Warehousing system emergency response method, device, equipment and storage medium

Abstract

The embodiments of the present disclosure provide a method, device, equipment and storage medium for emergency handling of a warehousing system, which are applied to an intelligent warehousing system. The method includes: determining the working status of the loading and unloading equipment, determining the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment, and then sending instruction information to the warehousing robot based on the target loading and unloading position, wherein the instruction information is used to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading action. The technical solution of the embodiments of the present disclosure realizes that when any loading and unloading equipment is in an abnormal state, the warehousing robot is controlled to move directly to the target loading and unloading position on the conveyor line to complete the loading and unloading action, thereby replacing the loading and unloading equipment in the abnormal state, ensuring that the warehousing system continues to operate, and thus improving the stability and reliability of the warehousing system.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent warehousing technology, and in particular to a warehousing system emergency handling method, device, equipment and storage medium. Background Art

[0002] The warehousing system based on warehousing robots adopts an intelligent operating system, which realizes the automatic delivery of goods through system instructions. It can run 24 hours a day without interruption, replacing manual management and operation, improving warehousing efficiency, and has been widely used and favored.

[0003] Current warehouse systems typically rely on U-shaped conveyor lines within workstations and the corresponding unloading and loading equipment to move material boxes during inbound and outbound operations. If the loading or unloading equipment malfunctions, all operations will cease, impacting the operation of the warehouse system. Summary of the Invention

[0004] The embodiments of the present disclosure provide a storage system emergency handling method, apparatus, equipment, and storage medium to improve the stability and reliability of the storage system.

[0005] In a first aspect, an embodiment of the present disclosure provides a warehousing system emergency handling method, which is applied to an intelligent warehousing system and includes:

[0006] Determine the working status of the loading and unloading equipment. The loading and unloading equipment is used to coordinate the connection between the conveyor line and the storage robot. The working status includes normal working status and abnormal working status.

[0007] Determine the target loading and unloading position of the warehouse robot according to the working status of the loading and unloading equipment, the loading and unloading position including a first position where the loading and unloading equipment is present and a second position where the loading and unloading equipment is not present;

[0008] Based on the target loading and unloading position, instruction information is sent to the warehouse robot, and the instruction information is used to instruct the warehouse robot to move to the target loading and unloading position and complete the loading and unloading action.

[0009] Optionally, determining the working status of the loading and unloading equipment includes: determining that the loading and unloading equipment is in an abnormal working state where it cannot work; or, determining that the loading and unloading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value; or, determining that the loading and unloading equipment is in a normal working state.

[0010] Optionally, when the loading and unloading equipment is a unloading equipment, the target loading and unloading position of the warehousing robot is determined according to the working status of the loading and unloading equipment, including: if the unloading equipment is in a normal working state, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists; if the unloading equipment is in an abnormal working state, the target loading and unloading position is determined to be the second unloading position where the unloading equipment does not exist.

[0011] Optionally, the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by conveyor lines. If there are at least two adjacent groups of workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor lines; when the loading and unloading equipment is a unloading equipment, the target loading and unloading position of the warehousing robot is determined according to the working status of the loading and unloading equipment, including: if the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists; if the unloading equipment is in abnormal working condition, the target loading and unloading position is determined to be any one or more of the following positions: the second unloading position where no unloading equipment exists; the third unloading position where the unloading equipment exists in normal working condition in another adjacent workstation; the fourth unloading position where no unloading equipment exists in another adjacent workstation.

[0012] Optionally, when the loading and unloading equipment is a loading equipment, the target loading and unloading position of the warehousing robot is determined according to the working status of the loading and unloading equipment, including: if the loading equipment is in a normal working state, the target loading and unloading position is determined to be the first loading position where the loading equipment exists; if the loading equipment is in an abnormal working state, the target loading and unloading position is determined to be the first loading position where the loading equipment exists and / or the second loading position where the loading equipment does not exist.

[0013] Optionally, if the loading equipment is in an abnormal working state, the target loading and unloading position is determined to be the second loading position where the loading equipment does not exist and / or the third loading position where the unloading equipment does not exist, including: if the loading equipment is in an abnormal working state where it cannot work, the target loading and unloading position is determined to be the second loading position where the loading equipment does not exist; if the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value, the target loading and unloading position is determined to be the first loading position where the loading equipment exists and the second loading position where the loading equipment does not exist.

[0014] Optionally, the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by conveyor lines. If there are at least two groups of adjacent workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor lines; when the loading and unloading equipment is the loading equipment, the target loading and unloading position of the warehousing robot is determined according to the working status of the loading and unloading equipment, including: if the loading equipment is in a normal working state, the target loading and unloading position is determined to be the first loading position where the loading equipment is present; if the loading equipment is in an inoperable state, the target loading and unloading position is determined to be the first loading position where the loading equipment is present; if the loading equipment is in an inoperable state If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, the target loading and unloading position is determined to be any one or more of the following positions: the third loading position where there is a loading device in normal working state in another workstation; the fourth loading position where there is no loading device in another workstation; the second loading position where there is no loading device; if the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, the target loading and unloading position is determined to be any one or more of the following positions: the first loading position where there is a loading device; the second loading position where there is no loading device; the third loading position where there is a loading device in normal working state in another workstation; the fourth loading position where there is no loading device in another workstation.

[0015] Optionally, when the working state of the loading and unloading equipment is an abnormal working state, after determining the working state of the loading and unloading equipment, the method also includes: determining a non-idle storage robot corresponding to the loading and unloading equipment, the non-idle storage robot is used to represent a storage robot that has received a handling task, and the handling task refers to receiving a material box from a loading device or transferring a material box to an unloading device; sending a first instruction to cancel the handling task to the non-idle storage robot.

[0016] In a second aspect, an embodiment of the present disclosure provides a warehouse system emergency handling method, which is applied to a warehouse robot and includes:

[0017] In response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading actions at the target loading and unloading position. The target loading and unloading position is determined according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist.

[0018] Optionally, in response to the received indication information, move to the target loading and unloading position of the conveyor line corresponding to the indication information, and complete the loading and unloading actions at the target loading and unloading position, including: in response to the received first indication information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes the first unloading position where the unloading equipment exists; or, in response to the received second indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes the second unloading position where the unloading equipment does not exist.

[0019] Optionally, the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of workstations adjacent to each other, the workstations are adjacent to each other to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor line; in response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position, including: in response to the received third instruction information or, in response to the received fourth indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a third unloading position in which there is unloading equipment in normal working condition in another adjacent workstation; or, in response to the received fourth indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a fourth unloading position in which there is no unloading equipment in another adjacent workstation.

[0020] Optionally, in response to the received indication information, move to the target loading and unloading position of the conveyor line corresponding to the indication information, and complete the loading and unloading actions at the target loading and unloading position, including: in response to the received fifth indication information, move to the target loading and unloading position for loading, receive the material box from the loading equipment corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes the first loading position where the loading equipment is present; or, in response to the received sixth indication information, move to the target loading and unloading position for loading, receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes the second loading position where the loading equipment is not present.

[0021] Optionally, the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of workstations adjacent to each other, the workstations are adjacent to each other to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor line; in response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position, including: in response to the received first The seventh instruction information moves to the target loading and unloading position for loading, receives the material box from the loading equipment corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes a third loading position in another adjacent workstation where a loading equipment is in normal working condition; or, in response to the eighth instruction information received, moves to the target loading and unloading position for loading, receives the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes a fourth loading position in another adjacent workstation where no unloading equipment is present.

[0022] Optionally, if the warehouse robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to represent a warehouse robot that has received a handling task, and the handling task is to receive a material box from the loading equipment or to transfer the material box to the unloading equipment; in response to the received indication information, move to the target loading and unloading position of the conveyor line corresponding to the indication information, and before completing the loading and unloading action at the target loading and unloading position, it also includes: in response to the received ninth indication message, cancel the handling task corresponding to the ninth indication message.

[0023] In a third aspect, an embodiment of the present disclosure provides a warehousing system emergency processing device, which is applied to an intelligent warehousing system and includes:

[0024] The first determination module is used to determine the working status of the loading and unloading equipment, which is used to cooperate with the docking between the conveyor line and the storage robot. The working status includes a normal working state and an abnormal working state;

[0025] A second determination module is used to determine a target loading and unloading position of the storage robot according to the working status of the loading and unloading equipment, where the loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist;

[0026] The sending module is used to send instruction information to the warehouse robot based on the target loading and unloading position. The instruction information is used to instruct the warehouse robot to move to the target loading and unloading position and complete the loading and unloading action.

[0027] Optionally, the first determination module is specifically used to determine that the loading and unloading equipment is in an abnormal working state where it cannot work; or, determine that the loading and unloading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value; or, determine that the loading and unloading equipment is in a normal working state.

[0028] Optionally, the second determination module is specifically used to, when the loading and unloading equipment is a unloading equipment, if the unloading equipment is in a normal working state, determine the target loading and unloading position as the first unloading position where the unloading equipment is present; if the unloading equipment is in an abnormal working state, determine the target loading and unloading position as the second unloading position where the unloading equipment is not present.

[0029] Optionally, the second determination module is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, if there are at least two groups of adjacent workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor line; when the loading and unloading equipment is a unloading equipment, if the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment is present; if the unloading equipment is in abnormal working condition, the target loading and unloading position is determined to be any one or more of the following positions: the second unloading position where no unloading equipment exists; the third unloading position where the unloading equipment exists in normal working condition in another adjacent workstation; the fourth unloading position where no unloading equipment exists in another adjacent workstation.

[0030] Optionally, the second determination module is specifically used to, when the loading and unloading equipment is a loading equipment, if the loading equipment is in a normal working state, determine the target loading and unloading position as the first loading position where the loading equipment is present; if the loading equipment is in an abnormal working state, determine the target loading and unloading position as the first loading position where the loading equipment is present and / or the second loading position where the loading equipment is not present.

[0031] Optionally, the second determination module is specifically used to, if the loading equipment is in an abnormal working state where it cannot work, determine the target loading and unloading position as the second loading position where the loading equipment does not exist; if the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value, determine the target loading and unloading position as the first loading position where the loading equipment exists and the second loading position where the loading equipment does not exist.

