Lane robot scheduling method, device and storage medium

Abstract

The present invention provides a method, device, and storage medium for scheduling robots within lanes. The method comprises: determining target location information for items corresponding to the order information based on acquired order information; collecting real-time status information of a robot that faces a first obstacle in a target lane corresponding to the target location information; determining storage / retrieval path information based on the first obstacle robot status information; transmitting the storage / retrieval path information to the target robot, allowing the target robot to reach the location represented by the target location information based on the storage / retrieval path information to perform storage / retrieval; after the target robot completes storage / retrieval, determining a delivery path based on real-time status information of a robot that faces a second obstacle in the target lane; and transmitting the delivery path information to the target robot, allowing the target robot to exit the target lane based on the delivery path information. This method can improve the efficiency of AGVs in handling bins and order delivery.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of logistics robots, and in particular to a method, device, and storage medium for scheduling robots in lanes. Background Art

[0002] To improve storage efficiency, warehouses are increasingly using intensive storage methods, a common combination of vertical racking and long aisle storage. If automated guided vehicles (AGVs) are used to transport containers, long aisle storage can result in multiple AGVs operating in the same aisle. This can lead to a traffic jam, reducing AGV container handling efficiency and order fulfillment efficiency. Summary of the Invention

[0003] The embodiments of the present invention provide a method, device, and storage medium for scheduling robots in lanes, which can improve the efficiency of AGVs in transporting material boxes and the efficiency of order delivery.

[0004] The technical solution of the present invention is achieved as follows:

[0005] An embodiment of the present invention provides a method for scheduling robots in a lane, comprising:

[0006] Based on the acquired order information, determining target location information of the item corresponding to the order information;

[0007] collecting, in real time, state information of a first obstacle robot in a target lane corresponding to the target position information, and determining storage / retrieval path information based on the first obstacle robot state information;

[0008] Sending the storage / retrieval path information to a target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to store / retrieve the goods;

[0009] After the target robot completes the storage / retrieval of goods, determining the delivery path information based on the real-time collected state information of the second obstacle robot in the target lane;

[0010] The shipping path information is sent to the target robot, so that the target robot can drive out of the target lane based on the shipping path information.

[0011] In the above solution, the real-time acquisition of the first obstacle robot status information in the target lane corresponding to the position information, and the determination of the storage / retrieval path information based on the first obstacle robot status information, include:

[0012] Collecting multiple first position information of multiple robots in real time, and determining the position information of a first obstacle robot in the target lane from the multiple first position information;

[0013] Based on the position information of the first obstacle robot, the storage / retrieval path information is determined.

[0014] In the above solution, the step of determining the storage / retrieval path information based on the position information of the first obstacle robot includes:

[0015] If the first obstacle robot position information indicates that there is no robot or only one obstacle robot in the target lane, the storage / retrieval path information is determined based on the real-time collected starting position information of the target robot and the target position information.

[0016] In the above solution, the target location information includes: the first entrance location information, the second entrance location information and the target cargo location information of the target lane;

[0017] The step of determining the storage / retrieval path information based on the real-time collected starting position information of the target robot and the target position information includes:

[0018] Calculating a first distance between the starting position information and each representative position of the first entrance position information, calculating a second distance between the starting position information and each representative position of the second entrance position information, calculating a third distance between the first entrance position information and each representative position of the target cargo location information, and calculating a fourth distance between the second entrance position information and each representative position of the target cargo location information;

[0019] Calculating a first sum of the first distance and the third distance, calculating a second sum of the second distance and the fourth distance, and determining a minimum sum between the first sum and the second sum;

[0020] The storage / retrieval path information is constructed using the initial position information, the minimum and corresponding entrance position information, and the target cargo location information.

[0021] In the above solution, determining the storage / retrieval path information based on the first obstacle robot's position information includes:

[0022] If the first obstacle robot position information indicates that there are at least two obstacle robots in the target lane, the storage / retrieval path information is determined based on the starting position information of the target robot collected in real time, at least two position information of the at least two obstacle robots, and the target position information.

[0023] In the above solution, the target location information includes: target cargo location information;

[0024] The determining of the storage / retrieval path information based on the real-time collected starting position information of the target robot, the at least two position information of the at least two obstacle robots, and the target position information includes one of the following:

[0025] If the location represented by the target cargo location information is on either side of the at least two locations represented by the at least two location information, constructing the storage / retrieval path information based on the initial location information, the entrance location information on one side of the target cargo location, and the target cargo location information;

[0026] If the position represented by the target cargo location information is between the at least two positions represented by the at least two position information, determining at least two pieces of movement direction information based on the at least two pieces of position information;

[0027] Determining first target direction information having the largest proportion among the at least two pieces of motion direction information, and sending the first target direction information to the at least two obstacle robots;

[0028] Determining a first entrance distributed along a direction represented by the first target direction information among the two entrances of the target lane;

[0029] The storage / retrieval path information is constructed by combining the starting position information, the first entrance position information and the target cargo location information.

[0030] In the above solution, the method of determining the delivery path information based on real-time acquisition of the state information of the second obstacle robot in the target lane includes:

[0031] collecting a plurality of second position information of a plurality of robots in real time, and determining the position information of a second obstacle robot located in the target lane from the plurality of second position information;

[0032] The shipping path information is determined based on the second obstacle robot position information.

[0033] In the above solution, determining the shipping path information based on the position information of the second obstacle robot includes:

[0034] If the second obstacle robot position information indicates that there is no robot in the target lane, the shipping path information is determined based on the real-time collected storage / retrieval position information of the target robot, the target position information and the picking station position information.

[0035] In the above solution, the target location information includes: first entrance location information and second entrance location information of the target lane;

[0036] The shipping path information is determined based on the real-time collected storage / retrieval location information of the target robot and the target location information and the picking station location information, including:

[0037] Calculating a fifth distance between the storage / retrieval location information and each representative position of the first entrance location information, calculating a sixth distance between the storage / retrieval location information and the second entrance location information, calculating a seventh distance between the first entrance location information and each representative position of the picking station location information, and calculating an eighth distance between the second entrance location information and each representative position of the picking station location information;

[0038] Calculating a third sum of the fifth distance and the seventh distance, calculating a fourth sum of the sixth distance and the eighth distance, and determining a second minimum sum between the third sum and the fourth sum;

[0039] The shipping path information is constructed using the storage / retrieval location information, the second minimum and corresponding entrance location information, and the picking station location information.

[0040] In the above solution, determining the shipping path information based on the position information of the second obstacle robot includes:

[0041] If the second obstacle robot position information indicates that there is only one obstacle robot in the target lane, the shipping path information is determined based on the real-time collected storage / retrieval position information of the target robot, the optimal entrance position information and the picking station position information; the optimal entrance position information is the entrance position information of the side of the target robot away from the one obstacle robot.

