Cargo arranging method, device, warehousing system and storage medium

Abstract

The application provides a goods arrangement method, device, warehouse system and storage medium. The goods arrangement method comprises: determining a target robot capable of performing a warehouse arrangement task; determining a first target goods shelf on which the target robot performs a warehouse arrangement operation according to a state attribute of the target robot; and controlling the target robot to perform the warehouse arrangement operation on the first target goods shelf. For a goods shelf adopting a dynamic storage location mechanism, the application first determines a target robot capable of performing a warehouse arrangement task, then allocates a corresponding first target goods shelf to the target robot based on a state attribute of the target robot, and controls the target robot to perform a warehouse arrangement operation on the first target goods shelf. Thus, the warehouse management device controls the robot to perform a warehouse arrangement, which can realize automatic warehouse arrangement of the warehouse system, has high warehouse arrangement efficiency and high accuracy, and thus helps to improve the warehouse efficiency of the warehouse system.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, and in particular to a cargo sorting method, equipment, warehousing system and storage medium. Background Technology

[0002] Intelligent warehousing systems based on warehousing robots employ intelligent operating systems to automatically retrieve and store goods through system commands. They can operate 24 hours a day without interruption, replacing manual management and operation, improving warehousing efficiency, and have been widely used and favored.

[0003] To improve the storage efficiency of a warehousing system, it is necessary to organize the goods stored on the shelves, which is called warehouse management. For dynamic storage locations, warehouse management is particularly important to ensure that the goods on the shelves are stored in a reasonable and orderly manner.

[0004] The formulation of existing inventory management strategies largely relies on human involvement, requiring professional inventory management personnel to determine the appropriate inventory management strategy based on the storage conditions of the warehouse system's shelves. This results in low inventory management efficiency, leading to unreasonable space utilization and low warehousing efficiency in the warehouse system. Summary of the Invention

[0005] This application provides a cargo sorting method, equipment, warehousing system, and storage medium, which realizes automatic inventory management in the warehousing system, with high efficiency and accuracy, thereby improving the warehousing efficiency of the warehousing system.

[0006] In a first aspect, this application provides a goods sorting method applied to warehouse management equipment, comprising:

[0007] Identify the target robot capable of performing the library task;

[0008] The first target shelf for the target robot to perform warehouse operations is determined based on the state attributes of the target robot, wherein the storage space for each item on the first target shelf is determined based on the size information of the item and the dynamic storage space of the item on the shelf;

[0009] Control the target robot to perform warehouse management operations on the first target shelf.

[0010] In some embodiments, determining the target robot capable of performing the library task includes:

[0011] The first robot currently in an idle state is identified as the target robot; and / or,

[0012] The second robot that is currently performing a pickup and delivery task, and whose pickup and delivery task execution time is shorter than the allocated time, is identified as the target robot.

[0013] In some embodiments, the target robot is the second robot, and determining the first target shelf for which the target robot will perform warehouse operations based on the state attributes of the target robot includes:

[0014] The shelf corresponding to the picking and placing task is determined as the first target shelf for the target robot to perform the warehouse operation.

[0015] In some embodiments, the target robot is the first robot or the second robot, and determining the first target shelf for which the target robot will perform warehouse operations based on the state attributes of the target robot includes:

[0016] Based on the warehouse management priority, the first target shelf is determined from multiple shelves; or,

[0017] Based on the distance between the target robot and the shelf, the first target shelf is determined from the plurality of shelves; or,

[0018] The first target shelf is determined from the plurality of shelves based on the shelf management priority and the distance between the target robot and the shelf.

[0019] In some embodiments, it also includes:

[0020] The shelf management priority for each shelf among the plurality of shelves is determined based on one or more of the following: shelf area priority, shelf occupancy rate, and shelf management interval.

[0021] The priority of the shelf area refers to the priority of the area where the shelf is located. The priority of the shelf area is directly proportional to the popularity of the area where the shelf is located. The popularity of the area where the shelf is located is directly proportional to the frequency of shelf organization.

[0022] The shelf occupancy rate is the ratio of the total length of the fragmented space on the shelf to the total length of the goods. The total length of the fragmented space is the sum of the lengths of the fragmented spaces on the shelf. The fragmented space length is the interval length between adjacent first and second goods, and the interval length is less than a preset value. The total length of the goods is the sum of the lengths of the goods already stored on the shelf. The shelf occupancy rate is directly proportional to the shelf management priority.

[0023] The shelf management interval is the time interval between the most recent shelf management operation and the current time.

[0024] In some embodiments, determining the shelf management priority for each shelf among the plurality of shelves based on one or more of shelf area priority, shelf occupancy rate, and shelf management interval includes:

[0025] Based on the shelf area priority, shelf occupancy rate, and shelf management interval, the shelf management priority for each shelf is calculated using the following formula:

[0026] Q i =O i ×a+P i ×b+T i ×c

[0027] Among them, Q i Let i be the shelf management priority of the i-th shelf, i = 1, 2, 3…N, where N is the total number of shelves; O i Let P be the shelf occupancy rate of the i-th shelf; i The priority of the shelf area for the i-th shelf; T i Let be the shelf management interval for the i-th shelf; a is the weight coefficient corresponding to the shelf occupancy rate, b is the weight coefficient corresponding to the shelf area priority, and c is the weight coefficient corresponding to the shelf management interval.

[0028] In some embodiments, determining the first target shelf from the plurality of shelves based on the distance between the target robot and the shelf includes:

[0029] The shelf that is determined to be the first target shelf is the shelf that is less than a first preset distance threshold and for which no other robot besides the target robot is performing operations.

[0030] In some embodiments, determining the first target shelf from the plurality of shelves based on shelf management priority and the distance between the target robot and the shelf includes:

[0031] The shelf that is determined to be the first target shelf is one that is less than a second preset distance threshold, has a shelf management priority greater than a preset priority threshold, and has no other robots other than the target robot performing operations.

[0032] In some embodiments, controlling the target robot to perform inventory management operations on the first target shelf includes:

[0033] Based on the goods already stored on the first target shelf, determine the inventory management strategy corresponding to the first target shelf;

[0034] According to the library management strategy, the target robot is controlled to perform library management operations.

[0035] In some embodiments, determining the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf includes:

[0036] Based on one or more of the following factors—the heat of goods stored on the first target shelf, the spacing between goods, and the preset safety distance—a warehouse management strategy for organizing the goods stored on the first target shelf is determined, wherein the heat of goods represents the frequency at which the stored goods are taken out.

[0037] In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and determining the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf includes:

[0038] Based on the spacing between the goods already stored on the first target shelf and the preset safety spacing, the inventory management strategy corresponding to the first target shelf is determined.

[0039] In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and determining the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf includes:

[0040] Based on the heat value of the goods already stored on the first target shelf, a warehouse management strategy corresponding to the first target shelf is determined so that goods with a heat value higher than a preset heat value are placed in the first row of each layer of the first target shelf.

[0041] In some embodiments, the library strategy includes at least one of the following:

[0042] Adjust the storage position of the stored goods so that the distance between the goods is a preset safe distance;

[0043] Adjust the storage location of the stored goods so that goods with the same size or a size difference within a preset range are stored adjacent to each other;

[0044] In the process of adjusting the storage location of the stored goods, the priority of adjusting the location of the goods is inversely proportional to the size of the goods.

[0045] In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots.

[0046] When the target robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

[0047] In some embodiments, it also includes:

[0048] Check whether the library conditions are met;

[0049] Once the conditions for determining the appropriate library are met, the steps for determining the target robot capable of performing the appropriate library task are initiated.

[0050] In some embodiments, it also includes:

[0051] Assign retrieval and placement tasks to the target robot that is performing inventory management operations, control the target robot to stop performing inventory management operations, and execute the retrieval and placement tasks.

[0052] In some embodiments, it also includes:

[0053] When it is detected that the area where the target robot performs inventory management operations on the first target shelf overlaps with the area where the second robot performs picking and placing tasks, a second target shelf that is different from the first target shelf is identified, and the target robot is controlled to perform inventory management operations on the second target shelf.

[0054] Secondly, this application provides a goods sorting method applied to a robot, comprising:

[0055] The warehouse management device receives a first control command sent by the warehouse management device. The first control command is sent to the target robot after the warehouse management device determines the target robot that can perform the warehouse management task and determines the first target shelf for the target robot to perform the warehouse management operation based on the status attributes of the target robot. The storage space of each item on the first target shelf is determined based on the size information of the item and the dynamic storage space of the item on the shelf.

[0056] According to the first control command, perform warehouse management operation on the first target shelf.

[0057] In some embodiments, the first control command includes a warehouse management strategy corresponding to the first target shelf, determined by the warehouse management device based on the goods already stored on the first target shelf;

[0058] According to the first control command, perform inventory management operations on the first target shelf, including:

[0059] According to the inventory management strategy corresponding to the first target shelf in the first control instruction, the inventory management operation is performed on the first target shelf.

[0060] In some embodiments, performing inventory management operations on the first target shelf according to the first control command includes:

[0061] Based on the goods already stored on the first target shelf, determine the inventory management strategy corresponding to the first target shelf;

[0062] Based on the inventory management strategy corresponding to the first target shelf, perform inventory management operations on the first target shelf.

[0063] In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps:

[0064] Based on one or more of the following factors—the heat of goods stored on the first target shelf, the spacing between goods, and the preset safety distance—a warehouse management strategy for organizing the goods stored on the first target shelf is determined, wherein the heat of goods represents the frequency at which the stored goods are taken out.

[0065] In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps:

[0066] Based on the spacing between the goods already stored on the first target shelf and the preset safety spacing, the inventory management strategy corresponding to the first target shelf is determined.

[0067] In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration, and the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps:

[0068] Based on the heat value of the goods already stored on the first target shelf, a warehouse management strategy corresponding to the first target shelf is determined so that goods with a heat value higher than a preset heat value are placed in the first row of each layer of the first target shelf.

[0069] In some embodiments, the library strategy includes at least one of the following:

[0070] Adjust the storage location of the stored goods so that the distance between the goods is the preset safe distance;

[0071] Adjust the storage location of the stored goods so that goods with the same size or a size difference within a preset range are stored adjacent to each other;

[0072] In the process of adjusting the storage location of the stored goods, the priority of adjusting the location of the goods is inversely proportional to the size of the goods.

[0073] In some embodiments, adjusting the storage position of the stored goods so that the distance between the goods is a preset safe distance includes:

[0074] Determine the reference point information of the stored goods;

[0075] The storage location of the stored goods is adjusted according to the reference point information so that the distance between the goods is a preset safe distance.

[0076] In some embodiments, the reference point includes one or more of the following: the upright of the first target shelf, the marker point of the first target shelf, and one or more goods placed in an adjacent position to the stored goods.

[0077] In some embodiments, it also includes:

[0078] Receive a second control command sent by the warehouse management equipment, the second control command including a pick-up and release task;

[0079] The second control instruction stops the warehouse operation and executes the pick-up and drop-off task.