[0032] Optionally, the second determination module is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by conveyor lines, if there are at least two groups of workstations adjacent to each other, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor lines; when the loading and unloading equipment is a loading equipment, if the loading equipment is in normal working condition, then the target loading and unloading position is determined to be the first loading position where the loading equipment is present; if the loading equipment is in an abnormal working condition where it cannot work, then it is determined The target loading and unloading position is set to any one or more of the following positions: the third loading position where there is a loading device in normal working condition in another workstation; the fourth loading position where there is no loading device in another workstation; the second loading position where there is no loading device; if the loading device is in an abnormal working state where the amount of pending tasks is greater than the set value, the target loading and unloading position is determined to be any one or more of the following positions: the first loading position where there is a loading device; the second loading position where there is no loading device; the third loading position where there is a loading device in normal working condition in another workstation; the fourth loading position where there is no loading device in another workstation.

[0033] Optionally, the first determination module is also used to, when the working state of the loading and unloading equipment is an abnormal working state, determine the non-idle storage robot corresponding to the loading and unloading equipment after determining the working state of the loading and unloading equipment. The non-idle storage robot is used to represent a storage robot that has received a handling task, and the handling task refers to receiving a material box from a loading device or transferring a material box to a unloading device; and send a first instruction to cancel the handling task to the non-idle storage robot.

[0034] In a fourth aspect, an embodiment of the present disclosure provides a warehousing system emergency processing device, which is applied to a warehousing robot and includes:

[0035] The processing module is used to move to the target loading and unloading position of the conveyor line corresponding to the instruction information in response to the received instruction information, and complete the loading and unloading action at the target loading and unloading position. The target loading and unloading position is determined according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist.

[0036] Optionally, the processing module is specifically used to, in response to the received first indication information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes the first unloading position where the unloading equipment exists; or, in response to the received second indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveying line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes the second unloading position where the unloading equipment does not exist.

[0037] Optionally, the processing module is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, if there are at least two groups of adjacent workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line; in response to the received third indication information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, the target loading and unloading position for unloading includes a third unloading position in which there is an unloading equipment in normal working condition in another adjacent workstation; or, in response to the received fourth indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, the target loading and unloading position for unloading includes a fourth unloading position in which no unloading equipment exists in another adjacent workstation.

[0038] Optionally, the processing module is specifically used to, in response to the received fifth indication information, move to the target loading and unloading position for loading, receive the material box from the loading equipment corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes the first loading position where the loading equipment exists; or, in response to the received sixth indication information, move to the target loading and unloading position for loading, receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes the second loading position where the loading equipment does not exist.

[0039] Optionally, the processing module is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by conveyor lines, and if there are at least two groups of adjacent workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor lines; in response to the received seventh indication information, move to the target loading and unloading position for loading, receive material boxes from the loading equipment corresponding to the target loading and unloading position for loading, the target loading and unloading position for loading includes a third loading position in which a loading equipment in normal working condition exists in another adjacent workstation; or, in response to the received eighth indication information, move to the target loading and unloading position for loading, receive material boxes from the conveyor line corresponding to the target loading and unloading position for loading, the target loading and unloading position for loading includes a fourth loading position in which no unloading equipment exists in another adjacent workstation.

[0040] Optionally, the processing module is also used to, if the warehouse robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to represent a warehouse robot that has received a handling task, and the handling task is to receive material boxes from the loading equipment or to transfer material boxes to the unloading equipment; in response to the received indication information, move to the target loading and unloading position of the conveyor line corresponding to the indication information, and before completing the loading and unloading action at the target loading and unloading position, in response to the received ninth indication message, cancel the handling task corresponding to the ninth indication message.

[0041] In a fifth aspect, an embodiment of the present disclosure further provides a control device, the control device comprising:

[0042] at least one processor;

[0043] and a memory communicatively coupled to the at least one processor;

[0044] In which, the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the control device to execute the warehousing system emergency handling method as the first aspect of the present disclosure; or, the instructions are executed by at least one processor to enable the control device to execute the warehousing system emergency handling method as the second aspect of the present disclosure.

[0045] In a fifth aspect, the embodiments of the present disclosure further provide a warehousing system emergency response system, the system comprising:

[0046] servers, conveyor lines, loading and unloading equipment, workstations, and warehouse robots;

[0047] The two ends of the conveyor line are connected to the loading and unloading equipment respectively, and the conveyor line is used to transport the material boxes between the two loading and unloading equipment;

[0048] The workstation is located in the middle of the conveyor line and is used to pick materials from the bins on the conveyor line;

[0049] The server is used to communicate with the workstation, loading and unloading equipment and storage robots, and execute the storage system emergency handling method according to the first aspect of the present disclosure;

[0050] The warehousing robot cooperates with the loading and unloading equipment and the conveyor line, and executes the warehousing system emergency handling method as described in the second aspect of the present disclosure.

[0051] Optionally, the loading and unloading equipment includes a unloading device and a loading device; the unloading device and the loading device are respectively connected to the two ends of the conveying line.

[0052] Optionally, a code reader is provided on the conveyor line; the code reader is respectively provided at a position on the conveyor line adjacent to the unloading equipment, a position on the conveyor line adjacent to the loading equipment and positions on both sides of the position of the corresponding workstation on the conveyor line.

[0053] In a sixth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement the warehousing system emergency handling method as in the first aspect of the present disclosure; or, when the computer execution instructions are executed by a processor, they are used to implement the warehousing system emergency handling method as in the second aspect of the present disclosure.

[0054] In the seventh aspect, an embodiment of the present disclosure further provides a computer program product, which includes computer execution instructions, which are used to implement the warehousing system emergency handling method as described in the first aspect of the present disclosure when the computer execution instructions are executed by a processor; or, the computer execution instructions are used to implement the warehousing system emergency handling method as described in the second aspect of the present disclosure when the computer execution instructions are executed by a processor.

[0055] The warehousing system emergency response method, apparatus, device, and storage medium provided by the embodiments of the present disclosure determine the operating status of loading and unloading equipment, and based on the operating status of the loading and unloading equipment, determine the target loading and unloading position of the warehousing robot. Then, based on the target loading and unloading position, instruction information is sent to the warehousing robot to instruct the warehousing robot to move to the target loading and unloading position and complete the loading and unloading operation. As a result, when any loading and unloading equipment experiences an abnormal state, the warehousing robot can be controlled to directly move to the target loading and unloading position on the conveyor line to complete the loading and unloading operation, thereby replacing the abnormal loading and unloading equipment and ensuring the continued operation of the warehousing system, thereby improving the stability and reliability of the warehousing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0057] Figure 1a A diagram of an application scenario of the warehousing system emergency response method provided by an embodiment of the present disclosure;

[0058] Figure 1b Another application scenario diagram of the warehousing system emergency response method provided by the embodiment of the present disclosure;

[0059] Figure 1c A diagram illustrating another application scenario of the warehousing system emergency response method provided in an embodiment of the present disclosure;

[0060] Figure 1d A diagram illustrating another application scenario of the warehousing system emergency response method provided in an embodiment of the present disclosure;

[0061] Figure 2 A flowchart of a storage system emergency response method provided by one embodiment of the present disclosure;

[0062] Figure 3a A flowchart of a storage system emergency response method provided by yet another embodiment of the present disclosure;

[0063] Figure 3b for Figure 3a A schematic diagram of the corresponding relationship between the working status of the loading and unloading equipment and the target loading and unloading position in the embodiment shown;

[0064] Figure 4a A flowchart of a storage system emergency response method provided by yet another embodiment of the present disclosure;

[0065] Figure 4b A flowchart of a storage system emergency response method provided by yet another embodiment of the present disclosure;

[0066] Figure 4c A flowchart of a storage system emergency response method provided by yet another embodiment of the present disclosure;

[0067] Figure 4d for Figures 4a to 4c A schematic diagram of the corresponding relationship between the working status of the loading and unloading equipment and the target loading and unloading position in the embodiment shown;

[0068] Figure 5 A flowchart of a storage system emergency response method provided by yet another embodiment of the present disclosure;

[0069] Figure 6 A flowchart of a storage system emergency response method provided by yet another embodiment of the present disclosure;

[0070] Figure 7 A flowchart of a storage system emergency response method provided by yet another embodiment of the present disclosure;

[0071] Figure 8 A schematic structural diagram of an emergency handling device for a storage system according to another embodiment of the present disclosure;

[0072] Figure 9 A schematic structural diagram of an emergency handling device for a storage system according to another embodiment of the present disclosure;

[0073] Figure 10 A schematic structural diagram of a control device provided in yet another embodiment of the present disclosure;

[0074] Figure 11 A schematic structural diagram of a warehousing system emergency response system provided in yet another embodiment of the present disclosure.

[0075] The above drawings illustrate specific embodiments of the present disclosure, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0076] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0077] The following detailed description of the technical solution of the present disclosure and how the technical solution of the present disclosure solves the above-mentioned technical problems is provided with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present disclosure will be described below in conjunction with the accompanying drawings.

[0078] In existing warehousing systems, the intelligent warehousing system sends a handling task from the server to the warehousing robot based on the material box to be handled. The robot then carries the items corresponding to the handling task to the unloading equipment, which unloads the items uniformly onto the conveyor line. The items are then transported to the workstation via the conveyor line. After the workstation completes the item picking, the loading equipment at the other end of the conveyor line receives the picked items (or the picked material boxes) and hands them over to another warehousing robot for return to the warehouse. However, if an abnormality occurs in the unloading or loading equipment and the unloading and loading work cannot be completed normally, then all operations in the field cannot continue (because if unloading is impossible, no items will enter the conveyor line; if loading is impossible, the items on the conveyor line will accumulate too much and cannot be cleaned, which will also lead to unloading failure), which will seriously affect the operating efficiency of the warehousing system.

[0079] In order to solve this problem, the embodiment of the present disclosure provides an emergency handling method for a warehousing system, which determines the working status of the loading and unloading equipment and, based on the working status of the loading and unloading equipment, determines the target loading and unloading position of the warehousing robot. The warehousing robot then goes to the target loading and unloading position to replace the work of the corresponding loading and unloading equipment, thereby maintaining the normal operation of the warehousing system and ensuring the reliability and stability of the warehousing system.

[0080] The following explains the application scenarios of the embodiments of the present disclosure:

[0081] Figure 1a This is an application scenario diagram of the storage system emergency handling method provided by the embodiment of the present disclosure. Figure 1a As shown, in the process of material picking in the warehousing system, the intelligent warehousing system moves the warehousing robot 120 to the corresponding target unloading position 101 according to the location of the abnormal unloading equipment 110 on the conveyor line 100 (where the dotted line indicates the transmission direction of the conveyor line), and directly unloads the material box onto the conveyor line 100 so that the workstation 140 can continue picking, thereby ensuring the continuation of the material picking process.

