Cargo handling method, device, server, and handling robot

Abstract

The present disclosure provides a goods carrying method, device, server and carrying robot. The goods carrying method provided by the present embodiment comprises: acquiring position information of a robot and idle slot information; and assigning a second carrying task to the robot according to the position information, the idle slot information and a first target object position included in a first carrying task; wherein one of the first carrying task and the second carrying task is a goods taking task, and the other is a goods returning task. Therefore, the carrying strategy can be flexibly set, the goods can be taken and returned simultaneously in the carrying process, and the goods carrying efficiency is effectively improved.

Description

[0001] This application is a divisional application of the invention patent application filed with the Chinese Patent Office with application number 202010724223.8, application date July 24, 2020, entitled "Cargo Handling Method, Apparatus, Server and Handling Robot". Technical Field

[0002] This disclosure relates to the field of intelligent warehousing technology, and in particular to a cargo handling method, apparatus, server, and handling robot. Background Technology

[0003] With the rise and development of e-commerce and online shopping, there are huge development opportunities for the intelligentization of warehousing and logistics. In recent years, the technology of handling goods based on warehousing robots has become increasingly mature.

[0004] In existing technologies, after a warehouse robot moves a box to the workbench for processing, it still needs to return the box to the shelving area. For warehouse robots that can move multiple boxes at a time, a "return first, retrieve later" strategy is generally adopted: that is, after all the boxes that need to be returned to the shelving area are placed at once, the task of moving the boxes to the workbench is then performed.

[0005] However, the above-mentioned handling methods are not flexible enough and the efficiency of cargo handling is low. Summary of the Invention

[0006] This disclosure provides a cargo handling method, apparatus, server, and handling robot, which can flexibly set handling strategies to improve cargo handling efficiency.

[0007] In a first aspect, this disclosure provides a method for handling goods, the method comprising:

[0008] Obtain the robot's location information and available slot information;

[0009] Based on the location information, available slot information, and the location of the first target object included in the first handling task, a second handling task is assigned to the robot; wherein, one of the first handling task and the second handling task is a pickup task, and the other is a return task.

[0010] In some possible embodiments, the second transport task is assigned at any point in time before, during, or after the execution of the first transport task.

[0011] In some possible embodiments, the changes in available slot information for the robot to perform the first transport task are estimated, and the second transport task is selectively inserted before, between, or after the first transport task.

[0012] In some possible embodiments, when the second handling task is a return task, assigning the second handling task to the robot includes:

[0013] Based on the location information and the location of the first target object included in the first handling task, the return location of the second target object in the second handling task is determined.

[0014] In some possible embodiments, determining the return location of the second target object in the second transport task includes:

[0015] The return location is determined as the initial storage location of the second target item; or...

[0016] The return location is determined as the location of the available storage space; or...

[0017] The return location is determined as the location of the first target object.

[0018] In some possible embodiments, when the return location is the location of the available storage space, determining the return location of the second target object in the second handling task based on the location information and the location of the first target object included in the first handling task includes:

[0019] Based on the location information and the location of the first target item included in the first handling task, a pickup route is generated; the locations corresponding to U available storage locations within a first preset range that are distances from the pickup route are determined as the return locations of the second target item; U is a natural number greater than 0;

[0020] and / or

[0021] Based on the location information, the location corresponding to U available storage spaces within a second preset range of distance from the robot is determined as the return location of the second target object; U is a natural number greater than 0.

[0022] In some possible embodiments, when the return location is the location of the available storage space, determining the return location of the second target object in the second handling task based on the location information and the location of the first target object included in the first handling task includes:

[0023] Based on the location information and the location of the first target object included in the first handling task, a pickup route is generated;

[0024] The prediction is based on the total time consumed by the robot to return the goods to the locations corresponding to the V available storage locations, and to retrieve the first target item according to the retrieval path; where V is a natural number not less than U, and U is a natural number greater than 0.

[0025] The difference between the first total time consumed and the time consumed by the robot to retrieve the first target item according to the retrieval path is recorded as the first additional time consumed;

[0026] Of the V available storage locations, the U available storage locations whose first increase time does not exceed a first preset threshold are determined as the return locations for the second target item.

[0027] In some possible embodiments, when the return location is the location of the available storage space, determining the return location of the second target object in the second handling task based on the location information and the location of the first target object included in the first handling task includes:

[0028] Based on the location information and the location of the first target object included in the first handling task, a pickup route is generated;

[0029] The robot is predicted to return the goods to the locations corresponding to the V available storage locations, and to increase the first moving distance by the first moving distance to retrieve the first target item according to the retrieval path; V is a natural number not less than U, and U is a natural number greater than 0;

[0030] Among the V available storage locations, the U available storage locations whose increased first movement distance is no greater than the second preset threshold are determined as the return locations of the second target item.

[0031] In some possible embodiments, when the second handling task is a pickup task and the total number of available slots indicated by the robot's available slot information is zero, the method further includes:

[0032] Before executing the second transport task, assign at least one first transport task.

[0033] In some possible embodiments, when the second handling task is a pickup task and the total number of available slots indicated by the robot's available slot information is greater than zero, assigning the second handling task to the robot includes:

[0034] Based on the location information, available slot information, and the location of the first target object included in the first handling task, the pickup location of the second target object in the second handling task is determined.

[0035] In some possible embodiments, determining the pickup location of the second target item in the second handling task includes:

[0036] Based on the location information and the location of the first target object included in the first handling task, N pickup locations for the second target object are determined; where N is a natural number greater than 0 and not greater than the total number of available slots indicated by the available slot information.

[0037] In some possible embodiments, determining the pickup locations of N second target objects based on the location information and the location of the first target object included in the first handling task includes:

[0038] Based on the location information and the location of the first target object included in the first handling task, a return path is generated; N pickup locations whose distance from the return path is within a third preset range are determined as pickup locations for the second target object;

[0039] and / or

[0040] Based on the location information, N pickup locations that are within a fourth preset range from the robot are determined as pickup locations for the second target item.

[0041] In some possible embodiments, determining the pickup locations of N second target objects based on the location information and the location of the first target object included in the first handling task includes:

[0042] Based on the location information and the location of the first target object included in the first handling task, a return path is generated;

[0043] The second total time consumed by the robot to reach M pickup locations, retrieve goods, and return the first target item according to the return path is predicted; M is a natural number not less than N.

[0044] The difference between the second total time consumed and the time consumed by the robot to return the first target object according to the return path is recorded as the second additional time consumed;

[0045] Among the M pickup locations, the N pickup locations whose second increase time is no greater than the third preset threshold are determined as the pickup locations of the second target item.

[0046] In some possible embodiments, determining the pickup locations of N second target objects based on the location information and the location of the first target object included in the first handling task includes:

[0047] Based on the location information and the location of the first target object included in the first handling task, a return path is generated;

[0048] The second additional travel distance is predicted by the robot reaching M pickup locations to retrieve goods and returning the first target item according to the return path; M is a natural number not less than N.

[0049] Among the M pickup locations, the N pickup locations whose increased second movement distance is no greater than the fourth preset threshold are determined as the pickup locations of the second target item.

[0050] In some possible embodiments, the process further includes:

[0051] Determine whether the planned path corresponding to the second handling task meets the reservation requirements; the reservation requirements include: no robot is traveling on the planned path within a preset time period.

[0052] In some possible embodiments, the method further includes:

[0053] If the planned route does not meet the reservation requirements, the second handling task will be reassigned.

[0054] In some possible embodiments, the method further includes:

[0055] Receives a request from the client terminal to cancel a moving task or to add a moving task;

[0056] The second transport task is reassigned based on either the cancellation request or the addition request.

[0057] In some possible embodiments, the first transport task and the second transport task are assigned considering any one or more of the following constraints:

[0058] The total travel time for the robot to complete the pickup and return tasks;

[0059] The total number of times the robot performs pickup and return operations when it completes pickup and return tasks;

[0060] The total distance the robot travels to complete the pickup and return tasks;

[0061] The cargo loading rate of the robot in completing pickup and return tasks.

[0062] In some possible embodiments, when the shelf used to place goods has two or more storage locations in the shelf depth direction, and the target location indicated by the retrieval task or the return task is a location located at or after the second priority position among the storage locations, the method further includes:

[0063] The robot is instructed to move non-target goods placed before the target object's location to the robot's available slot;

[0064] Instruct the robot to perform a pickup or return task for the target item's location;

[0065] The robot is instructed to return the non-target goods to their original storage location on the shelf, or to return them to an empty storage location; wherein the empty storage location belongs to the same shelf as the target item's location, or to a different shelf.

[0066] In some possible embodiments, it also includes:

[0067] Assigning sorting tasks to the robot, the sorting tasks including: organizing target items, and / or adjusting the storage location of the target items; wherein:

[0068] The timing of the sorting task includes any of the following situations:

[0069] Before the first and second transport tasks;

[0070] Between the first and second transport tasks;

[0071] Following the first and second transport tasks;

[0072] During the execution of any task in the task sequence consisting of the first and second transport tasks.

[0073] Secondly, this disclosure provides a method for handling goods, the method comprising:

[0074] Obtain the transport task sequence to execute the first transport task;

[0075] During the execution of the first handling task, the second handling task is executed, wherein one of the first handling task and the second handling task is a pickup task and the other is a return task;

[0076] Wherein, the second transport task is obtained during the execution of the first transport task, or the acquired transport task sequence includes the second transport task.

[0077] In some possible embodiments, it also includes:

[0078] The robot shall periodically or irregularly report at least one of the following information to the server: location information and available slot information;

[0079] and / or

[0080] When the robot receives a request instruction from the server, it reports at least one of the following information to the server: location information and available slot information.

[0081] In some possible embodiments, when the second handling task is a return task, the step of executing the second handling task during the execution of the first handling task includes:

[0082] Obtain the location of the first target object from the first handling task, and obtain the return location of the second target object from the second handling task;

[0083] During the journey to the location of the first target object, the return task is performed upon arrival at the return location of the second target object.

[0084] Drive to the location of the first target item to perform the pickup task.

[0085] In some possible embodiments, the return location of the second target object in the second transport task includes:

[0086] The initial storage location of the second target object; or,

[0087] The location of available storage space; or,

[0088] The location of the first target object.

[0089] In some possible embodiments, obtaining the return location of the second target object from the second transport task includes:

[0090] The locations corresponding to U available storage locations are obtained from the second handling task; wherein the distance between the locations corresponding to the U available storage locations and the robot's picking path is within a first preset range, and / or the distance between the locations corresponding to the U available storage locations and the robot is within a second preset range; U is a natural number greater than 0; the picking path is generated based on the location information and the location of the first target object included in the first handling task.

[0091] In some possible embodiments, obtaining the return location of the second target object from the second transport task includes:

[0092] The locations corresponding to U available storage locations are obtained from the second handling task; wherein, the first increase in time generated when the robot returns the goods according to the locations corresponding to the U available storage locations is not greater than a first preset threshold, and U is a natural number greater than 0;

[0093] and / or

[0094] The locations corresponding to U available storage locations are obtained from the second handling task; wherein, the first moving distance increased by the robot when returning the goods according to the locations corresponding to the U available storage locations is not greater than the second preset threshold, and U is a natural number greater than 0.

[0095] In some possible embodiments, when the second handling task is a pickup task, the step of executing the second handling task during the execution of the first handling task includes:

[0096] Obtain the location of the first target item from the first handling task, and obtain the pickup location of the second target item from the second handling task;

[0097] During the journey to the location of the first target object, the pickup location of the second target object is reached to perform the pickup task;

[0098] Drive to the location of the first target object to perform the return mission.

[0099] In some possible embodiments, obtaining the pickup location of the second target item from the second handling task includes:

[0100] Obtain N pickup locations of second target items from the second handling task; wherein the distance between the pickup locations of the N second target items and the return path is within a third preset range; the return path is generated based on the location information and the locations of the first target items included in the first handling task;

[0101] and / or

[0102] Obtain N pickup locations of second target objects from the second handling task; wherein the distance between the pickup locations of the N second target objects and the robot is within a fourth preset range; the return path is generated based on the location information and the locations of the first target objects included in the first handling task.

[0103] In some possible embodiments, obtaining the pickup location of the second target item from the second handling task includes:

[0104] Obtain N pickup locations for second target objects from the second handling task; wherein, the second increase in time consumption when the robot retrieves the goods according to the N pickup locations of the second target objects is not greater than a third preset threshold, and N is a natural number greater than 0;

[0105] and / or

[0106] Obtain N pickup locations for second target objects from the second handling task; wherein, the second moving distance increased by the robot when picking up the goods according to the N pickup locations of the second target objects is not greater than a fourth preset threshold, and N is a natural number greater than 0.

[0107] In some possible embodiments, the first transport task and the second transport task are related to any one or more of the following constraints:

[0108] The total travel time for the robot to complete the pickup and return tasks;

[0109] The total number of times the robot performs pickup and return operations when it completes pickup and return tasks;

[0110] The total distance the robot travels to complete the pickup and return tasks;

[0111] The cargo loading rate of the robot in completing pickup and return tasks.

[0112] In some possible embodiments, when the shelf used to place goods has two or more storage locations in the shelf depth direction, and the target location indicated by the retrieval task or the return task is a location located at or after the second priority position among the storage locations, the method further includes:

[0113] Non-target goods placed before the target object's location are moved to the robot's empty slot;

[0114] Perform a pickup or return task targeting the location of the object;

[0115] The non-target goods are returned to their original storage location on the shelf, or the non-target goods are returned to an empty storage location; wherein the empty storage location belongs to the same shelf as the target item location, or to a different shelf.

[0116] In some possible embodiments, it also includes:

[0117] The receiving server assigns a sorting task, which includes: sorting the target items and / or adjusting the storage location of the target items;

[0118] Execute the cargo handling task; wherein the timing of the execution of the cargo handling task includes any of the following situations:

[0119] Before the first and second transport tasks;

[0120] Between the first and second transport tasks;

[0121] Following the first and second transport tasks;

[0122] During the execution of any task in the task sequence consisting of the first and second transport tasks.

[0123] Thirdly, this disclosure also provides a cargo handling apparatus for performing the cargo handling method according to any one of the first aspects, the apparatus comprising:

[0124] The acquisition module is used to acquire the robot's position information and available slot information;

[0125] The processing module is used to assign a second handling task to the robot based on the location information, the available slot information, and the location of the first target object included in the first handling task; wherein, one of the first handling task and the second handling task is a pickup task and the other is a return task.

[0126] Fourthly, this disclosure provides a cargo handling apparatus for performing the cargo handling method according to any one of the second aspects, the apparatus comprising:

[0127] The sending module obtains the transport task sequence to execute the first transport task;

[0128] An execution module is configured to execute a second transport task during the execution of the first transport task, wherein one of the first transport task and the second transport task is a pickup task and the other is a return task; wherein the second transport task is obtained during the execution of the first transport task, or the acquired transport task sequence includes the second transport task.

[0129] Fifthly, this disclosure also provides a server, including:

[0130] Processor; and,

[0131] Memory for storing the executable instructions of the processor;

[0132] The processor is configured to execute any of the cargo handling methods in the first aspect by executing the executable instructions.