[0080] In some embodiments, it also includes:

[0081] The third control instruction is sent by the warehouse management equipment. The third control instruction is sent by the warehouse management equipment to the target robot after detecting that there is an overlapping area between the area where the target robot performs the warehouse management operation on the first target shelf and the area where the second robot performs the picking and placing task, and after determining that the second target shelf is different from the first target shelf. The third control instruction includes information about the second target shelf.

[0082] According to the third control command, a warehouse management operation is performed on the second target shelf.

[0083] Thirdly, this application provides a warehouse management device, including: a memory and at least one processor;

[0084] The memory stores computer-executed instructions;

[0085] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the above-described cargo sorting method.

[0086] Fourthly, this application provides a robot, including: a memory and at least one processor;

[0087] The memory stores computer-executed instructions;

[0088] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the above-described cargo sorting method.

[0089] In some embodiments, the robot includes a mobile chassis, a handling device, a storage rack, and a lifting assembly; the storage rack, the handling device, and the lifting assembly are mounted on the mobile chassis.

[0090] In some embodiments, the handling device includes one or more of the following: a telescopic arm assembly, a suction cup, and a robotic arm.

[0091] In some embodiments, the handling device includes a pallet and a steering structure for changing the orientation of goods placed on the pallet.

[0092] Fifthly, this application provides a warehousing system, including: the aforementioned warehouse management equipment and the aforementioned robot.

[0093] Sixthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described cargo sorting method.

[0094] In some embodiments, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described cargo sorting method.

[0095] This application provides a goods sorting method, equipment, warehousing system, and storage medium. The goods sorting method includes: determining a target robot capable of performing the sorting task; determining a first target shelf for the target robot to perform the sorting operation based on the target robot's state attributes, wherein the storage space for each item on the first target shelf is determined based on the item's size information and the dynamic storage space of the items on the shelf; and controlling the target robot to perform the sorting operation on the first target shelf. For shelves employing a dynamic storage location mechanism, this application first determines the target robot to perform the sorting task, then assigns a corresponding first target shelf to the target robot based on its state attributes, and controls the target robot to perform the sorting operation on the first target shelf. Thus, by controlling the robot to perform sorting through warehouse management equipment, automatic sorting of the warehousing system can be achieved, with high sorting efficiency and accuracy, thereby helping to improve the warehousing efficiency of the warehousing system. Attached Figure Description

[0096] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0097] Figure 1A This is a schematic diagram illustrating the storage configuration under a one-dimensional configuration method provided in one embodiment of this application;

[0098] Figure 1B For this application Figure 1A The illustrated embodiment provides a schematic diagram of the storage situation after the goods have been placed.

[0099] Figure 1C This is a schematic diagram illustrating the storage configuration under a two-dimensional arrangement according to one embodiment of this application.

[0100] Figure 1D For this application Figure 1C A schematic diagram illustrating the storage situation after the goods are placed in the corresponding embodiment;

[0101] Figure 1E For this application Figure 1C A schematic diagram illustrating the storage situation after the goods are placed in the corresponding embodiment;

[0102] Figure 1F This is a schematic diagram of the structure of a robot provided in one embodiment of this application;

[0103] Figure 1G For this application Figure 1F A schematic diagram of the structure of a conveying device in the embodiment shown;

[0104] Figure 1H For this application Figure 1F The structure of a robot and its handling device in the illustrated embodiment;

[0105] Figure 1I For this application Figure 1F A schematic diagram of the structure of a conveying device in the embodiment shown;

[0106] Figure 1J For this application Figure 1I A schematic diagram of another conveying device in the illustrated embodiment;

[0107] Figure 1K For this application Figure 1F A schematic diagram of another conveying device in the illustrated embodiment;

[0108] Figure 1L For this application Figure 1F A schematic diagram of another conveying device in the illustrated embodiment;

[0109] Figure 2A This is an application scenario diagram of the cargo storage method provided in the embodiments of this application;

[0110] Figure 2B This is another application scenario diagram of the cargo storage method provided in the embodiments of this application;

[0111] Figure 3 A flowchart illustrating a cargo sorting method provided in one embodiment of this application;

[0112] Figure 4 This is an example diagram of goods stored on a shelf in an embodiment of this application;

[0113] Figure 5 A flowchart illustrating another cargo sorting method provided in one embodiment of this application;

[0114] Figure 6 This is a schematic diagram illustrating the storage conditions of a type of problematic goods in an embodiment of this application;

[0115] Figure 7 This is a schematic diagram illustrating the storage situation of another type of problematic goods in an embodiment of this application;

[0116] Figure 8 This is a schematic diagram illustrating the storage of goods according to an embodiment of this application;

[0117] Figure 9 This is a schematic diagram of the structure of a goods sorting device provided in one embodiment of this application;

[0118] Figure 10 This is a schematic diagram of the structure of another goods sorting device provided in one embodiment of this application;

[0119] Figure 11 This is a schematic diagram of the structure of a robot provided in one embodiment of this application;

[0120] Figure 12 This is a schematic diagram of the structure of a warehouse management device provided in one embodiment of this application;

[0121] Figure 13 This is a schematic diagram of the structure of a warehousing system provided in one embodiment of this application.

[0122] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0123] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0124] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0125] The application scenarios of the embodiments of this application are explained below:

[0126] This application is applied to scenarios where cargo storage space is dynamically configured. This application provides a cargo placement method that dynamically configures cargo storage space, which is different from fixed storage locations.

[0127] Dynamic configuration of cargo storage space refers to the following: after the system determines the cargo to be stored, it allocates a first storage space that matches the size of the cargo from the existing unoccupied space according to the size of the cargo. The unoccupied space can be any size space, and does not include the pre-defined fixed storage locations. The first storage space can accommodate the cargo to be stored, and the fixed storage location refers to a pre-set storage location in the warehouse, with a fixed position and a determined size.

[0128] Dynamic cargo storage space can be a space where cargo storage space can be dynamically configured.

[0129] For example, dynamically configuring cargo storage space includes at least one-dimensional and / or two-dimensional configuration methods.

[0130] For example, Figure 1A This is a schematic diagram of the storage situation under a one-dimensional configuration provided in an embodiment of this application. In conjunction with the XY coordinate system, the one-dimensional configuration means that the goods in each layer of the goods storage space can only be placed in a row in the depth Y direction. In the one-dimensional configuration, the goods storage space includes a first unoccupied space and / or a first occupied space. Specifically, the first occupied space is the space where goods have been placed in the goods entry and exit direction.

[0131] For example, Figure 1C This is a schematic diagram illustrating the storage situation under a two-dimensional configuration according to an embodiment of this application. Under the XY coordinate system, the two-dimensional configuration means that goods in each layer of the storage space can be placed in one row, multiple rows, or a mixture of one and multiple rows in the depth Y direction. That is, the two-dimensional configuration allows goods in the storage space to be placed in multiple rows in the depth Y direction. In this configuration, the storage space includes a second unoccupied space and / or a second occupied space. Specifically, the second unoccupied space includes space not occupied by goods in the direction of goods entry and exit.

[0132] For example, Figure 1A This is a schematic diagram illustrating the storage configuration in a one-dimensional configuration according to an embodiment of this application. In the one-dimensional configuration, as shown... Figure 1A As shown, the unoccupied space in the dynamically configured cargo storage space mentioned above is like... Figure 1ASpaces 101a, 101b, and 101c. After the system confirms the goods to be stored, goods 100a, it will find the first storage space that best matches goods 100a from the unoccupied spaces, namely spaces 101a, 101b, and 101c, for example, space 101c.

[0133] Figure 1B For this application Figure 1A The illustrated embodiment provides a schematic diagram of the storage situation after the goods have been placed, as shown in the figure. Figure 1B As shown, after the goods 100a are placed, the current unoccupied spaces are spaces 101a, 101b and 101d. Among them, space 101d is the newly defined unoccupied space after space 101c is partially occupied by goods 100a.

[0134] Figure 1C This is a schematic diagram illustrating the storage situation under a two-dimensional configuration provided in one embodiment of this application, as shown in the figure. Figure 1C As shown, in terms of the two-dimensional configuration, the unoccupied space on the shelf refers to... Figure 1C Spaces 101e and 101f. After the system confirms the goods to be stored, goods 100b, it will find the first storage space that best matches goods 100b from the unoccupied spaces, namely spaces 101e and 101f, for example, space 101e.

[0135] Figure 1D For this application Figure 1C A schematic diagram of the storage situation after the goods are placed in the corresponding embodiment is shown, as follows: Figure 1D After goods 100b are placed, the current unoccupied spaces are spaces 101f and 101g. Among them, space 101g is the newly defined unoccupied space after space 101e is partially occupied by goods 100b.

[0136] Figure 1E For this application Figure 1C A schematic diagram of the storage situation after the goods are placed in the corresponding embodiment is shown in the reference. Figure 1C , 1D and Figure 1E It can be seen that, Figure 1D and Figure 1E The orientation of cargo 100b when placed varies, meaning that cargo 100b can be rotated during placement, i.e., the orientation of the cargo to be stored can be changed during placement. After cargo 100b is placed, the currently unoccupied spaces are spaces 101f and 101h. Among them, space 101h is the newly defined unoccupied space after space 101e is partially occupied by cargo 100b.

[0137] For example, Figure 1FThis is a schematic diagram of the structure of a robot provided in one embodiment of this application; as shown below. Figure 1F As shown, the handling robot 80 includes a mobile chassis 83, a storage rack 82, a handling device 84, and a lifting assembly 81. The storage rack 82, the handling device 84, and the lifting assembly 81 are all mounted on the mobile chassis 83, and several storage units are arranged on the storage rack 82. The lifting assembly 81 drives the handling device 84 to move vertically, aligning the handling device 84 with any storage unit on the storage rack 82, or with the rack and / or goods. The handling device 84 can rotate about a vertical axis to adjust its orientation, aligning with a storage unit, or with the rack and / or goods. The handling device 84 is used to load or unload goods, moving goods between the rack and the storage units.

[0138] For example, the storage rack 82 can be configured or not configured. When the storage rack 82 is not configured, the goods are stored in the accommodating space of the handling device 84 during the handling of goods by the robot 80.

[0139] The robot 80 in the above embodiments can perform the cargo storage method shown in this application to realize cargo handling between the shelf and the operating platform.

[0140] During the process of robot 80 performing the task of storing goods, robot 80 moves to the location of the designated storage space for goods, and uses lifting component 81 in conjunction with handling device 84 to move goods from storage unit of storage rack 82 to rack.

[0141] For example, Figure 1G For this application Figure 1F A schematic diagram of the structure of a conveying device in the embodiment shown.