[0042] In the above solution, determining the shipping path information based on the position information of the second obstacle robot includes:

[0043] If the second obstacle robot position information indicates that there are at least two second obstacle robots in the target lane, the shipping path information is determined based on the storage / retrieval position information of the target robot collected in real time, at least two second position information of the at least two second obstacle robots, the target position information and the picking station position information.

[0044] In the above solution, the target location information includes: target cargo location information;

[0045] The determining of the shipping path information based on the real-time collected storage / retrieval location information of the target robot, the at least two second location information of the at least two second obstacle robots, the target location information, and the picking station location information includes one of the following:

[0046] If the location represented by the target cargo location information is on either side of the at least two second locations represented by the at least two second location information, constructing the shipping path information based on the storage / retrieval location information, the entrance location information on one side of the target cargo location, and the picking station location information;

[0047] If the position represented by the target cargo location information is between the at least two second positions represented by the at least two second position information, determining at least two second movement direction information based on the at least two position information;

[0048] Determining second target direction information having the largest proportion among the at least two second motion direction information, and sending the second target direction information to the at least two second obstacle robots;

[0049] Determining a last entrance of the two entrances of the target lane distributed along a direction represented by the second target direction information;

[0050] The shipping path information is constructed by combining the storage / retrieval location information, the last entrance location information and the picking station location information.

[0051] An embodiment of the present invention further provides a laneway robot scheduling device, which is applied to a scheduling node and includes:

[0052] an acquisition and determination unit, configured to determine target location information of an item corresponding to the order information based on the acquired order information;

[0053] a collection and determination unit, configured to collect in real time state information of a first obstacle robot in a target lane corresponding to the target position information, and determine storage / retrieval path information based on the first obstacle robot state information;

[0054] A sending unit, configured to send the storage / retrieval path information to a target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to store / retrieve the goods;

[0055] A collection and determination unit is configured to determine the delivery path information based on the real-time collection of the state information of the second obstacle robot in the target lane after the target robot completes the storage / retrieval of the goods;

[0056] A sending unit is used to send the shipping path information to the target robot, so that the target robot can drive out of the target lane based on the shipping path information.

[0057] An embodiment of the present invention further provides a tunnel robot scheduling device, which is applied to a target robot and includes:

[0058] a receiving unit, configured to receive the storage / retrieval path information sent by the scheduling node; the storage / retrieval path information is determined by the scheduling node based on the state information of the first obstacle robot in the target lane corresponding to the target position information; the target position information is determined by the scheduling node based on the acquired order information;

[0059] A storage / retrieval control unit, configured to deposit / retrieve goods at a location represented by the target location information based on the storage / retrieval path information;

[0060] The receiving unit is used to receive the shipping path information sent by the scheduling node after the storage / retrieval is completed, and to drive out of the target lane based on the shipping path information; the shipping path information is determined by the scheduling node based on the state information of the second obstacle robot in the target lane.

[0061] An embodiment of the present invention also provides a tunnel robot scheduling device, including a first memory and a first processor, wherein the first memory stores a computer program that can be run on the first processor, and when the first processor executes the program, the steps in the method of scheduling the node are implemented.

[0062] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a first processor, the steps in the method for scheduling a node are implemented.

[0063] An embodiment of the present invention also provides a tunnel robot scheduling device, including a second memory and a second processor, wherein the second memory stores a computer program that can be run on the second processor, and when the second processor executes the program, the steps in the method of the target robot are implemented.

[0064] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the method for the target robot when executed by the second processor.

[0065] In an embodiment of the present invention, target location information for items corresponding to the order information is determined based on the acquired order information; status information of a first obstacle robot in a target lane corresponding to the target location information is collected in real time; storage / retrieval path information is determined based on the first obstacle robot status information; the storage / retrieval path information is sent to the target robot, allowing the target robot to reach the location represented by the target location information based on the storage / retrieval path information to perform storage / retrieval; after the target robot completes storage / retrieval, shipping path information is determined based on the real-time status information of a second obstacle robot in the target lane; the shipping path information is sent to the target robot, allowing the target robot to exit the target lane based on the shipping path information. Because this solution can dynamically change the lane transport direction and the target robot's transport path based on the real-time vehicle status in the target lane, it reduces robot congestion in the target lane, thereby improving the efficiency of AGVs in handling bins and order shipments. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A schematic diagram of the effects of the related technology provided by the embodiment of the present invention;

[0067] Figure 2 A schematic diagram of an optional flow chart of a method for scheduling robots in lanes according to an embodiment of the present invention;

[0068] Figure 3 A schematic diagram of an optional flow chart of a method for scheduling robots in lanes according to an embodiment of the present invention;

[0069] Figure 4 A schematic diagram of an optional flow chart of a method for scheduling robots in lanes according to an embodiment of the present invention;

[0070] Figure 5 A schematic diagram of an optional effect of the method for scheduling robots in lanes according to an embodiment of the present invention;

[0071] Figure 6 A schematic diagram of an optional effect of the method for scheduling robots in lanes according to an embodiment of the present invention;

[0072] Figure 7 A schematic diagram of an optional flow chart of a method for scheduling robots in lanes according to an embodiment of the present invention;

[0073] Figure 8 A schematic diagram of an optional effect of the method for scheduling robots in lanes according to an embodiment of the present invention;

[0074] Figure 9 A schematic diagram of an optional effect of the method for scheduling robots in lanes according to an embodiment of the present invention;

[0075] Figure 10A schematic diagram of an optional flow chart of a method for scheduling robots in lanes according to an embodiment of the present invention;

[0076] Figure 11 An interactive schematic diagram of the in-lane robot scheduling method provided by an embodiment of the present invention;

[0077] Figure 12 Schematic diagram of the structure of the robot scheduling device in the lane provided by the embodiment of the present invention Figure 1 ;

[0078] Figure 13 A hardware entity diagram of the in-lane robot scheduling device provided by an embodiment of the present invention Figure 1 ;

[0079] Figure 14 Schematic diagram of the structure of the robot scheduling device in the lane provided by the embodiment of the present invention Figure 2 ;

[0080] Figure 15 A hardware entity diagram of the in-lane robot scheduling device provided by an embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0082] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0083] If similar descriptions of "first / second" appear in the invention document, the following explanation is added. In the following description, the terms "first\second\third" involved are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first\second\third" can be interchanged with the specific order or sequence where permitted, so that the embodiments of the invention described herein can be implemented in an order other than that illustrated or described herein.

[0084] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein are for the purpose of describing embodiments of the present invention only and are not intended to limit the present invention.