[0133] In a sixth aspect, this disclosure also provides a handling robot, including: a robot body; the robot body further includes: a memory and a processor, the memory being used to store executable instructions of the processor;

[0134] The processor is configured to execute any of the cargo handling methods in the second aspect by executing the executable instructions.

[0135] In some possible embodiments, the robot body includes a mobile base, a robot shelf, a lifting device, and an item handling device;

[0136] The robot shelf is mounted on the mobile base; the lifting device and the item handling device are mounted on the robot shelf, and the lifting device is used to drive the item handling device to move up and down relative to the robot shelf;

[0137] The item handling device includes at least one handling mechanism installed on the robot shelf, the handling mechanism being used to store and retrieve target items.

[0138] In some possible embodiments, the item handling device includes a suction cup fork assembly.

[0139] In some possible embodiments, the item handling device includes a machine gripper arm.

[0140] In some possible embodiments, when the item handling device includes at least two handling mechanisms, the at least two handling mechanisms are arranged side by side on the robot shelf.

[0141] In some possible embodiments, the at least two handling mechanisms are located on the same floor of the robot shelf, and the at least two handling mechanisms are an integral structure.

[0142] In some possible embodiments, the robotic shelf includes three or more uprights located on the same vertical plane and mounted on a movable base; each handling mechanism is installed between two adjacent uprights and moves up and down relative to the uprights; wherein there is no relative movement between the handling mechanisms located on the same layer.

[0143] In some possible embodiments, when there are two handling mechanisms, one handling mechanism is used to move the target item from the storage rack to the robotic rack while the other handling mechanism is used to transfer the target item from the robotic rack to the storage rack.

[0144] In some possible embodiments, the handling mechanism includes a temporary storage pallet and a telescopic arm mounted on the temporary storage pallet. The temporary storage pallet is used to temporarily store the target object, and the telescopic arm is used to push the target object on the temporary storage pallet onto the warehouse rack and the robot rack, or to push the target object on the warehouse rack or the robot rack onto the temporary storage pallet.

[0145] In some possible embodiments, there are two telescopic arms, and the two telescopic arms are arranged parallel to and opposite to each other on the temporary storage plate.

[0146] In some possible embodiments, the telescopic boom includes an outer boom, an inner boom, and a transport assembly. The outer boom is mounted on the temporary storage pallet, the inner boom is mounted on the outer boom, and the transport assembly is mounted on the inner boom. The inner boom is movable relative to the outer boom to allow the transport assembly to push the target object.

[0147] In some possible embodiments, the conveying assembly is a push rod assembly, which includes a first push rod and a second push rod;

[0148] The first push rod is mounted on the front end face of the inner arm and can be rotated to a horizontal or vertical position relative to the front end face of the inner arm, so that the first push rod pushes the target item on the storage rack onto the temporary storage pallet, or pushes the target item on the temporary storage pallet onto the storage rack.

[0149] The second push rod is mounted on the rear end face of the inner arm and can be rotated to a horizontal or vertical position relative to the rear end face of the inner arm, so that the second push rod pushes the target object on the temporary storage pallet onto the robot shelf, or pushes the target object on the robot shelf onto the temporary storage pallet.

[0150] In some possible embodiments, the push rod assembly further includes a drive member connected to the first push rod and the second push rod, the drive member being used to drive the first push rod and the second push rod to rotate relative to the end face of the inner arm, so that the first push rod and the second push rod rotate to a horizontal or vertical position.

[0151] In some possible embodiments, the conveying assembly is a clamping assembly disposed on the inner side of the inner arm;

[0152] By adjusting the opposing force of the clamping assembly or the telescopic arm, a clamping or releasing operation on the target object is performed.

[0153] In some possible embodiments, the telescopic boom further includes at least one intermediate arm, which is mounted between and connected to the inner and outer arms, and is movable relative to the outer arm, and the inner arm is movable relative to the intermediate arm.

[0154] In some possible embodiments, the lifting device includes two lifting components, which are respectively installed on opposite sides of the robot shelf, and the two ends of the item handling device are respectively connected to the two lifting components. The two lifting components drive the item handling device to move up and down relative to the robot shelf.

[0155] In some possible embodiments, the lifting assembly includes a drive wheel, a driven wheel, and a transmission belt. The drive wheel is mounted at the bottom of the robot shelf, the driven wheel is mounted at the top of the robot shelf, and the transmission belt is sleeved on the drive wheel and the driven wheel. The rotation of the drive wheel drives the transmission belt to move, and the transmission belt drives the two handling mechanisms to move up and down relative to the robot shelf.

[0156] In some possible embodiments, the robotic shelf is provided with at least two storage compartments for storing the target object.

[0157] In some possible embodiments, when the transport robot performs the return task, the transport robot travels to the return location of the second target object;

[0158] One of the handling mechanisms in the item handling device moves the second target object located on the robot shelf to the return position of the second target object via the lifting device, and pushes the second target object to the return position of the second target object.

[0159] In some possible embodiments, when the transport robot performs a pickup task, the transport robot travels to the pickup location of the first target item;

[0160] One of the handling mechanisms in the item handling device moves to the picking position of the first target item via the lifting device, and takes the first target item from the storage shelf and places it on the robot shelf.

[0161] In some possible embodiments, after the retrieval task for the first target item is completed, one of the handling mechanisms in the item handling device moves the second target item located on the robot shelf to the retrieval position of the first target item via the lifting device, and pushes the second target item to the retrieval position of the first target item.

[0162] In some possible embodiments, at least two handling mechanisms are installed on the robot shelf, and each of the handling mechanisms is arranged at different levels along the lifting direction, and each of the handling mechanisms is used to store and retrieve the target object.

[0163] In some possible embodiments, there are two handling mechanisms, one of which is used to move the target item from the storage rack to the robotic rack, while the other is used to transfer the target item from the robotic rack to the storage rack.

[0164] In some possible embodiments, the handling mechanism includes a temporary storage pallet and a telescopic arm mounted on the temporary storage pallet. The temporary storage pallet is used to temporarily store the target object, and the telescopic arm is used to push the target object on the temporary storage pallet onto the warehouse rack and the robot rack, or to push the target object on the warehouse rack or the robot rack onto the temporary storage pallet.

[0165] In some possible embodiments, there are two telescopic arms, and the two telescopic arms are arranged parallel to and opposite to each other on the temporary storage plate.

[0166] In some possible embodiments, the telescopic arm includes an outer arm, an inner arm, and a push rod assembly. The outer arm is mounted on the temporary storage pallet, the inner arm is mounted on the outer arm, and the push rod assembly is mounted on the inner arm. The inner arm is movable relative to the outer arm to allow the push rod assembly to push the target object.

[0167] In some possible embodiments, the push rod assembly includes a first push rod and a second push rod;

[0168] The first push rod is mounted on the front end face of the inner arm and can be rotated to a horizontal or vertical position relative to the front end face of the inner arm, so that the first push rod pushes the target item on the storage rack onto the temporary storage pallet, or pushes the target item on the temporary storage pallet onto the storage rack.

[0169] The second push rod is mounted on the rear end face of the inner arm and can be rotated to a horizontal or vertical position relative to the rear end face of the inner arm, so that the second push rod pushes the target object on the temporary storage pallet onto the robot shelf, or pushes the target object on the robot shelf onto the temporary storage pallet.

[0170] In some possible embodiments, the push rod assembly further includes a drive member connected to the first push rod and the second push rod, the drive member being used to drive the first push rod and the second push rod to rotate relative to the end face of the inner arm, so that the first push rod and the second push rod rotate to a horizontal or vertical position.

[0171] In some possible embodiments, the telescopic boom further includes at least one intermediate arm, which is mounted between and connected to the inner and outer arms, and is movable relative to the outer arm, and the inner arm is movable relative to the intermediate arm.

[0172] In some possible embodiments, at least two conveying mechanisms are fixedly connected as one unit by a connecting plate.

[0173] In some possible embodiments, the lifting device includes two lifting components, which are respectively installed on opposite sides of the robot shelf, and the two ends of each of the conveying mechanisms are respectively connected to the two lifting components. The two lifting components drive each of the conveying mechanisms to move up and down relative to the robot shelf.

[0174] In some possible embodiments, the lifting assembly includes a drive wheel, a driven wheel, and a transmission belt. The drive wheel is mounted at the bottom of the robot shelf, the driven wheel is mounted at the top of the robot shelf, and the transmission belt is sleeved on the drive wheel and the driven wheel. The rotation of the drive wheel drives the transmission belt to move, and the transmission belt drives the two handling mechanisms to move up and down relative to the robot shelf.

[0175] In some possible embodiments, the robotic shelf is provided with at least two storage compartments for storing the target object.

[0176] In some possible embodiments, a support beam is also included, which is mounted on the robot shelf and is movable up and down relative to the robot shelf;

[0177] Each of the aforementioned handling mechanisms is mounted on the support beam.

[0178] In some possible embodiments, a mounting frame and a rotary assembly mounted on the mounting frame are also included, with each transport mechanism mounted on the rotary assembly. The mounting frame is mounted on the support beam, and the rotary assembly is used to drive each transport mechanism to rotate in a plane perpendicular to the lifting direction of the support beam.

[0179] In some possible embodiments, the mounting bracket includes two oppositely arranged mounting plates and a support beam connecting the two mounting plates, the two mounting plates being connected to the support beam;

[0180] The rotary assembly includes a support plate mounted on the support beam, a rotating plate spaced apart from the support plate, and a cross bearing for connecting the support plate and the rotating plate. A first sprocket is connected to the cross bearing. A second sprocket and a motor for driving the second sprocket to rotate are provided on the rotating plate. The first sprocket and the second sprocket are connected by a chain. When the motor drives the second sprocket to rotate, the second sprocket drives the first sprocket to rotate through the chain. When the first sprocket rotates, it drives each of the conveying mechanisms located on the rotating plate to rotate around the axis of the first sprocket.

[0181] In some possible embodiments, when the transport robot performs the return task, the transport robot travels to the return location of the second target object;

[0182] One of the handling mechanisms moves the second target object located on the robot shelf to the return position of the second target object via the lifting device, and pushes the second target object to the return position.

[0183] In some possible embodiments, when the transport robot performs a pickup task, the transport robot travels to the pickup location of the first target item;

[0184] One of the handling mechanisms moves to the picking position of the first target object via the lifting device, and takes the first target object from the storage shelf and places it on the robot shelf.

[0185] In some possible embodiments, after the retrieval task for the first target item is completed, one of the handling mechanisms moves the second target item located on the robotic shelf to the retrieval position of the first target item via the lifting device and pushes the second target item to the retrieval position of the first target item.

[0186] In a seventh aspect, this disclosure also provides a warehousing system, including: a handling robot, a server, shelves, and an operating platform, wherein the handling robot and the server are communicatively connected;

[0187] The server is used to perform the cargo handling method described in any one of the first aspects;

[0188] The transport robot is used to perform the cargo transport method described in any one of the second aspects to realize cargo transport between shelves and operating platforms.

[0189] Eighthly, embodiments of this disclosure also provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the cargo handling methods in the first aspect.

[0190] In a ninth aspect, embodiments of this disclosure also provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the cargo handling methods in the second aspect.

[0191] In a tenth aspect, this disclosure provides a robot, including: a mobile base, a robot shelf, a lifting device, and an item handling device.

[0192] The robotic shelf is mounted on the mobile base;

[0193] The mobile base is configured to move to the location of a first target object included in a first handling task, and to the location of a second target object included in a second handling task; one of the first handling task and the second handling task is a pickup task, and the other is a return task;

[0194] The lifting device and the item handling device are mounted on the robot shelf, and the lifting device is configured to drive the item handling device to move up and down relative to the robot shelf.

[0195] The item handling device is configured to handle a first target item between the robot shelf and the first target item location, and to handle a second target item between the robot shelf and the second target item location;

[0196] The robot performs the second transport task while performing the first transport task.

[0197] In some possible embodiments, when the second handling task is a return task, the mobile base arrives at the return position while traveling towards the first target object location; the item handling device cooperates with the lifting device to move the second target object from the robot shelf to the return position.

[0198] In some possible embodiments, the return location is any one of the initial storage location of the second target item, the location of an empty storage space, or the location of the first target item; wherein, when the return location is the location of the first target item, the item handling device moves the first target item to the robot shelf, and then moves the second target item to the location of the first target item.

[0199] In some possible embodiments, the item handling device includes at least one handling mechanism mounted on the robotic shelf for storing and retrieving target items.

[0200] In some possible embodiments, the item handling device includes a suction cup fork assembly and / or a machine gripping arm.

[0201] In some possible embodiments, when the item handling device includes at least two handling mechanisms, the at least two handling mechanisms are arranged side by side or arranged at different levels along the lifting direction.

[0202] In some possible embodiments, when the at least two handling mechanisms are arranged side by side, the at least two handling mechanisms are located on the robot shelf, and the at least two handling mechanisms are an integral structure.

[0203] In some possible embodiments, when the at least two handling mechanisms are arranged side by side, the robot shelf includes three or more columns located on the same vertical plane and arranged on a movable base; each handling mechanism is installed between two adjacent columns and moves up and down relative to the columns; wherein, the handling mechanisms are configured to allow relative movement or not allow relative movement.

[0204] In some possible embodiments, when the at least two handling mechanisms are arranged in parallel, the lifting device includes two lifting components, which are respectively installed on opposite sides of the robot shelf, and the two ends of the item handling device are respectively connected to the two lifting components, and the two lifting components drive the item handling device to move up and down relative to the robot shelf.

[0205] In some possible embodiments, when the at least two conveying mechanisms are arranged at different levels along the lifting direction, relative movement between the conveying mechanisms is allowed or not allowed.

[0206] In some possible embodiments, when the at least two handling mechanisms are arranged on different layers along the lifting direction, the at least two handling mechanisms are located on the robot shelf, and the at least two handling mechanisms are an integral structure.

[0207] In some possible embodiments, when the at least two transport mechanisms are arranged at different levels along the lifting direction, the lifting device includes two lifting components, which are respectively installed on opposite sides of the robot shelf, and the two ends of each transport mechanism are respectively connected to the two lifting components. The two lifting components drive each transport mechanism to move up and down relative to the robot shelf.

[0208] In some possible embodiments, when there are two handling mechanisms, one handling mechanism is used to move the target item on the warehouse rack to the robot rack, and the other handling mechanism is used to transfer the target item on the robot rack to the warehouse rack.

[0209] In some possible embodiments, when the robot performs a pickup task, the robot travels to the pickup location of the first target item;

[0210] One of the handling mechanisms in the item handling device moves to the picking position of the first target item via the lifting device, and takes the first target item from the storage shelf and places it on the robot shelf.

[0211] In some possible embodiments, after the retrieval task for the first target item is completed, one of the handling mechanisms in the item handling device moves the second target item located on the robot shelf to the retrieval position of the first target item via the lifting device, and pushes the second target item to the retrieval position of the first target item.

[0212] In some possible embodiments, when the robot performs the return task, the robot travels to the return location of the second target object;

[0213] One of the handling mechanisms in the item handling device moves the second target object located on the robot shelf to the return position of the second target object via the lifting device, and pushes the second target object to the return position of the second target object.

[0214] In some possible embodiments, the robotic shelf is provided with at least two storage compartments for storing the target object.