[0082] Next, please combine Figure 1b , which is another application scenario diagram of the storage system emergency handling method provided by the embodiment of the present disclosure. Figure 1b As shown, in the process of material picking in the warehousing system, the intelligent warehousing system moves the warehousing robot 120 to the corresponding target loading position 102 according to the location of the abnormal loading equipment 130 on the conveyor line 100, and directly takes away the material box on the conveyor line 100 so that the workstation 140 can continue picking, thereby ensuring the continuation of the material picking process.

[0083] Next, please combine Figure 1c, which is another application scenario diagram of the warehousing system emergency handling method provided by the embodiment of the present disclosure. There are at least two adjacent conveyor lines 100 in the warehousing system. When the unloading equipment 110 on one of the conveyor lines 100 is abnormal, the intelligent warehousing system moves the warehousing robot 120 to the corresponding target unloading position 103 (corresponding to the normal unloading equipment 111 in another workstation) or the target unloading position 104 (corresponding to the conveyor line adjacent to the unloading equipment 111 in another workstation) according to the location of the abnormal unloading equipment 110 on the conveyor line 100, and directly unloads the material box onto the conveyor line 100, so that the workstation 140 can continue to pick through the transfer between the conveyor lines 100, thereby ensuring the continuation of the material picking process.

[0084] Next, please combine Figure 1d , which is another application scenario diagram of the warehousing system emergency handling method provided by the embodiment of the present disclosure. There are at least two adjacent conveyor lines 100 in the warehousing system. When the loading equipment 130 on one of the conveyor lines 100 is abnormal, the intelligent warehousing system moves the warehousing robot 120 to the corresponding first target loading position 105 (corresponding to the normal loading equipment 131 in another workstation) or the second target loading position 106 (corresponding to the conveyor line adjacent to the loading equipment 131 in another workstation) according to the location of the abnormal loading equipment 130 on the conveyor line 100, and directly receives the material box from the conveyor line 100 so that the workstation 140 can continue to pick, thereby ensuring the continuation of the material picking process.

[0085] It should be noted that Figures 1a to 1d In the illustrated scenario, only one conveyor line, article, loading equipment, unloading equipment, storage robot and workstation is used as an example for illustration, but the present disclosure is not limited to this. That is, the number of conveyor lines, articles, loading equipment, unloading equipment, storage robots and workstations can be arbitrary.

[0086] The following describes in detail the storage system emergency response method provided by the present disclosure through specific embodiments.

[0087] Figure 2 This is a flow chart of a storage system emergency handling method provided by one embodiment of the present disclosure. The storage system emergency handling method is applied to an intelligent storage system. Figure 2 As shown, the storage system emergency handling method provided in this embodiment includes the following steps:

[0088] Step S201: Determine the working status of the loading and unloading equipment.

[0089] Among them, the loading and unloading equipment is used to coordinate the docking between the conveyor line and the storage robot, and the working status includes normal working status and abnormal working status.

[0090] Specifically, the loading and unloading equipment includes loading and unloading equipment located at both ends of the conveyor line. The unloading equipment receives the boxes to be picked from the storage robots and places them in order onto the conveyor line for selection by the workstations along the conveyor line. The loading equipment removes the picked boxes from the conveyor line and returns them to the warehouse via the storage robots. By cooperating with the conveyor line, the unloading and loading equipment enable a continuous material picking process.

[0091] When the loading and unloading equipment is in normal working condition, the warehouse robot will move the material boxes to be picked to the location of the unloading equipment, and transmit the material boxes to be picked to the unloading equipment, or go to the location of the loading equipment and receive the picked material boxes from the loading equipment to ensure the stability and continuity of the material picking process.

[0092] However, if the loading and unloading equipment is in an abnormal working state, it is usually impossible to transfer the material box to the conveyor line through the unloading equipment, or it is impossible to transfer the material box to the robot through the loading equipment.

[0093] Furthermore, there may be two situations in which the loading and unloading equipment may be in an abnormal working state. One is that the loading and unloading equipment fails, resulting in its inability to work. For example, if the loading equipment fails, it will no longer be able to receive the material boxes on the conveyor line or can no longer pass the material boxes to the robot. At this time, even if the storage robot goes to the location of the loading equipment, it will not be able to receive the material boxes; if the unloading equipment fails, it will not be able to receive the material boxes on the robot and / or can no longer deliver the material boxes to the conveyor line. Even if the storage robot goes to the location of the unloading equipment, it will not be able to transfer the material boxes through the unloading equipment.

[0094] Another situation is that there are too many material boxes piled up at the loading and unloading equipment, which exceeds the processing capacity of the loading and unloading equipment. For example, if there are too many material boxes at the loading equipment, although the storage robot can receive the material boxes at the location of the loading equipment, it cannot alleviate the problem of too many material boxes. For example, if there are too many storage robots waiting to unload at the unloading equipment, the efficiency of transferring the material boxes to the conveyor line will be affected.

[0095] Therefore, when the loading and unloading equipment is in an abnormal working state, that is, an emergency state occurs, emergency measures need to be taken to transfer some material boxes to other locations to avoid the situation where the material picking process cannot be maintained normally.

[0096] Combined with the above analysis, the warehouse robot should go to different locations corresponding to the different states of the loading and unloading equipment. Therefore, it is necessary to first determine the working status of the loading and unloading equipment, and then determine the location where the warehouse robot should go based on this.

[0097] Step S202: Determine the target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment.

[0098] The loading and unloading locations include a first location where loading and unloading equipment exists and a second location where no loading and unloading equipment exists.

[0099] Specifically, under different working conditions of the loading and unloading equipment, the warehouse robot will go to different locations (i.e., the target loading and unloading locations). As in the above analysis, when the loading and unloading equipment is in normal working condition, the robot will go to the location corresponding to the loading and unloading equipment; if the loading and unloading equipment is in an abnormal working state, the warehouse robot needs to go to another location to replace or supplement the function of the abnormal equipment.

[0100] If the unloading equipment fails, the storage robot can go directly to the conveyor line adjacent to the unloading equipment and directly put the material box onto the conveyor line, which can also play the role of unloading and maintaining the picking process; if the loading equipment fails, the storage robot can go directly to the conveyor line adjacent to the loading equipment and directly receive the material box from the conveyor line, which can also play the role of loading and maintaining the picking process.

[0101] In some embodiments, the server will specifically determine the specific movement location of the storage robot, such as specifying the coordinates corresponding to a certain position on the conveyor line, so that the storage robot can accurately reach the corresponding position based on the coordinates to ensure the completion of the corresponding action. If the unloading equipment is abnormal and multiple storage robots are required to deliver the material box to the conveyor line, different coordinates should be assigned to each storage robot to avoid the storage robots queuing again (in this case, multiple storage robots can be allowed to run side by side on the conveyor line to deliver or receive the material at the same time).

[0102] Step S203: Send instruction information to the storage robot based on the target loading and unloading location.

[0103] Among them, the instruction information is used to instruct the warehouse robot to move to the target loading and unloading location and complete the loading and unloading action.

[0104] Specifically, the action to be performed by the warehouse robot can be determined based on the abnormal state of the loading and unloading equipment. If the abnormality occurs in the unloading equipment, the corresponding action can be to deliver the material box to the conveyor line or other unloading equipment that can work normally (such as if there are multiple unloading equipment). If the abnormality occurs in the loading equipment, the corresponding action can be to receive the material box from the conveyor line or other loading equipment that works normally (such as if there are multiple loading equipment or the loading equipment is in a state with too many material boxes to be processed).

[0105] After determining the target loading and unloading location and the action the robot should take, the corresponding robot is identified and a directive is issued. The robot then executes the instructions, replacing the abnormal loading and unloading equipment in an emergency and maintaining the normal material picking process.

[0106] In some embodiments, if the abnormal state lasts for a long time, or if necessary, instruction information can be sent to multiple warehouse robots, so that multiple warehouse robots can take turns or go to the corresponding target loading and unloading locations at the same time to complete the corresponding actions to ensure the normal continuation of the process.

[0107] The warehousing system emergency response method provided by the disclosed embodiments determines the operating status of loading and unloading equipment, and based on the operating status of the loading and unloading equipment, determines the target loading and unloading position of the warehousing robot. Then, based on the target loading and unloading position, instruction information is sent to the warehousing robot, instructing the warehousing robot to move to the target loading and unloading position and complete the loading and unloading operation. As a result, when any loading and unloading equipment experiences an abnormal state, the warehousing robot can be controlled to directly move to the target loading and unloading position on the conveyor line to complete the loading and unloading operation, thereby replacing the abnormal loading and unloading equipment, ensuring the continued operation of the warehousing system, and thus improving the stability and reliability of the warehousing system.

[0108] Figure 3a This is a flow chart of a storage system emergency handling method provided by one embodiment of the present disclosure. Figure 3a As shown, the storage system emergency handling method provided in this embodiment includes the following steps:

[0109] Step S301: Determine whether the loading and unloading equipment is in normal working condition.

[0110] Specifically, if the loading and unloading equipment is in normal working condition, that is, not in abnormal working condition, and no emergency treatment is required at this time, the warehouse robot only needs to go to the location of the loading and unloading equipment (that is, the location of the loading and unloading equipment is used as the target loading and unloading location) and complete the corresponding actions to ensure the normal progress of the material picking process.

[0111] Step S302: If the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists.

[0112] Specifically, for the unloading device, if it is in normal working condition, the storage robot only needs to move to the position of the unloading device for receiving the material box, that is, the first unloading position (reference Figure 1a At the first unloading position, the material box is delivered to the unloading device by the storage robot.

[0113] Step S303: If the loading equipment is in normal working condition, the target loading and unloading position is determined to be the first loading position where the loading equipment exists.

[0114] Specifically, for the loading device, if it is in normal working condition, the storage robot only needs to move to the position where the loading device is used to transmit the material box to the outside, that is, the first loading position (reference Figure 1b At the first loading position, the material box is delivered to the storage robot by the loading device.

[0115] Step S302 and step S303 are two parallel steps performed based on step S301 , and those skilled in the art may select any one of the steps to perform as needed.

[0116] Step S304: Determine that the cargo loading and unloading equipment is in an abnormal working state where it cannot work.

