Auxiliary Routing Method, Device, Equipment and Readable Storage Medium

Abstract

The present invention provides an auxiliary route selection method, device, equipment and readable storage medium. The auxiliary route selection method is applied to a mobile terminal on the operator side, and the method includes: receiving an assisted picking task sent by the cloud, where the assisted picking task includes a picking location and a picking time point; and displaying the assisted picking task. Through the present invention, the operator can know which picking location needs assistance at what time, so as to go to the corresponding location at the appropriate time point to assist in picking, improving the cooperation between the operator and the robot and the picking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of human-computer interaction, and particularly to an auxiliary route selection method, device, equipment and readable storage medium. Background Art

[0002] With the progress of the times and the increasing update and development of technologies, autonomous mobile robots have entered various fields such as warehouse logistics and retail, replacing manual labor for sorting and transporting packages, and improving operation efficiency, which is surely the trend of future scientific and technological development. However, more and more scenarios require humans and machines to work together to complete various tasks. For example, in the scenario of warehousing picking and transportation, it has been proven that a system using the cooperation of humans and robots can greatly improve the picking capacity of large-scale warehouses. After receiving the order instructions from the system, the robot immediately moves to the vicinity of the shelf according to the coordinates provided by the system and waits for the operator in that vicinity to scan the goods and put them into the picking basket. Then the robot moves to the area of the next item and repeats the same action until the entire task is completed. The robot will then move to the packing table and wait for the operator there to pack the items. In this human-computer interaction mode, the picking operators no longer need to move around the entire warehouse for picking. Instead, each operator is responsible for a certain area and waits for the arrival of the robot, which can greatly liberate human labor and improve the operation of the logistics system.

[0003] In the scenario where a robot interacts with a human for operation, often one operator needs to interact with multiple robots to complete the operation in the entire scenario, and the operator does not know which robot will arrive first, thus affecting the picking efficiency of the logistics system. Summary of the Invention

[0004] The main objective of the present invention is to provide an auxiliary route selection method, device, equipment and readable storage medium, aiming to solve the technical problem of low picking efficiency in the existing logistics system.

[0005] In a first aspect, the present invention provides an auxiliary route selection method, which is applied to a mobile terminal on the operator side. The auxiliary route selection method includes:

[0006] Receiving an assisted picking task sent by the cloud, where the assisted picking task includes a picking location and a picking time point;

[0007] Displaying the assisted picking task.

[0008] Optionally, there are multiple assisted picking tasks. The step of displaying the assisted picking tasks includes:

[0009] Determining a priority assisted picking task according to the picking time points corresponding to each assisted picking task;

[0010] Highlight the priority pick - up assistance tasks and display other pick - up assistance tasks normally.

[0011] Optionally, the pick - up time point corresponding to the priority pick - up assistance task is earlier than the current moment, or later than the current moment and the time difference from the current moment is less than or equal to a preset time difference.

[0012] Optionally, the auxiliary route selection method further includes:

[0013] Obtain a monitoring image of the area where the robot corresponding to the pick - up assistance task is located and display the monitoring image.

[0014] Optionally, the auxiliary route selection method further includes:

[0015] Display the number of uncompleted pick - up assistance tasks, the number of completed pick - up assistance tasks, and the number of robots in the working state.

[0016] In a second aspect, the present invention further provides an auxiliary route selection device. The auxiliary route selection device is located on the operator side and includes:

[0017] A receiving module, configured to receive pick - up assistance tasks sent from the cloud. The pick - up assistance tasks include pick - up locations and pick - up time points;

[0018] A display module, configured to display the pick - up assistance tasks.

[0019] Optionally, there are multiple pick - up assistance tasks. The display module is configured to:

[0020] Determine the priority pick - up assistance tasks according to the pick - up time points corresponding to each pick - up assistance task;

[0021] Highlight the priority pick - up assistance tasks and display other pick - up assistance tasks normally.