[0215] In some possible embodiments, the conveying mechanism includes a temporary storage plate and two telescopic arms arranged parallel to and opposite to each other on the temporary storage plate, the inner section of the telescopic arm including a conveying assembly, the conveying assembly including a push rod assembly and / or a clamping assembly.

[0216] In one aspect, this disclosure provides a cargo handling method using a robot as described in any one of the first aspects, the method comprising:

[0217] Obtain the transport task sequence to execute the first transport task;

[0218] During the execution of the first handling task, the second handling task is executed, wherein one of the first handling task and the second handling task is a pickup task and the other is a return task;

[0219] Wherein, the second transport task is obtained during the execution of the first transport task, or the acquired transport task sequence includes the second transport task.

[0220] In some possible embodiments, the robot periodically or irregularly reports at least one of its location information and available slot information to the server.

[0221] In some possible embodiments, when the robot receives a request from the server, it reports at least one of its location information and available slot information to the server.

[0222] In some possible embodiments, when the second handling task is a return task, the step of executing the second handling task during the execution of the first handling task includes:

[0223] Obtain the location of the first target object from the first handling task, and obtain the return location of the second target object from the second handling task;

[0224] During the journey to the location of the first target object, the return task is performed upon arrival at the return location of the second target object.

[0225] Drive to the location of the first target item to perform the pickup task.

[0226] In some possible embodiments, the return location of the second target object in the second transport task includes:

[0227] The initial storage location of the second target object; or,

[0228] The location of available storage space; or,

[0229] The location of the first target object.

[0230] In some possible embodiments, obtaining the return location of the second target object from the second transport task includes:

[0231] The locations corresponding to U available storage locations are obtained from the second handling task; wherein the distance between the locations corresponding to the U available storage locations and the robot's picking path is within a first preset range, and / or the distance between the locations corresponding to the U available storage locations and the robot is within a second preset range; U is a natural number greater than 0; the picking path is generated based on the location information and the location of the first target object included in the first handling task.

[0232] In some possible embodiments, obtaining the return location of the second target object from the second transport task includes:

[0233] Obtain the locations corresponding to U available storage locations from the second handling task; wherein, the first increase in time consumption when the robot returns the goods according to the locations corresponding to the U available storage locations is not greater than a first preset threshold, and / or, the first increase in the first moving distance when the robot returns the goods according to the locations corresponding to the U available storage locations is not greater than a second preset threshold; U is a natural number greater than 0.

[0234] In some possible embodiments, when the second handling task is a pickup task, the step of executing the second handling task during the execution of the first handling task includes:

[0235] Obtain the location of the first target item from the first handling task, and obtain the pickup location of the second target item from the second handling task;

[0236] During the journey to the location of the first target, the pickup location of the second target is reached to perform the pickup task;

[0237] Drive to the location of the first target object to perform the return task.

[0238] In some possible embodiments, obtaining the pickup location of the second target item from the second handling task includes:

[0239] Obtain N pickup locations of second target objects from the second handling task; wherein the distance between the pickup locations of the N second target objects and the return path is within a third preset range, and / or the distance between the pickup locations of the N second target objects and the robot is within a fourth preset range; N is a natural number greater than 0; the return path is generated based on the location information and the locations of the first target objects included in the first handling task.

[0240] In some possible embodiments, obtaining the pickup location of the second target item from the second handling task includes:

[0241] Obtain N pickup locations for second target objects from the second handling task; wherein, the second increase in time consumption when the robot picks up the goods according to the N pickup locations of the second target objects is not greater than a third preset threshold, and / or, the second increase in movement distance when the robot picks up the goods according to the N pickup locations of the second target objects is not greater than a fourth preset threshold, where N is a natural number greater than 0.

[0242] In some possible embodiments, the first transport task and the second transport task are related to any one or more of the following constraints:

[0243] The total travel time for the robot to complete the pickup and return tasks;

[0244] The total number of times the robot performs pickup and return operations when it completes pickup and return tasks;

[0245] The total distance the robot travels to complete the pickup and return tasks;

[0246] The cargo loading rate of the robot in completing pickup and return tasks.

[0247] In some possible embodiments, when the shelf used to place goods has two or more storage locations in the shelf depth direction, and the target location indicated by the retrieval task or the return task is a location located at or after the second priority position among the storage locations, the method further includes:

[0248] Non-target goods placed before the target object's location are moved to the robot's empty slot;

[0249] Perform a pickup or return task targeting the location of the object;

[0250] The non-target goods are returned to their original storage location on the shelf, or the non-target goods are returned to an empty storage location; wherein the empty storage location belongs to the same shelf as the target item location, or to a different shelf.

[0251] In some possible embodiments, it also includes:

[0252] The receiving server assigns a sorting task, which includes: sorting the target items and / or adjusting the storage location of the target items;

[0253] Execute the cargo handling task; wherein the timing of the execution of the cargo handling task includes any of the following situations:

[0254] Before the first and second transport tasks;

[0255] Between the first and second transport tasks;

[0256] Following the first and second transport tasks;

[0257] During the execution of any task in the task sequence consisting of the first and second transport tasks.

[0258] In a twelfth aspect, this disclosure also provides a server, comprising:

[0259] Processor; and,

[0260] Memory for storing the executable instructions of the processor;

[0261] The processor is configured to assign a first transport task and a second transport task to the robot as described in any of the tenth aspects by executing the executable instructions.

[0262] In a thirteenth aspect, this disclosure also provides a warehousing system, characterized in that it includes: a robot as described in any of the tenth aspects, a server as described in the twelfth aspect, shelves, and an operating platform, wherein the robot and the server are communicatively connected;

[0263] The server assigns the first handling task and the second handling task to the robot;

[0264] The robot performs the cargo handling method described in any one of the eleven aspects to realize cargo handling between the shelf and the operating platform.

[0265] In a fourteenth aspect, embodiments of this disclosure also provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the cargo handling methods in the eleventh aspect.

[0266] This disclosure provides a cargo handling method, apparatus, server, and handling robot. The method involves acquiring the robot's location information and available slot information; and assigning a second handling task to the robot based on the location information, available slot information, and the location of a first target object included in the first handling task. One of the first and second handling tasks is a retrieval task, and the other is a return task. This allows for flexible setting of handling strategies, enabling the handling robot to simultaneously return and retrieve goods, improving the rationality of path planning, reducing the overall operation time and travel distance of the handling robot, saving energy, and effectively improving cargo handling efficiency. Attached Figure Description

[0267] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0268] Figure 1 This is an application scenario diagram of a cargo handling method according to an embodiment of the present disclosure;

[0269] Figure 2 This is a schematic flowchart of a cargo handling method according to the first embodiment of this disclosure;

[0270] Figure 3 This is a schematic flowchart of a cargo handling method according to a second embodiment of the present disclosure;

[0271] Figure 4 This is a schematic flowchart of a cargo handling method according to a third embodiment of the present disclosure;

[0272] Figure 5 This is a schematic flowchart of a cargo handling method according to the fourth embodiment of this disclosure;

[0273] Figure 6 This is a schematic diagram of the structure of the cargo handling device according to the fifth embodiment of this disclosure;

[0274] Figure 7 This is a schematic diagram of the structure of the cargo handling device according to the sixth embodiment of the present disclosure;

[0275] Figure 8 This is a schematic diagram of the server structure shown according to the seventh embodiment of the present disclosure;

[0276] Figure 9 This is a schematic diagram of the structure of a robot provided in an embodiment of the present disclosure;

[0277] Figure 10 This is a schematic diagram of a first structure of a handling robot provided in an embodiment of this disclosure;

[0278] Figure 11 This is a schematic diagram of a second structure of the handling robot provided in an embodiment of this disclosure;

[0279] Figure 12 This is a schematic diagram of a third structure of the handling robot provided in an embodiment of this disclosure;

[0280] Figure 13 This is a schematic diagram of a fourth structure of the handling robot provided in this embodiment of the disclosure;

[0281] Figure 14 A schematic diagram of a fifth structure of the handling robot provided in this embodiment of the disclosure;

[0282] Figure 15 This is a sixth structural schematic diagram of the handling robot provided in the embodiments of this disclosure.

[0283] Figures 10-15 Explanation of reference numerals in the attached diagram:

[0284] 1-Mobile base;

[0285] 2-Robot shelves;

[0286] 21-Storage bays;

[0287] 3-Lifting assembly;

[0288] 31-Drive wheel;

[0289] 32-Driven gear;

[0290] 33-Transmission belt;

[0291] 4-Transportation mechanism;

[0292] 41 - Temporary storage pallet;

[0293] 42-Telescopic boom;

[0294] 421-Inner section arm;

[0295] 422-Middle section arm;

[0296] 423 - Outer arm;

[0297] 43 - Push rod assembly;

[0298] 431 - First putter;

[0299] 432 - Second putter. Detailed Implementation

[0300] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0301] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0302] With the rise and rapid development of e-commerce and online shopping, the intelligentization of warehousing and logistics has brought tremendous opportunities. In recent years, the technology of using warehouse robots to handle goods has become increasingly mature. In existing technologies, after a warehouse robot moves a box to the operating table for processing, it still needs to return the box to the shelf area. For warehouse robots that can handle multiple boxes at a time, a "return first, then retrieve" strategy is generally adopted: that is, all the boxes that need to be returned to the shelf area are placed at once, and then the task of moving the boxes to the operating table is performed. However, the above handling method is not flexible enough, and the efficiency of goods handling is low.

[0303] In response to the aforementioned technical issues, the cargo handling method and warehousing system provided in this disclosure can flexibly set handling strategies to improve cargo handling efficiency.

[0304] Figure 1 This is an application scenario diagram illustrating a cargo handling method according to an embodiment of this disclosure. For example... Figure 1As shown, the system includes a server 10 and a robot 20, which are connected to the server 10. The robot 20 can receive instructions from the server 10 and move goods between the shelf and the operating platform. The robot 20 can perform a return task and a retrieval task simultaneously. The return location corresponding to at least one return task of the robot 20 includes any of the following locations: the initial storage location of the goods to be returned; the location corresponding to an empty storage space; or the storage location corresponding to the goods to be retrieved. In this embodiment, the server 10 can generate an initial planned path based on the current location of the robot 20 and the return location and return order corresponding to at least one return task of the robot 20. Then, it determines whether a retrieval task can be inserted into the robot 20's return task. If a preset condition is met, at least one target item is determined from the goods to be retrieved, and a target planned path is generated. The robot 20 can receive the target planned path sent by the server 10 and travel according to the planned path, performing both retrieval and return tasks.

[0305] It should be noted that in this embodiment, the server can communicate with multiple robots, obtain the positions and task lists of multiple robots at the same time, generate corresponding target planning paths, and send the target planning paths to the corresponding robots.

[0306] Figure 2 This is a schematic flowchart illustrating a cargo handling method according to a first embodiment of this disclosure. Figure 2 As shown, the cargo handling method provided in this embodiment may include:

[0307] Step S101: Obtain the robot's location information and available slot information.

[0308] In this embodiment, the server can communicate with multiple robots via wireless signals. The server is used to assign a first handling task to the robots; after receiving the first handling task, the robot reports its real-time location information and available slot information to the server. In this embodiment, the first handling task is not limited; it can be a pickup task or a return task.

[0309] It should be noted that this embodiment does not limit the timing of assigning the second handling task. The server can assign the second handling task to the robot at any point before, during, or after the execution of the first handling task.

[0310] In the first scenario, the server first assigns a first transport task and a second transport task to the robot based on its location information and available slot information. At this point, a task sequence is generated, which includes interspersed first and second transport tasks. Once the robot receives this task sequence, it executes the first and second transport tasks sequentially according to the sequence.

[0311] In the second scenario, the server dynamically assigns a second transport task to the robot. That is, while the robot is performing the first transport task, a second transport task is interspersed before the first transport task. The robot performs the second transport task on its way to perform the first transport task.

[0312] In the third scenario, the server dynamically assigns a second transport task to the robot, and the robot performs the second transport task after completing the first transport task.

[0313] Step S102: Assign a second handling task to the robot based on the location information, available slot information, and the location of the first target object included in the first handling task.

[0314] In this embodiment, after the server receives the location information and available slot information reported by the robot, it generates a planned path for the first handling task based on the location information, available slot information, and the location of the first target object included in the first handling task. Then, based on the pickup or return request sent by the client, a second handling task is assigned to the robot. It should be noted that one of the first and second handling tasks is a pickup task, and the other is a return task. That is to say, the robot can pick up and return goods simultaneously during the pickup and handling process, effectively improving the efficiency of goods handling.

[0315] For example, when the second transport task is a return task, the server determines the return location of the second target object in the second transport task based on the location information and the location of the first target object included in the first transport task. The return location of the second target object can be any one of the following: the initial storage location of the second target object, the location of an available storage space, or the location of the first target object.

[0316] In a first optional implementation, when the return location is a location of an empty storage space, the server first generates a pickup path based on the location information and the location of the first target item included in the first handling task; the location corresponding to U empty storage spaces within a first preset range that are distances from the pickup path is determined as the return location of the second target item; U is a natural number greater than 0.

[0317] In the second optional embodiment, when the return location is a location of an empty storage space, the server determines the location corresponding to U empty storage spaces within a second preset range as the return location of the second target object; U is a natural number greater than 0.

[0318] In this embodiment, available storage locations are selected based on the distance between them and the pickup path. The locations corresponding to these locations, where the distance to the pickup path is within a preset range, are chosen as the return locations for the second target item. This allows the robot to select a nearby available storage location for returning the goods, reducing the distance traveled by the robot when performing the second handling task.

[0319] In a third optional implementation, when the return location is an available storage location, the server first generates a retrieval path based on the location information and the location of the first target item included in the first handling task. It predicts the first total time consumed by the robot to reach the locations corresponding to V available storage locations to return the goods, and the time consumed by the robot to retrieve the first target item according to the retrieval path; where V is a natural number not less than U, and U is a natural number greater than 0. Then, the difference between the first total time consumed and the time consumed by the robot to retrieve the first target item according to the retrieval path is recorded as the first increased time consumption; the U available storage locations among the V available storage locations where the first increased time consumption is not greater than a first preset threshold are determined as the return locations for the second target item.

[0320] In this embodiment, the robot reaches each available storage location to perform the return task, and selects the available storage location based on the time added to the time required to perform the retrieval task along the retrieval path. The location corresponding to the available storage location where the added time is no greater than a first preset threshold is selected as the return location for the second target item. This allows the robot to select available storage locations with shorter return times, reducing the time spent by the robot performing the second handling task.

[0321] In the fourth optional implementation, when the return location is an empty storage location, the server first generates a retrieval path based on the location information and the location of the first target object included in the first handling task; predicts that the robot will return the goods to the locations corresponding to V empty storage locations, and increases the first moving distance according to the retrieval path to retrieve the first target object; V is a natural number not less than U, and U is a natural number greater than 0; and determines the U empty storage locations among the V empty storage locations whose increased first moving distance is not greater than a second preset threshold as the return locations of the second target object.

[0322] In this embodiment, the robot selects an available storage location by reaching each vacant storage location to perform the return task and by increasing the distance traveled by following the retrieval path. The location corresponding to the vacant storage location where the increased first travel distance is no greater than a second preset threshold is selected as the return location for the second target item. This allows the robot to select vacant storage locations with shorter travel distances for returning goods, reducing the distance traveled by the robot when performing the second handling task.