[0142] For example, the handling device 84 is mounted on the bracket 86 via a rotating mechanism 85. The rotating mechanism 85 is used to rotate the handling device 84 relative to the bracket 86 about a vertical axis to align it with the storage unit, or with the shelf and / or goods. The handling device 84 is used to move goods between the storage unit and the shelf. If the handling device 84 is not aligned with the shelf and / or goods, the rotating mechanism 85 can rotate the handling device 84 relative to the bracket 86 to ensure that the handling device 84 is aligned with the shelf and / or goods.

[0143] Figure 1H For this application Figure 1F The illustrated embodiment shows the structure of a robot and its handling device. (Cooperation) Figure 1F and Figure 1GUnderstandably, depending on the actual situation, the rotating mechanism 85 can be omitted. For example, the handling robot 80 moves along a fixed track, and after moving to the vicinity of the shelf, the handling device 84 is always aligned with the shelf and / or the goods, and the goods are simply positioned in the picking and placing direction of the handling device 84.

[0144] For example, Figure 1I For this application Figure 1F The schematic diagram shown in the embodiment illustrates the structure of a conveying device. Please refer to it for further information. Figure 1G Facilitates understanding. For example... Figure 1I As shown, the handling device 84 includes a pallet 841 and a telescopic arm assembly. The pallet 841 is used to place goods and can be a horizontally positioned flat plate. The telescopic arm assembly is used to push the goods placed on the pallet 841 out of the pallet 841 or pull the goods onto the pallet 841. The telescopic arm assembly includes a telescopic arm 843, a fixed push rod 842, and a movable push rod 844. The telescopic arm 843 includes a left telescopic arm and a right telescopic arm, which can extend horizontally. In a direction perpendicular to the extension direction of the telescopic arm 843 and parallel to the pallet 841, the telescopic arm 843 is located on one side of the pallet 841. The telescopic arm 843 is powered by a motor and the power is transmitted by a sprocket mechanism. Depending on the actual situation, the sprocket mechanism can be replaced by a pulley mechanism, a lead screw mechanism, or other transmission mechanism. The fixed push rod 842 and the movable push rod 844 are both mounted on the telescopic arm 843 and can extend together with the telescopic arm 843. The fixed push rod 842 and the pallet 841 are located on the same side of the telescopic arm 843. When the telescopic arm 843 is extended, the fixed push rod 842 is used to push the goods off the pallet 841. The movable push rod 844 can retract into the telescopic arm 843. When the movable push rod 844 is not retracted into the telescopic arm 843, the movable push rod 844, the fixed push rod 842, and the pallet 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is located along the extension direction of the fixed push rod 842 in the telescopic arm 843. The movable push rod 844 can be directly driven by a motor, or, depending on the actual situation, power can be transmitted through a transmission mechanism such as a gear set or a linkage mechanism. When the movable push rod 844 is not retracted into the telescopic arm and the telescopic arm 843 is retracted, the movable push rod 844 is used to pull the goods onto the pallet 841.

[0145] For example, the fixed push rod 842 of the conveying device 84 can be designed as a finger rod structure similar to the movable push rod 844.

[0146] For example, the handling device 84 can be designed with an adjustable spacing width between the telescopic arm assemblies. When storing / retrieving goods, the spacing width of the telescopic arm assemblies can be adjusted according to the size of the goods.

[0147] For example, the handling device 84 may also include a steering structure, such as a turntable, which can be used to change the orientation of goods placed on its pallet 841. Figure 1J For this application Figure 1I The schematic diagram of another conveying device in the illustrated embodiment, combined with... Figure 1J and Figure 1I It can be seen that the conveying device 84 may also include a steering structure, i.e. Figure 1I The turntable 845 in the middle is used to change the orientation of the goods placed on its pallet 841.

[0148] For example, Figure 1K For this application Figure 1F The schematic diagram of another handling device in the illustrated embodiment shows that the handling device 84a includes one or more suction cups 846 disposed on a fixed push rod 842, which may be rod-shaped or plate-shaped. When storing / retrieving goods, the fixed push rod 842 can be driven to move in a forward / backward direction toward the goods and / or the shelf. The suction cups 846 adsorb the goods, and in conjunction with the displacement of the fixed push rod 842, the goods are moved onto the shelf or onto the pallet 841.

[0149] For example, Figure 1L For this application Figure 1F Another embodiment of the conveying device shows a structure in which the conveying device 84b includes one or more robotic arms 847 configured at appropriate positions on the fixed push rod 842 and / or the conveying device 84b. When storing / retrieving goods, the fixed push rod 842 can be driven to move in a forward / backward direction toward the goods and / or the shelf. The robotic arms 847 grip / hook the goods, coordinating with the displacement of the fixed push rod 842 to move the goods onto the shelf or onto the pallet 841.

[0150] For example, the conveying device (84a, 84b) may also include a steering structure, such as Figure 1J , Figure 1K The turntable 845 in the middle is used to change the orientation of the goods placed on its pallet 841.

[0151] The transport device structure shown in the embodiments of this application may include a combination of one or more of the above examples.

[0152] The beneficial effect is that, compared to telescopic arms, the use of suction cups, robotic arms, and other structures can reduce the safe distance between goods, thereby increasing the density of goods on the shelves of the warehousing system, improving space utilization, and reducing warehousing costs.

[0153] Figure 2A as well as Figure 2B This is an application scenario diagram of the goods sorting method provided in the embodiments of this application, such as... Figure 2Aas well as Figure 2B As shown, the goods sorting method provided in this application embodiment can be executed by the warehouse management equipment 230 or the robot 210 of the warehousing system 200. The warehousing system 200 uses the robot 210 to retrieve and / or store goods on the shelves 220, and adjust the storage position of goods, thereby achieving the purpose of managing the shelves 220. The warehouse management equipment 230 performs path planning, status monitoring and scheduling of the robot 210, so that the robot 210 moves to a set position to retrieve and / or store the corresponding goods, and adjust the storage position of goods. The warehouse management equipment 230 also stores the storage information of each storage space of the shelves 220 and the basic information of each goods to facilitate warehouse management.

[0154] refer to Figure 2A In order to place the goods to be stored 221 at the target location 222, the goods to be stored 221 are usually first placed in the storage unit of the robot 210 or on the handling device 211. When the robot 210 receives the storage instruction from the warehouse management device 230, the robot 210 moves to the corresponding location P1 according to the storage instruction, and then places the goods to be stored 221 on the target location 222 of the shelf 220 corresponding to the storage instruction, thereby completing the storage or warehousing of the goods to be stored 221.

[0155] refer to Figure 2B When the warehouse management equipment 230 controls the robot 210 to perform inventory management operations, the warehouse management equipment 230 can send inventory management instructions to the robot 210. When the robot 210 receives the inventory management instructions from the warehouse management equipment 230, the robot 210 moves to the corresponding position P2 according to the inventory management instructions. Then, the robot 210 performs inventory management operations on the shelves 220 that need to be managed according to the inventory management instructions. Specifically, the storage position of goods on the shelves 220 is determined according to the above-mentioned method of dynamically configuring the storage space of goods.

[0156] In existing technologies, the formulation of inventory management strategies largely relies on human participation, requiring professional inventory management personnel to determine the corresponding inventory management strategies based on the storage conditions of the warehouse system's shelves. This results in low inventory management efficiency, leading to unreasonable space utilization and low warehousing efficiency in the warehouse system.

[0157] To improve inventory management efficiency, this application provides a goods sorting method. For shelves using a dynamic storage location mechanism, this application first determines the target robot to perform the inventory management task, then assigns a corresponding first target shelf to the target robot based on the target robot's state attributes, and controls the target robot to perform inventory management operations on the first target shelf. Thus, by controlling the robot to perform inventory management through warehouse management equipment, automatic inventory management of the warehousing system can be achieved, with high inventory management efficiency and accuracy, thereby helping to improve the warehousing efficiency of the warehousing system.

[0158] Figure 3 A flowchart of a cargo sorting method provided in one embodiment of this application is shown below. Figure 3 As shown, this goods sorting method can be executed by the warehouse management equipment of the warehousing system. The goods sorting method provided in this embodiment includes the following steps:

[0159] S110. Determine the target robot capable of performing the library task.

[0160] The target robot is a robot within the warehousing system. When goods need to be sorted, the warehouse management equipment identifies the robot that can perform the sorting task from among multiple robots in the warehousing system and designates that robot as the target robot.

[0161] S120. Determine the first target shelf for the target robot to perform the warehouse operation based on the state attributes of the target robot, wherein the storage space for each item on the first target shelf is determined based on the size information of the item and the dynamic storage space of the item on the shelf.

[0162] Among them, the state attribute is the attribute information representing the state of the target robot, and the storage space of each item on the first target shelf is determined according to the size information of the item and the dynamic storage space of the item on the shelf. That is, the first target shelf for performing the warehouse operation is the shelf that stores the item based on the above-mentioned dynamic configuration of the storage space rules.

[0163] When warehouse management equipment identifies a target robot, the target robot may be in different states, such as an idle state where no task is being performed, or a working state where a picking or placing task is being performed. When the robot's state attributes are different, the target shelf for its inventory management operation may also be different. Therefore, the warehouse management equipment determines the first target shelf for the target robot to perform its inventory management operation based on the target robot's state attributes.

[0164] S130: Control the target robot to perform warehouse management operations on the first target shelf.

[0165] After identifying the first target shelf corresponding to the target robot, the warehouse management equipment can send a storage management command to the target robot, thereby controlling the target robot to perform storage management operations on the first target shelf. When the robot receives the storage management command from the warehouse management equipment, it moves to the location of the first target shelf according to the command, and then performs storage management operations on the first target shelf according to the command, thus achieving automatic storage management.

[0166] Specifically, the content of the inventory management instructions can be diverse. For example, the instructions could include the identification and location of the first target shelf. After the robot moves to the first target shelf according to the instructions, it uses sensors to detect the placement posture of the stored goods on the first target shelf and the distance between them and adjacent goods, thereby determining the goods that need to be managed and performing the management operation on them. Alternatively, the instructions could include a retrieval instruction for any goods on the first target shelf that need to be organized, and / or a placement instruction for that goods. The placement instruction could include the placement position of the goods that need to be organized, and the robot performs the management operation on any goods according to the retrieval instruction and / or the placement instruction. The sensors include at least one of a laser sensor, a 2D camera, and a 3D camera.

[0167] This embodiment provides a goods sorting method. For shelves using a dynamic storage location mechanism, the warehouse management equipment first determines the target robot to perform the sorting task, then assigns a corresponding first target shelf to the target robot based on the target robot's state attributes, and controls the target robot to perform sorting operations on the first target shelf. Thus, by controlling the robot to perform sorting through the warehouse management equipment, the automatic sorting of the warehousing system can be realized, with high sorting efficiency and accuracy, thereby helping to improve the warehousing efficiency of the warehousing system.

[0168] In some embodiments, determining the target robot capable of performing the warehouse task includes: determining a first robot currently in an idle state as the target robot; and / or determining a second robot currently performing a pickup / placement task, and the pickup / placement task execution time being shorter than the allocated time, as the target robot.