[0022] Optionally, the pick - up time point corresponding to the priority pick - up assistance task is earlier than the current moment, or later than the current moment and the time difference from the current moment is less than or equal to a preset time difference.

[0023] In a third aspect, the present invention further provides an auxiliary route selection device. The auxiliary route selection device includes a processor, a memory, and an auxiliary route selection program stored on the memory and executable by the processor. When the auxiliary route selection program is executed by the processor, the steps of the above - described auxiliary route selection method are implemented.

[0024] In a fourth aspect, the present invention further provides a readable storage medium. An auxiliary route selection program is stored on the readable storage medium. When the auxiliary route selection program is executed by a processor, the steps of the above - described auxiliary route selection method are implemented.

[0025] In the present invention, an assisted picking task sent from the cloud is received, and the assisted picking task includes a picking location and a picking time point; the assisted picking task is displayed. Through the present invention, an operator can know which picking location needs assistance at what time, so as to go to the corresponding location at the appropriate time point to assist in picking, improving the cooperation degree between the operator and the robot and the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic hardware structure diagram of an auxiliary route selection device involved in the solution of an embodiment of the present invention;

[0027] Figure 2 It is a schematic flowchart of an embodiment of an auxiliary route selection method of the present invention;

[0028] Figure 3 It is a schematic diagram showing an assisted picking task in an embodiment;

[0029] Figure 4 It is a schematic diagram showing a monitoring image in an embodiment;

[0030] Figure 5 It is a schematic diagram showing a monitoring image in another embodiment;

[0031] Figure 6 It is a schematic functional module diagram of an embodiment of an auxiliary route selection device of the present invention.

[0032] The implementation, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] In a first aspect, an embodiment of the present invention provides an auxiliary route selection device.

[0035] Referring to Figure 1 , Figure 1This is a schematic diagram of the hardware structure of the auxiliary route selection device involved in the solution of the embodiment of the present invention. In the embodiment of the present invention, the auxiliary route selection device may include a processor 1001 (such as a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may optionally also be a storage device independent of the aforementioned processor 1001. Those skilled in the art can understand that Figure 1 the hardware structure shown in does not constitute a limitation to the present invention, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0036] Continue to refer to Figure 1 , Figure 1 in, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an auxiliary route selection program. Among them, the processor 1001 may call the auxiliary route selection program stored in the memory 1005 and execute the auxiliary route selection method provided by the embodiment of the present invention.

[0037] In a second aspect, the embodiment of the present invention provides an auxiliary route selection method, and the auxiliary route selection method is applied to a mobile terminal on the operator side.

[0038] Refer to Figure 2 , Figure 2 This is a schematic flowchart of an embodiment of the auxiliary route selection method of the present invention. As Figure 2 shown, the auxiliary route selection method includes:

[0039] Step S10, receiving an assisted picking task sent by the cloud, where the assisted picking task includes a picking location and a picking time point;

[0040] The human-machine assisted picking process in the prior art is: the cloud sends a picking task to the robot, and the robot goes to the designated location according to the received picking task, and completes the picking task with the assistance of the operator after reaching the designated location. However, because the operator does not know when the robot can reach which picking location, the human-machine cooperation degree is low, resulting in low picking efficiency.

[0041] In view of the problems existing in the prior art, in this embodiment, in addition to sending picking tasks to the robot, the cloud also sends assistance picking tasks to the operator's terminal. Among them, the assistance picking tasks include the picking location and the picking time point. Specifically, the cloud calculates the time point when the robot arrives at the picking location, that is, the picking time point, according to the distance between the position of the robot and the picking location corresponding to the picking task to be executed by the robot and the moving speed of the robot.

[0042] For example, an operator needs to cooperate with Robot 1 for picking. The picking tasks sent by the cloud to Robot 1 include:

[0043] Picking Task 1, which means that Robot 1 needs to move to Picking Location 1 for picking;

[0044] Picking Task 2, which means that Robot 1 needs to move to Picking Location 2 for picking;

[0045] Picking Task 3, which means that Robot 1 needs to move to Picking Location 3 for picking.