[0323] It should be noted that this embodiment does not limit the number of return tasks; the robot can execute multiple return tasks simultaneously. When executing a return task, there are several strategies for arranging the return location. One is original retrieval and return, where each type of goods corresponds to a fixed storage location. This mode facilitates warehouse management. Therefore, when executing a return task, the return location is the initial storage location of the goods to be returned. Another is empty space storage, where the goods to be returned can be placed in any empty storage space. This mode offers greater flexibility. Therefore, when executing a return task, the return location is the location corresponding to the empty storage space. There is also a special case of this mode, where the retrieval task and the return task can be combined, that is, the storage locations of the goods to be returned and the goods to be retrieved are exchanged. In this case, the return location is the storage location corresponding to the goods to be retrieved.

[0324] For example, when the second handling task is a pickup task, and the total number of available slots indicated by the robot's available slot information is zero, the server needs to allocate at least one first handling task before executing the second handling task. For instance, if the robot is currently fully loaded, and the tasks allocated to the robot by the server include a first handling task and a second handling task, then before executing the second handling task, the robot must execute the first handling task at least once to obtain an available slot for placing the second target object retrieved by the second handling task.

[0325] When the second handling task is a pickup task, and the total number of available slots indicated by the robot's available slot information is greater than zero, the server determines the pickup location of the second target object in the second handling task based on the location information, the available slot information, and the location of the first target object included in the first handling task.

[0326] For example, the server determines N pickup locations for second target objects based on location information and the location of the first target object included in the first handling task; N is a natural number greater than 0 and not greater than the total number of free slots indicated by the free slot information.

[0327] In a first optional implementation, the server can generate a return path based on the location information and the location of the first target object included in the first handling task; and determine N pickup locations that are within a third preset range from the return path as pickup locations for the second target object.

[0328] In this embodiment, the pickup locations that meet the requirements are filtered by the distance between the pickup location of the goods to be picked up and the return path. Pickup locations whose distance from the return path is within a third preset range are selected as the pickup locations for the second target item. This allows the robot to undertake pickup tasks that are closer in distance, reducing the distance the robot travels when performing the second handling task.

[0329] In a second alternative implementation, the server determines N pickup locations that are within a fourth preset range from the robot as the pickup locations for the second target item.

[0330] In a third optional implementation, the server first generates a return path based on location information and the location of the first target object included in the first handling task; predicts the second total time consumed by the robot to reach M pickup locations to retrieve the goods and return the first target object according to the return path; M is a natural number not less than N. Then, the difference between the second total time consumed and the time consumed by the robot to return the first target object according to the return path is recorded as the second additional time; the N pickup locations among the M pickup locations where the second additional time is not greater than a third preset threshold are determined as the pickup locations of the second target object.

[0331] For example, when there are two or more storage locations in the depth direction of the shelf used to place goods, and the target location indicated by the retrieval task or return task is a location that is in the second order position or later in the storage location, the server instructs the robot to move the non-target goods placed before the target location to the robot's empty slot; then instructs the robot to perform a retrieval task or return task for the target location; finally, instructs the robot to return the non-target goods to the original storage location of the shelf, or to return the non-target goods to the empty storage location; wherein the empty storage location and the target location belong to the same shelf or different shelves.

[0332] The technical solutions in the above embodiments are applicable to situations where the shelf has multiple storage locations in its depth direction, that is, when multiple target objects can be placed at the same location indicated by the shelf in the horizontal and vertical directions. In the above embodiments, the server can locate the storage location at the depth of the shelf, that is, when the robot performs the picking task and / or return task, it can accurately pinpoint the location of the target object in three directions (horizontal direction, vertical direction, and depth direction), and then perform the picking task and / or return task for that target object location.

[0333] For example, the server can also assign sorting tasks to the robot, which include: sorting the target items and / or adjusting the storage location of the target items.

[0334] In the above embodiments, the server can also assign sorting tasks to the robot. These tasks are used to organize target items and / or adjust their storage locations. For example, this includes checking the quantity and location of the target items. It should be noted that this embodiment does not limit the specific timing of the sorting tasks. The timing of the sorting tasks includes any of the following situations:

[0335] Before the first and second transport tasks;

[0336] Between the first and second handling tasks;

[0337] After the first and second transport tasks;

[0338] During the execution of any task in the task sequence consisting of the first and second transport tasks.

[0339] In this embodiment, the robot reaches each pickup location to perform pickup tasks, and the pickup location is selected based on the additional time required to perform the return task along the return path. Pickup locations with an additional time within a preset range are selected as pickup locations for the second target item. This allows the robot to handle pickup tasks with shorter processing times, reducing the time spent by the robot performing the second handling task.

[0340] In the fourth optional implementation, the server generates a return path based on the location information and the location of the first target object included in the first handling task; predicts the second moving distance increased by the robot reaching M pick-up locations to retrieve the goods and returning the first target object according to the return path; M is a natural number not less than N; and determines the N pick-up locations among the M pick-up locations whose increased second moving distance is not greater than a fourth preset threshold as the pick-up locations of the second target object.

[0341] In this embodiment, the pickup location is selected by the second travel distance added by the robot reaching each pickup location to perform the pickup task and performing the return task according to the return path. Pickup locations where the added second travel distance is not greater than a second preset threshold are selected as pickup locations for the second target item. This allows the robot to select pickup locations with shorter travel distances, reducing the distance traveled by the robot when performing the second handling task.

[0342] Specifically, when the first handling task is a pickup task and the second handling task is a return task, a pickup path can be generated based on the robot's current position and the pickup location it is currently executing. Then, one or more return tasks are inserted during the pickup task execution, thus achieving simultaneous pickup and return. In practice, all available storage locations within a preset range of the pickup path can be acquired, and the storage location with the shortest processing time and greatest convenience is determined as the return location for the goods to be returned. In this mode, there is a special case where the pickup location also becomes an available storage location after the pickup task is executed. Therefore, if the robot still has an available storage location when picking up goods, it can directly perform the pickup operation, and after picking up the goods, return one of the goods to be returned to the available storage location where the pickup task was just completed, thus exchanging the storage locations of the two goods. In this case, the robot does not need to make any unnecessary movements, and the second time consumption is minimized. When there are no available slots on the robot, the robot can first find an available storage location to return a piece of goods. At this time, there will be an available slot on the robot. Then, according to the above embodiment, the storage locations of the goods to be picked up and the goods to be returned are swapped.

[0343] For example, when generating the first and second handling tasks, the server may also consider any one or more of the following constraints: the total travel time of the robot in completing the picking and returning tasks; the total number of picking and returning operations performed by the robot in completing the picking and returning tasks; the total travel distance of the robot in completing the picking and returning tasks; and the loading rate of the robot in completing the picking and returning tasks.

[0344] Specifically, when generating the planned paths for the first and second handling tasks, the optimal path can be generated based on factors such as travel time, the total number of picking and returning operations, travel distance, and load factor. Since the goods are stored in an automated warehouse, not only the planar location but also the height (goods location) must be considered. When planning the path, the travel time and fork lifting time must be taken into account. The forks can be adjusted in height simultaneously during robot movement to minimize the overall time required for the robot to reach the target shelf location and forks to reach the designated position. If a more optimized path is found (e.g., shorter distance or shorter time), the current path is updated, and a new planned path is generated.

[0345] In this embodiment, during the robot's execution of the first handling task, the robot's position information and available slot information are acquired. Based on the position information, available slot information, and the position of the first target object included in the first handling task, a second handling task is assigned to the robot. One of the first and second handling tasks is a retrieval task, and the other is a return task. This allows for flexible setting of handling strategies, enabling the simultaneous retrieval and return of goods during the handling process, effectively improving the efficiency of goods handling.

[0346] Figure 3 This is a schematic flowchart illustrating a cargo handling method according to a second embodiment of this disclosure. Figure 3 As shown, the cargo handling method provided in this embodiment may include:

[0347] Step S201: Obtain the robot's location information and available slot information.

[0348] Step S202: Generate a second transport task based on the location information, available slot information, and the location of the first target object included in the first transport task.

[0349] Step S203: Determine whether the planned path corresponding to the second handling task meets the reservation requirements; if yes, proceed to step S204; if no, return to step S202.

[0350] Step S204: Assign a second handling task to the robot.

[0351] In this embodiment, the specific implementation process and implementation principle of steps S201 to S202 are described in [reference needed]. Figure 2 The relevant descriptions of steps S101 to S102 shown will not be repeated here.

[0352] In step S203, after the server generates the second handling task, it also needs to determine whether the planned path corresponding to the second handling task meets the reservation requirements; the reservation requirements include: no robot is traveling on the planned path within a preset time period.

[0353] This reservation mechanism helps prevent collisions during robot operation. Only robots that have successfully made a reservation can travel on the designated path; other robots are not allowed to travel on reserved paths.

[0354] In this embodiment, before issuing the second handling task, it is determined whether the planned path corresponding to the second handling task meets the reservation requirements. Only when the planned path meets the reservation requirements is the server allowed to assign the second handling task to the robot. This avoids collisions during the robot's movement and ensures the robot's safety.

[0355] Figure 4This is a schematic flowchart illustrating a cargo handling method according to a third embodiment of this disclosure. Figure 4 As shown, the cargo handling method provided in this embodiment may include:

[0356] Step S301: Obtain the robot's location information and available slot information.

[0357] Step S302: Generate a second transport task based on the location information, available slot information, and the location of the first target object included in the first transport task.

[0358] In this embodiment, the specific implementation process and implementation principle of steps S301 to S302 are described in [reference needed]. Figure 2 The relevant descriptions of steps S101 to S102 shown will not be repeated here.

[0359] Step S303: Receive a request to cancel a transport task or a request to add a transport task from the client terminal.

[0360] Step S304: Based on the request to cancel the transport task or to add a transport task, reassign the second transport task.

[0361] In this embodiment, the server can also receive task change requests sent by the client terminal and then reassign the second handling task. The task change request includes a task cancellation request and a task addition request. A task cancellation request is used to delete return tasks and / or pickup tasks. A task addition request is used to add return tasks and / or pickup tasks.

[0362] For example, when a cancellation request for a handling task is received from a client terminal, the server can delete the return task and / or the pickup task based on the cancellation request; then, based on the path optimization parameters, the robot's current position, the return positions corresponding to the remaining return tasks, and the storage positions corresponding to the remaining target objects, a planned path for the second handling task is generated; and the planned path for the second handling task is sent to the robot.

[0363] For example, when a new handling task request is received from a client terminal, the server adds a return task and / or a pickup task according to the new handling task request; then, based on the path optimization parameters, the robot's current position, the return position corresponding to the new return task, and the storage position corresponding to the new target object, a planned path corresponding to the second handling task is generated; and the planned path corresponding to the second handling task is sent to the robot.

[0364] In this embodiment, by receiving a task change request sent by the client terminal and then regenerating a second handling task, the handling task can be dynamically adjusted to improve the efficiency of cargo handling.

[0365] Figure 5 This is a schematic flowchart illustrating a cargo handling method according to the fourth embodiment of this disclosure. Figure 5 As shown, the cargo handling method provided in this embodiment may include:

[0366] Step S401: Report location information and available slot information to the server, and obtain the transport task sequence to execute the first transport task.

[0367] In this embodiment, the server can communicate with multiple robots via wireless signals. The server is used to assign a first handling task to the robots; after receiving the first handling task, the robot reports its real-time location information and available slot information to the server. In this embodiment, the first handling task is not limited; it can be a pickup task or a return task.

[0368] In this embodiment, the server can simultaneously assign second handling tasks to multiple different robots. The robots receive the second handling tasks through their own communication devices.

[0369] Step S402: During the execution of the first handling task, the second handling task is executed; one of the first handling task and the second handling task is a pickup task, and the other is a return task.

[0370] In step S402, the second handling task is obtained during the execution of the first handling task, or the obtained handling task sequence includes the second handling task. For example, there are two scenarios. The first scenario is that the first handling task is a pickup task and the second handling task is a return task; the second scenario is that the first handling task is a return task and the second handling task is a pickup task. The first and second scenarios will be described in detail below.

[0371] For example, when the second handling task is a return task, the robot first obtains the location of the first target object from the first handling task, and the return location of the second target object from the second handling task; then, while traveling towards the location of the first target object, it reaches the return location of the second target object to perform the return task; finally, it travels to the location of the first target object to perform the retrieval task. The return location of the second target object in the second handling task can be any one of the initial storage location of the second target object, the location of an available storage space, or the location of the first target object.

[0372] In a first optional implementation, the robot obtains the locations corresponding to U free storage locations from the second handling task; wherein the distance between the locations corresponding to the U free storage locations and the robot's picking path is within a first preset range, and U is a natural number greater than 0; the picking path is generated based on the location information and the location of the first target object included in the first handling task.

[0373] In this embodiment, available storage locations are selected based on the distance between them and the pickup path. The locations corresponding to these locations, where the distance to the pickup path is within a preset range, are chosen as the return locations for the second target item. This allows the robot to select a nearby available storage location for returning the goods, reducing the distance traveled by the robot when performing the second handling task.

[0374] In a second optional embodiment, the robot obtains the locations corresponding to U free storage locations from the second handling task; wherein the distance between the locations corresponding to the U free storage locations and the robot is within a second preset range, and U is a natural number greater than 0; the picking path is generated based on the location information and the location of the first target object included in the first handling task.

[0375] In a third optional implementation, the robot obtains the locations corresponding to U empty storage locations from the second handling task; wherein, the first increase in time generated when the robot returns the goods according to the locations corresponding to the U empty storage locations is not greater than a first preset threshold, where U is a natural number greater than 0.

[0376] In this embodiment, the robot reaches each available storage location to perform the return task, and selects the available storage location based on the time added to the time required to perform the retrieval task along the retrieval path. The location corresponding to the available storage location with the added time within a preset range is selected as the return location for the second target item. This allows the robot to select available storage locations with shorter return times, reducing the time spent by the robot performing the second handling task.

[0377] In a fourth optional implementation, the robot obtains the locations corresponding to U available storage locations from the second handling task; wherein, the first moving distance increased by the robot when returning the goods according to the locations corresponding to the U available storage locations is not greater than a second preset threshold, where U is a natural number greater than 0.

[0378] It should be noted that this embodiment does not limit the number of return tasks; the robot can execute multiple return tasks simultaneously. When executing a return task, there are several strategies for arranging the return location. One is original retrieval and return, where each type of goods corresponds to a fixed storage location. This mode facilitates warehouse management. Therefore, when executing a return task, the return location is the initial storage location of the goods to be returned. Another is empty space storage, where the goods to be returned can be placed in any empty storage space. This mode offers greater flexibility. Therefore, when executing a return task, the return location is the location corresponding to the empty storage space. There is also a special case of this mode, where the retrieval task and the return task can be combined, that is, the storage locations of the goods to be returned and the goods to be retrieved are exchanged. In this case, the return location is the storage location corresponding to the goods to be retrieved.

