品传送至所述空闲置物架，或，通过所述第一机器人上的夹持机构、传送机构与第二机器人上对应的夹持机构、传送机构配合，将所述待转移物品传送至所述空闲置物架。
  15. 一种物品转移装置，其特征在于，应用于智能仓储系统，包括：
    确定模块，用于响应于接收到新的物品转移请求，确定待转移物品、所述待转移物品所在的第一机器人和用于接收所述待转移物品的接收装置；
    处理确定模块，用于基于所述第一机器人和所述接收装置的相对位置，确定所述待转移物品的转移策略；
    发送模块，用于向所述第一机器人发送第一指示信息，所述指示信息用于指示所述第一机器人基于所述转移策略，移动至所述第一机器人的置物架与所述接收装置相对接的位置，并将所述待转移物品由所述第一机器人转移至所述接收装置。
  16. 一种物品转移装置，其特征在于，应用于第一机器人，包括：
    接收模块，用于接收第一指示信息，所述第一指示信息用于指示所述第一机器人基于转移策略，移动至所述第一机器人的置物架与接收装置相对接的位置，并将待转移物品由所述第一机器人转移至所述接收装置，所述转移策略是基于所述第一机器人和所述接收装置的相对位置确定的；
    处理模块，用于基于所述转移策略，将待转移物品转移至所述接收装置机器人。
  17. 一种物品转移装置，其特征在于，应用于第二机器人，包括：
    接收模块，用于接收第二指示信息，所述第二指示信息用于指示所述第二机器人基于转移策略，移动至置物架与第一机器人的置物架相对接的位置，并从所述第一机器人上转移待转移物品，所述转移策略是基于所述第一机器人和所述第二机器人的相对位置确定的；
    处理模块，基于所述转移策略，接收所述待转移物品。
  18. 一种控制设备，其特征在于，包括：
    至少一个处理器；
    以及与所述至少一个处理器通信连接的存储器；
    其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述控制设备执行如权利要求1至8中任一项所述的物品转移方法；或者，所述指令被所述至少一个处理器执行，以使所述控制设备执行如权利要求9至12中任一项所述的物品转移方法；或者，所述指令被所述至少一个处理器执行，以使所述控制设备执行如权利要求13至14中任一项所述的物品转移方法。
  19. 一种物品转移系统，其特征在于，包括：
    服务器、第一机器人和第二机器人；
    所述服务器用于执行如权利要求1至8中任一项所述的物品转移方法；
    所述第一机器人用于执行如权利要求9至12中任一项所述的物品转移方法；
    所述第二机器人用于执行如权利要求13至14中任一项所述的物品转移方法。
  20. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如权利要求1至8中任一项所述的物品转移方法；或者，所述计算机执行指令被处理器执行时用于实现如权利要求9至12中任一项所述的物品转移方法；或者，所述计算机执行指令被处理器执行时用于实现如权利要求13至14中任一项所述的物品转移方法。
  21. 一种计算机程序产品，其特征在于，所述计算机程序产品包含计算机执行指令，所述计算机执行指令被处理器执行时用于实现如权利要求1至8中任一项所述的物品转移方法；或者，所述计算机执行指令被处理器执行时用于实现如权利要求9至12中任一项所述的物品转移方法；或者，所述计算机执行指令被处理器执行时用于实现如权利要求13至14中任一项所述的物品转移方法。
PCT/CN2023/112975 2022-08-19 2023-08-14 物品转移方法、装置、设备及存储介质 WO2024037508A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210999732.0 2022-08-19
CN202210999732.0A CN115158958B (zh) 2022-08-19 2022-08-19 物品转移方法、装置、设备及存储介质

Publications (1)

Publication Number Publication Date
WO2024037508A1 true WO2024037508A1 (zh) 2024-02-22

Family

ID=83480654

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/112975 WO2024037508A1 (zh) 2022-08-19 2023-08-14 物品转移方法、装置、设备及存储介质

Country Status (2)

Country Link
CN (1) CN115158958B (zh)
WO (1) WO2024037508A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115158958B (zh) * 2022-08-19 2023-11-14 深圳市海柔创新科技有限公司 物品转移方法、装置、设备及存储介质