[0169] Specifically, when identifying a target robot, the warehouse management equipment can use robots in different states as target robots. Among them, the first robot in an idle state can specifically refer to a robot that is not currently performing any tasks. Since the first robot is not currently performing any tasks, the warehouse management equipment can control the first robot to perform warehouse management tasks.

[0170] Furthermore, when identifying the second robot currently performing a pickup / placement task as the target robot, this second robot must meet the condition that the execution time of the pickup / placement task is shorter than the allocated time. The execution time refers to the actual time the second robot spends performing the pickup / placement task, while the allocated time refers to the time allocated to the second robot by the warehouse management equipment based on the task priority and / or the timeliness of the corresponding order. When the execution time of the pickup / placement task is shorter than the allocated time, the second robot can perform both the pickup / placement task and the inventory management task within the allocated time, and the sum of their execution times cannot exceed the allocated time for the pickup / placement task.

[0171] For example, if a second robot is currently performing a pickup and delivery task, and the corresponding pickup and delivery task has an execution time of 3 minutes and an allocated time of 5 minutes, then the remaining time is 2 minutes. The second robot can use the remaining time to perform a warehouse management task.

[0172] It is understood that in this embodiment, the warehouse management equipment may determine only the first robot as the target robot, or only the second robot as the target robot, or both the first robot and the second robot may be determined as target robots at the same time.

[0173] In this embodiment, the warehouse management equipment determines the first robot that is currently idle as the target robot, and / or determines the second robot that is currently performing a pick-up and drop-off task and whose pick-up and drop-off task execution time is shorter than the allocated time as the target robot. The target robot has the conditions to perform warehouse management, thereby realizing the automatic warehouse management of the warehousing system.

[0174] In some embodiments, the target robot is a second robot, and determining the first target shelf for the target robot to perform the warehouse management operation based on the state attributes of the target robot includes: determining the shelf corresponding to the picking and placing task as the first target shelf for the target robot to perform the warehouse management operation.

[0175] Specifically, when the target robot is a second robot currently performing a picking and placing task, and the task execution time is shorter than the allocated time, the warehouse management equipment can designate the shelf corresponding to the second robot's picking and placing task as the first target shelf for the second robot. Thus, after completing the picking and placing task, the target robot can directly perform inventory management operations on that shelf, which can greatly reduce the time it takes for the target robot to move to the corresponding first target shelf and improve inventory management efficiency.

[0176] In some embodiments, the target robot is a first robot or a second robot. Determining the first target shelf for the target robot to perform inventory management operations based on the state attributes of the target robot includes: determining the first target shelf from a plurality of shelves based on shelf inventory management priority; or, determining the first target shelf from a plurality of shelves based on the distance between the target robot and the shelf; or, determining the first target shelf from a plurality of shelves based on shelf inventory management priority and the distance between the target robot and the shelf.

[0177] Among them, the shelf management priority represents the priority of performing management operations on the shelf. The higher the shelf management priority, the more likely the shelf will be identified as the first target shelf for the target robot to perform management operations.

[0178] Alternatively, the first target shelf can be determined based on the distance between the target robot and the shelf. Specifically, the closer the shelf is to the target robot, the more likely that shelf will be selected as the first target shelf for the target robot to perform inventory management operations.

[0179] Optionally, the first target shelf can be determined by combining the shelf management priority and the distance between the target robot and the shelf.

[0180] Specifically, there are various ways to determine the first target shelf by combining the shelf management priority and the distance between the target robot and the shelf. For example, one could select a reference shelf with a high priority, such as multiple reference shelves within the first priority range, and then select the reference shelf closest to the target robot as the first target shelf based on the distance between the multiple reference shelves and the target robot; or one could first determine multiple reference shelves within the preset range of the target robot, and then determine the shelf with the highest priority among the multiple reference shelves as the first target shelf, etc. There are no limitations on this.

[0181] In this embodiment, when the warehouse management equipment determines the first target shelf for the target robot to perform the warehouse management operation based on the state attributes of the target robot, it can determine the first target shelf corresponding to the target robot from multiple shelves in the warehousing system according to the warehouse management priority and / or the distance between the target robot and the shelf. This helps to improve the effectiveness and rationality of the robot performing the warehouse management operation.

[0182] In some embodiments, the method further includes: determining the shelf management priority of each shelf among a plurality of shelves based on one or more of shelf area priority, shelf occupancy rate, and shelf management interval.

[0183] Among them, the priority of the shelf area is the priority of the area where the shelf is located. The priority of the shelf area is directly proportional to the popularity of the area where the shelf is located. The popularity of the area where the shelf is located is directly proportional to the frequency of shelf organization.

[0184] Shelf occupancy rate is the ratio of the total length of fragmented space on the shelf to the total length of goods. The total length of fragmented space is the sum of the lengths of fragmented space on the shelf. The length of fragmented space is the interval length between adjacent first and second goods, and the interval length is less than a preset value. The total length of goods is the sum of the lengths of the goods already stored on the shelf. The shelf occupancy rate is directly proportional to the shelf management priority.

[0185] The shelf management interval is the time interval between the most recent shelf management operation and the current time.

[0186] Specifically, different shelving areas have different levels of popularity, which in turn leads to different inventory management needs for the shelving in different areas. Shelving in areas with high popularity will be managed more frequently, while shelving in areas with low popularity will be managed less frequently.

[0187] Specifically, the preset value may be the average of the total length of all goods on the shelf, or the average of the total length of all goods in the warehouse, or the average of the total length of all goods stored on the single shelf where the first and second goods are located, etc., and is not limited here.

[0188] For example, Figure 4 This is an example diagram of goods stored on a shelf in an embodiment of this application, such as... Figure 4 As shown, four items are placed on shelf 220. The lengths of each item are a1, a2, a3, and a4, and the lengths of the fragmented spaces between adjacent items are b1, b2, and b3, respectively. Here, the default values ​​refer to the average of the total lengths of the four items. Figure 4 As can be seen, b1, b2, and b3 are all less than the preset value, which means that b1, b2, and b3 cannot hold goods, and these three spaces are wasted. Therefore, these spaces need to be organized. Let D represent the total length of goods, d represent the total length of fragmented spaces, and P represent the shelf occupancy rate. The shelf occupancy rate P can be calculated using the following formula:

[0189] P=d / D=(b1+b2+b3) / (a1+a2+a3+a4)

[0190] Specifically, the higher the shelf occupancy rate, the more dispersed the boxes are on that shelf, and the higher the warehouse management priority corresponding to that shelf.

[0191] Specifically, the larger the shelf management interval, the longer the shelf has not been managed, and the higher the management priority of that shelf.

[0192] Specifically, when determining the shelf management priority for each shelf among multiple shelving units, warehouse management equipment can use any one of the following methods: shelf area priority, shelf occupancy rate, or shelf management interval. For example, the shelf management priority can be determined solely based on shelf area priority, shelf occupancy rate, or shelf management interval.

[0193] Alternatively, the shelf management priority can be determined based on any combination of two of the following: shelf area priority, shelf occupancy rate, and shelf management interval. For example, the shelf management priority of each shelf among multiple shelves can be determined based on the shelf area priority and the shelf management interval.

[0194] For example, the priority of warehouse management for each shelf in a group of shelves can be determined based on the priority of the shelf area and the shelf occupancy rate. For instance, shelves with higher area popularity or higher occupancy rate in that area can be selected for warehouse management operations.

[0195] For example, the priority of each shelf in a set of shelves is determined based on the priority of the shelf area and the shelf management interval. For instance, shelves that have not been managed for a long time are given priority. The system records the last time each shelf was managed. If a shelf has not been managed for a long time, it is managed first. If multiple shelves have not been managed for the same amount of time, the shelf with higher activity in its area is managed first.

[0196] Optionally, the priority of shelving management can also be determined based on the priority of shelving area, shelving occupancy rate, and shelving management interval.

[0197] In this embodiment, the warehouse management equipment determines the shelf management priority of each shelf among multiple shelves based on one or more of the following: shelf area priority, shelf occupancy rate, and shelf management interval, thereby making the shelf management priority of each shelf more scientific and reasonable.

[0198] In some embodiments, the shelf management priority for each shelf among multiple shelves is determined based on one or more of shelf area priority, shelf occupancy rate, and shelf management interval, including:

[0199] Based on shelf area priority, shelf occupancy rate, and shelf management interval, the shelf management priority for each shelf is calculated using the following formula:

[0200] Q i =O i ×a+P i ×b+T i ×c

[0201] Among them, Q i Let i be the shelf management priority of the i-th shelf, i = 1, 2, 3…N, where N is the total number of shelves; O i Let P be the shelf occupancy rate of the i-th shelf; i The priority of the shelf area for the i-th shelf; T i Let be the shelf management interval for the i-th shelf; a is the weight coefficient corresponding to the shelf occupancy rate, b is the weight coefficient corresponding to the shelf area priority, and c is the weight coefficient corresponding to the shelf management interval.

[0202] Specifically, the weighting coefficients a, b, and c are dynamic coefficients and are not uniquely limited. The warehouse management equipment can dynamically adjust the values ​​of the weighting coefficients a, b, and c based on the current order quantity and the number of robots.

[0203] Furthermore, warehouse management equipment can adjust the values ​​of weighting coefficients a, b, and c to regulate the types of influencing factors used in determining the shelf management priority for each shelf among multiple shelves. For example, when only one of the weighting coefficients a, b, and c is non-zero, it indicates that shelf management priority is determined based on only one of shelf area priority, shelf occupancy rate, and shelf management interval; when all three weighting coefficients a, b, and c are non-zero, it indicates that shelf management priority is determined simultaneously based on shelf area priority, shelf occupancy rate, and shelf management interval.

[0204] In this embodiment, the warehouse management equipment calculates the shelf management priority for each shelf according to the shelf area priority, shelf occupancy rate, and shelf management interval using a corresponding formula, making the shelf management priority for each shelf more scientific and reasonable.

[0205] In some embodiments, determining a first target shelf from a plurality of shelves based on the distance between the target robot and the shelf includes: determining a shelf whose distance from the target robot is less than a first preset distance threshold and which does not have any other robot besides the target robot performing operations as the first target shelf.

[0206] Among them, there are shelves where no other robots besides the target robot are performing operations. Specifically, this can be shelves where no other robots are performing inventory management operations, or shelves where no other robots are performing picking and placing operations. That is, only one robot is performing operations on each shelf at a time, thereby avoiding conflicts between robot operations.

[0207] In this embodiment, when the warehouse management equipment determines the first target shelf based on the distance between the target robot and the shelf, it can select a shelf that is less than a first preset distance threshold from the target robot and that is not operated by any other robot besides the target robot as the first target shelf. Thus, by limiting the distance to less than the first preset distance threshold, the problem of the target robot having to travel too long to the first target shelf can be avoided, thereby shortening the target robot's travel time and improving warehouse management efficiency.

[0208] In addition, having only one robot operating on each shelf at a time can prevent overlapping of the work areas of different robots, thus avoiding conflicts and interference between their operations.