[0379] For example, when the second handling task is a pickup task, the robot first obtains the location of the first target object from the first handling task and the pickup location of the second target object from the second handling task; then, while traveling to the location of the first target object, it arrives at the pickup location of the second target object to perform the pickup task; finally, it travels to the location of the first target object to perform the return task.

[0380] In a first optional implementation, the robot obtains N pickup locations of second target objects from the second handling task; wherein the distance between the pickup locations of the N second target objects and the return path is within a third preset range; the return path is generated based on the location information and the locations of the first target objects included in the first handling task.

[0381] In this embodiment, pickup locations that meet the requirements are filtered based on the distance between the pickup location of the goods to be picked up and the return path. Pickup locations whose distance from the return path is within a preset range are selected as pickup locations for the second target item. This allows the robot to undertake pickup tasks that are closer in distance, reducing the distance the robot travels when performing the second handling task.

[0382] In a second optional implementation, the robot obtains N pickup locations of the second target objects from the second handling task; wherein the distance between the pickup locations of the N second target objects and the robot is within a fourth preset range; the return path is generated based on the location information and the locations of the first target objects included in the first handling task.

[0383] In a third optional implementation, the robot obtains N pickup locations for the second target objects from the second handling task; wherein the second increase in time generated when the robot retrieves the goods according to the N pickup locations of the second target objects is not greater than a second preset threshold, and N is a natural number greater than 0.

[0384] In this embodiment, the robot reaches each pickup location to perform pickup tasks, and the pickup location is selected based on the additional time required to perform the return task along the return path. Pickup locations with an additional time within a preset range are selected as pickup locations for the second target item. This allows the robot to handle pickup tasks with shorter processing times, reducing the time spent by the robot performing the second handling task.

[0385] In a fourth optional implementation, the robot obtains N pickup locations for the second target objects from the second handling task; wherein, the second moving distance increased by the robot when picking up the goods according to the N pickup locations of the second target objects is not greater than a fourth preset threshold, and N is a natural number greater than 0.

[0386] Specifically, when the first handling task is a pickup task and the second handling task is a return task, the server generates a pickup path based on the robot's current position and the pickup location it is currently executing. Then, one or more return tasks are inserted during the pickup task execution, thus achieving simultaneous pickup and return. In practice, all available storage locations within a preset range of the pickup path can be obtained, and the storage location with the shortest processing time and greatest convenience is determined as the return location for the goods to be returned. In this mode, there is a special case where the pickup location also becomes an available storage location after the pickup task is executed. Therefore, if the robot still has an available storage location when picking up goods, it can directly perform the pickup operation, and after picking up the goods, return one of the goods to be returned to the available storage location where the pickup task was just completed, thus exchanging the storage locations of the two goods. In this case, the robot does not need to make any unnecessary movements, and the second time consumption is minimized. When there are no available slots on the robot, the robot can first find an available storage location to return a piece of goods. At this time, there will be an available slot on the robot. Then, according to the above embodiment, the storage locations of the goods to be picked up and the goods to be returned are swapped.

[0387] For example, the first and second handling tasks performed by the robot are also subject to any one or more of the following constraints: the total travel time of the robot in completing the picking and returning tasks; the total number of picking and returning operations performed by the robot in completing the picking and returning tasks; the total travel distance of the robot in completing the picking and returning tasks; and the loading rate of the robot in completing the picking and returning tasks.

[0388] Specifically, when the server generates the planned paths for the first and second handling tasks, it can generate the optimal path based on factors such as movement time, the total number of picking and returning operations, travel distance, and load factor. Since the goods are stored in an automated warehouse, not only the planar location but also the height (goods location) must be considered. When planning the path, the travel time and fork lifting time must be taken into account. The forks can be adjusted in height simultaneously during robot movement to minimize the overall time required for the robot to reach the target shelf location and forks to reach the designated position. If a more optimized path is found (e.g., shorter distance or shorter time), the current path is updated, and a new planned path is generated.

[0389] For example, when a shelf used to place goods has two or more storage locations in the shelf depth direction, and the target location indicated by the retrieval task or return task is a location that is in the second order position or later in the storage locations, the robot will move the non-target goods placed before the target location to the robot's empty slot; then execute the retrieval task or return task for the target location; finally, return the non-target goods to the original storage location on the shelf, or return the non-target goods to the empty storage location; wherein the empty storage location and the target location belong to the same shelf or different shelves.

[0390] The technical solutions in the above embodiments are applicable to situations where the shelf has multiple storage locations in its depth direction, that is, when multiple target objects can be placed at the same location indicated by the shelf in the horizontal and vertical directions. In the above embodiments, the server or robot can locate the storage location at the depth of the shelf. That is, when the robot performs a retrieval task and / or a return task, it can accurately pinpoint the location of the target object in three directions (horizontal, vertical, and depth) and then perform the retrieval task and / or return task for that target object location.

[0391] For example, the server can also assign sorting tasks to the robot, which include: sorting the target items and / or adjusting the storage location of the target items.

[0392] In the above embodiments, the server can also assign sorting tasks to the robot. These tasks are used to organize target items and / or adjust their storage locations. For example, this includes checking the quantity and location of the target items. It should be noted that this embodiment does not limit the specific timing of the robot's sorting tasks. The timing of sorting tasks includes any of the following situations:

[0393] Before the first and second transport tasks;

[0394] Between the first and second handling tasks;

[0395] After the first and second transport tasks;

[0396] During the execution of any task in the task sequence consisting of the first and second transport tasks.

[0397] In this embodiment, during the execution of the first handling task, location information and available slot information are reported to the server; a second handling task is received from the server; one of the first and second handling tasks is a pickup task, and the other is a return task; the second handling task is executed while the first handling task is being executed. This allows for flexible setting of handling strategies, enabling the simultaneous pickup and return of goods during the handling process, effectively improving the efficiency of goods handling.

[0398] Figure 6 This is a schematic diagram of the cargo handling device according to the fifth embodiment of this disclosure. Figure 6 As shown, the cargo handling device provided in this embodiment may include:

[0399] The acquisition module 51 is used to acquire the robot's position information and available slot information;

[0400] The processing module 52 is used to assign a second handling task to the robot based on the location information, the available slot information and the location of the first target object included in the first handling task; wherein, one of the first handling task and the second handling task is a picking task and the other is a returning task.

[0401] In some possible embodiments, when the second transport task is a return task, the processing module 52 is specifically used for:

[0402] Based on the location information and the location of the first target object included in the first handling task, determine the return location of the second target object in the second handling task.

[0403] In some possible embodiments, processing module 52 is specifically used for:

[0404] The return location is determined as the initial storage location of the second target item; or...

[0405] The return location is determined to be an available storage space; or...

[0406] The return location is determined as the location of the first target object.

[0407] In some possible embodiments, processing module 52 is specifically used for:

[0408] Based on the location information and the location of the first target item included in the first handling task, a pickup route is generated;

[0409] The location corresponding to U available storage locations within a first preset range, representing the distance between the item and the pickup route, is determined as the return location of the second target item; U is a natural number greater than 0.

[0410] In some possible embodiments, the processing module 52 is specifically used for:

[0411] The location corresponding to U available storage spaces within a second preset range of distance from the robot is determined as the return location of the second target object; U is a natural number greater than 0.

[0412] In some possible embodiments, processing module 52 is specifically used for:

[0413] Based on the location information and the location of the first target item included in the first handling task, a pickup route is generated;

[0414] Predict the first total time consumed by the robot to return the goods to the locations corresponding to the V available storage locations, and to retrieve the first target item according to the retrieval path; V is a natural number not less than U, and U is a natural number greater than 0;

[0415] The difference between the first total time consumed and the time consumed by the robot to retrieve the first target item according to the retrieval path is recorded as the first additional time consumed;

[0416] Of the V available storage locations, the U available storage locations whose first increase time does not exceed the first preset threshold are determined as the return locations of the second target item.

[0417] In some possible embodiments, the processing module 52 is specifically used for:

[0418] Based on the location information and the location of the first target object included in the first handling task, a pickup route is generated;

[0419] The robot is predicted to return the goods to the locations corresponding to the V available storage locations, and to increase the first moving distance by the first moving distance to retrieve the first target item according to the retrieval path; V is a natural number not less than U, and U is a natural number greater than 0;

[0420] Among the V available storage locations, the U available storage locations whose increased first movement distance is no greater than the second preset threshold are determined as the return locations of the second target item.

[0421] In some possible embodiments, when the second handling task is a pickup task and the total number of available slots indicated by the robot's available slot information is zero, the processing module is specifically configured to: allocate at least one first handling task before executing the second handling task. In some possible embodiments, the processing module 52 is specifically configured to:

[0422] When the second handling task is a pickup task, and the total number of available slots indicated by the robot's available slot information is greater than zero, the pickup location of the second target object in the second handling task is determined based on the location information, the available slot information, and the location of the first target object included in the first handling task.

[0423] In some possible embodiments, determining the pickup location of the second target item in the second handling task includes:

[0424] Based on the location information and the location of the first target object included in the first handling task, determine the pickup locations of N second target objects; N is a natural number that is greater than 0 and not greater than the total number of available slots indicated by the available slot information.

[0425] In some possible embodiments, processing module 52 is specifically used for:

[0426] Generate a return path based on the location information and the location of the first target object included in the first handling task;

[0427] N pickup locations whose distance from the return path is within a third preset range are determined as the pickup locations of the second target item.

[0428] In some possible embodiments, the processing module 52 is specifically used for:

[0429] N pickup locations that are within a fourth preset range from the robot are determined as the pickup locations for the second target item.

[0430] In some possible embodiments, processing module 52 is specifically used for:

[0431] Generate a return path based on the location information and the location of the first target object included in the first handling task;

[0432] The second total time is estimated to be the time it takes for the robot to reach M pickup locations, retrieve the goods, and return the first target item according to the return path; M is a natural number not less than N.

[0433] The difference between the second total time consumed and the time consumed by the robot to return the first target object according to the return path is recorded as the second additional time consumed;

[0434] Among the M pickup locations, the N pickup locations whose second increase time is no greater than the third preset threshold are determined as the pickup locations of the second target item.

[0435] In some possible embodiments, the processing module 52 is specifically used for:

[0436] Based on the location information and the location of the first target object included in the first handling task, a return path is generated;

[0437] The second additional travel distance is predicted by the robot reaching M pickup locations to retrieve goods and returning the first target item according to the return path; M is a natural number not less than N.

[0438] Among the M pickup locations, the N pickup locations whose increased second movement distance is no greater than the fourth preset threshold are determined as the pickup locations of the second target item.

[0439] In some possible embodiments, it further includes: a determining module 53, configured to:

[0440] Determine whether the planned path corresponding to the second handling task meets the reservation requirements; the reservation requirements include: no robot is traveling on the planned path within the preset time period.

[0441] In some possible embodiments, processing module 52 is further configured to:

[0442] If the planned route does not meet the reservation requirements, the second handling task will be reassigned.

[0443] In some possible embodiments, processing module 52 is further configured to:

[0444] Receives a request from the client terminal to cancel a moving task or to add a moving task;

[0445] The second moving task is reassigned based on the request to cancel the moving task or to add a moving task.

[0446] In some possible embodiments, the allocation of the first and second handling tasks takes into account any one or more of the following constraints:

[0447] The total travel time for the robot to complete the pickup and return tasks;

[0448] The total number of times the robot performs pickup and return operations when it completes pickup and return tasks;

[0449] The total distance the robot travels to complete the pickup and return tasks;

[0450] The cargo loading rate of the robot in completing pickup and return tasks.

[0451] The cargo handling device provided in this embodiment can be used to perform... Figure 2 , Figure 3 , Figure 4 The technical solutions of the method embodiments shown are similar in principle and in effect, and will not be described again here.

[0452] In this embodiment, the robot's location information and available slot information are acquired. Based on the location information, available slot information, and the location of the first target object included in the first handling task, a second handling task is assigned to the robot. One of the first and second handling tasks is a retrieval task, and the other is a return task. This allows for flexible setting of handling strategies, enabling the handling robot to simultaneously return and retrieve goods, improving the rationality of path planning, reducing the overall operation time and travel distance of the handling robot, saving energy, and effectively improving the efficiency of goods handling.

[0453] Figure 7 This is a schematic diagram of the structure of a cargo handling device according to the sixth embodiment of this disclosure. Figure 7 As shown, the cargo handling device provided in this embodiment may include:

[0454] Sending module 61 is used to report location information and available slot information to the server and obtain the transport task sequence to execute the first transport task;

[0455] Execution module 62 is used to execute a second handling task during the execution of a first handling task; one of the first handling task and the second handling task is a pickup task, and the other is a return task. The second handling task is obtained during the execution of the first handling task, or the acquired sequence of handling tasks includes the second handling task.

[0456] In some possible embodiments, when the second transport task is a return task, the execution module 62 is specifically used for:

[0457] Obtain the location of the first target object from the first handling task, and obtain the return location of the second target object from the second handling task;

[0458] During the journey to the location of the first target, the return task is performed upon arrival at the return location of the second target.

[0459] Drive to the location of the first target item to carry out the pickup task.

[0460] In some possible embodiments, the return location of the second target object in the second transport task includes:

[0461] The initial storage location of the second target object; or...

[0462] The location of available storage space; or,

[0463] The location of the first target object.

[0464] In some possible embodiments, execution module 62 is specifically used for:

[0465] The locations corresponding to U free storage locations are obtained from the second handling task; wherein the distance between the locations corresponding to the U free storage locations and the robot's picking path is within a first preset range, and U is a natural number greater than 0; the picking path is generated based on the location information and the location of the first target object included in the first handling task.

[0466] In some possible embodiments, the execution module 62 is specifically used for:

[0467] The locations corresponding to U available storage locations are obtained from the second handling task; wherein the distance between the locations corresponding to the U available storage locations and the robot is within a second preset range, and U is a natural number greater than 0; the picking path is generated based on the location information and the location of the first target object included in the first handling task.

[0468] In some possible embodiments, execution module 62 is specifically used for:

[0469] Obtain the locations corresponding to U available storage locations from the second handling task; wherein, the first increase in time generated when the robot returns the goods according to the locations corresponding to U available storage locations is not greater than the first preset threshold, and U is a natural number greater than 0.

[0470] In some possible embodiments, the execution module 62 is specifically used for:

[0471] The locations corresponding to U available storage locations are obtained from the second handling task; wherein, the first moving distance increased by the robot when returning the goods according to the locations corresponding to the U available storage locations is not greater than the second preset threshold, and U is a natural number greater than 0.

[0472] In some possible embodiments, execution module 62 is specifically used for:

[0473] Obtain the location of the first target item from the first handling task, and obtain the pickup location of the second target item from the second handling task;

[0474] During the journey to the location of the first target, the goods are picked up at the location of the second target to perform the pickup task;

[0475] Drive to the location of the first target object to carry out the return mission.

[0476] In some possible embodiments, execution module 62 is specifically used for:

[0477] Obtain N pickup locations of second target objects from the second handling task; wherein the distance between the pickup locations of the N second target objects and the return path is within a preset range; the return path is generated based on the location information and the locations of the first target objects included in the first handling task.

[0478] In some possible embodiments, execution module 62 is specifically used for:

[0479] Obtain N pickup locations for the second target object from the second handling task; wherein, the second increase in time consumption when the robot picks up the goods according to the N pickup locations of the second target object is not greater than the third preset threshold, and N is a natural number greater than 0.