[0046] At time t1, after the tasks are issued, the cloud calculates the duration 1 required for Robot 1 to move from the initial position to Picking Location 1 according to the distance between the initial position of Robot 1 and Picking Location 1 and the moving speed of Robot 1. On the basis of t1, adding this duration 1, the time point t2 when Robot 1 arrives at Picking Location 1 is obtained. By default, it takes a duration x to complete picking at a location. The duration 2 required for Robot 1 to move from Picking Location 1 to the picking duration 2 is calculated. On the basis of t2, adding the duration x and the duration 2, the time point t3 when Robot 1 arrives at Picking Location 2 is obtained. Similarly, the time point t4 when Robot 1 arrives at Picking Location 3 can be obtained. The cloud can also determine the time point when the robot arrives at each picking location in other ways, which will not be elaborated here.

[0047] After the cloud calculates the time point corresponding to each picking location point that Robot 1 arrives at, it can send the assistance picking tasks to the operator's mobile terminal. Corresponding to the above content, the assistance picking tasks include:

[0048] Assistance Picking Task 1, specifically Picking Location 1 and the picking time point t2;

[0049] Assistance Picking Task 2, specifically Picking Location 2 and the picking time point t3;

[0050] Assistance Picking Task 3, specifically Picking Location 3 and the picking time point t4.

[0051] It is easy to understand that an operator often needs to cooperate with multiple robots. Then, in a manner substantially the same as the above embodiment, after the cloud calculates the time points corresponding to robots 2, 3, 4, 5... arriving at each picking location point, the assistance picking task can be sent to the operator's mobile terminal.

[0052] Step S20, display the assistance picking task.

[0053] In this embodiment, after receiving the assistance picking task sent by the cloud, the assistance picking task is displayed. Refer to Figure 3 , Figure 3 which is a schematic diagram showing the assistance picking task in an embodiment. As Figure 3 shown, based on the displayed content, the operator can know which picking location needs assistance picking at what time.

[0054] In this embodiment, receive the assistance picking task sent by the cloud, where the assistance picking task includes the picking location and the picking time point; display the assistance picking task. Through this embodiment, the operator can know which picking location needs assistance picking at what time, so as to go to the corresponding location to assist in picking at the appropriate time point, improving the cooperation degree between the operator and the robot and the picking efficiency.

[0055] Further, in an embodiment, there are multiple assistance picking tasks, and the step of displaying the assistance picking tasks includes:

[0056] Determine the priority assistance picking task according to the picking time points corresponding to each assistance picking task; highlight the priority assistance picking task and display other assistance picking tasks normally.

[0057] In this embodiment, in order to ensure the picking efficiency, the assistance picking tasks that have timed out or are about to time out need to be executed preferentially. Therefore, according to the picking time points corresponding to each assistance picking task, the assistance picking tasks that have timed out or are about to time out are used as the priority assistance picking tasks, and the priority assistance picking tasks are highlighted, while other assistance picking tasks are displayed in a normal display manner. Among them, highlighting can be high - light display or display in a preset font color.

[0058] Further, in an embodiment, the picking time point corresponding to the priority assistance picking task is earlier than the current moment, or later than the current moment and the time difference from the current moment is less than or equal to a preset time difference.

[0059] In this embodiment, the assistance picking task includes:

[0060] Assist in picking task 1, specifically at picking location 1 and picking time point t2;

[0061] Assist in picking task 2, specifically at picking location 2 and picking time point t3;

[0062] Assist in picking task 3, specifically at picking location 3 and picking time point t4.