[0117] Specifically, the loading and unloading equipment is in an abnormal working state where it cannot work, that is, the loading and unloading equipment is in a faulty state and waiting for repair, is in a repair state, or is in a debugging state. At this time, the loading and unloading equipment is usually unable to perform the loading and unloading functions normally, such as the loading equipment cannot receive the material box from the conveyor line, or cannot transfer the material box to the storage robot, or the unloading equipment cannot put the material box onto the conveyor line, or cannot receive the material box from the storage robot.

[0118] At this time, the warehousing system is in an emergency state and measures need to be taken for emergency processing. The warehousing robot directly connects to the conveyor line without going through the loading and unloading equipment to complete the corresponding work and ensure the normal picking process.

[0119] Step S305: Determine whether the cargo loading and unloading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value.

[0120] Specifically, the abnormal working state in which the amount of material boxes to be processed corresponding to the loading and unloading equipment is greater than the set value (the set value is usually the maximum amount of material boxes to be processed by the loading and unloading equipment per unit time) is usually because the server has issued too many material picking tasks, which exceeds the processing capacity of the loading and unloading equipment. When unloading, there may be many storage robots waiting in line at the loading and unloading equipment to unload. If all of them are handled by the loading and unloading equipment, the waiting time will be long and the efficiency will be low; when loading, there may be many material boxes to be loaded on the conveyor line, which affects the picking efficiency of the picking personnel.

[0121] At this time, the warehousing system is also in an emergency state and emergency measures need to be taken. Warehouse robots assist in loading and unloading equipment to ensure the normal progress of the picking process.

[0122] Step S304 and step 305 are steps parallel to step S301 , and those skilled in the art may select corresponding steps to perform as needed.

[0123] Step S306: Determine the non-idle storage robots corresponding to the loading and unloading equipment.

[0124] Among them, the non-idle warehouse robot is used to represent the warehouse robot that has received a handling task, and the handling task refers to receiving a material box from a loading device or transferring a material box to an unloading device.

[0125] Specifically, if the loading and unloading equipment is in an abnormal operating state, directly moving according to the pre-assigned handling task may not be able to complete the corresponding task normally due to the abnormality of the loading and unloading equipment, and thus the picking process cannot continue. Therefore, after determining that the working state of the loading and unloading equipment is abnormal, it is necessary to cancel the corresponding handling task first to facilitate flexible adjustment of the location where the storage robot should go.

[0126] Step S307: Send a first instruction to cancel the transport task to the non-idle storage robot.

[0127] Specifically, it is necessary to first cancel the handling task that has been assigned to the warehouse robot, and then send a new handling task to the warehouse robot, so that the non-idle warehouse robot can go to the corresponding target loading and unloading location based on the handling task to complete the corresponding loading and unloading actions, thereby ensuring the normal progress of the material picking process.

[0128] Step S308: If the unloading equipment is in an abnormal working state, the target loading and unloading position is determined to be a second unloading position where no unloading equipment exists.

[0129] Specifically, regardless of whether the unloading equipment is in an abnormal working state where it cannot work, or in an abnormal working state where the amount of pending tasks is greater than the set value, the warehouse robot should no longer go to the first unloading position where the unloading equipment is located, because it is impossible to transfer the material box to the conveyor line in time (when the amount of pending tasks of the unloading equipment is greater than the set value, the warehouse robot also needs to queue, and therefore cannot transfer the material box to the conveyor line in time).

[0130] Therefore, the warehouse robot needs to place the bins directly onto the conveyor line to facilitate timely picking at the workstation. The specific location where the warehouse robot places the bins (i.e., the target loading and unloading location) is near the unloading equipment on the conveyor line (i.e., the second unloading location). This allows the conveyor line to store more bins before moving to the loading equipment.

[0131] In some embodiments, reference Figure 1a In the illustrated embodiment, the conveyor line includes a portion connected to the workstation and portions connected to the loading and unloading equipment, respectively. In this case, the second unloading position is the portion of the conveyor line connected to the unloading equipment, corresponding to position 101 in the figure. If the portion of the conveyor line connected to the unloading equipment is longer, multiple second unloading positions parallel to the conveyor line can exist simultaneously, allowing multiple storage robots to simultaneously deliver containers to the conveyor line.

[0132] Step S309: If the loading device is in an abnormal working state, the target loading and unloading position is determined to be the first loading position where the loading device exists and / or the second loading position where the loading device does not exist.

[0133] Specifically, for different abnormal working states of the loading equipment, the corresponding target loading and unloading positions may be different. Therefore, when the loading equipment cannot work, the warehouse robot does not need to go to the location of the loading equipment (because it cannot receive the material boxes). However, when the amount of tasks to be processed by the loading equipment is greater than the set value, the warehouse robot can also go to the location of the loading equipment, because at this time it can normally receive the material boxes from the loading equipment (it’s just that there are more material boxes piled up on the conveyor line).

[0134] Furthermore, there are two cases:

[0135] Case 1 (not shown): if the loading equipment is in an abnormal working state where it cannot work, the target loading and unloading position is determined to be the second loading position where no loading equipment exists.

[0136] Specifically, the second loading position is a position on the conveyor line adjacent to the loading equipment, so that the material box can be directly received by the storage robot before it reaches the loading equipment.

[0137] In some embodiments, reference Figure 1b In the illustrated embodiment, the conveyor line includes a portion connected to the workstation and portions connected to the loading and unloading equipment, respectively. In this case, the second loading position is the portion of the conveyor line connected to the loading equipment, corresponding to position 102 in the figure. If the portion of the conveyor line connected to the loading equipment is long, multiple second loading positions can be provided simultaneously, allowing multiple storage robots to simultaneously receive bins from the conveyor line, quickly reducing bin accumulation on the conveyor line.

[0138] Case 2 (not shown): If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, the target loading and unloading positions are determined to be the first loading position where the loading equipment exists and the second loading position where the loading equipment does not exist.

[0139] Specifically, the loading equipment itself can work normally, but it is in an abnormal working state where the amount of tasks to be processed is greater than the set value. At this time, you can arbitrarily choose to make the storage robot go to the first loading position or the second loading position to receive the material box in time.

[0140] In some embodiments, the server may select a location with fewer storage robots as the target loading and unloading location for the storage robots to go to based on the number of storage robots at the first loading location and the second loading location (or the queue status).

[0141] Step S308 and step S309 are parallel steps, and those skilled in the art can select corresponding steps to perform as needed.

[0142] Further, if Figure 3b As shown, Figure 3b Schematic diagram of the corresponding relationship between the working status of the loading and unloading equipment and the target loading and unloading position. Therefore, those skilled in the art can select the corresponding target loading and unloading position according to the specific status of the loading and unloading equipment in actual work.

[0143] Step S310: Send instruction information to the storage robot based on the target loading and unloading location.

[0144] Specifically, this step is Figure 2 The content of step S203 in the illustrated embodiment is the same and will not be repeated here.

[0145] The warehousing system emergency response method provided by the disclosed embodiments determines the corresponding target loading and unloading location and loading and unloading action based on the loading and unloading equipment's normal operating state, abnormal operating state incapable of operation, or abnormal operating state with a pending task volume exceeding a set value, and sends corresponding instruction information to the warehousing robot. This enables the warehousing robot to effectively replace or assist the loading and unloading equipment, ensuring the normal progress of the material picking process and the continued operation of the warehousing system, thereby improving the stability and reliability of the warehousing system.

[0146] Figures 4a to 4c This is a flow chart of a storage system emergency handling method provided by an embodiment of the present disclosure. Figure 1c and Figure 1d The intelligent storage system includes at least two groups of workstations, each of which includes a loading device and an unloading device connected by a conveyor line. If there are at least two groups of workstations that are adjacent, the workstation adjacency is used to indicate that the conveyor line connected to the loading device in one group of workstations is adjacent to the conveyor line connected to the unloading device in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line. Figures 4a to 4c As shown, the storage system emergency handling method provided in this embodiment includes the following steps:

[0147] Step S401: Determine whether the loading and unloading equipment is in normal working condition.

[0148] Specifically, step S401 is identical to step S301 in the embodiment shown in FIG3 , and will not be described in detail here.

[0149] Step S402: If the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists.

[0150] Step S403: If the loading equipment is in normal working condition, the target loading and unloading position is determined to be the first loading position where the loading equipment exists.

[0151] Specifically, such as Figure 4a As shown, no matter how many groups of workstations there are in the warehouse system, when the loading and unloading equipment is in normal working condition, the target loading and unloading position can be directly determined as the position corresponding to the unloading equipment and loading equipment in the originally determined workstation.

[0152] At this point, you can also directly participate in the corresponding description in the embodiment shown in Figure 3, which will not be repeated here.

[0153] Step S404: Determine that the cargo loading and unloading equipment is in an abnormal working state where it cannot work.

[0154] Step S405: Determine whether the cargo loading and unloading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value.

[0155] Specifically, step S404 and step S405 are identical to the corresponding steps in the embodiment shown in FIG3 , and are not described again here.

[0156] Step S406: If the loading equipment is in an abnormal working state, the target loading and unloading location is determined to be any one or more of the following locations:

[0157] There is a third loading position of a loading device in a normal working state in another workstation;

[0158] There is no fourth loading position of the loading device in another workstation;

[0159] There is no second loading position of the loading device.

[0160] Specifically, such as Figure 4b As shown, the second loading position can refer to the corresponding content in the embodiment shown in Figure 3.

[0161] Since the loading device cannot work, the material box can be received by the loading device of another workstation (i.e. the third loading position, such as Figure 1d The corresponding position of 105 in the figure) can also receive the material box from the conveyor line of the loading equipment of another adjacent workstation (i.e. the fourth loading position, such as Figure 1d (corresponding position of 106 in the figure).

[0162] In some embodiments, if the conveyor lines of two workstations are closely adjacent, there may not be a second loading position or a fourth loading position (because the conveyor line corresponding to the second loading position or the fourth loading position is connected to the conveyor line of another workstation, which makes the warehouse robot unable to move to that position, and thus the corresponding unloading position does not exist). In this case, the loading position existing in the warehouse system can be determined as the target loading and unloading position.

[0163] In some embodiments, when there are many boxes to be received, multiple loading locations can be selected at the same time, and multiple storage robots can receive the boxes together.