[0480] In some possible embodiments, the execution module 62 is specifically used for:

[0481] Obtain N pickup locations of second target objects from the second handling task; wherein the distance between the pickup locations of the N second target objects and the robot is within a fourth preset range; the return path is generated based on the location information and the locations of the first target objects included in the first handling task.

[0482] In some possible embodiments, the first transport task and the second transport task are related to any one or more of the following constraints:

[0483] The total travel time for the robot to complete the pickup and return tasks;

[0484] The total number of times the robot performs pickup and return operations when it completes pickup and return tasks;

[0485] The total distance the robot travels to complete the pickup and return tasks;

[0486] The cargo loading rate of the robot in completing pickup and return tasks.

[0487] The cargo handling device provided in this embodiment can be used to perform... Figure 5 The technical solutions of the method embodiments shown are similar in principle and in effect, and will not be described again here.

[0488] In this embodiment, during the execution of the first handling task, the robot reports its location information and available slot information to the server; it then receives a second handling task assigned by the server; one of the first and second handling tasks is a pickup task, and the other is a return task; the second handling task is executed while the first handling task is being performed. This allows for flexible handling strategies, enabling the robot to simultaneously return and pick up goods, improving the rationality of path planning, reducing the overall operation time and travel distance of the robot, saving energy, and effectively improving the efficiency of goods handling.

[0489] Figure 8 This is a schematic diagram of the server structure according to the seventh embodiment of this disclosure. Figure 8 As shown, this embodiment provides a server 70, including:

[0490] Processor 71; and,

[0491] Memory 72 is used to store executable instructions of the processor; this memory may also be flash memory.

[0492] The processor 71 is configured to execute the various steps of the above method by executing executable instructions. See the relevant descriptions in the preceding method embodiments for details.

[0493] Alternatively, the memory 72 can be either standalone or integrated with the processor 71.

[0494] When the memory 72 is a device independent of the processor 71, the server 70 may also include:

[0495] Bus 73 is used to connect processor 71 and memory 72.

[0496] The server provided in this embodiment can be used to execute... Figure 2 , Figure 3 , Figure 4 The technical solutions of the method embodiments shown are similar in principle and in effect, and will not be described again here.

[0497] In this embodiment, during the robot's execution of the first handling task, the robot's position information and available slot information are acquired. Based on the position information, available slot information, and the position of the first target object included in the first handling task, a second handling task is assigned to the robot. One of the first and second handling tasks is a retrieval task, and the other is a return task. This allows for flexible setting of handling strategies, enabling the handling robot to simultaneously return and retrieve goods, improving the rationality of path planning, reducing the overall operation time and travel distance of the handling robot, saving energy, and effectively improving the efficiency of goods handling.

[0498] This embodiment also provides a handling robot, including: a robot body, and a plurality of slots disposed on the robot body for placing goods, characterized in that the robot body further includes: a memory and a processor, wherein the memory is used to store executable instructions of the processor; wherein the processor is configured to execute by executing the executable instructions. Figure 5 The cargo handling method shown.

[0499] This embodiment also provides a warehousing system, characterized in that it includes: a handling robot, a server, shelves, and an operating platform, wherein the handling robot and the server are connected for communication; the server is used to execute... Figure 2 , Figure 3 , Figure 4 The cargo handling method shown; the handling robot is used for Figure 5 The illustrated cargo handling method enables cargo movement between shelves and operating platforms.

[0500] Figure 9 This is a schematic diagram of the structure of a robot provided in an embodiment of the present disclosure; as shown below. Figure 9 As shown, the robot 80 includes a robot body 81, a base 83, a conveying device 84, an adjustment assembly 85, and several slots 82 disposed on the robot body 81. The adjustment assembly 85 is used to drive the conveying device 84 to move up and down, so that the conveying device 84 is aligned with any slot 82 on the robot body 81, or with the corresponding storage location on the warehouse shelf where the target object is located. The conveying device 84 can rotate about a vertical axis to adjust its orientation, so as to align with the slot 82 or the storage location on the warehouse shelf. The conveying device 84 is used to perform loading or unloading of the target object, so as to move the target object between the warehouse shelf and the slot.

[0501] The robot 80 in the above embodiments can perform... Figure 5 The illustrated cargo handling method enables cargo movement between shelves and operating platforms.

[0502] For example, robot 80 receives a handling task sent by the server and determines its travel path based on the location of the target object in the handling task. For instance, during the journey to the location of the first target object, it first reaches the location of the second target object to perform the handling task, and then travels to the location of the first target object to perform the handling task. It should be noted that the handling task can be a pickup task or a return task.

[0503] For example, when robot 80 performs a return task, the return location of the target item can be the initial storage location of the target item for the return task; or the location of an empty storage space; or the storage location of the target item for the retrieval task.

[0504] For example, during the process of robot 80 performing a picking task, robot 80 moves to the storage location of the target item of the picking task, and through the adjustment component 85 in conjunction with the handling device 84, the target item of the picking task is moved from the storage location on the shelf to an empty slot on the robot body 81.

[0505] For example, during the return task performed by robot 80, robot 80 moves to the storage location corresponding to the return position, and through the adjustment component 85 in conjunction with the handling device 84, the target item is moved from the slot of robot body 81 to the storage location on the shelf. It should be noted that the storage location on the shelf can be the initial storage location of the target item or an empty storage location.

[0506] For example, when the target item does not need to be returned to its initial storage location, one way to improve efficiency is to remove the target item from the slot on the robot body 81, and then control the handling device 84 via the adjusting component 85 to place the target item to be returned into the storage location vacated when the retrieval task was completed. In other words, the storage location corresponding to the retrieval task and the storage location corresponding to the return task are the same location. This method can reduce the total distance traveled by the robot in performing the handling task, and also reduce the total time spent by the robot in performing the handling task.

[0507] Figure 10 This is a schematic diagram of the structure of a handling robot provided in an embodiment of this disclosure; as shown below. Figure 10 As shown, the handling robot provided in this embodiment includes a mobile base 1, a robot shelf 2, a lifting device, and an item handling device. The mobile base 1 is a support structure for the handling robot, used to support and carry other components and / or devices of the handling robot for movement. In this embodiment, the mobile base 1 can carry the robot shelf 2 and the target items stored on the robot shelf 2 to move within the storage area.

[0508] In this embodiment, the structure of the robotic shelf 2 is not specifically limited. For example, in one feasible implementation, such as... Figure 10 As shown, the robot shelf 2 includes two uprights vertically mounted on the mobile base 1, and each handling mechanism 4 is installed between the two uprights and can move up and down relative to the uprights.

[0509] Optionally, the robotic shelving 2 includes three or more uprights mounted on a movable base 1 on the same vertical plane. Each handling mechanism 4 is installed between two adjacent uprights and moves up and down relative to each upright. Two handling mechanisms on the same level can be designed as a single unit, meaning there is no relative movement between them.

[0510] Figure 11 This is a schematic diagram of a second structure of the handling robot provided in an embodiment of this disclosure, as shown below. Figure 11 As shown, the robot shelf 2 includes four vertical columns set on the mobile base 1. The four columns can form a cubic space. Multiple partitions are set between the four columns, and the multiple partitions divide the cubic space into multiple storage compartments 21 for storing target objects. Each storage compartment 21 can hold one or more target objects.

[0511] The lifting device and the item handling device are installed on the robot shelf 2. The lifting device is used to drive the item handling device to move up and down relative to the robot shelf 2 so that the item handling device can be used to handle target objects at different heights.

[0512] Optionally, the lifting device typically includes two lifting components 3, which are respectively installed on opposite sides of the robot shelf 2, for example, on two opposite uprights near the storage shelf. The item handling device is located between the two lifting components 3, and both ends of the item handling device are connected to the two lifting components 3 respectively. The two lifting components 3 drive the item handling device to move up and down relative to the robot shelf 2.

[0513] Specifically, the lifting assembly 3 includes a drive wheel 31, a driven wheel 32, and a transmission belt 33. The drive wheel 31 is installed at the bottom of the robot shelf 2, and the driven wheel 32 is installed at the top of the robot shelf 2. The transmission belt 33 is sleeved on the drive wheel 31 and the driven wheel 32. The drive wheel 31 can be connected to the output shaft of the motor so that the motor drives the drive wheel 31 to rotate. The drive wheel 31 drives the transmission belt 33 to move, and the transmission belt 33 drives the item handling device to move up and down. When the motor rotates forward or in reverse, the motor drives the drive wheel 31 to rotate forward or in reverse, and the transmission belt 33 drives the item handling device to move up or down. This allows the item handling device to pick up target objects located at different positions or heights, or to place target objects at different positions or heights on the warehouse shelf.

[0514] For example, both the driving wheel 31 and the driven wheel 32 are pulleys, and the transmission belt 33 is a flat belt, an open-loop flat belt, etc. In this way, the item handling device is driven to move up and down relative to the robot shelf 2 by belt transmission, which is simple in structure.

[0515] Based on the above embodiments, in order to improve handling efficiency, the item handling device includes at least two handling mechanisms 4. The at least two handling mechanisms 4 are arranged on the same layer and connected as a whole and installed on the robot shelf 2. Each handling mechanism 4 is used to store and retrieve the target item.

[0516] It is understandable that "at least two handling mechanisms 4" means that there are two or more handling mechanisms 4.

[0517] For example, the item handling device includes two handling mechanisms 4 arranged on the same layer and connected together. For ease of description, in this embodiment, the two handling mechanisms 4 are referred to as the first handling mechanism and the second handling mechanism. The first handling mechanism and the second handling mechanism are arranged on the same layer and connected as a whole and installed on the robot shelf 2. The first handling mechanism and the second handling mechanism can be connected by a mounting plate or the like so that there is no relative movement between the first handling mechanism and the second handling mechanism.

[0518] Optionally, when performing a handling task, the first and second handling mechanisms can be used to simultaneously retrieve different target items from the storage rack to achieve a simultaneous retrieval handling strategy; they can also be used to simultaneously store multiple target items in different locations on the storage rack to achieve a simultaneous storage handling strategy; or the first handling mechanism can be used to retrieve target items from the storage rack, while the second handling mechanism can be used to store the target items to be stored in an empty location on the storage rack to achieve a retrieval and storage handling strategy. It is understood that the empty locations on the storage rack include the empty locations vacated after the first handling mechanism retrieves the target items. In this way, the handling robot can perform multiple retrieval tasks simultaneously, or perform multiple storage tasks simultaneously, or perform retrieval and storage tasks simultaneously, thereby improving the handling efficiency of the handling robot and reducing the time spent by the handling robot when storing and retrieving target items.

[0519] For example, when both the first and second transport mechanisms are carrying out picking tasks, a picking path for the first or second transport mechanism can be generated based on the current position of the transport robot and the position of the target object to be picked. Then, one or more picking tasks of another transport mechanism 4 can be inserted into the picking path, thereby achieving the purpose of picking up multiple target objects at the same time, improving the transport efficiency of the transport robot, and reducing the time spent picking up the target object.

[0520] Alternatively, if both the first and second handling mechanisms are tasked with storing target objects in vacant storage locations on warehouse shelves, then a storage path for the first or second handling mechanism can be generated based on the current position of the handling robot and the location of the vacant storage location on the warehouse shelf corresponding to the target object. Then, one or more storage tasks of another handling mechanism 4 can be inserted into this path, thereby achieving the goal of storing multiple target objects simultaneously, improving the handling efficiency of the handling robot, and reducing the time spent storing target objects.

[0521] Alternatively, if the first handling mechanism's handling task is a pickup task and the second handling mechanism's handling task is a storage task, then a pickup path can be generated based on the current position of the handling robot and the position of the target object to be picked up by the first handling mechanism. Then, one or more storage tasks of the second handling mechanism can be inserted into the pickup path, thereby realizing a handling strategy of picking up and storing simultaneously, improving the handling efficiency of the handling robot, and reducing the time spent on storing and picking up the target object.

[0522] It should be noted that the first handling mechanism can also be a storage task, while the second handling mechanism can be a retrieval task. The handling principle is the same as that in the above embodiments, and will not be described in detail here.

[0523] In one embodiment, the first handling mechanism has a picking task and the second handling mechanism has a storage task. After the first handling mechanism picks up the target item, the second handling mechanism stores the target item in the empty storage space vacated by the first handling mechanism. At this time, the handling robot only needs to move horizontally to align the second handling mechanism with the empty storage space vacated by the first handling mechanism. It does not need to move too much along other paths, so the storage time is the shortest and the handling efficiency is the highest.

[0524] Furthermore, the handling mechanism 4 includes a temporary storage pallet 41 and a telescopic arm 42 mounted on the temporary storage pallet 41. The temporary storage pallet 41 is used to temporarily store goods moving between the storage rack and the robot rack 2. The temporary storage pallet 41 can be a horizontally placed metal plate, non-metal plate, or other structure. The telescopic arm 42 is mounted on the temporary storage pallet 41 and can move in the telescopic direction, so that the telescopic arm 42 can be used to pull the target object on the storage rack or robot rack 2 onto the temporary storage pallet 41, or push the target object on the temporary storage pallet 41 onto the storage rack or robot rack 2.

[0525] Optionally, there are two telescopic arms 42, which are arranged parallel to each other on both sides of the temporary storage pallet 41. The two telescopic arms 42 work together to pull the target item on the storage rack or robot rack 2 onto the temporary storage pallet 41, or push the target item on the temporary storage pallet 41 onto an empty storage space on the storage rack or storage space 21 on the robot rack 2.

[0526] In one feasible embodiment, the telescopic boom 42 includes an outer boom 423, an inner boom 421, and a conveying assembly. Optionally, the conveying assembly may be a push rod assembly 43, wherein the outer boom 423 is mounted on a temporary storage plate 41, the inner boom 421 is mounted on the outer boom 423, and the push rod assembly 43 is mounted on the inner boom 421. The inner boom 421 is movable relative to the outer boom 423, so that the inner boom 421 drives the push rod assembly 43 to move, thereby enabling the push rod assembly 43 to push the target object.

[0527] In other words, an outer arm 423, an inner arm 421 mounted on the outer arm 423, and a push rod assembly 43 mounted on the inner arm 421 are provided on opposite sides of the temporary storage plate 41.

[0528] The push rod assembly 43 includes a first push rod 431, which is installed on the front end face of the inner arm 421. The front end of the inner arm 421 refers to the end near the storage rack. Since there are two telescopic arms 42, which are arranged parallel and opposite to each other on the temporary storage plate 41, there are also two inner arms, which are arranged parallel and opposite to each other. The front end face of each inner arm 421 is provided with a first push rod 431. The two first push rods 431 can be rotated to a horizontal position and arranged opposite to each other at the same time, or the two first push rods 431 can be rotated to a vertical position at the same time.

[0529] Optionally, the transport component can be a clamping component, which clamps the target object and, in conjunction with the inner arm 421, moves the transport component to transport the target object. The clamping component is mounted inside the inner arm 421 and can extend and retract in opposite directions, or the telescopic arm 42 is designed to extend and retract in opposite directions to form a structure capable of clamping or releasing the target object. In the corresponding robot structure examples of this application, the transport component is also applicable to the design of similar or identical transport mechanisms such as the push rod assembly 43, the clamping component, the machine gripping arm, and the suction cup fork assembly, and is not limited thereto.