[0209] In some embodiments, determining a first target shelf from multiple shelves based on shelf management priority and the distance between the target robot and the shelf includes: determining a shelf whose distance to the target robot is less than a second preset distance threshold, whose shelf management priority is greater than a preset priority threshold, and whose shelf is not operated by any other robot besides the target robot as the first target shelf.

[0210] In this embodiment, when determining the first target shelf, the warehouse management equipment can simultaneously consider the distance between the shelf and the target robot, the shelf management priority, and the shelf operation status of other robots, making the determination of the first target shelf more scientific and reasonable.

[0211] In some embodiments, controlling the target robot to perform inventory management operations on the first target shelf includes:

[0212] Based on the goods already stored on the first target shelf, determine the corresponding inventory management strategy for the first target shelf;

[0213] Based on the library management strategy, control the target robot to perform library management operations.

[0214] Specifically, the implementation of the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf can be varied. For example, it can be based on the detection information of the goods already stored on the first target shelf transmitted by the robot to determine the goods that need to be sorted, and then determine the inventory management strategy. This is the same principle as the robot determining the inventory management strategy described below, and will not be repeated here. Alternatively, it can be based on the location of the stored goods to determine the inventory management strategy for sorting the fragmented space. Or it can be based on whether there is a correspondence between the heat of the stored goods and the storage area to determine the inventory management strategy. Or it can be based on the size of the stored goods to determine how to place goods of the same size together, etc. There are no limitations here.

[0215] Specifically, when the warehouse management equipment controls the target robot to perform inventory management operations on the first target shelf, it can first obtain information on the goods already stored on the first target shelf and determine the inventory management strategy corresponding to the first target shelf. Then, it controls the target robot to perform inventory management operations according to the inventory management strategy, thereby helping to improve inventory management efficiency.

[0216] In some embodiments, determining a management strategy corresponding to a first target shelf based on the goods already stored on the first target shelf includes: determining a management strategy for organizing the goods already stored on the first target shelf based on one or more of the goods heat, goods spacing and preset safety distance, wherein the goods heat represents the frequency at which the stored goods are taken out.

[0217] The preset safety distance can be determined based on the type or size of the robot's handling device. For handling devices that include suction cups, the preset safety distance can be very small, such as 3cm, or even negligible. For handling devices that include two telescopic arms, the preset safety distance should be at least the width of the telescopic arms. For handling devices that include a robotic arm, the preset safety distance should be at least the width of the gripping or hooking part of the robotic arm.

[0218] Specifically, goods with high demand can be moved from the primary target shelf to shelves in high-demand areas, or to locations easily accessible to robots. For example, in a two-dimensional configuration, high-demand goods can be placed on the outermost layer of each shelf, where there are no other goods obstructing the view, making them easy to retrieve.

[0219] Specifically, when determining the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf, the warehouse management equipment can determine the inventory management strategy based on one or more of the following: the heat of the goods stored on the first target shelf, the interval between the goods, and the preset safety distance. For example, the inventory management strategy can be determined based on only one of the following: the heat of the goods stored, the interval between the goods, and the preset safety distance, or at least a combination of two of them. This makes the inventory management strategy more scientific and reasonable, and helps to improve inventory management efficiency.

[0220] In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration. Based on the goods already stored on the first target shelf, the inventory management strategy corresponding to the first target shelf is determined, including: determining the inventory management strategy corresponding to the first target shelf according to the spacing between the goods already stored on the first target shelf and the preset safety spacing.

[0221] Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration, the warehouse management equipment can determine the corresponding warehouse management strategy for the first target shelf based on the spacing between the goods already stored on the first target shelf and the preset safety spacing.

[0222] Among them, the spacing between stored goods is the distance between two adjacent goods.

[0223] In this embodiment, the warehouse management equipment can determine the inventory management strategy corresponding to the first target shelf based on the spacing between the goods already stored on the first target shelf and the preset safety spacing, thereby making the inventory management strategy more scientific and reasonable and helping to improve inventory management efficiency.

[0224] In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration. Based on the goods already stored on the first target shelf, the inventory management strategy corresponding to the first target shelf is determined, including: determining the inventory management strategy corresponding to the first target shelf according to the heat of the goods already stored on the first target shelf, so that goods with heat higher than a preset heat are placed in the first row of each layer of the first target shelf.

[0225] Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration, the warehouse management equipment can determine the corresponding warehouse management strategy for the first target shelf based on the heat of the goods already stored on the first target shelf, so that goods with a heat higher than the preset heat are placed in the outermost row of each layer of the first target shelf.

[0226] The "goods popularity" indicator represents the frequency with which stored goods are retrieved. If the goods popularity is higher than the preset popularity, it means that the goods are retrieved more frequently. Therefore, the goods can be considered as popular goods and can be placed on the outermost row of each shelf of the first target shelf, so that the robot can retrieve the goods more conveniently.

[0227] In some embodiments, the inventory management strategy includes adjusting the storage positions of already stored goods so that the distance between goods is a preset safe gap. This allows for minimizing the distance between goods while ensuring the robot can retrieve goods normally, thus enabling the storage of more goods.

[0228] In some embodiments, the inventory management strategy includes adjusting the storage locations of existing goods so that goods with the same size or whose size difference is within a preset range are stored adjacent to each other. Therefore, by placing goods of the same or similar size adjacent to each other, the goods can be organized more rationally, resulting in a more standardized and reasonable placement of goods.

[0229] In some embodiments, the inventory management strategy includes: during the process of adjusting the storage location of stored goods, the priority of goods position adjustment is inversely proportional to the size of the goods. Specifically, when performing inventory management, the position of small-sized goods is adjusted first, while for larger-sized goods, the position is adjusted as little as possible or not at all, thereby reducing the workload of the robot and improving inventory management efficiency.

[0230] In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots; when the target robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

[0231] Specifically, if the target robot is a single-forklift robot, then at least two single-forklift robots are assigned as a group. The target robot includes at least one group of single-forklift robots, and the single-forklift robots in each group cooperate with each other to complete the warehouse management work.

[0232] For example, if goods to be sorted are in the storage space of a shelf and there are obstacles blocking them, then a single forklift robot A needs to move the obstacles away, and a single forklift robot B needs to take out the goods to be sorted for storage.

[0233] If the target robot is a multi-storage unit robot (e.g., a multi-basket robot), since a single multi-storage unit robot can complete the storage task independently, there is no need to group the robots; you can directly assign a single multi-storage unit robot to perform the storage task.

[0234] In some embodiments, it also includes:

[0235] Check whether the library conditions are met;

[0236] Once the conditions for determining the appropriate library are met, the steps for identifying the target robot capable of performing the appropriate library task are initiated.

[0237] Specifically, the conditions for performing inventory management operations can be preset. When the warehouse management equipment detects that the inventory management conditions are met, it starts to execute the steps of the goods sorting method, thereby performing inventory management.

[0238] For example, a warehouse management task can be set to be performed every time T. After the first warehouse management task is completed, the warehouse management equipment starts timing. When the accumulated time reaches time T, the warehouse management equipment starts to execute the next warehouse management task, and so on.

[0239] In this embodiment, by setting inventory management conditions, the inventory management task can be automatically started when the warehouse management equipment determines that the inventory management conditions are met, thereby realizing automatic inventory management of the warehousing system.

[0240] In some embodiments, the method further includes: assigning a pick-up and drop-off task to the target robot that is performing a warehouse management operation, controlling the target robot to stop performing the warehouse management operation, and performing the pick-up and drop-off task.

[0241] Specifically, if the warehouse management equipment receives a new pick-up and drop-off task and there are no idle robots (i.e., all robots are currently performing tasks), the warehouse management equipment can assign the pick-up and drop-off task to the target robot that is performing inventory management operations, control the target robot to stop performing inventory management operations, and perform the pick-up and drop-off task, thereby ensuring the normal operation of the pick-up and drop-off task.

[0242] In some embodiments, the method further includes: when it is detected that the area where the target robot performs a storage operation on the first target shelf overlaps with the area where the second robot performs a picking and placing task, determining a second target shelf that is different from the first target shelf, and controlling the target robot to perform a storage operation on the second target shelf.

[0243] Specifically, if the warehouse management equipment detects that the area where the target robot performs inventory management operations on the first target shelf overlaps with the area where the second robot performs pick-and-place tasks, for example, if the area where the target robot performs inventory management operations is the same as the area where the second robot performs pick-and-place tasks, or if the second robot needs to pass through the area where the target robot performs inventory management operations when performing pick-and-place tasks, then it indicates that there is a conflict between the working areas of the target robot and the second robot. When the target robot performs inventory management operations, it may affect the second robot's pick-and-place tasks, for example, by blocking its path.

[0244] In this embodiment, if it is detected that there is an overlap between the area where the target robot performs inventory management operations on the first target shelf and the area where the second robot performs pick-and-place tasks, the warehouse management equipment will reassign a new second target shelf to the target robot and control the target robot to perform inventory management operations on the second target shelf. This will prevent the target robot from affecting the second robot's pick-and-place tasks and improve the pick-and-place efficiency of the warehousing system.

[0245] Figure 5 A flowchart of a cargo sorting method provided in one embodiment of this application is shown below. Figure 5 As shown, this goods sorting method can be performed by a robot in a warehouse system. The goods sorting method provided in this embodiment includes the following steps:

[0246] S210. Receive a first control instruction sent by the warehouse management equipment. The first control instruction is sent by the warehouse management equipment to the target robot after determining the target robot that can perform the warehouse management task and determining the first target shelf for the target robot to perform the warehouse management operation based on the status attributes of the target robot. The storage space of each item on the first target shelf is determined based on the size information of the item and the dynamic storage space of the item on the shelf.

[0247] S220. Perform inventory management operation on the first target shelf according to the first control command.

[0248] This embodiment provides a goods sorting method. For shelves using a dynamic storage location mechanism, the warehouse management equipment first determines the target robot to perform the sorting task, then assigns a corresponding first target shelf to the target robot based on the target robot's state attributes, and controls the target robot to perform sorting operations on the first target shelf. Thus, by controlling the robot to perform sorting through the warehouse management equipment, the automatic sorting of the warehousing system can be realized, with high sorting efficiency and accuracy, thereby helping to improve the warehousing efficiency of the warehousing system.

[0249] In some embodiments, the first control instruction includes a warehouse management strategy corresponding to the first target shelf, determined by the warehouse management equipment based on the goods already stored on the first target shelf.

[0250] According to the first control instruction, perform a warehouse management operation on the first target shelf, including: performing a warehouse management operation on the first target shelf according to the warehouse management strategy corresponding to the first target shelf in the first control instruction.

[0251] Specifically, when the warehouse management equipment controls the target robot to perform inventory management operations on the first target shelf, it can first obtain information on the goods already stored on the first target shelf and determine the inventory management strategy corresponding to the first target shelf. Then, it controls the target robot to perform inventory management operations according to the inventory management strategy, thereby helping to improve inventory management efficiency.