[0063] If the picking time point is earlier than the current time, or later than the current time and the time difference from the current time is less than or equal to the preset time difference, then the assistive picking task corresponding to that picking time point is the prioritized assistive picking task. Among them, the preset time difference is set according to actual needs, for example, set to 1 minute, and the current time refers to the time when the mobile terminal receives the assistive picking task.

[0064] Furthermore, in one embodiment, the auxiliary route selection method further includes:

[0065] Obtain the monitoring image of the area where the robot corresponding to the assistive picking task is located, and display the monitoring image.

[0066] In this embodiment, if the assistive picking task corresponds to robots 1 and 2, then obtain the monitoring images of the areas where robots 1 and 2 are located, and display the monitoring images, so that the operator can know the real-time positions of the robots cooperating with him. Refer to Figure 4 , Figure 4 is a schematic diagram showing the monitoring image in one embodiment. As Figure 4 shown, through the displayed monitoring image, the operator can see the positions of the robots cooperating with him in real time. In some special cases, by displaying the monitoring image, it can also play a role in guiding the operator to the picking location. Refer to Figure 5 , Figure 5 is a schematic diagram showing the monitoring image in another embodiment. As Figure 5 shown, if according to the displayed assistive picking task, the operator knows that robot 1 will arrive at picking location 2 at 10:00 and robot 2 will arrive at picking location 3 at 10:01. Normally, the operator should first go to picking location 2 to cooperate with robot 1 to complete the picking, and then go to picking location 3 to cooperate with robot 2 to complete the picking. However, at this time, according to the monitoring image shown in Figure 5 the operator sees that there are obstacles on the path of robot 1 going to picking location 2. According to experience, the operator judges that the time when robot 1 arrives at picking location 2 is after 10:01. Then the operator will first go to picking location 3 to cooperate with robot 2 to complete the picking, and then go to picking location 2 to cooperate with robot 1 to complete the picking.

[0067] Furthermore, the auxiliary route selection method further includes:

[0068] Displays the number of uncompleted assisted picking tasks, the number of completed assisted picking tasks, and the number of robots in the working state.

[0069] In this embodiment, the number of uncompleted assisted picking tasks, the number of completed assisted picking tasks, and the number of robots in the working state are also displayed on the mobile terminal, enabling the operator to estimate the time required to complete all tasks based on the displayed information, so as to determine whether to accelerate the task execution progress, such as whether to increase the robots and / or operators performing the tasks, etc. This facilitates the operator to have a relatively clear control and understanding of the overall situation of the current task execution, thereby accelerating the work progress and improving work efficiency.

[0070] In a third aspect, an embodiment of the present invention further provides an auxiliary route selection device, which is located on the operator side.

[0071] Refer to Figure 6 , Figure 6 is a schematic diagram of the functional modules of an embodiment of the auxiliary route selection device of the present invention. As Figure 6 shown, the auxiliary route selection device includes:

[0072] A receiving module 10, configured to receive the assisted picking tasks sent by the cloud, where the assisted picking tasks include the picking location and the picking time point;

[0073] A display module 20, configured to display the assisted picking tasks.

[0074] Further, in an embodiment, there are multiple assisted picking tasks, and the display module 20 is configured to:

[0075] Determine the priority assisted picking tasks according to the picking time points corresponding to each assisted picking task;

[0076] Highlight the priority assisted picking tasks and display other assisted picking tasks normally.

[0077] Further, in an embodiment, the picking time point corresponding to the priority assisted picking task is earlier than the current moment, or later than the current moment and the time difference from the current moment is less than or equal to a preset time difference.

[0078] Further, in an embodiment, the display module 20 is further configured to:

[0079] Obtain the monitoring images of the areas where the robots corresponding to the assisted picking tasks are located and display the monitoring images.

[0080] Further, in an embodiment, the display module 20 is further configured to:

[0081] Displays the number of uncompleted assisted picking tasks, the number of completed assisted picking tasks, and the number of robots in the working state.