[0085] In the related art, since vehicles can only travel along fixed routes, the routes are too long; and when the front vehicle picks up and puts down the goods, the following vehicles can only wait, wasting a lot of time and the overall operation efficiency is low. Figure 1 As shown: (1) After the vehicle picks up the goods at point A, it needs to go to point B to deposit / pick up the goods. The dashed line route should be the shortest route, but due to the specified lane route direction, it can only travel along the solid line route. (2) After the vehicle picks up the goods at point C, it needs to go to point D to deposit / pick up the goods. The dashed line route should be the shortest route, but due to the specified lane route direction, it can only travel along the solid line route to deposit / pick up the goods. (3) The vehicle needs to go to point F to deposit / pick up the goods, but it is blocked by another vehicle on the route and has to wait for a long time, which reduces the efficiency of the vehicle in moving the material box and also reduces the efficiency of order delivery.

[0086] The embodiment of the present invention provides a method for dispatching robots in lanes. Figure 2 , which is an optional flow chart of the method for scheduling robots in lanes according to an embodiment of the present invention, will be combined with Figure 2 The steps shown are explained.

[0087] S101. Determine target location information of items corresponding to the order information based on the acquired order information.

[0088] In the embodiment of the present invention, the scheduling node determines the target location information of the item corresponding to the order information based on the acquired order information.

[0089] In this embodiment of the present invention, a dispatching node obtains order information from a server. The order information includes encoding information for the corresponding items. Based on a set of correspondences between the encoding information and the item locations, the dispatching node determines the target location information for the corresponding items in the order information.

[0090] In an embodiment of the present invention, the scheduling node may be a terminal or server that is communicatively connected to multiple robots. The scheduling node may send instructions to each robot. Each robot may provide feedback of its corresponding position information to the scheduling node in real time.

[0091] In an embodiment of the present invention, the dispatch node is configured inside or outside the warehouse. The warehouse is provided with multiple lanes and multiple robots. The target location information may include target lane location information in the multiple lanes and target location information of the corresponding items.

[0092] S102: Collect the first obstacle robot status information in the target lane corresponding to the target position information in real time, and determine the storage / retrieval path information based on the first obstacle robot status information.

[0093] In an embodiment of the present invention, the scheduling node collects the first obstacle robot status information in the target lane corresponding to the target position information in real time, and determines the storage / retrieval path information based on the first obstacle robot status information.

[0094] In this embodiment of the present invention, a dispatching node collects multiple position information from multiple robots in real time and determines the position information of the first obstacle robot in the target lane from the multiple position information. The dispatching node then determines the storage / retrieval path information based on the first obstacle robot position information and the target position information.

[0095] In this embodiment of the present invention, the storage / retrieval path does not define the lane's route direction, ensuring bidirectional lane travel. The scheduling node calculates the lane's two entry points based on the code point distribution of each lane. The real-time location of each robot is used to determine whether the target robot is within the target lane. If the target robot is not within the target lane, the fixed path scheduling method is used. If the target robot is within the target lane, the lane entrance is first selected to determine the storage / retrieval path information and the delivery path information.

[0096] Among them, storage / retrieval includes: storage and retrieval.

[0097] S103: Send the storage / retrieval path information to the target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to store / retrieve the goods.

[0098] In an embodiment of the present invention, the scheduling node sends the storage / retrieval path information to the target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to store / retrieve the goods.

[0099] In an embodiment of the present invention, the target robot receives the storage / retrieval path information and follows the storage / retrieval path information to reach the location indicated by the target location information to perform the storage / retrieval operation. When the target robot needs to store goods, it follows the storage / retrieval path information to reach the target location and store the loaded goods on a shelf at the target location. When the target robot needs to retrieve goods, it follows the storage / retrieval path information to reach the target location and perform the retrieval operation.

[0100] In this embodiment of the present invention, the storage / retrieval path information can be constructed by combining the target robot's starting position information, the target lane entrance information, and the target location information of the corresponding item. The target robot travels in a fixed direction outside the target lane. Upon entering the target lane, the target robot enters the target lane through the entrance indicated in the storage / retrieval path information to perform storage / retrieval.

[0101] In an embodiment of the present invention, the target robot may be an AGV. In other embodiments, the target robot may also be other robots with automatic navigation functions that can store / retrieve and ship goods.

[0102] S104: After the target robot completes storing / retrieving goods, the delivery path information is determined based on the real-time state information of the second obstacle robot in the target lane.

[0103] In the embodiment of the present invention, after the target robot completes storing / retrieving goods, the scheduling node determines the delivery path information based on the real-time state information of the second obstacle robot in the target lane.

[0104] In this embodiment of the present invention, after the target robot completes its storage / retrieval process, it can send a completion command to the scheduling node. The scheduling node collects multiple position information from multiple robots in real time. After receiving the completion command, the scheduling node determines the position information of the second obstacle robot in the target lane. Based on the second obstacle robot's position information, the scheduling node determines the delivery path information.

[0105] In an embodiment of the present invention, the shipping path information can be constructed by the target robot's storage / retrieval location information - the target lane entrance information - the picking station location information.

[0106] S105: Send the shipping path information to the target robot, so that the target robot can drive out of the target lane based on the shipping path information.

[0107] In an embodiment of the present invention, the scheduling node sends the shipping path information to the target robot, so that the target robot can drive out of the target lane based on the shipping path information.

[0108] In an embodiment of the present invention, target location information for items corresponding to the order information is determined based on the acquired order information; status information of a first obstacle robot in a target lane corresponding to the target location information is collected in real time; storage / retrieval path information is determined based on the first obstacle robot status information; the storage / retrieval path information is sent to the target robot, allowing the target robot to reach the location represented by the target location information based on the storage / retrieval path information to perform storage / retrieval; after the target robot completes storage / retrieval, shipping path information is determined based on the real-time status information of a second obstacle robot in the target lane; the shipping path information is sent to the target robot, allowing the target robot to exit the target lane based on the shipping path information. Because this solution can dynamically change the lane transport direction and the target robot's transport path based on the real-time vehicle status in the target lane, it reduces robot congestion in the target lane, thereby improving the efficiency of AGVs in handling bins and order shipments.

[0109] In some embodiments, see Figure 3 , Figure 3This is an optional flow chart of the method for pushing item information provided by an embodiment of the present invention. Figure 2 The illustrated S102 can also be implemented through S106 to S107 , which will be described in conjunction with each step.

[0110] S106 , collecting multiple pieces of first position information of multiple robots in real time, and determining the position information of the first obstacle robot in the target lane from the multiple pieces of first position information.

[0111] In an embodiment of the present invention, the scheduling node collects multiple first position information of multiple robots in real time, and determines the position information of the first obstacle robot in the target lane from the multiple first position information.