[0530] When an item needs to be retrieved from the storage rack, the handling device first moves up and down until the temporary storage pallet 41 is level with the storage location of the item to be retrieved. The inner arm 421 then moves towards the item. At this time, the first push rod 431 on the inner arm 421 is in a vertical position. When the front end of the inner arm 421 moves to the rear end of the item, the first push rod 431 rotates to a horizontal position and rests against the rear end surface of the item. Then, the inner arm 421 moves towards the temporary storage pallet 41, and the first push rod 431 pushes the item towards the temporary storage pallet 41, thus transferring the item from the storage rack to the temporary storage pallet 41. When the item needs to be stored on the storage rack, the first push rod 431 pushes the front end of the item, and the inner arm 421 moves towards the storage rack, pushing the item into an empty storage location on the storage rack. The front end of the target object refers to the end closest to the temporary storage plate 41, while the end opposite to the front end of the target object is the rear end of the target object.

[0531] Furthermore, the push rod assembly 43 also includes a second push rod 432, which is mounted on the rear end face of the inner arm 421 and can be rotated to a horizontal or vertical position relative to the rear end face of the inner arm 421, so that the second push rod 432 pushes the target object on the temporary storage plate 41 onto the robot shelf 2, or pushes the target object on the robot shelf 2 onto the temporary storage plate 41.

[0532] Specifically, when it is necessary to move the target object from the storage compartment 21 corresponding to the robot shelf 2 to the temporary storage pallet 41, the second push rod 432 is initially in a vertical state, and the inner arm 421 moves toward the robot shelf 2. When the front end of the inner arm 421 moves to the rear end of the target object, the second push rod 432 rotates to a horizontal state and rests against the rear end of the target object. At this time, the inner arm 421 moves toward the temporary storage pallet 41, and the second push rod 432 pushes the target object toward the temporary storage pallet 41, thereby moving the target object onto the temporary storage pallet 41. When it is necessary to move the target object on the temporary storage pallet 41 to the corresponding storage compartment 21 on the robot shelf 2, the second push rod 432 rests against the front end of the target object, and the inner arm 421 drives the second push rod 432 to move toward the storage compartment 21 on the robot shelf 2, thereby pushing the target object on the temporary storage pallet 41 to the corresponding storage compartment 21.

[0533] Based on the above embodiments, in order to extend the telescopic path of the telescopic arm 42, the telescopic arm 42 further includes at least one middle section arm 422. The middle section arm 422 is installed between the inner section arm 421 and the outer section arm 423 and is connected to the inner section arm 421 and the outer section arm 423. The middle section arm 422 can move relative to the outer section arm 423, and the inner section arm 421 can move relative to the middle section arm 422. The telescopic arm 42 can be provided with multiple middle sections arm 422 between the inner section arm 421 and the outer section arm 423 according to the telescopic length, so as to increase the movement path of the telescopic arm and realize the storage and retrieval of larger target objects.

[0534] Furthermore, the actuating assembly also includes a driving member, which is connected to the first push rod 431 and the second push rod 432 respectively. The driving member drives the first push rod 431 and the second push rod 432 to rotate relative to the end face of the inner arm 421, so that the first push rod 431 and the second push rod 432 rotate to a horizontal or vertical position.

[0535] The handling robot provided in this embodiment includes at least two handling mechanisms. Each handling mechanism is arranged on the same layer and connected as a whole. When the handling robot is used for handling operations, these handling mechanisms can perform multiple handling tasks at the same time to realize the handling strategy of simultaneous retrieval, simultaneous storage, or simultaneous storage and retrieval, thereby improving handling efficiency and reducing the time spent on storing and retrieving target objects.

[0536] Figure 12 This is a schematic diagram of a third structure of the handling robot provided in an embodiment of this disclosure, as shown below. Figure 12As shown, the handling robot provided in this embodiment includes a mobile base 1, a robot shelf 2, a lifting device, and at least two handling mechanisms 4. The mobile base 1 is a support structure for the handling robot, used to support and carry other components and / or devices of the handling robot for movement. In this embodiment, the robot shelf 2 is fixedly installed on the mobile base 1, so that the mobile base 1 can carry the robot shelf 2 and the target objects stored on the robot shelf 2 to move within the storage area.

[0537] In this embodiment, the structure of the robotic shelf 2 is not specifically limited. For example, in one feasible implementation, such as... Figure 10 As shown, the robot shelf 2 includes two uprights vertically mounted on the mobile base 1, and each handling mechanism 4 is installed between the two uprights and can move up and down relative to the uprights.

[0538] Figure 13 This is a schematic diagram of a fourth structure of the handling robot provided in the embodiments of this disclosure, as shown below. Figure 13 As shown, the robot shelf 2 includes four vertical columns set on the mobile base 1. The four columns can form a cubic space. Multiple partitions are set between the four columns, and the multiple partitions divide the cubic space into multiple storage compartments 21 for storing target objects. Each storage compartment 21 can hold one or more target objects.

[0539] It is understood that "at least two conveying mechanisms 4" means that there are two or more conveying mechanisms 4. In one embodiment, there are two conveying mechanisms 4, and the two conveying mechanisms 4 can be connected as one unit by a connecting plate.

[0540] A lifting device and two or more handling mechanisms 4 are installed on the robot shelf 2. The lifting device drives each handling mechanism 4 to move up and down relative to the robot shelf 2, so that each handling mechanism 4 can handle target objects at different heights. Optionally, the lifting device typically includes two lifting components 3, which are respectively installed on opposite sides of the robot shelf 2, for example, on two opposite uprights near the warehouse shelf. Each handling mechanism 4 is located between the two lifting components 3, and both ends of the handling mechanism 4 are connected to the two lifting components 3 respectively. The lifting components drive the handling mechanism 4 to move up and down relative to the robot shelf 2.

[0541] Specifically, the lifting assembly 3 includes a drive wheel 31, a driven wheel 32, and a transmission belt 33. The drive wheel 31 is installed at the bottom of the robot shelf 2, and the driven wheel 32 is installed at the top of the robot shelf 2. The transmission belt 33 is fitted onto the drive wheel 31 and the driven wheel 32. The drive wheel 31 can be connected to the output shaft of the motor so that the motor drives the drive wheel 31 to rotate. The drive wheel 31 drives the transmission belt 3 to move, and the transmission belt 3 drives each handling mechanism 4 to move up and down. When the motor rotates forward or in reverse, the motor drives the drive wheel 31 to rotate forward or in reverse, and the transmission belt 33 drives each handling mechanism 4 to rise or fall, so that each handling mechanism 4 can be used to pick up target objects at different heights or place target objects at different heights on the warehouse shelf.

[0542] Based on the above embodiments, in order to improve the handling efficiency, two or more handling mechanisms 4 are arranged at different levels along the lifting direction. When the handling robot is used for handling operations, these handling mechanisms can perform multiple handling tasks at the same time to realize the handling strategy of simultaneous retrieval, simultaneous storage, or simultaneous storage and retrieval, thereby improving the handling efficiency and reducing the time spent on storing and retrieving the target object.

[0543] For example, there are two transport mechanisms 4, which are arranged at different levels along the lifting direction. For ease of description, in this embodiment, the two transport mechanisms 4 are respectively referred to as the first transport mechanism and the second transport mechanism. The first transport mechanism and the second transport mechanism are arranged at different levels along the lifting direction on the robot shelf 2.

[0544] When performing handling tasks, the first and second handling mechanisms can be used to simultaneously retrieve different target items from the storage rack; they can also be used to simultaneously store multiple target items in different locations on the storage rack; or the first handling mechanism can be used to retrieve target items from the storage rack, while the second handling mechanism can be used to store the target items to be stored in the empty locations on the storage rack. It can be understood that the empty locations on the storage rack include the empty locations vacated after the first handling mechanism retrieves the target items. In this way, the handling robot can perform multiple retrieval tasks, or multiple storage tasks, or both retrieval and storage tasks at the same time, thereby improving the handling efficiency of the handling robot and reducing the time spent by the handling robot in storing and retrieving target items.

[0545] For example, when both the first and second handling mechanisms are handling tasks for picking up goods, a picking path for the first or second handling mechanism can be generated based on the current position of the handling robot and the position of the target object to be picked up. Then, one or more picking tasks of another handling mechanism 4 can be inserted into the picking path, thereby achieving the purpose of picking up multiple target objects at once, improving the handling efficiency of the handling robot and reducing the time spent picking up the target object.

[0546] Alternatively, if both the first and second handling mechanisms are tasked with storing target objects in vacant storage locations on warehouse shelves, then a storage path for either the first or second handling mechanism can be generated based on the current position of the handling robot and the location of the vacant storage location on the warehouse shelf corresponding to the target object. Then, one or more storage tasks of another handling mechanism 4 can be inserted into this path, thereby achieving the goal of storing multiple target objects at once, improving the handling efficiency of the handling robot, and reducing the time spent storing target objects.

[0547] Alternatively, if the first handling mechanism's handling task is a pickup task and the second handling mechanism's handling task is a storage task, then a pickup path can be generated based on the current position of the handling robot and the position of the target object to be picked up by the first handling mechanism. Then, one or more storage tasks of the second handling mechanism can be inserted into the pickup path, thereby realizing a handling strategy of picking up and storing simultaneously, improving the handling efficiency of the handling robot, and reducing the time spent on storing and picking up the target object.

[0548] It should be noted that the first handling mechanism can also be a storage task, while the second handling mechanism can be a retrieval task. The handling principle is the same as that in the above embodiments, and will not be described in detail here.

[0549] In one embodiment, the first handling mechanism is responsible for picking up goods, and the second handling mechanism is responsible for storing goods. After the first handling mechanism picks up the target item, the second handling mechanism stores the target item in the empty storage space vacated by the first handling mechanism. At this time, the second handling mechanism only needs to move along the lifting direction, and the handling robot does not need to move too much along other paths. The storage time is the shortest and the handling efficiency is the highest.

[0550] Furthermore, the handling mechanism 4 includes a temporary storage pallet 41 and a telescopic arm 42 mounted on the temporary storage pallet 41. The temporary storage pallet 41 is used to temporarily store goods moving between the storage rack and the robot rack 2. The temporary storage pallet 41 can be a horizontally placed metal plate, non-metal plate, or other structure. The telescopic arm 42 is mounted on the temporary storage pallet 41 and can move towards or away from the target object, so that the telescopic arm 42 can be used to pull the target object from the storage rack or robot rack 2 onto the temporary storage pallet 41, or push the target object from the temporary storage pallet 41 onto the storage rack or robot rack 2.

[0551] Optionally, there are two telescopic arms 42, which are arranged opposite each other on both sides of the temporary storage pallet 41. The two telescopic arms 42 work together to pull the target object on the storage rack or robot rack 2 onto the temporary storage pallet 41, or push the target object on the temporary storage pallet 41 onto an empty storage space on the storage rack or storage space 21 on the robot rack 2.

[0552] In one feasible embodiment, the telescopic arm 42 includes an outer arm 423, an inner arm 421, and a push rod assembly 43. The outer arm 423 is mounted on a temporary storage plate 41, the inner arm 421 is mounted on the outer arm 423, and the push rod assembly 43 is mounted on the inner arm 421. The inner arm 421 is movable relative to the outer arm, so that the inner arm 421 drives the push rod assembly 43 to move, thereby enabling the push rod assembly 43 to push the target object to move.

[0553] The push rod assembly 43 includes a first push rod 431, which is installed on the front end face of the inner arm 421. The front end of the inner arm 421 refers to the end near the storage rack. It can be understood that in the two parallel and opposite telescopic arms, the front end faces of the two opposite inner arms 421 are provided with the first push rod 431. The two first push rods 431 can be rotated to a horizontal position and opposite each other at the same time, or the two first push rods 431 can be rotated to a vertical position at the same time.

[0554] When an item needs to be retrieved from the storage rack, each handling mechanism first moves up and down along the lifting direction with the lifting assembly until the temporary storage pallet 41 is level with the storage location of the item to be retrieved. The inner arm 421 then moves towards the item. At this time, the first push rod 431 on the inner arm 421 is in a vertical position. When the front end of the inner arm 421 moves to the rear end of the item, the first push rod 431 rotates to a horizontal position and rests against the rear end surface of the item. Then, the inner arm 421 moves towards the temporary storage pallet 41, and the first push rod 431 pushes the item towards the temporary storage pallet 41, thus transferring the item from the storage rack to the temporary storage pallet 41. When the item needs to be stored on the storage rack, the first push rod 431 pushes the front end of the item, and the inner arm 421 moves towards the storage rack, pushing the item to an empty storage location on the storage rack. The front end of the target object refers to the end closest to the temporary storage plate 41, while the end opposite to the front end of the target object is the rear end of the target object.

[0555] Furthermore, the push rod assembly 43 also includes a second push rod 432, which is mounted on the rear end face of the inner arm 421 and can be rotated to a horizontal or vertical position relative to the rear end face of the inner arm 421, so that the second push rod 432 pushes the target object on the temporary storage plate 41 onto the robot shelf 2, or pushes the target object on the robot shelf 2 onto the temporary storage plate 41.

[0556] Specifically, when it is necessary to move the target object from the storage compartment 21 corresponding to the robot shelf 2 to the temporary storage pallet 41, the second push rod 432 is initially in a vertical state, and the inner arm 421 moves toward the robot shelf 2. When the front end of the inner arm 421 moves to the rear end of the target object, the second push rod 432 rotates to a horizontal state and rests against the rear end of the target object. At this time, the inner arm 421 moves toward the temporary storage pallet 41, and the second push rod 432 pushes the target object toward the temporary storage pallet 41, thereby moving the target object onto the temporary storage pallet 41. When it is necessary to move the target object on the temporary storage pallet 41 to the corresponding storage compartment 21 on the robot shelf 2, the second push rod 432 rests against the front end of the target object, and the inner arm 421 drives the second push rod 432 to move toward the storage compartment 21 on the robot shelf 2, thereby pushing the target object on the temporary storage pallet 41 to the corresponding storage compartment 21.

[0557] Based on the above embodiments, in order to extend the telescopic arm 42's telescopic path, the telescopic arm 42 further includes at least one intermediate arm 422. The intermediate arm 422 is installed between the inner arm 421 and the outer arm 423, and is movable relative to the inner arm 421 and the outer arm 423. The intermediate arm 422 can move relative to the outer arm 423, and the inner arm 421 can move relative to the intermediate arm 422. The telescopic arm 42 can be provided with multiple intermediate arms 422 between the inner arm 421 and the outer arm 423 according to the telescopic length, so that the telescopic arm 42 can push the target object to a more distant position, or push the target object at a more distant position to the temporary storage pallet 41 or the robot shelf 2.

[0558] Furthermore, the pushing assembly 43 also includes a driving member, which is connected to the first push rod 431 and the second push rod 432 respectively. The driving member drives the first push rod 431 and the second push rod 432 to rotate relative to the end face of the inner arm 421, so that the first push rod 431 and the second push rod 432 rotate to a horizontal or vertical position.