[0082] Among them, the function implementation of each module in the above-mentioned auxiliary routing device corresponds to each step in the embodiment of the above-mentioned auxiliary routing method, and its function and implementation process will not be elaborated here one by one.

[0083] Fourthly, the embodiment of the present invention also provides a readable storage medium.

[0084] An auxiliary routing program is stored on the readable storage medium of the present invention. When the auxiliary routing program is executed by a processor, the steps of the auxiliary routing method as described above are implemented.

[0085] Among them, the method implemented when the auxiliary routing program is executed can refer to each embodiment of the auxiliary routing method of the present invention, and will not be elaborated here.

[0086] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0087] The serial numbers of the above-mentioned embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0088] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device to execute the methods described in each embodiment of the present invention.

[0089] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An auxiliary route selection method, characterized in that, the auxiliary route selection method includes: Receiving an assisted picking task sent by the cloud, where the assisted picking task includes a picking location and a picking time point. Among them, the picking time point is the time point when the cloud calculates, based on the distance between the position of the robot and the picking location corresponding to the picking task to be executed by the robot, and the moving speed of the robot, the time point when the robot arrives at the picking location; Displaying the assisted picking task; There are multiple assisted picking tasks, and the step of displaying the assisted picking task includes: Determining a priority assisted picking task according to the picking time points corresponding to each assisted picking task; The auxiliary route selection method further includes: Obtaining a monitoring image of the area where the robot corresponding to the assisted picking task is located, and displaying the monitoring image. Among them, the monitoring image enables the operator to know the real-time position of the robot cooperating with him / her and guides the operator to the picking location; the monitoring image also enables the operator to know the obstacles existing on the path of other robots that have not yet cooperated with him / her to go to the picking location; The step of displaying the assisted picking task includes: Highlighting the priority assisted picking task and displaying other assisted picking tasks normally; The picking time point corresponding to the priority assisted picking task is earlier than the current moment, or later than the current moment and the time difference from the current moment is less than or equal to a preset time difference; The auxiliary route selection method further includes: Displaying the number of unfinished assisted picking tasks, the number of completed assisted picking tasks, and the number of robots in the working state.

2. An auxiliary route selection device, characterized in that, the auxiliary route selection device includes: A receiving module, configured to receive an assisted picking task sent by the cloud, where the assisted picking task includes a picking location and a picking time point. Among them, the picking time point is the time point when the cloud calculates, based on the distance between the position of the robot and the picking location corresponding to the picking task to be executed by the robot, and the moving speed of the robot, the time point when the robot arrives at the picking location; A display module, configured to display the assisted picking task. Among them, there are multiple assisted picking tasks, and a priority assisted picking task is determined according to the picking time points corresponding to each assisted picking task; The display module is configured to obtain a monitoring image of the area where the robot corresponding to the assisted picking task is located, and display the monitoring image. Among them, the monitoring image enables the operator to know the real-time position of the robot cooperating with him / her and guides the operator to the picking location; the monitoring image also enables the operator to know the obstacles existing on the path of other robots that have not yet cooperated with him / her to go to the picking location; The display module is further configured to highlight the priority assisted picking task and display other assisted picking tasks normally; among them, the picking time point corresponding to the priority assisted picking task is earlier than the current moment, or later than the current moment and the time difference from the current moment is less than or equal to a preset time difference; The display module is further configured to display the number of uncompleted assisted picking tasks, the number of completed assisted picking tasks, and the number of robots in the working state.

3. An auxiliary route selection device, characterized in that, the auxiliary route selection device includes a processor, a memory, and an auxiliary route selection program stored on the memory and executable by the processor, wherein when the auxiliary route selection program is executed by the processor, the steps of the auxiliary route selection method according to claim 1 are implemented.

4. A readable storage medium, characterized in that, an auxiliary route selection program is stored on the readable storage medium, wherein when the auxiliary route selection program is executed by a processor, the steps of the auxiliary route selection method according to claim 1 are implemented.

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