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105593143A (zh) * 2013-10-11 2016-05-18 株式会社日立制作所 搬运机器人系统
CN106347919A (zh) * 2016-11-10 2017-01-25 杭州南江机器人股份有限公司 一种自动仓储系统
CN108423355A (zh) * 2018-04-26 2018-08-21 北京极智嘉科技有限公司 搬运系统和搬运方法
CN209758206U (zh) * 2019-04-19 2019-12-10 北京极智嘉科技有限公司 一种搬运机器人
CN210557148U (zh) * 2019-07-09 2020-05-19 苏州牧星智能科技有限公司 一种周转箱式分拣机器人
CN111890382A (zh) * 2020-08-10 2020-11-06 沈锋锋 一种仓库智能料箱移动机器人
US20210147147A1 (en) * 2015-06-24 2021-05-20 Hds Mercury, Inc. Mobile robot interactions independent of localization data
CN113135408A (zh) * 2021-05-18 2021-07-20 北京极智嘉科技股份有限公司 一种货箱转移系统、方法、货箱转移装置和机器人
CN115158958A (zh) * 2022-08-19 2022-10-11 深圳市海柔创新科技有限公司 物品转移方法、装置、设备及存储介质

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9688472B1 (en) * 2015-12-10 2017-06-27 Amazon Technologies, Inc. Mobile robot manipulator
CN112573058B (zh) * 2019-09-30 2023-11-28 深圳市海柔创新科技有限公司 一种取货方法、搬运机器人、处理终端及智能仓储系统
CN112591359B (zh) * 2020-12-08 2022-08-30 北京极智嘉科技股份有限公司 一种库存物品拣选系统、方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105593143A (zh) * 2013-10-11 2016-05-18 株式会社日立制作所 搬运机器人系统
US20210147147A1 (en) * 2015-06-24 2021-05-20 Hds Mercury, Inc. Mobile robot interactions independent of localization data
CN106347919A (zh) * 2016-11-10 2017-01-25 杭州南江机器人股份有限公司 一种自动仓储系统
CN108423355A (zh) * 2018-04-26 2018-08-21 北京极智嘉科技有限公司 搬运系统和搬运方法
CN209758206U (zh) * 2019-04-19 2019-12-10 北京极智嘉科技有限公司 一种搬运机器人
CN210557148U (zh) * 2019-07-09 2020-05-19 苏州牧星智能科技有限公司 一种周转箱式分拣机器人
CN111890382A (zh) * 2020-08-10 2020-11-06 沈锋锋 一种仓库智能料箱移动机器人
CN113135408A (zh) * 2021-05-18 2021-07-20 北京极智嘉科技股份有限公司 一种货箱转移系统、方法、货箱转移装置和机器人
CN115158958A (zh) * 2022-08-19 2022-10-11 深圳市海柔创新科技有限公司 物品转移方法、装置、设备及存储介质

Also Published As

Publication number Publication date
CN115158958A (zh) 2022-10-11
CN115158958B (zh) 2023-11-14

Similar Documents

Publication Publication Date Title
JP6829779B2 (ja) 倉庫管理システムおよび方法
US11377299B2 (en) Warehousing access system and method
WO2024037508A1 (zh) 物品转移方法、装置、设备及存储介质
JP6137005B2 (ja) 搬送ロボット及び搬送方法
CN111792259B (zh) 货物搬运方法、装置、服务器以及搬运机器人
EP4186821A1 (en) Robot, cargo handling method, server and warehousing system
WO2022095835A1 (zh) 仓储管理系统及方法
US11226628B2 (en) Cross-storage transportation control method, apparatus and system
US11926496B2 (en) Automated handling of shipping containers and connectors
US20230150137A1 (en) Controlling multiple robots to cooperatively unload a truck or other container
KR102088415B1 (ko) 배송로봇을 이용한 무인 배송시스템 및 이를 이용한 배송 방법
CN106826820B (zh) 直角坐标机器人的控制方法及系统
KR20240028415A (ko) 플릿 제어 방법
WO2023076726A1 (en) Controlling multiple robots to cooperatively pick and place items
WO2024032449A1 (zh) 仓储系统应急处理方法、装置、设备及存储介质
TW202408904A (zh) 物品轉移方法、裝置、設備及存儲介質
CN113247508B (zh) 机器人避让方法、控制终端及货物自动分拣系统
KR20230137976A (ko) 화물 분류 시스템, 로봇 및 화물 분류 방법
US20200377299A1 (en) Method and device for moving an article based on dense storage, storage medium, and dense storage system
TWI819860B (zh) 倉儲系統及方法
CN217436998U (zh) 货箱输送系统
US20240116711A1 (en) Sorting system, sorting method, and program
WO2023061332A1 (zh) 拣选系统及拣选控制方法
CN117622807A (zh) 一种货物搬运方法、装置及搬运机器人
CN116022495A (zh) 仓储系统及方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23854409

Country of ref document: EP

Kind code of ref document: A1