[0112] In this embodiment of the present invention, multiple robots provide real-time feedback of their first position information to the scheduling node. Since each lane in the warehouse covers a certain amount of position information, the scheduling node can determine the position information of the first obstacle robot covered by the target lane from the multiple first position information.

[0113] In the embodiment of the present invention, the first position information may be position coordinate information with a predetermined point as the origin. Each lane covers a certain amount of position coordinate information.

[0114] S107: Determine the path information for storing / retrieving goods based on the position information of the first obstacle robot.

[0115] In the embodiment of the present invention, the scheduling node determines the storage / retrieval path information based on the position information of the first obstacle robot.

[0116] In the embodiment of the present invention, the scheduling node determines the storage / retrieval path information according to the position information of the first obstacle robot, that is, according to the relationship between the position of the first obstacle robot and the target position information.

[0117] Because this solution dynamically changes the target robot's transportation path according to the real-time vehicle situation in the target lane before the target robot enters the target lane, it reduces robot congestion in the target lane and can improve the efficiency of AGV in handling material boxes and order delivery efficiency.

[0118] In some embodiments, see Figure 3 , Figure 3 This is an optional flow chart of the method for pushing item information provided by an embodiment of the present invention. Figure 2 The illustrated S104 can also be implemented through S108 to S109, which will be described in conjunction with each step.

[0119] S108 , collecting multiple pieces of second position information of multiple robots in real time, and determining the position information of the second obstacle robot in the target lane from the multiple pieces of second position information.

[0120] In an embodiment of the present invention, after the target robot completes storing / retrieving goods, the scheduling node collects multiple second position information of multiple robots in real time, and determines the position information of the second obstacle robot in the target lane from the multiple second position information.

[0121] S109: Determine shipping path information based on the second obstacle robot position information.

[0122] In the embodiment of the present invention, the scheduling node determines the shipping path information based on the position information of the second obstacle robot.

[0123] In the embodiment of the present invention, the scheduling node determines the storage / retrieval path information according to the position information of the second obstacle robot, that is, according to the relationship between the position of the second obstacle robot and the position information of the picking station.

[0124] Because this solution dynamically changes the target robot's transportation path according to the real-time vehicle situation in the target lane before the target robot leaves the target lane, it reduces robot congestion in the target lane and can improve the efficiency of AGV in transporting material boxes and order delivery efficiency.

[0125] In some embodiments, see Figure 4 , Figure 4 This is an optional flow chart of the method for pushing item information provided by an embodiment of the present invention. Figure 3 The illustrated S107 can also be implemented through S110 , which will be described in conjunction with each step.

[0126] S110: If the first obstacle robot position information indicates that there is no robot or only one obstacle robot in the target lane, determine the storage / retrieval path information based on the real-time collected starting position information of the target robot and the target position information.

[0127] In an embodiment of the present invention, if the first obstacle robot position information indicates that there is no robot or only one obstacle robot in the target lane, the scheduling node determines the storage / retrieval path information based on the real-time collected starting position information of the target robot and the target position information.

[0128] The target location information includes: the first entrance location information of the target lane, the second entrance location information and the target cargo location information.

[0129] In an embodiment of the present invention, the scheduling node calculates a first distance between the starting location information and each representative position of the first entry location information, calculates a second distance between the starting location information and each representative position of the second entry location information, calculates a third distance between the first entry location information and each representative position of the target storage location information, and calculates a fourth distance between the second entry location information and each representative position of the target storage location information. The scheduling node calculates a first sum of the first and third distances, a second sum of the second and fourth distances, and determines the minimum sum between the first and second sums. The scheduling node uses the initial location information, the entry location information corresponding to the minimum sum, and the target storage location information to construct storage / retrieval path information.

[0130] Among them, if the minimum sum is the first sum, the scheduling node can use the initial position information-the first entrance position information-the target cargo location information to construct the storage / retrieval path information.

[0131] In an embodiment of the present invention, when there is no robot in the target lane or there is only one obstacle robot, the scheduling node can determine the entrance closest to the target location information, and then send down the storage / retrieval path information, so that the target robot enters from the nearest entrance, thereby improving the storage / retrieval transportation efficiency.

[0132] In some embodiments, see Figure 4 , Figure 4 This is an optional flow chart of the method for pushing item information provided by an embodiment of the present invention. Figure 3 The illustrated S109 can also be implemented through S111 , which will be described in conjunction with each step.

[0133] S111. If the second obstacle robot position information indicates that there is no robot in the target lane, determine the shipping path information based on the real-time collected storage / retrieval position information of the target robot, the target position information, and the picking station position information.

[0134] In an embodiment of the present invention, if the second obstacle robot position information indicates that there is no robot in the target lane, the scheduling node determines the shipping path information based on the real-time collected storage / retrieval position information of the target robot, the target position information and the picking station position information.

[0135] The target location information includes: first entrance location information and second entrance location information of the target lane.

[0136] In this embodiment of the present invention, the scheduling node calculates the fifth distance between the storage / retrieval location information and each representative position of the first entrance location information, calculates the sixth distance between the storage / retrieval location information and the second entrance location information, calculates the seventh distance between the first entrance location information and each representative position of the picking station location information, and calculates the eighth distance between the second entrance location information and each representative position of the picking station location information. The scheduling node calculates the third sum of the fifth distance and the seventh distance, and the fourth sum of the sixth distance and the eighth distance, and determines the second minimum sum between the third and fourth sums. The scheduling node uses the storage / retrieval location information, the entrance location information corresponding to the second minimum sum, and the picking station location information to construct the shipping path information.

[0137] Among them, if the minimum sum is the fourth sum, the scheduling node can use the storage / retrieval location information-the second entrance location information-the picking station information to construct the shipping path information.

[0138] In this house buying example, if there is only one car in the target lane, the exemplary combination Figure 5 The scheduling node first calculates the path costs from vehicle 1 to the two entry points ③ and ④ of the lane, recording them as ③-1 and ④-1, respectively. The scheduling node then calculates the path costs from ③ and ④ to the picking station, ③-2 and ④-2. The scheduling node compares (③-1 + ③-2) with (④-1 + ④-2). If the former is greater than the latter, the dispatch path ④ is selected; otherwise, the dispatch path ③ is selected.

[0139] In this embodiment of the present invention, if the second obstructing robot position information indicates that there is only one obstructing robot in the target lane, the dispatch node determines the delivery path information based on the real-time collected target robot's storage / retrieval location information, the optimal entrance location information, and the picking station location information. The optimal entrance location information refers to the entrance location information on the side of the target robot away from the one obstructing robot.