[0252] In some embodiments, performing a warehouse management operation on a first target shelf according to a first control command includes:

[0253] Based on the goods already stored on the first target shelf, determine the corresponding inventory management strategy for the first target shelf;

[0254] Based on the inventory management strategy corresponding to the first target shelf, perform inventory management operations on the first target shelf.

[0255] Specifically, the first control command can also contain only information about the first target shelf, such as location information. After the robot moves to the corresponding position of the first target shelf according to the first control command, the robot can formulate its own inventory management strategy, which helps to reduce the workload of warehouse management equipment.

[0256] It is understandable that the robot itself can be equipped with a processor, which can determine the inventory management strategy based on the goods already stored on the shelves. Specifically, the robot can acquire inspection information of the stored goods, such as size and location, through sensors (e.g., laser sensors, ultrasonic sensors, infrared sensors, 2D cameras, 3D cameras, etc.). Then, based on this inspection information, the robot can determine whether there are any problematic items among the stored goods on the shelves. The distance between problematic items can be greater than their corresponding preset safety distance. For each adjacent item, if the distance between at least one adjacent item is greater than the corresponding preset safety distance, then that adjacent item is determined to be a problematic item, and the inventory management strategy is determined based on the situation of the problematic item.

[0257] Optionally, the inspection information includes the spacing information and pose of adjacent goods. Based on the inspection information of at least one adjacent goods, it is determined whether there are problematic goods among at least one adjacent goods, including: obtaining the preset safety spacing and preset pose of each adjacent goods; for each adjacent goods, when the inspection information of the adjacent goods meets any of the following conditions, the adjacent goods are determined to be problematic goods: the spacing information of the adjacent goods is greater than the preset safety spacing of the adjacent goods; the pose of the adjacent goods is inconsistent with the preset pose, and then the inventory management strategy is determined based on the situation of the problematic goods.

[0258] For example, Figure 6 This is a schematic diagram illustrating the storage conditions of problematic goods in an embodiment of this application, such as... Figure 6 As shown, goods 51, 52, 53, and 54 are stored on shelf 50. However, due to an incorrect orientation of the left neighbor of goods 53, namely, goods 52 has been deflected, the problematic goods are goods 52. Therefore, the determined inventory management strategy is to adjust the placement orientation of goods 52, and then, based on the adjusted orientation and the spacing between goods 51, 52, 53, and 54, adjust the fragmented space between them.

[0259] For example, Figure 7 This is a schematic diagram illustrating the storage situation of another type of problematic goods in an embodiment of this application, such as... Figure 7As shown, goods 61, 62, 63, and 64 are stored on shelf 60. However, due to an incorrect placement of the adjacent goods 62 to the left of goods 63, i.e., goods 62 has been shifted and deviated from its original position 66, the distance between goods 62 and goods 61 is too large, while the distance between goods 62 and goods 63 is too small. Therefore, the problematic goods are goods 62. The appropriate inventory management strategy can vary. For example, it could be to adjust the problematic goods 62, and then, based on the adjusted 62 and the specific relationships between goods 61, 62, 63, and 64, adjust the fragmented space among them. Alternatively, it could be to directly adjust goods 61 to reduce the large fragmented space caused by the placement problem of the problematic goods 62.

[0260] After identifying the problematic goods, the robot can adjust the storage location of the goods. For example, it can adjust the pose of the goods to make the pose consistent with the preset pose; or it can adjust the storage location of the goods to make the storage location more scientific and reasonable; or the robot can adjust both the pose and storage location of the goods at the same time to obtain more unoccupied space.

[0261] For example, Figure 8 This is a schematic diagram illustrating the storage arrangement of goods on the warehouse shelves according to an embodiment of this application. Figure 8 As shown, the shelf 510 includes goods 511 to 521. By performing inventory management operations on the shelf, a large amount of unoccupied space 522 can be obtained on the shelf. Then, when the robot performs subsequent picking and placing tasks, the unoccupied space 522 can be used reasonably.

[0262] In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: determining an inventory management strategy for organizing the stored goods on the first target shelf based on one or more of the goods heat, goods spacing and preset safety distance, wherein the goods heat represents the frequency at which the stored goods are taken out.

[0263] Specifically, when warehouse management equipment or robots determine the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf, they can determine the inventory management strategy based on one or more of the following: the heat of the goods already stored on the first target shelf, the spacing between the goods, and the preset safety distance. For example, the inventory management strategy can be determined based on only one of the following: the heat of the goods already stored, the spacing between the goods, and the preset safety distance, or at least a combination of two of them. This makes the inventory management strategy more scientific and reasonable, and helps to improve inventory management efficiency.

[0264] In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration. The process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: determining the inventory management strategy corresponding to the first target shelf based on the spacing between the goods already stored on the first target shelf and the preset safety spacing.

[0265] Specifically, when the first target shelf is a shelf stored in a one-dimensional configuration, the warehouse management equipment or robot can determine the corresponding warehouse management strategy for the first target shelf based on the spacing between the goods already stored on the first target shelf and the preset safety spacing.

[0266] Among them, the spacing between stored goods is the distance between two adjacent goods.

[0267] The preset safety distance can be determined based on the type or size of the robot's handling device. For handling devices that include suction cups, the preset safety distance can be very small, such as 3cm, or even negligible. For handling devices that include two telescopic arms, the preset safety distance should be at least the width of the telescopic arms. For handling devices that include a robotic arm, the preset safety distance should be at least the width of the gripping or hooking part of the robotic arm.

[0268] In this embodiment, warehouse management equipment or robots can determine the inventory management strategy corresponding to the first target shelf based on the spacing between the goods already stored on the first target shelf and the preset safety spacing, thereby making the inventory management strategy more scientific and reasonable and helping to improve inventory management efficiency.

[0269] In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration. The process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: determining the inventory management strategy corresponding to the first target shelf based on the heat of the goods already stored on the first target shelf, so that goods with a heat higher than a preset heat are placed in the first row of each layer of the first target shelf.

[0270] Specifically, when the first target shelf is a shelf stored in a two-dimensional configuration, the warehouse management equipment or robot can determine the corresponding warehouse management strategy for the first target shelf based on the heat of the goods already stored on the first target shelf, so that goods with a heat higher than the preset heat are placed in the outermost row of each layer of the first target shelf.

[0271] The "goods popularity" indicator represents the frequency with which stored goods are retrieved. If the goods popularity is higher than the preset popularity, it means that the goods are retrieved more frequently. Therefore, the goods can be considered as popular goods and can be placed on the outermost row of each shelf of the first target shelf, so that the robot can retrieve the goods more conveniently.

[0272] In some embodiments, the inventory management strategy includes adjusting the storage positions of already stored goods so that the distance between goods is a preset safe gap. This allows for minimizing the distance between goods while ensuring the robot can retrieve goods normally, thus enabling the storage of more goods.

[0273] In some embodiments, the inventory management strategy includes adjusting the storage locations of existing goods so that goods with the same size or whose size difference is within a preset range are stored adjacent to each other. Therefore, by placing goods of the same or similar size adjacent to each other, the goods can be organized more rationally, resulting in a more standardized and reasonable placement of goods.

[0274] In some embodiments, the inventory management strategy includes: during the process of adjusting the storage location of stored goods, the priority of goods position adjustment is inversely proportional to the size of the goods. Specifically, when performing inventory management, the position of small-sized goods is adjusted first, while for larger-sized goods, the position is adjusted as little as possible or not at all, thereby reducing the workload of the robot and improving inventory management efficiency.

[0275] In some embodiments, adjusting the storage position of stored goods so that the distance between goods is a preset safe distance includes: determining reference point information of stored goods; and adjusting the storage position of stored goods according to the reference point information so that the distance between goods is a preset safe distance.

[0276] In some embodiments, the reference point includes one or more of the following: the upright of the first target shelf, the marker point of the first target shelf, and one or more goods placed in an adjacent position to the stored goods.

[0277] The reference point is a pre-defined point on the shelf with a known location. The number of reference points can be one or more, depending on the location of the stored goods. The marker point can be a location point with a pre-defined marker, such as a QR code, circular code, barcode, RFID (Radio Frequency Identification) tag, or even a magnetic pin.

[0278] For example, images of each reference point can be captured by the robot's vision sensor, and then the images can be identified based on an image recognition algorithm to determine the location information corresponding to the reference point based on the recognition results.

[0279] Specifically, the storage location of the stored goods is adjusted based on the benchmark information, and the adjusted location is closer to the benchmark than the original location.

[0280] For example, in order to improve the space utilization of the shelf, the stored goods can be adjusted to a position closer to the reference point, such as one end of the shelf column, so that more space can be reserved at the end away from the reference point to store other goods.

[0281] Specifically, when the robot adjusts the storage position of stored goods, it first identifies the stored goods and determines their reference point information. Then, it adjusts the storage position of the stored goods according to the reference point information so that the distance between the goods is a preset safe distance. This allows the robot to minimize the distance between goods while ensuring that it can pick up goods normally, thus allowing more goods to be placed.

[0282] In some embodiments, it also includes:

[0283] Receive a second control command sent by the warehouse management equipment, the second control command including a pick-up and put-out task;

[0284] The second control instruction stops the warehouse operation and executes the pick-up and drop-off tasks.

[0285] Specifically, if the warehouse management equipment receives a new pick-up and drop-off task and there are no idle robots (i.e., all robots are currently performing tasks), the warehouse management equipment can assign the pick-up and drop-off task to the target robot that is performing inventory management operations, control the target robot to stop performing inventory management operations, and perform the pick-up and drop-off task, thereby ensuring the normal operation of the pick-up and drop-off task.

[0286] In some embodiments, it also includes:

[0287] The third control instruction is sent by the warehouse management equipment. The third control instruction is sent by the warehouse management equipment to the target robot after it detects that there is an overlapping area between the area where the target robot performs the warehouse management operation on the first target shelf and the area where the second robot performs the picking and placing task, and determines that the second target shelf is different from the first target shelf. The third control instruction includes information about the second target shelf.

[0288] According to the third control instruction, perform warehouse management operations on the second target shelf.

[0289] Specifically, if the warehouse management equipment detects that the area where the target robot is performing inventory management operations on the first target shelf overlaps with the area where the second robot is performing pick-and-place tasks, it indicates that there is a conflict between the working areas of the target robot and the second robot. When the target robot is performing inventory management operations, it may affect the second robot's pick-and-place tasks, for example, by blocking its path.

[0290] In this embodiment, if it is detected that there is an overlap between the area where the target robot performs inventory management operations on the first target shelf and the area where the second robot performs pick-and-place tasks, the warehouse management equipment will reassign a new second target shelf to the target robot and control the target robot to perform inventory management operations on the second target shelf. This will prevent the target robot from affecting the second robot's pick-and-place tasks and improve the pick-and-place efficiency of the warehousing system.