[0559] Figure 14 This is a schematic diagram of a fifth structure of the handling robot provided in this embodiment of the disclosure. Figure 15 This is a sixth structural schematic diagram of the handling robot provided in this embodiment. Based on the above embodiments, the handling robot provided in this embodiment further includes a support beam, which is mounted on the robot shelf 2 and can move up and down relative to the robot shelf 2. Each handling mechanism 4 is mounted on the support beam so that each handling mechanism 4 moves up and down relative to the robot shelf 2 along with the support beam.

[0560] The handling robot also includes a mounting frame (not shown in the figure) and a rotary assembly (not shown in the figure) mounted on the mounting frame. Each handling mechanism 4 is mounted on the rotary assembly, and the mounting frame is mounted on the support beam. The rotary assembly is used to drive each handling mechanism 4 to rotate in a plane perpendicular to the lifting direction of the support beam, so that the handling mechanism 4 can rotate to different directions.

[0561] The mounting frame includes two oppositely arranged mounting plates and a support beam connecting the two mounting plates. The two mounting plates are connected to the support beam. The rotating assembly includes a support plate mounted on the support beam, a rotating plate spaced apart from the support plate, and a cross bearing for connecting the support plate and the rotating plate. A first sprocket is connected to the cross bearing, and a second sprocket is provided on the rotating plate. A motor drives the second sprocket to rotate. The first sprocket and the second sprocket are connected by a chain. When the motor drives the second sprocket to rotate, the second sprocket drives the first sprocket to rotate through the chain. When the first sprocket rotates, it drives each conveying mechanism 4 located on the rotating plate to rotate around the axis of the first sprocket, so that at least two conveying mechanisms 4 rotate to different directions in a plane perpendicular to the lifting direction of the support beam.

[0562] The handling robot provided in this embodiment includes a robot shelf and two or more handling mechanisms installed on the robot shelf. These handling mechanisms are arranged at different levels along the lifting direction. When the handling robot is used for handling operations, these handling mechanisms can perform multiple handling tasks at the same time to realize the handling strategy of simultaneous retrieval, simultaneous storage, or simultaneous storage and retrieval, thereby improving handling efficiency and reducing the time spent on storing and retrieving target objects.

[0563] This embodiment also provides a readable storage medium storing a computer program, which, when executed by at least one processor of the server, performs the methods provided in the various embodiments described above.

[0564] This embodiment also provides a program product including a computer program stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the server to implement the methods provided in the various embodiments described above.

[0565] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A method for handling goods, characterized in that, The method includes: Obtain the robot's location information and available slot information; Based on the location information, the available slot information, and the location of the first target object included in the pickup task, the pickup task is assigned to the robot, and a pickup path is generated; The system estimates changes in the available slot information when the robot performs the pickup task, assigns a return task to the robot before, during, or after the pickup task, and determines the location of the available storage space for returning the second target item in the return task. Determining the location of an available storage space for the second target item in the return task includes: The robot is predicted to return the goods to the locations corresponding to V available storage locations, and the first moving distance is increased by the robot to retrieve the first target item according to the retrieval path; V is a natural number not less than U, and U is a natural number greater than 0; U available storage locations among the V available storage locations whose increased first moving distance is not greater than a second preset threshold are determined as the locations of the available storage locations; or, The system predicts the total time consumed by the robot to return goods to the locations corresponding to the V available storage locations, and the total time consumed to retrieve the first target item according to the retrieval path; where V is a natural number not less than U, and U is a natural number greater than 0; the difference between the total time consumed and the time consumed by the robot to retrieve the first target item according to the retrieval path is recorded as the first additional time consumed; and the U available storage locations among the V available storage locations whose first additional time consumed is not greater than a first preset threshold are determined as the locations of the available storage locations. Generate a handling task sequence, and instruct the robot to walk on the picking path. Execute the picking task and the return task according to the task order included in the handling task sequence. Obtain a request to cancel a transport task or a request to add a transport task, and reallocate the return task. Generate a planned path corresponding to the return task for the robot.

2. The method according to claim 1, characterized in that, When a request to cancel a delivery task is received, delete at least one of the pickup task and the return task. Based on the path optimization parameters, the robot's current position, the location of the available storage space for the second target item to be returned corresponding to the remaining return task, and the location of the first target item corresponding to the remaining pickup task, a planned path is generated for the remaining return task.

3. The method according to claim 1, characterized in that, When a new handling task request is received, at least one of the pickup task and the return task is added. Based on the path optimization parameters, the robot's current position, the location of the available storage space for the second target item to be returned corresponding to the newly added return task, and the location of the first target item corresponding to the newly added pickup task, a planned path corresponding to the newly added return task is generated.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: If it is determined that the planned path corresponding to the return task does not meet the reservation requirements, the return task will be reassigned.

5. A method for handling goods, characterized in that, The method includes: Obtain the robot's location information; Based on the location information and the location of the available storage space for returning the first target item, a return task is assigned to the robot, and a return path is generated; The system estimates changes in available slot information for the robot to perform the return task, assigns a pickup task to the robot before, during, or after the return task, and determines the pickup location for obtaining the second target item in the pickup task. Determining the pickup location for the second target item in the pickup task includes: The system predicts that the robot will reach M pickup locations to retrieve goods and return the first target item according to the return path, which will increase the second moving distance. N pickup locations out of the M locations, where the increased second moving distance is not greater than a fourth preset threshold, are determined as the pickup locations for the second target item. Here, N is a natural number greater than 0 and not greater than the total number of available slots indicated by the available slot information; M is a natural number not less than N. or, The second total time consumed by the robot to reach M pickup locations, retrieve goods, and return the first target item according to the return path is predicted. The difference between the second total time consumed and the time consumed by the robot to return the first target item according to the return path is recorded as the second additional time. Among the M pickup locations, N pickup locations whose second additional time is not greater than a third preset threshold are determined as the pickup locations of the second target item. Wherein, N is a natural number greater than 0 and not greater than the total number of free slots indicated by the free slot information; M is a natural number not less than N. Generate a handling task sequence, and instruct the robot to execute the return task and the pickup task according to the task order included in the handling task sequence while traveling on the return path; Get a request to cancel a handling task or a request to add a handling task, and then reassign the pickup task. Generate a planned path for the pickup task and provide it to the robot.

6. The method according to claim 5, characterized in that, When a request to cancel a transport task is received, delete at least one of the return task and the pickup task. Based on the robot's current position, the location of the available storage space for the second target item to be returned corresponding to the remaining return task, and the location of the first target item corresponding to the remaining pickup task, a planned path is generated for the remaining pickup task.

7. The method according to claim 5, characterized in that, When a new handling task request is received, at least one of the return task and the pickup task is added. Based on the robot's current position, the location of the available storage space for the second target item to be returned corresponding to the newly added return task, and the location of the first target item corresponding to the newly added pickup task, a planned path corresponding to the newly added pickup task is generated.

8. The method according to any one of claims 5-7, characterized in that, The method further includes: If it is determined that the planned path corresponding to the pickup task does not meet the reservation requirements, the pickup task will be reassigned.

9. The method according to claim 5, characterized in that, When assigning the pickup task and the return task, one or more of the following constraints shall be considered: The total travel time for the robot to complete the pickup and return tasks; The total number of times the robot performs pickup and return operations when completing the pickup and return tasks; The total distance the robot travels to complete the pickup and return tasks; The robot completes the pickup and return tasks with a certain load rate.

10. The method according to claim 5, characterized in that, When a shelf used for placing goods has two or more storage locations in the depth direction of the shelf, and the target location indicated by the picking task or the returning task is a location located at or after the second priority position among the storage locations, the method further includes: The robot is instructed to move non-target goods placed before the target object's location to the robot's available slot; Instruct the robot to perform a pickup or return task for the target item's location; The robot is instructed to return the non-target goods to their original storage location on the shelf, or to return them to an empty storage location; wherein the empty storage location belongs to the same shelf as the target item's location, or to a different shelf.

11. The method according to claim 5, characterized in that, Also includes: Assigning sorting tasks to the robot, the sorting tasks including: organizing target items, and / or adjusting the storage location of the target items; wherein: The timing of the sorting task includes any of the following situations: Before the pickup task and the return task; Between the pickup task and the return task; Following the pickup task and the return task; During the execution of any task in the task sequence consisting of the pickup task and the return task.

12. A method for handling goods, characterized in that, The method includes: Obtain a handling task sequence and a pickup path. The handling task sequence includes pickup tasks and return tasks. The execution of the return task is allocated before, between, or after the execution of the pickup task based on the change in the available slot information of the robot executing the pickup task. The pickup path is generated based on the robot's position information and the position of the first target object included in the pickup task. Based on the pickup route and the handling task sequence, the pickup task is executed upon reaching the location of the first target item, and the return task is executed upon reaching the location of an available storage space for returning the second target item; wherein, The location of the vacant storage space is the location corresponding to the U vacant storage spaces obtained from the return task. When the robot returns the goods according to the location corresponding to the U vacant storage spaces, the first additional moving distance is not greater than the second preset threshold, where U is a natural number greater than 0. or, The location of the free storage space is the location corresponding to the U free storage spaces obtained from the return task. The first increase in time generated when the robot returns the goods according to the location corresponding to the U free storage spaces is not greater than the first preset threshold, where U is a natural number greater than 0. Obtain the replanned route; wherein the planned route is obtained by adding or deleting at least one of the pickup task and the return task, and reallocating the return task.

13. The method according to claim 12, characterized in that, The planned path is generated based on the request to cancel the handling task, which deletes at least one of the picking task and the return task from the handling task sequence. The planned path is generated according to the path optimization parameters, the current position of the robot, the location of the free storage space for the second target item to be returned corresponding to the remaining return task, and the location of the first target item corresponding to the remaining picking task.

14. The method according to claim 12, characterized in that, The planned path is obtained in response to a new handling task request, which adds at least one of the picking task and the return task in the handling task sequence. The planned path for the new return task is generated based on path optimization parameters, the current position of the robot, the location of the available storage space for the second target item to be returned corresponding to the new return task, and the location of the first target item corresponding to the new picking task.

15. A method for handling goods, characterized in that, The method includes: Obtain a handling task sequence and a return path. The handling task sequence includes a return task and a pickup task. The pickup task is assigned before, during, or after the execution of the return task based on the change in the available slot information of the robot when executing the return task. The return path is generated based on the robot's position information and the location of the available storage slot for returning the first target item. Based on the return path and the handling task sequence, the return task is executed upon reaching the location of the available storage space for the first target item, and the pickup task is executed upon reaching the pickup location for the second target item; wherein... The pickup location of the second target item is determined as N pickup locations where the robot reaches M pickup locations and returns to the return path, and the increased second movement distance is not greater than the fourth preset threshold; wherein, N is a natural number greater than 0 and not greater than the total number of free slots indicated by the free slot information; M is a natural number not less than N; or, The pickup locations for the second target item are determined as the N pickup locations where the robot reaches M pickup locations and returns to the return path, with the additional time taken not exceeding a third preset threshold. Here, N is a natural number greater than 0 and not greater than the total number of available slots indicated by the available slot information; M is a natural number not less than N. Obtain the replanned route; wherein the planned route is obtained by adding or deleting at least one of the pickup task and the return task, and reallocating the pickup task.

16. The method according to claim 15, characterized in that, The planned path is obtained in response to the request to cancel the handling task, thereby deleting at least one of the picking task and the return task from the handling task sequence. Based on the path optimization parameters, the current position of the robot, the location of the available storage space for the second target item to be returned corresponding to the remaining return task, and the location of the first target item corresponding to the remaining picking task, a planned path is generated for the remaining picking task.

17. The method according to claim 15, characterized in that, The planned path is obtained in response to a new handling task request, which adds at least one of the picking task and the return task in the handling task sequence. The planned path for the new picking task is generated based on path optimization parameters, the current position of the robot, the location of the free storage space for the second target item to be returned corresponding to the new return task, and the location of the first target item corresponding to the new picking task.

18. The method according to claim 15, characterized in that, The pickup and return tasks are subject to one or more of the following constraints: The total travel time for the robot to complete the pickup and return tasks; The total number of times the robot performs pickup and return operations when it completes pickup and return tasks; The total distance the robot travels to complete the pickup and return tasks; The cargo loading rate of the robot in completing pickup and return tasks.

19. The method according to claim 15, characterized in that, When a shelf used for placing goods has two or more storage locations in the depth direction of the shelf, and the target location indicated by the picking task or the returning task is a location located at or after the second priority position among the storage locations, the method further includes: Non-target goods placed before the target object's location are moved to the robot's empty slot; Perform a pickup or return task targeting the location of the object; The non-target goods are returned to their original storage location on the shelf, or the non-target goods are returned to an empty storage location; wherein the empty storage location belongs to the same shelf as the target item location, or to a different shelf.

20. The method according to claim 15, characterized in that, Also includes: The receiving server assigns a sorting task, which includes: sorting the target items and / or adjusting the storage location of the target items; Execute the cargo handling task; wherein the timing of the execution of the cargo handling task includes any of the following situations: Before the pickup task and the return task; Between the pickup task and the return task; Following the pickup task and the return task; During the execution of any task in the task sequence consisting of the pickup task and the return task.

21. A cargo handling apparatus for performing the cargo handling method according to any one of claims 1 to 11, characterized in that, The device includes: The acquisition module is used to acquire the robot's position information and available slot information; The processing module is used to assign a second handling task to the robot based on the location information, the available slot information, and the location of the first target object included in the first handling task; wherein, one of the first handling task and the second handling task is a pickup task and the other is a return task.

22. A cargo handling apparatus for performing the cargo handling method according to any one of claims 12 to 19, characterized in that, The device includes: The sending module obtains the transport task sequence to execute the first transport task; An execution module is configured to execute a second transport task during the execution of the first transport task, wherein one of the first transport task and the second transport task is a pickup task and the other is a return task; wherein the second transport task is obtained during the execution of the first transport task, or the acquired transport task sequence includes the second transport task.

23. A server, characterized in that, include: processor; as well as, Memory for storing the executable instructions of the processor; The processor is configured to perform the cargo handling method of any one of claims 1 to 11 by executing the executable instructions.

24. A transport robot, comprising: A robot body, characterized in that the robot body further includes: a memory and a processor, wherein the memory is used to store executable instructions of the processor; The processor is configured to perform the cargo handling method of any one of claims 12 to 20 by executing the executable instructions.

25. A warehousing system, characterized in that, include: The system includes a handling robot, a server, shelves, and an operating platform, with the handling robot and the server communicating with each other. The server is used to execute the cargo handling method according to any one of claims 1 to 11; The transport robot is used to perform the cargo transport method according to any one of claims 12 to 20, so as to realize cargo transport between shelves and operating platforms.

26. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the cargo handling method according to any one of claims 1 to 20.

27. A robot, characterized in that, For performing any one of 12 to 20, a cargo handling method is used to realize cargo handling between shelves and operating platforms. The robot includes a mobile base, a robot shelf, a lifting device, and an item handling device. The mobile base is a support structure for the robot, used to support and carry other components and / or devices of the robot for movement. The mobile base can carry the robot shelf and the target objects stored on the robot shelf to move within the storage area. The robot shelf includes two vertically arranged columns on the mobile base. The item handling device is installed between the two columns and can be lifted and moved relative to the two columns.

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