[0140] In the embodiment of the present invention, if two vehicles are about to enter or already exist in the target lane, for example, combined with Figure 6 The dispatch node pre-calculates the distance between the vehicle's destination and the two entrances to the target lane, prioritizing entry from the entrance closest to the destination. When a vehicle exits the lane after loading or unloading, the dispatch node prioritizes the lane entrance unobstructed by other vehicles. Vehicle 2 enters and exits through exit ①, and vehicle 3 enters and exits through exit ②.

[0141] In an embodiment of the present invention, when there is no robot in the target lane, the scheduling node can determine the entrance closest to the storage / retrieval location, and then issue the delivery path information, so that the target robot can exit the target lane from the nearest entrance, thereby improving the storage / retrieval transportation efficiency.

[0142] In some embodiments, see Figure 7, Figure 7 This is an optional flow chart of the method for pushing item information provided by an embodiment of the present invention. Figure 3 The illustrated S107 can also be implemented through S112 , which will be described in conjunction with each step.

[0143] S112. If the position information of the first obstacle robot indicates that there are at least two obstacle robots in the target lane, the storage / retrieval path information is determined based on the real-time collected starting position information of the target robot, at least two position information of at least two obstacle robots, and the target position information.

[0144] In an embodiment of the present invention, if the position information of the first obstacle robot indicates that there are at least two obstacle robots in the target lane, the scheduling node determines the storage / retrieval path information based on the starting position information of the target robot collected in real time, at least two position information of at least two obstacle robots, and the target position information.

[0145] The target location information includes target cargo location information.

[0146] In an embodiment of the present invention, if the location represented by the target cargo location information is on either side of at least two locations represented by at least two location information, the scheduling node constructs the storage / retrieval path information based on the initial location information, the entrance location information on one side of the target cargo location, and the target cargo location information.

[0147] In an embodiment of the present invention, if the location represented by the target cargo location information is between at least two locations represented by at least two pieces of location information, the scheduling node determines at least two pieces of movement direction information based on the at least two pieces of location information. The scheduling node determines the first target direction information with the largest proportion among the at least two pieces of movement direction information and transmits the first target direction information to the at least two obstacle robots. The scheduling node determines the first entrance of the target laneway that is distributed along the direction represented by the first target direction information, among the two entrances. The scheduling node combines the starting position information, the first entrance location information, and the target cargo location information to construct the storage / retrieval path information.

[0148] In an embodiment of the present invention, when there are multiple robots in the target lane, since this solution can dynamically change the lane transportation direction and the transportation path of the target robot according to the real-time vehicle situation in the target lane, it can reduce the congestion of robots in the target lane and improve the efficiency of AGV in transporting material boxes and the efficiency of order delivery.

[0149] In some embodiments, see Figure 7 , Figure 7 This is an optional flow chart of the method for pushing item information provided by an embodiment of the present invention. Figure 3 The illustrated S109 can also be implemented through S113 , which will be described in conjunction with each step.

[0150] S113. If the position information of the second obstacle robot indicates that there are at least two second obstacle robots in the target lane, the shipping path information is determined based on the real-time collected storage / retrieval position information of the target robot, at least two second position information of the at least two second obstacle robots, the target position information, and the picking station position information.

[0151] The target location information includes target cargo location information.

[0152] In an embodiment of the present invention, if the location represented by the target cargo location information is on any side of at least two second locations represented by at least two second location information, the scheduling node constructs the shipping path information based on the storage / retrieval location information, the entrance location information on one side of the target cargo location, and the picking station location information.

[0153] In an embodiment of the present invention, if the location represented by the target cargo location information is between at least two second locations represented by at least two second location information, the scheduling node determines at least two second movement direction information based on the at least two location information. The scheduling node determines the second target direction information with the largest proportion among the at least two second movement direction information and transmits the second target direction information to the at least two second obstacle robots. The scheduling node determines the last entrance of the target lane that is distributed along the direction represented by the second target direction information, among the two entrances. The scheduling node combines the storage / retrieval location information, the last entrance location information, and the picking station location information to construct the shipping path information.

[0154] For example, combined Figure 8 Four vehicles enter the target lane simultaneously. Vehicle 2 (the target robot) is heading right to access point A for storage / retrieval. Vehicle 1 is currently accessing point C for storage / retrieval. Vehicle 3 is heading left to access point B for storage / retrieval. Vehicle 4 is also heading left to access point D for storage / retrieval. Since point A is to the left of points C, B, and D, vehicle 2 can enter point A from the left entrance of the target lane to access storage / retrieval.

[0155] For example, combined Figure 9 After vehicle 1 (target robot) completes the storage / retrieval process at point C, the dispatching node finds that there are vehicles blocking vehicle 1 on both sides based on the second position information of the obstacle robot. At this time, the dispatching node will capture the travel directions of all vehicles in the target lane, and then select the direction with the highest proportion as the dynamic lane direction. Then, it will issue a left-facing route to the obstacle vehicles (vehicles 2, 3, and 4). At this time, only vehicle 2’s direction is different from the temporary lane direction. At this time, the system will re-issue the route to vehicle 2, changing its direction to the left, and then exit the lane to avoid the obstacle (see Figure 9If vehicle 2 stays at point ③ for longer than the system-set time, it will no longer wait and will directly take a detour ③->④->②, entering from another entrance of the lane to reach the designated point for storage / removal.

[0156] In an embodiment of the present invention, when there are multiple robots in the target lane, since this solution can dynamically change the lane transportation direction and the exit path of the target robot according to the position information of multiple robots in the target lane, it can reduce the congestion of robots in the target lane and improve the efficiency of AGV in transporting material boxes and the efficiency of order delivery.

[0157] In some embodiments, see Figure 10 , Figure 10 An optional flow chart of the method for pushing item information provided in an embodiment of the present invention will be described in conjunction with each step.

[0158] S201. Receive the storage / retrieval path information sent by the scheduling node; the storage / retrieval path information is determined by the scheduling node based on the first obstacle robot status information in the target lane corresponding to the target position information; the target position information is determined by the scheduling node based on the acquired order information.

[0159] In an embodiment of the present invention, the target robot receives the storage / retrieval path information sent by the scheduling node; the storage / retrieval path information is determined by the scheduling node based on the first obstacle robot status information in the target lane corresponding to the target position information; the target position information is determined by the scheduling node based on the obtained order information.

[0160] S202: Arrive at the location represented by the target location information based on the deposit / pickup path information to deposit / pickup the goods.

[0161] In the embodiment of the present invention, the target robot reaches the location represented by the target location information based on the storage / retrieval path information to store / retrieve the goods.

[0162] S203. After the storage / retrieval is completed, the delivery path information sent by the scheduling node is received, and the robot exits the target lane based on the delivery path information; the delivery path information is determined by the scheduling node based on the state information of the second obstacle robot in the target lane.