[0164] In some embodiments, the selection order of each loading position can be: the first loading position (if the loading equipment is normal), the second loading position (if it exists, because the material box transmission distance is the shortest), the fourth loading position (if it exists, because it will not affect the normal operation of the loading equipment in another workstation) and the third loading position (which can also ensure the normal progress of the loading task).

[0165] This step is executed based on step S404. The corresponding content in this step can be executed only when step S404 is executed.

[0166] Step S407: If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, the target loading and unloading location is determined to be any one or more of the following locations:

[0167] There is a first loading position of the loading device;

[0168] There is no second loading position of the loading equipment;

[0169] There is a third loading position of a loading device in a normal working state in another workstation;

[0170] There is no fourth loading position of the loading device in another workstation.

[0171] Specifically, such as Figure 4c As shown, when the loading equipment is normal but the amount of tasks to be processed is greater than the set value, one or more positions can be selected from any of the aforementioned loading positions and cooperated by the storage robots to improve the efficiency of material box receiving.

[0172] This step is executed based on step S405. The corresponding content in this step can be executed only when step S405 is executed.

[0173] Step S408: If the unloading equipment is in an abnormal working state, determine the target loading and unloading location as any one or more of the following locations:

[0174] There is no second unloading position of the unloading equipment;

[0175] A third unloading position of an unloading device in a normal working state exists in another adjacent workstation;

[0176] There is no fourth unloading position of the unloading equipment in another adjacent workstation.

[0177] Specifically, such as Figure 4b and Figure 4cAs shown, the second unloading position can refer to the corresponding description in the embodiment shown in Figure 3.

[0178] When there are workstations in the storage system, even if the unloading equipment is in an abnormal working state, the location of the unloading equipment in another workstation that is in a normal working state can be selected, that is, the third unloading position (such as Figure 1c In step 103), the material box is transferred to the unloading device, which places the material box on the conveyor line. The conveyor line then transfers the material box to the corresponding workstation of the unloading device in the abnormal working state for picking. In this way, the normal picking process can also be guaranteed.

[0179] Similar to the second unloading position, there is also a position adjacent to the unloading equipment on the conveyor line corresponding to another workstation, which is the fourth unloading position (such as Figure 1c 104), by directly placing the material box to the fourth unloading position, the normal operation of the corresponding unloading equipment of another workstation can be not affected, thereby ensuring the overall operating status of each workstation.

[0180] In some embodiments, if the conveyor lines of two workstations are closely adjacent, there may not be a second unloading position or a fourth unloading position (because the conveyor line corresponding to the second unloading position or the fourth unloading position is connected to the conveyor line of another workstation, which makes the warehouse robot unable to move to that position, and thus the corresponding unloading position does not exist). In this case, the unloading position existing in the warehouse system can be determined as the target loading and unloading position.

[0181] In some embodiments, when there are many material boxes that need to be unloaded, multiple unloading positions can be selected at the same time to unload the materials together.

[0182] In some embodiments, the order of selection of the unloading positions can be: the first unloading position (if the unloading equipment is normal), the second unloading position (if it exists, because the material box transmission distance is the shortest), the fourth unloading position (if it exists, because it will not increase the load of the unloading equipment in another workstation) and the third unloading position (which can also ensure the normal progress of the unloading task).

[0183] This step is performed based on step S404 and / or step S405. When at least one of step S404 or step S405 is performed, the corresponding content in this step can be performed.

[0184] Further, combined with Figure 4d As shown, it is a relationship diagram between the working status of the loading and unloading equipment and the target loading and unloading position. Those skilled in the art can select the corresponding target loading and unloading position according to the actual working status of the loading and unloading equipment.

[0185] Further, combined with Figure 1c and Figure 1dNo matter which workstation the target loading and unloading location is located at, the actual picking action is completed in the originally determined workstation, and the picking workstation will not be changed due to the change of the target loading and unloading location.

[0186] Step S409: Send instruction information to the storage robot based on the target loading and unloading location.

[0187] Among them, the instruction information is used to instruct the warehouse robot to move to the target loading and unloading location and complete the loading and unloading action.

[0188] Specifically, this step is Figure 2 The content of step S203 in the illustrated embodiment is the same and will not be repeated here.

[0189] The warehousing system emergency response method provided by the disclosed embodiment, when there are at least two workstations, determines the corresponding target loading and unloading locations and loading and unloading actions from the warehousing systems corresponding to the at least two workstations based on whether the loading and unloading equipment is in a normal working state, an abnormal working state incapable of working, or an abnormal working state with a to-be-processed task volume greater than a set value, and combines the specific loading and unloading equipment. The method then sends corresponding instruction information to the warehousing robot. This allows for the determination of more target loading and unloading locations, allowing more warehousing robots to simultaneously complete actions that replace or assist loading and unloading equipment, ensuring the normal progress of the material picking process, quickly resolving emergency situations in the warehousing system, and ensuring the continued operation of the warehousing system, thereby improving the stability and reliability of the warehousing system.

[0190] Figure 5 This is a flow chart of a storage system emergency handling method provided by an embodiment of the present disclosure. This method is applied to storage robots, such as Figure 5 As shown, the storage system emergency handling method provided in this embodiment includes the following steps:

[0191] Step S501: In response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position.

[0192] The target loading and unloading position is determined according to the working status of the loading and unloading equipment, and the loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist.

[0193] Specifically, the instruction information sent by the server received by the warehouse robot will include the target loading and unloading position to which the warehouse robot needs to move (sometimes also the moving path), and the loading and unloading actions that need to be completed (such as placing the material box on the warehouse robot on the conveyor line or unloading equipment, or receiving the material box on the loading equipment or conveyor line). As a result, the warehouse robot can directly complete the movement and perform the corresponding loading and unloading actions according to the instruction information, thereby ensuring the normal progress of the material picking process.

[0194] In the warehousing system emergency response method provided by the disclosed embodiments, a warehousing robot completes the process of moving to a target loading and unloading location and performing loading and unloading operations based on received instructions. This ensures that the material picking process can proceed normally, regardless of whether the loading and unloading equipment is operating normally or abnormally, thereby improving the stability and reliability of the warehousing system.

[0195] Figure 6 This is a flow chart of a storage system emergency handling method provided by an embodiment of the present disclosure. This method is applied to storage robots, such as Figure 6 As shown, the storage system emergency handling method provided in this embodiment includes the following steps:

[0196] Step S601: If the warehouse robot is a non-idle robot corresponding to the loading and unloading equipment, in response to the received ninth instruction message, the handling task corresponding to the ninth instruction message is canceled.

[0197] Among them, the non-idle robot is used to represent the warehouse robot that has received the handling task, and the handling task is to receive the material box from the loading equipment or transfer the material box to the unloading equipment.

[0198] Specifically, for a warehouse robot that has accepted a handling task, it is necessary to cancel the corresponding handling task before it is sent to the target loading and unloading location to complete the loading and unloading action.

[0199] The ninth instruction message will be sent when the server determines the corresponding warehouse robot. After the warehouse robot cancels the corresponding handling task (or at the same time), the server will send instruction information containing the corresponding target loading and unloading location and loading and unloading actions.

[0200] Step S602: In response to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading.

[0201] The target loading and unloading location for unloading includes a first unloading location where unloading equipment is present.

[0202] Specifically, when the unloading equipment is in normal working condition, the server will send a first instruction message to the storage robot, causing the storage robot to move to the first unloading position and transfer the material box to the unloading equipment.

[0203] For the specific description of the first unloading position, please refer to the corresponding description in the embodiment shown in Figure 3, which will not be further elaborated here.

[0204] Step S603: In response to the received second instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading.

[0205] The target loading and unloading location for unloading includes a second unloading location where no unloading equipment exists.

[0206] Specifically, when the unloading equipment is in an abnormal working state, the server will send a second instruction message to the storage robot, causing the storage robot to move to the second unloading position and place the material box onto the conveyor line.

[0207] For the specific description of the second unloading position, please refer to the corresponding description in the embodiment shown in Figure 3, which will not be further elaborated here.

[0208] Step S604: In response to the received fifth instruction information, move to the target loading and unloading position for loading materials, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading materials.

[0209] The target loading and unloading position for loading materials includes a first loading position where a loading device is present.

[0210] Specifically, when the loading equipment is in normal working condition, or when the loading equipment is in an abnormal working condition where the amount of tasks to be processed is greater than the set value, the server will send the fifth instruction information to the warehouse robot. At this time, the warehouse robot will move to the first loading position and receive the picked material box from the loading equipment.

[0211] The description of the first loading position can refer to the corresponding description in the embodiment shown in FIG3 , which will not be further elaborated here.

[0212] Step S605: In response to the received sixth instruction information, move to the target loading and unloading position for loading materials, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading materials.

[0213] The target loading and unloading position for loading materials includes a second loading position where no loading equipment exists.

[0214] Specifically, when the loading equipment is in an abnormal working state and cannot work, the server will send a sixth instruction message to the storage robot, causing the storage robot to move to the second loading position and receive the material box from the conveyor line.

[0215] For the specific description related to the second loading position, please refer to the corresponding description in the embodiment shown in Figure 3, which will not be further elaborated here.

[0216] In the warehousing system emergency response method provided by the disclosed embodiments, a warehousing robot determines the corresponding target loading and unloading location and moves based on the different instructions it receives, then performs the loading and unloading actions corresponding to the instructions. This allows the warehousing robot to maintain the normal operation of the warehousing system and the material picking process regardless of the different operating states of the loading and unloading equipment, thereby improving the stability and reliability of the warehousing system.

[0217] Figure 7 This is a flow chart of a storage system emergency handling method provided by an embodiment of the present disclosure. This method is applied to a storage robot. In this embodiment, combined with Figure 1c and Figure 1d The intelligent storage system includes at least two groups of workstations, each of which includes a loading device and an unloading device connected by a conveyor line. If there are at least two groups of workstations that are adjacent, the workstation adjacency is used to indicate that the conveyor line connected to the loading device in one group of workstations is adjacent to the conveyor line connected to the unloading device in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor line. Figure 7 As shown, the storage system emergency handling method provided in this embodiment includes the following steps:

[0218] Step S701: In response to the received first instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading.

[0219] The target loading and unloading location for unloading includes a first unloading location where unloading equipment is present.

[0220] Step S702: In response to the received second instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading.

[0221] The target loading and unloading location for unloading includes a second unloading location where no unloading equipment exists.