[0291] In some embodiments, a goods sorting device is provided, which can be applied to warehouse management equipment. Figure 9 This is a schematic diagram of the structure of a goods sorting device provided in one embodiment of this application, as shown below. Figure 9 As shown, the cargo sorting device includes:

[0292] Robot determination module 910 is used to determine the target robot that can perform the library task;

[0293] The shelf determination module 920 is used to determine the first target shelf for the target robot to perform the warehouse operation based on the state attributes of the target robot, wherein the storage space of each item on the first target shelf is determined based on the size information of the item and the dynamic storage space of the item on the shelf;

[0294] The warehouse management control module 930 is used to control the target robot to perform warehouse management operations on the first target shelf.

[0295] In some embodiments, the robot determination module 910 is specifically used to: determine a first robot currently in an idle state as the target robot; and / or determine a second robot currently performing a pickup / placement task, and the pickup / placement task execution time is shorter than the allocated time, as the target robot.

[0296] In some embodiments, the target robot is the second robot, and the shelf determination module 920 is specifically used to determine the first target shelf for the target robot to perform the warehouse management operation based on the state attributes of the target robot: determine the shelf corresponding to the picking and placing task as the first target shelf for the target robot to perform the warehouse management operation.

[0297] In some embodiments, the target robot is the first robot or the second robot, and the shelf determination module 920 is specifically used to: determine the first target shelf from a plurality of shelves according to the shelf management priority; or, determine the first target shelf from the plurality of shelves according to the distance between the target robot and the shelf; or, determine the first target shelf from the plurality of shelves according to the shelf management priority and the distance between the target robot and the shelf.

[0298] In some embodiments, the shelf determination module 920 is further configured to: determine the shelf management priority corresponding to each shelf among the plurality of shelves based on one or more of shelf area priority, shelf occupancy rate, and shelf management interval; wherein, the shelf area priority is the priority of the area where the shelf is located, the shelf area priority is directly proportional to the popularity of the area where the shelf is located, and the popularity of the area where the shelf is located is directly proportional to the shelf's organization frequency; the shelf occupancy rate is the ratio of the total length of the fragmented space on the shelf to the total length of the goods, the total length of the fragmented space is the sum of the lengths of the fragmented spaces on the shelf, the fragmented space length is the interval length between adjacent first and second goods, and the interval length is less than a preset value, the total length of the goods is the sum of the lengths of the goods already stored on the shelf, wherein, the shelf occupancy rate is directly proportional to the shelf management priority; and the shelf management interval is the time interval between the time node of the most recent shelf management operation and the current time.

[0299] In some embodiments, the shelf determination module 920 is specifically used to: calculate the shelf management priority corresponding to each shelf according to the shelf area priority, the shelf occupancy rate, and the shelf management interval using the following formula:

[0300] Q i =O i ×a+P i ×b+T i ×c

[0301] Among them, Q i Let i be the shelf management priority of the i-th shelf, i = 1, 2, 3…N, where N is the total number of shelves; O i Let P be the shelf occupancy rate of the i-th shelf; i The priority of the shelf area for the i-th shelf; T i Let be the shelf management interval for the i-th shelf; a is the weight coefficient corresponding to the shelf occupancy rate, b is the weight coefficient corresponding to the shelf area priority, and c is the weight coefficient corresponding to the shelf management interval.

[0302] In some embodiments, the shelf determination module 920 is specifically used to: determine the shelf that is less than a first preset distance threshold and that no other robot besides the target robot is performing operations as the first target shelf.

[0303] In some embodiments, the shelf determination module 920 is specifically used to: determine the shelf that is less than a second preset distance threshold, has a shelf management priority greater than a preset priority threshold, and has no other robot other than the target robot performing operations as the first target shelf.

[0304] In some embodiments, the inventory management control module 930 is specifically configured to: determine the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf; and control the target robot to perform inventory management operations according to the inventory management strategy.

[0305] In some embodiments, the inventory management control module 930 is specifically used to: determine an inventory management strategy for organizing the stored goods on the first target shelf based on one or more of the goods heat, goods spacing and preset safety distance, wherein the goods heat represents the frequency at which the stored goods are taken out.

[0306] In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration, and the inventory management control module 930 is specifically used to: determine the inventory management strategy corresponding to the first target shelf based on the spacing between the goods already stored on the first target shelf and the preset safety spacing.

[0307] In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration. The inventory management control module 930 is specifically used to: determine the inventory management strategy corresponding to the first target shelf based on the heat of the goods already stored on the first target shelf, so that goods with a heat higher than a preset heat are placed in the first row of each layer of the first target shelf.

[0308] In some embodiments, the inventory management strategy includes at least one of the following: adjusting the storage location of the stored goods so that the distance between the goods is a preset safe distance; adjusting the storage location of the stored goods so that the storage locations of goods with the same size or a size difference within a preset range are adjacent; and in the process of adjusting the storage location of the stored goods, the priority of the goods' location adjustment is inversely proportional to the size of the goods.

[0309] In some embodiments, when the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots; when the target robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

[0310] In some embodiments, the system further includes: a processing module, configured to detect whether the library conditions are met; and when it is determined that the library conditions are met, to begin executing the step of determining the target robot capable of performing the library task.

[0311] In some embodiments, the processing module is further configured to assign a pick-up and place-out task to the target robot that is performing a warehouse sorting operation, control the target robot to stop performing the warehouse sorting operation, and execute the pick-up and place-out task.

[0312] In some embodiments, the processing module is further configured to: when it detects that the area where the target robot performs a storage operation on the first target shelf overlaps with the area where the second robot performs a picking and placing task, determine a second target shelf that is different from the first target shelf, and control the target robot to perform a storage operation on the second target shelf.

[0313] Specific limitations regarding the goods sorting device can be found in the above description of the goods sorting method applied to warehouse management equipment. The corresponding functional modules and beneficial effects of the method will not be elaborated upon here. Each module in the aforementioned goods sorting device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0314] In some embodiments, a goods sorting device is provided, which can be applied to a robot. Figure 10 This is a schematic diagram of the structure of a goods sorting device provided in one embodiment of this application, as shown below. Figure 10 As shown, the cargo sorting device includes:

[0315] The receiving module 1010 is used to receive a first control instruction sent by the warehouse management equipment. The first control instruction is sent by the warehouse management equipment to the target robot after determining the target robot that can perform the warehouse management task and determining the first target shelf for the target robot to perform the warehouse management operation based on the status attributes of the target robot. The storage space of each item on the first target shelf is determined based on the size information of the item and the dynamic storage space of the item on the shelf.

[0316] The inventory management module 1020 is used to perform inventory management operations on the first target shelf according to the first control command.

[0317] In some embodiments, the first control command includes a warehouse management strategy corresponding to the first target shelf, determined by the warehouse management device based on the goods already stored on the first target shelf;

[0318] The inventory management module 1020 is specifically used to: perform inventory management operations on the first target shelf according to the inventory management strategy corresponding to the first target shelf in the first control instruction.

[0319] In some embodiments, the inventory management module 1020 is specifically used to: determine the inventory management strategy corresponding to the first target shelf based on the goods already stored on the first target shelf; and perform inventory management operations on the first target shelf according to the inventory management strategy corresponding to the first target shelf.

[0320] In some embodiments, the process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: determining an inventory management strategy for organizing the stored goods on the first target shelf based on one or more of the goods popularity, goods spacing, and preset safety distance, wherein the goods popularity represents the frequency at which the stored goods are taken out.

[0321] In some embodiments, the first target shelf is a shelf stored in a one-dimensional configuration. The process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: determining the inventory management strategy corresponding to the first target shelf based on the spacing between the goods already stored on the first target shelf and the preset safety spacing.

[0322] In some embodiments, the first target shelf is a shelf stored in a two-dimensional configuration. The process of determining the inventory management strategy corresponding to the first target shelf includes the following steps: determining the inventory management strategy corresponding to the first target shelf based on the heat of the goods already stored on the first target shelf, so that goods with a heat higher than a preset heat are placed in the first row of each layer of the first target shelf.

[0323] In some embodiments, the inventory management strategy includes at least one of the following: adjusting the storage location of stored goods so that the distance between goods is a preset safe distance; adjusting the storage location of stored goods so that goods with the same size or a size difference within a preset range are stored in adjacent locations; and in the process of adjusting the storage location of stored goods, the priority of adjusting the location of goods is inversely proportional to the size of the goods.

[0324] In some embodiments, the storage module 1020 is specifically used to: determine the reference point information of the stored goods; and adjust the storage position of the stored goods according to the reference point information so that the distance between the goods is a preset safe distance.

[0325] In some embodiments, the reference point includes one or more of the following: the upright of the first target shelf, the marker point of the first target shelf, and one or more goods placed in an adjacent position to the stored goods.

[0326] In some embodiments, the system further includes: a receiving module, configured to receive a second control instruction sent by the warehouse management device, the second control instruction including a pick-up and place task; stop performing warehouse management operations according to the second control instruction, and perform the pick-up and place task.

[0327] In some embodiments, the receiving module is further configured to: receive a third control instruction sent by the warehouse management device, wherein the third control instruction is sent by the warehouse management device to the target robot after detecting an overlap between the area where the target robot performs a storage operation on the first target shelf and the area where the second robot performs a picking and placing task, and after determining that the second target shelf is different from the first target shelf, and the third control instruction includes information about the second target shelf; and perform a storage operation on the second target shelf according to the third control instruction.

[0328] Specific limitations regarding the goods sorting device can be found in the above description of the goods sorting method applied to robots. The functional modules and beneficial effects of the execution method will not be elaborated upon here. Each module in the aforementioned goods sorting device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0329] Figure 11 This is a schematic diagram of the structure of a robot provided in one embodiment of this application, as shown below. Figure 11 As shown, the robot includes: a memory 1110, a processor 1120, and a computer program.

[0330] The computer program is stored in memory 1110 and configured to be executed by processor 1120 to implement the cargo sorting method for robots provided in any embodiment of this application.

[0331] The memory 1110 and the processor 1120 are connected via a bus 1130.

[0332] Of course, the robot also includes a handling device, sensors, and a moving device. The handling device can be a forklift, a robotic arm, or other similar device used to pick up and / or store goods. Sensors can be mounted on the robot's main body or on the handling device, and can include one or more of the following: laser sensors, ultrasonic sensors, infrared sensors, 2D cameras, 3D cameras, etc.

[0333] Furthermore, the robot may also include a storage unit for storing goods.

[0334] Optionally, the robot includes a mobile chassis, a handling device, a storage rack, and a lifting assembly; the storage rack, the handling device, and the lifting assembly are mounted on the mobile chassis.

[0335] Optionally, the conveying device includes one or more of the following: a telescopic arm assembly, a suction cup, and a robotic arm.

[0336] Optionally, the conveying device includes a pallet and a steering structure, the steering structure being used to change the orientation of goods placed on the pallet.