[0163] In an embodiment of the present invention, after the target robot completes the storage / retrieval of goods, it receives the shipping path information sent by the scheduling node and drives out of the target lane based on the shipping path information; the shipping path information is determined by the scheduling node based on the status information of the second obstacle robot in the target lane.

[0164] In some embodiments, see Figure 11 , Figure 11 The interactive diagram of the item information push method provided by the embodiment of the present invention will be described in conjunction with each step.

[0165] S301. The scheduling node determines the target location information of the item corresponding to the order information based on the acquired order information.

[0166] The implementation process of S301 please refer to S101 and will not be described in detail here.

[0167] S302: The scheduling node collects the first obstacle robot status information in the target lane corresponding to the target position information in real time, and determines the storage / retrieval path information based on the first obstacle robot status information.

[0168] The implementation process of S302 please refer to S102 and will not be described in detail here.

[0169] S303: The scheduling node sends the storage / retrieval path information to the target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to store / retrieve the goods.

[0170] The implementation process of S303 please refer to S103, which will not be described in detail here.

[0171] S304: After the target robot completes storing / retrieving goods, the scheduling node determines the delivery path information based on the real-time state information of the second obstacle robot in the target lane.

[0172] The implementation process of S304 is described in detail in S104 and will not be described in detail here.

[0173] S305: The scheduling node sends the shipping path information to the target robot, so that the target robot can drive out of the target lane based on the shipping path information.

[0174] The implementation process of S305 please refer to S105, which will not be described in detail here.

[0175] See also Figure 12 , Figure 12 Schematic diagram of the structure of the device for pushing item information provided by the embodiment of the present invention Figure 1 .

[0176] An embodiment of the present invention further provides an in-lane robot scheduling device 800 , which is applied to a scheduling node and includes: an acquisition and determination unit 803 , a collection and determination unit 804 , and a sending unit 805 .

[0177] An acquisition and determination unit 803 is configured to determine target location information of an item corresponding to the order information based on the acquired order information;

[0178] A collection and determination unit 804 is configured to collect, in real time, state information of a first obstacle robot in a target lane corresponding to the target location information, and determine storage / retrieval path information based on the first obstacle robot state information;

[0179] The sending unit 805 is configured to send the storage / retrieval path information to a target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to perform storage / retrieval.

[0180] The collection and determination unit 804 is configured to determine the delivery path information based on the real-time collection of the state information of the second obstacle robot in the target lane after the target robot completes the storage / retrieval of the goods;

[0181] The sending unit 805 is configured to send the shipping path information to the target robot, so that the target robot can drive out of the target lane based on the shipping path information.

[0182] In an embodiment of the present invention, the collection and determination unit 804 in the robot scheduling device 800 in the tunnel is used to collect multiple first position information of multiple robots in real time, and determine the first obstacle robot position information in the target tunnel from the multiple first position information; based on the first obstacle robot position information, determine the storage / retrieval path information.

[0183] In an embodiment of the present invention, the collection and determination unit 804 in the robot scheduling device 800 in the tunnel is used to determine the storage / retrieval path information based on the starting position information of the target robot collected in real time and the target position information if the first obstacle robot position information indicates that there is no robot or only one obstacle robot in the target tunnel.

[0184] In an embodiment of the present invention, the target position information includes: the first entrance position information, the second entrance position information and the target cargo location information of the target lane; the acquisition and determination unit 804 in the lane robot scheduling device 800 is used to calculate the first distance between the starting position information and each representation position of the first entrance position information, calculate the second distance between the starting position information and each representation position of the second entrance position information, calculate the third distance between the first entrance position information and each representation position of the target cargo location information, and calculate the fourth distance between the second entrance position information and each representation position of the target cargo location information; calculate the first sum of the first distance and the third distance, calculate the second sum of the second distance and the fourth distance, and determine the minimum sum between the first sum and the second sum; use the initial position information, the entrance position information corresponding to the minimum sum and the target cargo location information to construct the storage / retrieval path information.

[0185] In an embodiment of the present invention, the collection and determination unit 804 in the robot scheduling device 800 in the tunnel is used to determine the storage / retrieval path information based on the starting position information of the target robot collected in real time, at least two position information of the at least two obstacle robots, and the target position information if the first obstacle robot position information indicates that there are at least two obstacle robots in the target tunnel.

[0186] In an embodiment of the present invention, the target position information includes: target cargo location information; an acquisition and determination unit 804 in the robot scheduling device 800 in the aisle, which is used to construct the storage / retrieval path information based on the initial position information, the entrance position information on one side of the target cargo location and the target cargo location information if the position represented by the target cargo location information is on any one side of the at least two positions represented by the at least two position information; if the position represented by the target cargo location information is between the at least two positions represented by the at least two position information, at least two movement direction information is determined based on the at least two position information; the first target direction information with the largest proportion is determined among the at least two movement direction information, and the first target direction information is sent to the at least two obstacle robots; the first entrance distributed along the direction represented by the first target direction information is determined among the two entrances of the target aisle; and the storage / retrieval path information is constructed in combination with the starting position information, the first entrance position information and the target cargo location information.

[0187] In an embodiment of the present invention, the collection and determination unit 804 in the in-lane robot scheduling device 800 is used to collect multiple second position information of multiple robots in real time, determine the second obstacle robot position information in the target lane from the multiple second position information; and determine the shipping path information based on the second obstacle robot position information.

[0188] In an embodiment of the present invention, the collection and determination unit 804 in the robot scheduling device 800 in the aisle is used to determine the shipping path information based on the storage / retrieval position information of the target robot collected in real time, the target position information and the picking station position information if the second obstacle robot position information indicates that there is no robot in the target aisle.

[0189] In an embodiment of the present invention, the target position information includes: the first entrance position information and the second entrance position information of the target lane; the acquisition and determination unit 804 in the lane robot scheduling device 800 is used to calculate the fifth distance between the storage / retrieval position information and each representation position of the first entrance position information, calculate the sixth distance between the storage / retrieval position information and the second entrance position information, calculate the seventh distance between the first entrance position information and each representation position of the picking station position information, and calculate the eighth distance between the second entrance position information and each representation position of the picking station position information; calculate the third sum of the fifth distance and the seventh distance, calculate the fourth sum of the sixth distance and the eighth distance, and determine the second minimum sum from the third sum and the fourth sum; use the storage / retrieval position information, the entrance position information corresponding to the second minimum sum, and the picking station position information to construct the shipping path information.

[0190] In an embodiment of the present invention, the collection and determination unit 804 in the robot scheduling device 800 in the lane is used to determine the shipping path information based on the real-time collected storage / retrieval position information of the target robot, the optimal entrance position information and the picking station position information if the second obstacle robot position information indicates that there is only one obstacle robot in the target lane; the optimal entrance position information is the entrance position information of the target robot on the side away from the one obstacle robot.