[0222] Specifically, when there are multiple groups of workstations, the warehouse robot may also receive the situation where the unloading action is completed at the first unloading position and / or the second unloading position within the workstation. The relevant descriptions of the first unloading position and the second unloading position can refer to the corresponding descriptions in the embodiment shown in Figure 3, and will not be further expanded here.

[0223] Step S703: In response to the received third instruction information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading.

[0224] The target loading and unloading position for unloading includes a third unloading position in another adjacent workstation where unloading equipment is in normal working condition.

[0225] Specifically, when the unloading equipment is in an abnormal working state (and the second unloading position does not exist due to the interconnected workstations and conveyor lines), the server will select the location of the unloading equipment in another adjacent workstation that is in a normal working state as the target loading and unloading position for receiving the material box transferred by the warehouse robot, that is, the third unloading position.

[0226] For the specific description of the third unloading position, please refer to the corresponding description in the embodiment shown in Figure 4, which will not be further elaborated here.

[0227] Step S704: In response to the received fourth instruction information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading.

[0228] The target loading and unloading position for unloading includes a fourth unloading position in another adjacent workstation where no unloading equipment exists.

[0229] Specifically, when the unloading equipment is in an abnormal working state, or the unloading equipment in another workstation is also in an abnormal working state at the same time (or when the second unloading position does not exist, for specific circumstances, please refer to the corresponding description in the embodiment shown in Figure 4), the server selects the fourth unloading position as the target loading and unloading position for the warehouse robot to deliver the material box.

[0230] For the specific description related to the fourth unloading position, please refer to the corresponding description in the embodiment shown in Figure 4, which will not be further expanded here.

[0231] Step S705: In response to the received fifth instruction information, move to the target loading and unloading position for loading materials, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading materials.

[0232] The target loading and unloading position for loading materials includes a first loading position where a loading device is present.

[0233] Specifically, when the loading equipment is in normal working condition, or when the loading equipment is in an abnormal working condition where the amount of tasks to be processed is greater than the set value, even if there are multiple workstations, the server can directly send the fifth instruction information to the warehouse robot, so that the warehouse robot will move to the first loading position and receive the picked material box from the loading equipment.

[0234] The description of the first loading position can refer to the corresponding description in the embodiment shown in FIG3 , which will not be further elaborated here.

[0235] Step S706: In response to the received sixth instruction information, move to the target loading and unloading position for loading materials, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading materials.

[0236] The target loading and unloading position for loading materials includes a second loading position where no loading equipment exists.

[0237] Specifically, when the loading equipment is in an abnormal working state where it cannot work, if the second loading position is not occupied because multiple workstations and conveyor lines are interconnected, the server can send a sixth instruction message to the warehouse robot to move the warehouse robot to the second loading position and receive the material box from the conveyor line.

[0238] For the specific description related to the second loading position, please refer to the corresponding description in the embodiment shown in Figure 3, which will not be further elaborated here.

[0239] Step S707: In response to the received seventh instruction information, move to the target loading and unloading position for loading materials, and receive the material box from the loading equipment corresponding to the target loading and unloading position for loading materials.

[0240] The target loading and unloading position for loading materials includes a third loading position in another adjacent workstation where a loading device is in a normal working state.

[0241] Specifically, when the loading equipment is in an abnormal working state where it cannot work, or when the amount of tasks to be processed is greater than the set value, the server can send the seventh instruction information to the warehouse robot, so that the warehouse robot receives the picked material box from the loading equipment of another workstation.

[0242] For the specific description related to the third loading position, please refer to the corresponding description in the embodiment shown in Figure 4, which will not be further expanded here.

[0243] Step S708: In response to the received eighth instruction information, move to the target loading and unloading position for loading materials, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading materials.

[0244] The target loading and unloading position for loading materials includes a fourth loading position in another adjacent workstation where no unloading equipment exists.

[0245] Specifically, when the loading equipment (or the loading equipment of another workstation at the same time) is in an abnormal working state where it cannot work, or is in an abnormal working state where the amount of tasks to be processed is greater than the set value (or when the second loading position does not exist, the specific situation can be found in the corresponding description in the embodiment shown in Figure 4), the server can send an eighth indication message to the warehouse robot, so that the warehouse robot receives the picked material box from the conveyor line corresponding to the fourth loading position.

[0246] For the specific description related to the fourth loading position, please refer to the corresponding description in the embodiment shown in Figure 4, which will not be further expanded here.

[0247] In the warehousing system emergency response method provided by the disclosed embodiments, when there are at least two workstations, a warehousing robot, based on received different instruction information, determines the corresponding target loading and unloading location at another workstation and moves there, then performs the loading and unloading actions corresponding to the instruction information. This allows the warehousing robot to maintain the normal operation of the warehousing system and the material picking process by using the target loading and unloading locations corresponding to different workstations, even when the loading and unloading equipment is in different operating states, thereby improving the stability and reliability of the warehousing system.

[0248] Figure 8 This is a schematic diagram of the structure of a storage system emergency processing device provided by an embodiment of the present disclosure. Figure 8 As shown, the warehousing system emergency processing device 800 is applied to the intelligent warehousing system, and the warehousing system emergency processing device 800 includes: a first determination module 810, a second determination module 820 and a sending module 830. Among them:

[0249] The first determination module 810 is used to determine the working status of the loading and unloading equipment, which is used to coordinate the connection between the conveyor line and the storage robot. The working status includes a normal working state and an abnormal working state.

[0250] A second determining module 820 is configured to determine a target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment, wherein the loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist;

[0251] The sending module 830 is used to send instruction information to the warehouse robot based on the target loading and unloading position, and the instruction information is used to instruct the warehouse robot to move to the target loading and unloading position and complete the loading and unloading action.

[0252] Optionally, the first determination module 810 is specifically used to determine that the loading and unloading equipment is in an abnormal working state where it cannot work; or, determine that the loading and unloading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value; or, determine that the loading and unloading equipment is in a normal working state.

[0253] Optionally, the second determination module 820 is specifically used to, when the loading and unloading equipment is a unloading equipment, if the unloading equipment is in a normal working state, determine the target loading and unloading position as the first unloading position where the unloading equipment exists; if the unloading equipment is in an abnormal working state, determine the target loading and unloading position as the second unloading position where the unloading equipment does not exist.

[0254] Optionally, the second determination module 820 is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by conveyor lines, if there are at least two groups of adjacent workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor lines; when the loading and unloading equipment is a unloading equipment, if the unloading equipment is in normal working condition, the target loading and unloading position is determined to be the first unloading position where the unloading equipment exists; if the unloading equipment is in abnormal working condition, the target loading and unloading position is determined to be any one or more of the following positions: the second unloading position where no unloading equipment exists; the third unloading position where the unloading equipment exists in normal working condition in another adjacent workstation; the fourth unloading position where no unloading equipment exists in another adjacent workstation.

[0255] Optionally, the second determination module 820 is specifically used to, when the loading and unloading equipment is a loading equipment, if the loading equipment is in a normal working state, determine the target loading and unloading position as the first loading position where the loading equipment exists; if the loading equipment is in an abnormal working state, determine the target loading and unloading position as the first loading position where the loading equipment exists and / or the second loading position where the loading equipment does not exist.

[0256] Optionally, the second determination module 820 is specifically used to, if the loading equipment is in an abnormal working state where it cannot work, determine the target loading and unloading position as the second loading position where the loading equipment does not exist; if the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value, determine the target loading and unloading position as the first loading position where the loading equipment exists and the second loading position where the loading equipment does not exist.

[0257] Optionally, the second determination module 820 is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line, if there are at least two groups of workstations adjacent to each other, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transported between the two groups of workstations through the conveyor line; when the loading and unloading equipment is a loading equipment, if the loading equipment is in normal working condition, the target loading and unloading position is determined to be the first loading position where the loading equipment exists; if the loading equipment is in an abnormal working condition where it cannot work, The target loading and unloading position is determined to be any one or more of the following positions: the third loading position where there is a loading device in normal working condition in another workstation; the fourth loading position where there is no loading device in another workstation; the second loading position where there is no loading device; if the loading equipment is in an abnormal working state where the amount of pending tasks is greater than the set value, the target loading and unloading position is determined to be any one or more of the following positions: the first loading position where there is a loading device; the second loading position where there is no loading device; the third loading position where there is a loading device in normal working condition in another workstation; the fourth loading position where there is no loading device in another workstation.

[0258] Optionally, the first determination module 810 is also used to, when the working state of the loading and unloading equipment is an abnormal working state, determine the non-idle storage robot corresponding to the loading and unloading equipment after determining the working state of the loading and unloading equipment. The non-idle storage robot is used to represent a storage robot that has received a handling task, and the handling task refers to receiving a material box from a loading device or transferring a material box to a unloading device; and send a first instruction to cancel the handling task to the non-idle storage robot.

[0259] In this embodiment, the partitioned outbound device can determine the corresponding target loading and unloading position according to the working status of the loading and unloading equipment through the combination of various modules, so that the warehouse robot can go to the target loading and unloading position to complete the loading and unloading actions. In this way, when the loading and unloading equipment in the warehouse system is in normal or abnormal status, the material picking process is guaranteed to proceed normally, thereby improving the stability and reliability of the warehouse system.

[0260] Figure 9 This is a schematic diagram of the structure of a storage system emergency processing device provided by an embodiment of the present disclosure. Figure 9 As shown, the warehousing system emergency processing device 900 is applied to a warehousing robot, and the warehousing system emergency processing device 900 includes: a processing module 910. Among them:

[0261] The processing module 910 is used to move to the target loading and unloading position of the conveyor line corresponding to the instruction information in response to the received instruction information, and complete the loading and unloading action at the target loading and unloading position. The target loading and unloading position is determined according to the working status of the loading and unloading equipment. The loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist.

[0262] Optionally, the processing module 910 is specifically used to, in response to the received first indication information, move to the target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes the first unloading position where the unloading equipment exists; or, in response to the received second indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveying line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes the second unloading position where the unloading equipment does not exist.

[0263] Optionally, the processing module 910 is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by conveyor lines, and if there are at least two groups of adjacent workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor lines; in response to the received third indication information, move to the target loading and unloading position for unloading, and transport the material boxes to the unloading equipment corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a third unloading position in which there is an unloading equipment in normal working condition in another adjacent workstation; or, in response to the received fourth indication information, move to the target loading and unloading position for unloading, and transport the material boxes to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a fourth unloading position in which there is no unloading equipment in another adjacent workstation.