[0337] Figure 12 This is a schematic diagram of the structure of a warehouse management device provided in one embodiment of this application, as shown below. Figure 12 As shown, the robot includes: a memory 1210, a processor 1220, and a computer program.

[0338] The computer program is stored in memory 1210 and configured to be executed by processor 1220 to implement the goods sorting method for warehouse management equipment provided in any embodiment of this application.

[0339] Figure 13 This is a schematic diagram of the structure of a warehousing system provided in one embodiment of this application, as shown below. Figure 9 The warehousing system includes: robot 1310, warehouse management equipment 1320, and shelving 1330.

[0340] Robot 1310 is the subject of this application. Figure 11 The robot provided in the illustrated embodiment has a shelf 1330 for storing goods; a warehouse management device 1320 is used to generate pick-up and put-down instructions and inventory management instructions, so that the robot 1310 can perform corresponding operations based on the pick-up and put-down instructions and inventory management instructions.

[0341] In some embodiments, a computer-readable storage medium is provided, which stores computer-executable instructions that, when executed by a processor, implement the above-described cargo sorting method.

[0342] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0343] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0344] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0345] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0346] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0347] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0348] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0349] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0350] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0351] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0352] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 application.

Claims

1. A goods sorting method, applied to warehouse management equipment, characterized in that, include: Check whether the library conditions are met; Once the conditions for performing the library management task are met, a target robot capable of performing the library management task is identified. The first target shelf for the target robot to perform warehouse operations is determined based on the state attributes of the target robot, wherein the storage space for each item on the first target shelf is determined based on the size information of the item and the dynamic storage space of the item on the shelf; When the first target shelf is a shelf stored in a one-dimensional configuration, the warehouse management strategy corresponding to the first target shelf is determined based on the spacing between the goods already stored on the first target shelf and the preset safety spacing. The one-dimensional configuration means that the goods in each layer of the goods storage space are placed in a row in the depth direction. When the first target shelf is a shelf stored in a two-dimensional configuration, a warehouse management strategy for organizing the stored goods on the first target shelf is determined based on one or more of the goods heat, goods spacing and preset safety distance. The goods heat represents the frequency at which the stored goods are taken out, and the two-dimensional configuration means that the goods in each layer of the goods storage space are placed in one row, multiple rows or a mixture of one row and multiple rows in the depth direction. According to the library management strategy, the target robot is controlled to perform library management operations.

2. The method according to claim 1, characterized in that, The determination of the target robot capable of performing the library task includes: The first robot currently in an idle state is identified as the target robot; and / or, The second robot that is currently performing a pickup and delivery task, and whose pickup and delivery task execution time is shorter than the allocated time, is identified as the target robot.

3. The method according to claim 2, characterized in that, The target robot is the second robot, and the step of determining the first target shelf for the target robot to perform warehouse operations based on the state attributes of the target robot includes: The shelf corresponding to the picking and placing task is determined as the first target shelf for the target robot to perform the warehouse operation.

4. The method according to claim 2, characterized in that, The target robot is either the first robot or the second robot, and the step of determining the first target shelf for which the target robot will perform warehouse operations based on the state attributes of the target robot includes: Based on the warehouse management priority, the first target shelf is determined from multiple shelves; or, Based on the distance between the target robot and the shelf, the first target shelf is determined from the plurality of shelves; or, The first target shelf is determined from the plurality of shelves based on the shelf management priority and the distance between the target robot and the shelf.

5. The method according to claim 1 or 4, characterized in that, Also includes: The shelf management priority for each shelf among the plurality of shelves is determined based on one or more of the following: shelf area priority, shelf occupancy rate, and shelf management interval. The priority of the shelf area refers to the priority of the area where the shelf is located. The priority of the shelf area is directly proportional to the popularity of the area where the shelf is located. The popularity of the area where the shelf is located is directly proportional to the frequency of shelf organization. The shelf occupancy rate is the ratio of the total length of the fragmented space on the shelf to the total length of the goods. The total length of the fragmented space is the sum of the lengths of the fragmented spaces on the shelf. The fragmented space length is the interval length between adjacent first and second goods, and the interval length is less than a preset value. The total length of the goods is the sum of the lengths of the goods already stored on the shelf. The shelf occupancy rate is directly proportional to the shelf management priority. The shelf management interval is the time interval between the most recent shelf management operation and the current time.

6. The method according to claim 5, characterized in that, The step of determining the shelf management priority for each shelf among the plurality of shelves based on one or more of the following: shelf area priority, shelf occupancy rate, and shelf management interval, includes: Based on the shelf area priority, shelf occupancy rate, and shelf management interval, the shelf management priority for each shelf is calculated using the following formula: in, For the first Shelf management priority for each shelf. , This refers to the total number of shelves; For the first Shelf occupancy rate of each shelf; For the first Priority of shelving areas for each shelf; For the first Shelf spacing for each rack; The weighting coefficient corresponding to shelf occupancy. The weighting coefficients corresponding to the priority of the shelving area. The weighting coefficients corresponding to the shelf storage intervals.

7. The method according to claim 4, characterized in that, The step of determining the first target shelf from the plurality of shelves based on the distance between the target robot and the shelf includes: The shelf that is determined to be the first target shelf is the shelf that is less than a first preset distance threshold and for which no other robot besides the target robot is performing operations.

8. The method according to claim 4, characterized in that, The step of determining the first target shelf from the plurality of shelves based on the shelf management priority and the distance between the target robot and the shelf includes: The shelf that is determined to be the first target shelf is one that is less than a second preset distance threshold, has a shelf management priority greater than a preset priority threshold, and has no other robots other than the target robot performing operations.

9. The method according to claim 8, characterized in that, Determining a shelf as the first target shelf, where the distance between it and the target robot is less than a second preset distance threshold, the shelf management priority is greater than a preset priority threshold, and no other robot besides the target robot is performing operations, includes: Among the shelves whose warehouse management priority is greater than a preset priority threshold and in which no other robot besides the target robot is performing operations, the shelf closest to the target robot is determined as the first target shelf; or, Among the shelves where the distance between the shelf and the target robot is less than a second preset distance threshold, and where no other robot besides the target robot is performing operations, the shelf with the highest shelf management priority is determined as the first target shelf.

10. The method according to claim 1, characterized in that, The first target shelf is a shelf stored in a two-dimensional configuration, and the determination of the inventory management strategy further includes: Goods with a temperature higher than a preset temperature are placed in the first row of each layer of the first target shelf.

11. The method according to claim 1, characterized in that, The library strategy includes at least one of the following: Adjust the storage position of the stored goods so that the distance between the goods is a preset safe distance; Adjust the storage location of the stored goods so that goods with the same size or a size difference within a preset range are stored adjacent to each other; In the process of adjusting the storage location of the stored goods, the priority of adjusting the location of the goods is inversely proportional to the size of the goods.

12. The method according to any one of claims 1-10, characterized in that, When the target robot is a single-fork robot, the target robot includes at least one group of single-fork robots, and each group of single-fork robots includes at least two single-fork robots. When the target robot is a multi-storage unit robot, the target robot includes at least one multi-storage unit robot.

13. The method according to any one of claims 1-10, characterized in that, Also includes: Assign retrieval and placement tasks to the target robot that is performing inventory management operations, control the target robot to stop performing inventory management operations, and execute the retrieval and placement tasks.

14. The method according to any one of claims 1-10, characterized in that, Also includes: When it is detected that the area where the target robot performs inventory management operations on the first target shelf overlaps with the area where the second robot performs picking and placing tasks, a second target shelf that is different from the first target shelf is identified, and the target robot is controlled to perform inventory management operations on the second target shelf.

15. A method for sorting goods, applied to a robot, characterized in that, include: The system receives a first control command from a warehouse management device. This first control command is sent by the warehouse management device after detecting whether the warehouse management conditions are met and, upon confirming that the conditions are met, determining a target robot capable of performing the warehouse management task, determining a first target shelf for the target robot to perform the warehouse management operation based on the target robot's state attributes, and confirming that the first target shelf is a shelf for storing goods in a one-dimensional or two-dimensional configuration. The storage space for each item on the first target shelf is determined based on the item's size information and the dynamic storage space of the goods on the shelf. The one-dimensional configuration means that the goods in each layer of the storage space are placed in a row in the depth direction. The two-dimensional configuration means that the goods in each layer of the storage space are placed in a row, multiple rows, or a mixture of one row and multiple rows in the depth direction. According to the inventory management strategy in the first control instruction, the inventory management operation is performed on the first target shelf; Wherein, when the first target shelf is a shelf stored in a one-dimensional configuration, the inventory management strategy is obtained by the warehouse management equipment based on the spacing between the goods already stored on the first target shelf and a preset safety distance; when the first target shelf is a shelf stored in a two-dimensional configuration, the inventory management strategy is determined by the warehouse management equipment based on one or more of the goods heat, goods spacing and preset safety distance of the goods already stored on the first target shelf, wherein the goods heat represents the frequency at which the stored goods are taken out.

16. The method according to claim 15, characterized in that, The first target shelf is a shelf stored in a two-dimensional configuration. The determination of the inventory management strategy corresponding to the first target shelf also includes: Goods with a temperature higher than a preset temperature are placed in the first row of each layer of the first target shelf.

17. The method according to claim 15, characterized in that, The library strategy includes at least one of the following: Adjust the storage location of the stored goods so that the distance between the goods is the preset safe distance; Adjust the storage location of the stored goods so that goods with the same size or a size difference within a preset range are stored adjacent to each other; In the process of adjusting the storage location of the stored goods, the priority of adjusting the location of the goods is inversely proportional to the size of the goods.

18. The method according to claim 17, characterized in that, Adjusting the storage position of the stored goods so that the distance between the goods is a preset safe distance includes: Determine the reference point information of the stored goods; The storage location of the stored goods is adjusted according to the reference point information so that the distance between the goods is a preset safe distance.

19. The method according to claim 18, characterized in that, The reference point includes one or more of the following: the upright of the first target shelf, the marker point of the first target shelf, and one or more goods placed in an adjacent position to the stored goods.

20. The method according to claim 15, characterized in that, Also includes: Receive a second control command sent by the warehouse management equipment, the second control command including a pick-up and release task; The second control instruction stops the warehouse operation and executes the pick-up and drop-off task.

21. The method according to claim 15, characterized in that, Also includes: The third control instruction is sent by the warehouse management equipment. The third control instruction is sent by the warehouse management equipment to the target robot after detecting that there is an overlapping area between the area where the target robot performs the warehouse management operation on the first target shelf and the area where the second robot performs the picking and placing task, and after determining that the second target shelf is different from the first target shelf. The third control instruction includes information about the second target shelf. According to the third control command, a warehouse management operation is performed on the second target shelf.

22. A warehouse management device, characterized in that, include: Memory and at least one processor; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the cargo sorting method as described in any one of claims 1-14.

23. A robot, characterized in that, include: Memory and at least one processor; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the cargo sorting method as described in any one of claims 15-21.

24. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the cargo sorting method as described in any one of claims 1-21.

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