[0191] In an embodiment of the present invention, the collection and determination unit 804 in the in-lane robot scheduling device 800 is used to determine the shipping path information based on the real-time collected storage / retrieval position information of the target robot, at least two second position information of the at least two second obstacle robots, the target position information and the picking station position information if the second obstacle robot position information indicates that there are at least two second obstacle robots in the target lane.

[0192] In an embodiment of the present invention, the target position information includes: target cargo location information; an acquisition and determination unit 804 in the in-lane robot scheduling device 800, which is used to construct the shipping path information based on the storage / retrieval position information, the entrance position information on one side of the target cargo location and the picking station position information if the position represented by the target cargo location information is on any one side of the at least two second positions represented by the at least two second position information; if the position represented by the target cargo location information is between the at least two second positions represented by the at least two second position information, at least two second movement direction information is determined based on the at least two position information; the second target direction information with the largest proportion is determined in the at least two second movement direction information, and the second target direction information is sent to the at least two second obstacle robots; the last entrance distributed along the direction represented by the second target direction information is determined among the two entrances of the target lane; the shipping path information is constructed in combination with the storage / retrieval position information, the last entrance position information and the picking station position information.

[0193] In this embodiment of the present invention, an acquisition and determination unit 803 is configured to determine target location information for items corresponding to the order information based on the acquired order information; a collection and determination unit 804 is configured to collect, in real time, the status information of a first obstacle robot within a target lane corresponding to the target location information, and determine storage / retrieval path information based on the first obstacle robot status information; a sending unit 805 is configured to send the storage / retrieval path information to the target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to store / retrieve the items; after the target robot completes storage / retrieval, the acquisition and determination unit 804 is configured to determine the delivery path information based on the real-time status information of a second obstacle robot within the target lane; and a sending unit 805 is configured to send the delivery path information to the target robot, so that the target robot can exit the target lane based on the delivery path information. Because this solution can dynamically change the lane transport direction and the target robot's transport path based on the real-time vehicle status within the target lane, it can reduce robot congestion within the target lane, thereby improving the efficiency of AGVs in handling bins and order delivery.

[0194] It should be noted that, in the embodiment of the present invention, if the above-mentioned in-lane robot scheduling method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling an in-lane robot scheduling device (which can be a personal computer, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present invention is not limited to any specific combination of hardware and software.

[0195] Correspondingly, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the above method when executed by a processor.

[0196] Correspondingly, an embodiment of the present invention provides an in-lane robot scheduling device 800, including a first memory 802 and a first processor 801, wherein the first memory 802 stores a computer program that can be run on the first processor 801, and the first processor 801 implements the steps in the above method when executing the program.

[0197] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of the present invention, please refer to the description of the method embodiments of the present invention for understanding.

[0198] It should be noted that Figure 13 A hardware entity diagram of the in-lane robot scheduling device provided by an embodiment of the present invention Figure 1 ,like Figure 13 As shown, the hardware entity of the lane robot scheduling device 800 includes: a first processor 801 and a first memory 802, wherein;

[0199] The first processor 801 generally controls the overall operation of the in-lane robot scheduling device 800 .

[0200] The first memory 802 is configured to store instructions and applications executable by the first processor 801, and can also cache data to be processed or processed by the first processor 801 and each module in the in-lane robot scheduling device 800 (for example, image data, audio data, voice communication data and video communication data), which can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0201] See also Figure 14 , Figure 14 Schematic diagram of the structure of the device for pushing item information provided by the embodiment of the present invention Figure 2 .

[0202] An embodiment of the present invention further provides an in-lane robot scheduling device 900 , which is applied to a target robot and includes: a receiving unit 903 and a storage / retrieval control unit 904 .

[0203] Receiving unit 903, configured to receive the storage / retrieval path information sent by the scheduling node; the storage / retrieval path information is determined by the scheduling node based on the state information of the first obstacle robot in the target lane corresponding to the target position information; the target position information is determined by the scheduling node based on the acquired order information;

[0204] A storage / retrieval control unit 904 is configured to reach the location represented by the target location information based on the storage / retrieval path information to perform storage / retrieval;

[0205] The receiving unit 903 is used to receive the shipping path information sent by the scheduling node after the storage / retrieval is completed, and to drive out of the target lane based on the shipping path information; the shipping path information is determined by the scheduling node based on the state information of the second obstacle robot in the target lane.

[0206] Correspondingly, an embodiment of the present invention provides an in-lane robot scheduling device 900, including a second memory 902 and a second processor 901, wherein the second memory 902 stores a computer program that can be run on the second processor 901, and the second processor 901 implements the steps in the above method when executing the program.

[0207] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of the present invention, please refer to the description of the method embodiments of the present invention for understanding.

[0208] It should be noted that Figure 15 A hardware entity diagram of the in-lane robot scheduling device provided by an embodiment of the present invention Figure 2 ,like Figure 15 As shown, the hardware entity of the lane robot scheduling device 900 includes: a second processor 901 and a second memory 902, wherein;

[0209] The second processor 901 generally controls the overall operation of the in-lane robot scheduling device 900 .

[0210] The second memory 902 is configured to store instructions and applications executable by the second processor 901, and can also cache data to be processed or processed by the second processor 901 and each module in the in-lane robot scheduling device 900 (for example, image data, audio data, voice communication data and video communication data), which can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0211] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. The serial numbers of the above-mentioned embodiments of the present invention are for description only and do not represent the advantages and disadvantages of the embodiments.

[0212] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0213] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0214] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0215] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0216] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0217] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0218] The above description is merely an embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for dispatching robots in a lane, characterized in that: Applied to scheduling nodes, including: Determining target location information of the item corresponding to the order information based on the acquired order information, the target location information including: first entrance location information of a target lane, second entrance location information of the target lane, and target cargo location information; wherein the target lane has a first entrance and a second entrance located at both ends of the target lane; collecting, in real time, state information of a first obstacle robot in a target lane corresponding to the target position information, and determining, based on the first obstacle robot state information, storage / retrieval path information; the storage / retrieval path information is used to instruct the target robot to enter the target lane from a first entrance or a second entrance of the target lane; Sending the storage / retrieval path information to the target robot, so that the target robot can reach the location represented by the target location information based on the storage / retrieval path information to store / retrieve the goods; After the target robot completes the storage / retrieval of goods, determining the delivery path information based on the real-time collected state information of the second obstacle robot in the target lane; The shipping path information is sent to the target robot, so that the target robot can drive out of the target lane based on the shipping path information.

2. The robot scheduling method in a lane according to claim 1, characterized in that: The real-time acquisition of first obstacle robot status information in the target lane corresponding to the target position information, and determination of storage / retrieval path information based on the first obstacle robot status information, includes: collecting a plurality of first position information of a plurality of robots in real time, and determining the position information of a first obstacle robot in the target lane from the plurality of first position information; Based on the position information of the first obstacle robot, the storage / retrieval path information is determined.