[0264] Optionally, the processing module 910 is specifically used to, in response to the received fifth indication information, move to the target loading and unloading position for loading, receive the material box from the loading equipment corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes the first loading position where the loading equipment exists; or, in response to the received sixth indication information, move to the target loading and unloading position for loading, receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes the second loading position where the loading equipment does not exist.

[0265] Optionally, the processing module 910 is specifically used to: if the intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by conveyor lines, and if there are at least two groups of adjacent workstations, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is connected to the conveyor line connected to the unloading equipment in another group of workstations, and the material boxes can be transferred between the two groups of workstations through the conveyor lines; in response to the received seventh indication information, move to the target loading and unloading position for loading, receive the material boxes from the loading equipment corresponding to the target loading and unloading position for loading, the target loading and unloading position for loading includes a third loading position where a loading equipment in normal working state exists in another adjacent workstation; or, in response to the received eighth indication information, move to the target loading and unloading position for loading, receive the material boxes from the conveyor line corresponding to the target loading and unloading position for loading, the target loading and unloading position for loading includes a fourth loading position where no unloading equipment exists in another adjacent workstation.

[0266] Optionally, the processing module 910 is also used to, if the warehouse robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to represent a warehouse robot that has received a handling task, and the handling task is to receive a material box from the loading equipment or to transfer the material box to the unloading equipment; in response to the received indication information, move to the target loading and unloading position of the conveyor line corresponding to the indication information, and before completing the loading and unloading action at the target loading and unloading position, in response to the received ninth indication message, cancel the handling task corresponding to the ninth indication message.

[0267] The relevant functions and effects of the warehousing system emergency processing device provided in this embodiment have been fully described in the aforementioned embodiments. Those skilled in the art can refer to the aforementioned embodiments to understand and apply the warehousing system emergency processing device provided in this embodiment.

[0268] Figure 10 A schematic diagram of the structure of a control device provided in one embodiment of the present disclosure is shown in FIG. Figure 10 As shown, the control device 1000 includes: a memory 1010 and a processor 1020.

[0269] The memory 1010 stores a computer program that can be executed by at least one processor 1020. The computer program is executed by at least one processor 1020 to enable the control device to implement the storage system emergency handling method provided in any of the above embodiments.

[0270] The memory 1010 and the processor 1020 may be connected via a bus 1030 .

[0271] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the method embodiments, which will not be repeated here.

[0272] Figure 11 A schematic diagram of the structure of a storage system emergency response system provided by an embodiment of the present disclosure is shown as follows: Figure 11 As shown, the warehousing system emergency handling system 1100 includes:

[0273] Server 1110, conveyor line 1120, loading and unloading equipment 1130, workstation 1140, and storage robot 1150;

[0274] Both ends of the conveyor line 1120 are connected to the loading and unloading equipment 1130 respectively. The conveyor line 1120 is used to transport the material box between the two loading and unloading equipment 1130;

[0275] Workstation 1140 is located in the middle of the conveyor line and is used to sort materials from the bins on conveyor line 1120;

[0276] The server 1110 is used to communicate with the workstation 1140, the loading and unloading equipment 1130 and the storage robot 1150, and execute the following Figure 2 to the storage system emergency handling method in any embodiment shown in FIG4 ;

[0277] The storage robot 1150 cooperates with the loading and unloading equipment 1130 and the conveyor line 1120 and performs the following operations: Figures 5 to 7 The emergency handling method for the storage system in any of the embodiments shown.

[0278] Specifically, the material boxes are placed onto the conveyor line 1120 by the loading and unloading equipment 1130, and the staff at the workstation 1140 picks the materials from the material boxes on the conveyor line 1120. The conveyor line 1120 then transfers the picked material boxes to another loading and unloading equipment 1130, and the storage robot 1150 cooperates with the loading and unloading equipment 1130 at both ends to receive and transfer the material boxes, thereby completing the material picking process.

[0279] Optionally, the loading and unloading equipment 1130 includes a unloading device 1131 and a loading device 1132 ; the unloading device 1131 and the loading device 1132 are respectively connected to the two ends of the conveying line 1120 .

[0280] Specifically, the conveyor line 1120 on one side of the unloading equipment 1131 conveys the material box toward the workstation 1140 , and the conveyor line 1120 on one side of the loading equipment 1132 transfers the material box to the loading equipment 1132 .

[0281] Optionally, a code reader (not shown) is provided on the conveyor line 1120; the code reader is respectively provided at a position on the conveyor line adjacent to the unloading device 1131, a position on the conveyor line 1120 adjacent to the loading device 1132, and a position on both sides of the position corresponding to the workstation 1140 on the conveyor line 1120.

[0282] Specifically, by using a code reader to detect the material boxes arriving at various positions of the conveyor line 1120, the server 1110 can conveniently determine whether the material box arriving at the loading device 1132 is a material box that needs to be received by the loading device 1132 or the storage robot 1150, or determine whether the material box dropped by the unloading device 1131 or the storage robot 1150 arrives at the location of the workstation 1140, and when the material box arrives at the location of the workstation 1140, determine the corresponding information of the material box so that the staff of the workstation 1140 can determine whether it is necessary to pick materials from the material box based on the corresponding information.

[0283] The relevant functions and effects of the warehousing system emergency processing system provided in this embodiment have been fully described in the aforementioned embodiments. Those skilled in the art can refer to the aforementioned embodiments to understand and apply the warehousing system emergency processing system provided in this embodiment.

[0284] An embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the warehousing system emergency handling method provided by any of the above method embodiments.

[0285] Among them, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0286] One embodiment of the present disclosure provides a computer program product, which includes computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the warehousing system emergency handling method provided in any of the above embodiments.

[0287] In the several embodiments provided in the present disclosure, 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 example, the division of modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0288] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0289] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A storage system emergency treatment method, characterized in that: Applied to the intelligent warehousing system, the warehousing system emergency response method includes: Determine the working status of the loading and unloading equipment, which is used to cooperate with the docking between the conveyor line and the storage robot. The working status includes a normal working status and an abnormal working status. The abnormal working status includes an abnormal working status in which the equipment cannot work and an abnormal working status in which the amount of pending tasks is greater than a set value; Determining a target loading and unloading position of the warehousing robot according to the working status of the loading and unloading equipment, wherein the loading and unloading position includes a first position where the loading and unloading equipment is present and a second position where the loading and unloading equipment is not present; Sending instruction information to the warehouse robot based on the target loading and unloading position, wherein the instruction information is used to instruct the warehouse robot to move to the target loading and unloading position and complete the loading and unloading action; The intelligent warehousing system includes at least two groups of workstations, each group of workstations includes a loading device and an unloading device connected by a conveyor line. If there are at least two groups of workstations adjacent to each other, the workstations are adjacent to each other, indicating that the conveyor line connected to the loading device in one group of workstations is adjacent to the conveyor line connected to the unloading device in the other group of workstations, and the material boxes are transported between the two groups of workstations via the conveyor line. When the loading and unloading equipment is a loading device, determining the target loading and unloading position of the storage robot according to the working state of the loading and unloading equipment includes: If the loading device is in normal working condition, determining the target loading and unloading position as the first loading position where the loading device is located; If the loading device is in an abnormal working state where it cannot work, the target loading and unloading position is determined to be any one or more of the following positions: a third loading position where a loading device in a normal working state exists in another workstation; a fourth loading position where no loading device exists in another workstation; or a second loading position where no loading device exists. If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, the target loading and unloading position is determined to be any one or more of the following positions: the first loading position where there is a loading equipment; the second loading position where there is no loading equipment; the third loading position where there is a loading equipment in a normal working state in another workstation; the fourth loading position where there is no loading equipment in another workstation.

2. The method according to claim 1, characterized in that Determining the working status of the loading and unloading equipment includes: Determining that the cargo loading and unloading equipment is in an abnormal working state where it cannot function; Alternatively, it is determined that the cargo loading and unloading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value; Alternatively, it is determined that the cargo loading and unloading equipment is in normal working condition.

3. The method according to claim 2, characterized in that When the loading and unloading equipment is a unloading equipment, determining the target loading and unloading position of the storage robot according to the working state of the loading and unloading equipment includes: If the unloading equipment is in normal working condition, determining the target loading and unloading position as the first unloading position where the unloading equipment is located; If the unloading equipment is in an abnormal working state, the target loading and unloading position is determined to be a second unloading position where no unloading equipment exists.

4. The method according to claim 2, characterized in that When the intelligent warehousing system includes at least two groups of workstations, and the loading and unloading equipment is a unloading equipment, determining the target loading and unloading position of the warehousing robot according to the working state of the loading and unloading equipment includes: If the unloading equipment is in normal working condition, determining the target loading and unloading position as the first unloading position where the unloading equipment is located; If the unloading equipment is in an abnormal working state, the target loading and unloading location is determined to be any one or more of the following locations: There is no second unloading position of the unloading equipment; A third unloading position of an unloading device in a normal working state exists in another adjacent workstation; There is no fourth unloading position of the unloading equipment in another adjacent workstation.

5. The method according to claim 2, characterized in that When the loading and unloading equipment is a loading device, determining the target loading and unloading position of the storage robot according to the working state of the loading and unloading equipment includes: If the loading device is in normal working condition, determining the target loading and unloading position as the first loading position where the loading device is located; If the loading device is in an abnormal working state, the target loading and unloading position is determined to be the first loading position where the loading device exists and / or the second loading position where the loading device does not exist.

6. The method according to claim 5, characterized in that If the loading device is in an abnormal working state, determining the target loading and unloading position to be a second loading position where no loading device is present and / or a third loading position where no unloading device is present includes: If the loading device is in an abnormal working state where it cannot work, the target loading and unloading position is determined to be a second loading position where no loading device exists; If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than a set value, the target loading and unloading positions are determined to be a first loading position where the loading equipment exists and a second loading position where no loading equipment exists.

7. The method according to any one of claims 1 to 6, characterized in that When the working state of the cargo loading and unloading equipment is an abnormal working state, after determining the working state of the cargo loading and unloading equipment, the method further includes: Determine a non-idle warehouse robot corresponding to the loading and unloading equipment, where the non-idle warehouse robot is used to represent a warehouse robot that has received a handling task, where the handling task is to receive a material box from a loading device or to transfer a material box to an unloading device; A first instruction to cancel the transport task is sent to the non-idle storage robot.