3. The robot scheduling method in a lane according to claim 2, characterized in that: The determining of the storage / retrieval path information based on the first obstacle robot position information includes: If the first obstacle robot position information indicates that there is no robot or only one obstacle robot in the target lane, the storage / retrieval path information is determined based on the real-time collected starting position information of the target robot and the target position information.

4. The method for scheduling robots in lanes according to claim 3, characterized in that: The step of determining the storage / retrieval path information based on the real-time collected starting position information of the target robot and the target position information includes: Calculating a first distance between the starting position information and each representative position of the first entrance position information, calculating a second distance between the starting position information and each representative position of the second entrance position information, calculating a third distance between the first entrance position information and each representative position of the target cargo location information, and calculating a fourth distance between the second entrance position information and each representative position of the target cargo location information; Calculating a first sum of the first distance and the third distance, calculating a second sum of the second distance and the fourth distance, and determining a minimum sum between the first sum and the second sum; The storage / retrieval path information is constructed using the starting position information, the minimum and corresponding entrance position information, and the target cargo location information.

5. The method for scheduling robots in lanes according to claim 2, characterized in that: Determining the storage / retrieval path information based on the first obstacle robot position information includes: If the first obstacle robot position information indicates that there are at least two obstacle robots in the target lane, the storage / retrieval path information is determined based on the starting position information of the target robot collected in real time, at least two position information of the at least two obstacle robots, and the target position information.

6. The method for scheduling robots in lanes according to claim 5, characterized in that: The determining of the storage / retrieval path information based on the real-time collected starting position information of the target robot, the at least two position information of the at least two obstacle robots, and the target position information includes one of the following: If the location represented by the target cargo location information is on either side of the at least two locations represented by the at least two location information, constructing the storage / retrieval path information based on the starting location information, the entrance location information on one side of the target cargo location, and the target cargo location information; If the position represented by the target cargo location information is between the at least two positions represented by the at least two position information, determining at least two pieces of movement direction information based on the at least two pieces of position information; Determining first target direction information having the largest proportion among the at least two pieces of motion direction information, and sending the first target direction information to the at least two obstacle robots; Determining a first entrance distributed along a direction represented by the first target direction information among the two entrances of the target lane; The storage / retrieval path information is constructed by combining the starting position information, the first entrance position information and the target cargo location information.

7. The method for scheduling robots in lanes according to claim 1, characterized in that: The determining of the delivery path information based on real-time acquisition of the state information of the second obstacle robot in the target lane includes: collecting a plurality of second position information of a plurality of robots in real time, and determining the position information of a second obstacle robot located in the target lane from the plurality of second position information; The shipping path information is determined based on the second obstacle robot position information.

8. The method for scheduling robots in lanes according to claim 7, characterized in that: The determining the shipping path information based on the second obstacle robot position information includes: If the second obstacle robot position information indicates that there is no robot in the target lane, the shipping path information is determined based on the real-time collected storage / retrieval position information of the target robot, the target position information and the picking station position information.

9. The method for scheduling robots in lanes according to claim 8, characterized in that: The shipping path information is determined based on the real-time collected storage / retrieval location information of the target robot and the target location information and the picking station location information, including: Calculating a fifth distance between the storage / retrieval location information and each representative position of the first entrance location information, calculating a sixth distance between the storage / retrieval location information and the second entrance location information, calculating a seventh distance between the first entrance location information and each representative position of the picking station location information, and calculating an eighth distance between the second entrance location information and each representative position of the picking station location information; Calculating a third sum of the fifth distance and the seventh distance, calculating a fourth sum of the sixth distance and the eighth distance, and determining a second minimum sum between the third sum and the fourth sum; The shipping path information is constructed using the storage / retrieval location information, the second minimum and corresponding entrance location information, and the picking station location information.

10. The robot scheduling method in a lane according to claim 7, characterized in that: The determining the shipping path information based on the second obstacle robot position information includes: If the second obstacle robot position information indicates that there is only one obstacle robot in the target lane, the shipping path information is determined based on the real-time collected storage / retrieval position information of the target robot, the optimal entrance position information and the picking station position information; the optimal entrance position information is the entrance position information of the side of the target robot away from the one obstacle robot.

11. The robot scheduling method in a lane according to claim 7, characterized in that: The determining the shipping path information based on the second obstacle robot position information includes: If the second obstacle robot position information indicates that there are at least two second obstacle robots in the target lane, the shipping path information is determined based on the storage / retrieval position information of the target robot collected in real time, at least two second position information of the at least two second obstacle robots, the target position information and the picking station position information.

12. The method for scheduling robots in lanes according to claim 11, characterized in that: The target location information includes: target cargo location information; The determining of the shipping path information based on the real-time collected storage / retrieval location information of the target robot, the at least two second location information of the at least two second obstacle robots, the target location information, and the picking station location information includes one of the following: If the location represented by the target cargo location information is on either side of the at least two second locations represented by the at least two second location information, constructing the shipping path information based on the storage / retrieval location information, the entrance location information on one side of the target cargo location, and the picking station location information; If the position represented by the target cargo location information is between the at least two second positions represented by the at least two second position information, determining at least two second movement direction information based on the at least two position information; Determining second target direction information having the largest proportion among the at least two second motion direction information, and sending the second target direction information to the at least two second obstacle robots; Determining a last entrance of the two entrances of the target lane distributed along a direction represented by the second target direction information; The shipping path information is constructed by combining the storage / retrieval location information, the last entrance location information and the picking station location information.

13. A method for dispatching robots in a lane, characterized in that: Applied to target robots, including: Receive storage / retrieval path information sent by the scheduling node; the storage / retrieval path information is determined by the scheduling node based on the state information of the first obstacle robot in the target lane corresponding to the target location information; the target location information is determined by the scheduling node based on the acquired order information; the target location information includes: first entrance location information of the target lane, second entrance location information of the target lane, and target cargo location information; wherein the target lane has a first entrance and a second entrance located at both ends of the target lane; Arriving at the location represented by the target location information based on the deposit / retrieval path information to deposit / retrieve goods; the deposit / retrieval path information is used to instruct the target robot to enter the target lane from the first entrance or the second entrance of the target lane; After the storage / retrieval is completed, the shipping path information sent by the scheduling node is received, and the vehicle exits the target lane based on the shipping path information; the shipping path information is determined by the scheduling node based on the state information of the second obstacle robot in the target lane.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the first processor, the steps of the method according to any one of claims 1 to 12 are implemented.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the second processor, the steps of the method according to claim 13 are implemented.

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