8. A storage system emergency treatment method, characterized in that: Applied to warehouse robots, including: In response to the received instruction information, move to the target loading and unloading position of the conveyor line corresponding to the instruction information, and complete the loading and unloading action at the target loading and unloading position, wherein the target loading and unloading position is determined according to the working state of the loading and unloading equipment, and the loading and unloading position includes a first position where the loading and unloading equipment is present and a second position where the loading and unloading equipment is not present; The working state includes a normal working state and an abnormal working state, wherein the abnormal working state includes an abnormal working state incapable of working and an abnormal working state in which the amount of tasks to be processed is greater than a set value; The intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of workstations adjacent to each other, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes are transported between the two groups of workstations via the conveyor line. The intelligent warehousing system determines the target loading and unloading location according to the working status of the loading and unloading equipment, including: When the working state is a normal working state, the target loading and unloading position is a first loading position where a loading device is present; When the working state is an abnormal working state in which the work cannot be performed, the target loading and unloading position is any one or more of the following positions: a third loading position where a loading device in a normal working state exists in another workstation; a fourth loading position where no loading device exists in another workstation; or a second loading position where no loading device exists. When the working state is an abnormal working state in which the amount of tasks to be processed is greater than a set value, the target loading and unloading position is any one or more of the following positions: a first loading position where there is a loading device; a second loading position where there is no loading device; a third loading position where there is a loading device in a normal working state in another workstation; a fourth loading position where there is no loading device in another workstation.

9. The method according to claim 8, characterized in that The step of moving to a target loading and unloading position of the conveyor line corresponding to the instruction information in response to the received instruction information and completing the loading and unloading action at the target loading and unloading position includes: In response to the received first instruction information, move to a target loading and unloading location for unloading, and move the container to an unloading device corresponding to the target loading and unloading location for unloading, wherein the target loading and unloading location for unloading includes a first unloading location where the unloading device is located; Alternatively, in response to the received second indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a second unloading position where no unloading equipment exists.

10. The method according to claim 8, characterized in that When the intelligent warehousing system includes at least two groups of workstations, the workstation moves to the target loading and unloading position of the conveyor line corresponding to the instruction information in response to the received instruction information, and completes the loading and unloading action at the target loading and unloading position, including: In response to the received third instruction information, move to a target loading and unloading position for unloading, and transport the material box to the unloading equipment corresponding to the target loading and unloading position for unloading, wherein the target loading and unloading position for unloading includes a third unloading position of another adjacent workstation where the unloading equipment is in normal working condition; Alternatively, in response to the received fourth indication information, move to the target loading and unloading position for unloading, and transport the material box to the conveyor line corresponding to the target loading and unloading position for unloading, and the target loading and unloading position for unloading includes a fourth unloading position in another adjacent workstation where no unloading equipment exists.

11. The method according to claim 8, characterized in that The step of moving to a target loading and unloading position of the conveyor line corresponding to the instruction information in response to the received instruction information and completing the loading and unloading action at the target loading and unloading position includes: In response to the received fifth instruction information, move to a target loading and unloading location for loading materials, and receive a material box from a loading device corresponding to the target loading and unloading location for loading materials, wherein the target loading and unloading location for loading materials includes a first loading location where the loading device is located; Alternatively, in response to the received sixth indication information, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes a second loading position where no loading equipment exists.

12. The method according to claim 8, characterized in that When the intelligent storage system includes at least two groups of workstations, The step of moving to a target loading and unloading position of the conveyor line corresponding to the instruction information in response to the received instruction information and completing the loading and unloading action at the target loading and unloading position includes: In response to the seventh instruction information received, move to a target loading and unloading position for loading materials, and receive a material box from a loading device corresponding to the target loading and unloading position for loading materials, wherein the target loading and unloading position for loading materials includes a third loading position in another adjacent workstation where a loading device in a normal working state exists; Alternatively, in response to the eighth indication information received, move to the target loading and unloading position for loading, and receive the material box from the conveyor line corresponding to the target loading and unloading position for loading, and the target loading and unloading position for loading includes a fourth loading position in another adjacent workstation where no unloading equipment exists.

13. The method according to any one of claims 8 to 12, characterized in that If the storage robot is a non-idle robot corresponding to the loading and unloading equipment, the non-idle robot is used to represent a storage robot that has received a handling task, and the handling task is to receive a material box from the loading equipment or to transfer a material box to the unloading equipment; In response to the received instruction information, the method moves to the target loading and unloading position of the conveyor line corresponding to the instruction information, and before completing the loading and unloading action at the target loading and unloading position, the method further includes: In response to the received ninth instruction message, the transport task corresponding to the ninth instruction message is canceled.

14. An emergency handling device for a storage system, characterized in that: Applied to intelligent warehousing system, the warehousing system emergency handling device includes: A first determination module is configured to determine the working status of the loading and unloading equipment, wherein the loading and unloading equipment is configured to cooperate with the docking between the conveyor line and the storage robot. The working status includes a normal working status and an abnormal working status. The abnormal working status includes an abnormal working status in which the equipment cannot work and an abnormal working status in which the amount of pending tasks is greater than a set value. a second determining module, configured to determine a target loading and unloading position of the warehousing robot according to the working state of the loading and unloading equipment, wherein the loading and unloading position includes a first position where the loading and unloading equipment exists and a second position where the loading and unloading equipment does not exist; a sending module, configured to send instruction information to the storage robot based on the target loading and unloading position, wherein the instruction information is used to instruct the storage robot to move to the target loading and unloading position and complete the loading and unloading action; The intelligent warehousing system includes at least two groups of workstations, each group of workstations includes a loading device and an unloading device connected by a conveyor line. If there are at least two groups of workstations adjacent to each other, the workstations are adjacent to each other, indicating that the conveyor line connected to the loading device in one group of workstations is adjacent to the conveyor line connected to the unloading device in the other group of workstations, and the material boxes are transported between the two groups of workstations via the conveyor line. When the loading and unloading equipment is a feeding equipment, the second determining module is specifically configured to: If the loading device is in normal working condition, determining the target loading and unloading position as the first loading position where the loading device is located; If the loading device is in an abnormal working state where it cannot work, the target loading and unloading position is determined to be any one or more of the following positions: a third loading position where a loading device in a normal working state exists in another workstation; a fourth loading position where no loading device exists in another workstation; or a second loading position where no loading device exists. If the loading equipment is in an abnormal working state where the amount of tasks to be processed is greater than the set value, the target loading and unloading position is determined to be any one or more of the following positions: the first loading position where there is a loading equipment; the second loading position where there is no loading equipment; the third loading position where there is a loading equipment in a normal working state in another workstation; the fourth loading position where there is no loading equipment in another workstation.

15. An emergency handling device for a storage system, characterized in that: Applied to a warehouse robot, the warehouse system emergency handling device includes: a processing module configured to, in response to received instruction information, move to a target loading and unloading position of the conveyor line corresponding to the instruction information and complete loading and unloading operations at the target loading and unloading position, wherein the target loading and unloading position is determined based on the working state of the loading and unloading equipment, and the loading and unloading positions include a first position where the loading and unloading equipment is present and a second position where the loading and unloading equipment is not present; The working state includes a normal working state and an abnormal working state, wherein the abnormal working state includes an abnormal working state incapable of working and an abnormal working state in which the amount of tasks to be processed is greater than a set value; The intelligent warehousing system includes at least two groups of workstations, each group of workstations includes loading equipment and unloading equipment connected by a conveyor line. If there are at least two groups of workstations adjacent to each other, the workstation adjacency is used to indicate that the conveyor line connected to the loading equipment in one group of workstations is adjacent to the conveyor line connected to the unloading equipment in the other group of workstations, and the material boxes are transported between the two groups of workstations via the conveyor line. The intelligent warehousing system determines the target loading and unloading location according to the working status of the loading and unloading equipment, including: When the working state is a normal working state, the target loading and unloading position is a first loading position where a loading device is present; When the working state is an abnormal working state in which the work cannot be performed, the target loading and unloading position is any one or more of the following positions: a third loading position where a loading device in a normal working state exists in another workstation; a fourth loading position where no loading device exists in another workstation; or a second loading position where no loading device exists. When the working state is an abnormal working state in which the amount of tasks to be processed is greater than a set value, the target loading and unloading position is any one or more of the following positions: a first loading position where there is a loading device; a second loading position where there is no loading device; a third loading position where there is a loading device in a normal working state in another workstation; a fourth loading position where there is no loading device in another workstation.

16. A control device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; In which, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the control device executes the warehousing system emergency handling method described in any one of claims 1-7; or, the instructions are executed by the at least one processor so that the control device executes the warehousing system emergency handling method described in any one of claims 8-13.

17. A storage system emergency handling system, characterized in that: include: servers, conveyor lines, loading and unloading equipment, workstations, and warehouse robots; Both ends of the conveyor line are connected to the loading and unloading equipment respectively, and the conveyor line is used to transport the material box between the two loading and unloading equipment; The workstation is located in the middle of the conveyor line and is used to sort materials from the material boxes on the conveyor line; The server is used to communicate with the workstation, the loading and unloading equipment and the storage robot, and execute the storage system emergency handling method according to any one of claims 1 to 7; The warehousing robot cooperates with the loading and unloading equipment and the conveyor line, and performs the warehousing system emergency handling method according to any one of claims 8 to 13.

18. The storage system emergency handling system according to claim 17, characterized in that: The loading and unloading equipment includes a unloading device and a loading device; The unloading equipment and the loading equipment are respectively connected to the two ends of the conveying line.

19. The storage system emergency handling system according to claim 18, characterized in that: A code reader is provided on the conveying line; The code readers are respectively arranged at a position on the conveyor line adjacent to the unloading equipment, a position on the conveyor line adjacent to the loading equipment, and positions on both sides of the conveyor line corresponding to the position of the workstation.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer execution instructions, which, when executed by a processor, are used to implement the warehousing system emergency handling method according to any one of claims 1 to 7; and / or, the computer execution instructions, when executed by a processor, are used to implement the warehousing system emergency handling method according to any one of claims 8 to 13.

21. A computer program product, characterized in that The computer program product includes computer-executable instructions, which, when executed by a processor, are used to implement the warehousing system emergency handling method as described in any one of claims 1 to 7; and / or, the computer-executable instructions, when executed by a processor, are used to implement the warehousing system emergency handling method as described in any one of claims 8 to 13.

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