Unmanned archive warehouse robot management method, device, electronic equipment and storage medium

Abstract

The present application relates to a robot management method, device, electronic device and storage medium for an unmanned archive warehouse. The method includes: obtaining the remaining power of at least one idle robot, the starting position information and weight information of the goods, the current position information of the idle robot and the target position information of the goods to be transported; determining each idle robot based on the current position information, the starting position and target position information of the goods, and the position information of the preset charging room to determine the first path information and the second path information corresponding to each idle robot; determining the power consumption based on the weight information of the goods, the first path information and the second path information corresponding to each idle robot; judging whether there is an idle robot with a remaining power greater than the power consumption; if so, determining any idle robot to perform the current cargo transportation task; otherwise, formulating a cargo transportation strategy based on the current status information of each robot. The present application has the effect of improving the utilization rate of robots.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned archive warehouses, and in particular to a robot management method, device, electronic equipment and storage medium for unmanned archive warehouses. Background Art

[0002] With the development of science and technology, industries such as warehousing and logistics are gradually moving towards automation. The application of robots in these scenarios not only saves labor costs, but also has the advantages of improving efficiency and reducing error rates. Archive warehouses are a special type of storage place. Although most of them have the characteristics of high density and low frequency of application, they also require neat and regular stacking, and high requirements for the safety and accuracy of access. These characteristics have prompted the application of robots in archive warehouses to realize unmanned archive warehouses.

[0003] In the existing unmanned archive warehouse system, the robot receives the transport instruction, stores the goods at the designated location, and returns to the charging room for automatic charging in time when the battery is low. In order to prevent the robot from losing power during delivery and thus failing to deliver the goods to the designated location, the robot returns to the charging room for charging when the preset low battery is reached.

[0004] The preset low battery level is set based on the amount of power the robot needs to travel between the charging room and the farthest location from the charging room in the archive warehouse. Therefore, when the robot reaches the preset low battery level, even if it can still perform shorter distance transportation tasks, it can no longer perform them and needs to return to charge, resulting in lower utilization of the robot. Summary of the invention

[0005] In order to improve the utilization rate of robots, the present application provides an unmanned archive warehouse robot management method, device, electronic equipment and storage medium.

[0006] In the first aspect, the present application provides an unmanned archive warehouse robot management method, which adopts the following technical solution:

[0007] Get the remaining power of at least one idle robot;

[0008] Get the starting position information and weight information of the current goods;

[0009] Acquire current location information of the at least one idle robot and target location information of cargo delivery;

[0010] Determine first path information corresponding to each idle robot based on the current position information, the starting position of the cargo, and the target position information;

[0011] Determine the second path information corresponding to each idle robot based on the preset location information of the charging room and the target location information;

[0012] Determine the power consumption required for each idle robot to transport the goods based on the weight information of the goods, the first path information corresponding to each idle robot, and the second path information;

[0013] Determine whether there is an idle robot whose remaining power is greater than the power consumption; if so, determine that any of the idle robots performs the current cargo delivery task;

[0014] Otherwise, a cargo delivery strategy is formulated based on the current status information of each robot, wherein the current status information includes the remaining power and the remaining time for executing the task.

[0015] By adopting the above technical scheme, the electronic device calculates the power consumption required for the idle robot to transfer the goods based on the current position information of the idle robot, the starting position information of the goods, the target position information, the position information of the charging room and the weight of the goods, wherein the power consumption also includes the power required for the robot to return to the charging room. The remaining power of the idle robot is compared with the power consumption, and the idle robot that can perform the task of transferring the goods is selected, and it is ensured that the idle robot can automatically return to the charging room to charge after completing the task of transferring the goods, so that the robot can be called to the maximum extent without power failure on the way, thereby improving utilization and work efficiency.

[0016] Further, the first path information includes path information of segment a from the current position to the starting position of the goods and path information of segment b from the starting position of the goods to the target position, and the determining of the power consumption required for transporting the goods based on the weight information of the goods, the first path information and the second path information includes:

[0017] Determine a first time for the idle robot to arrive at the starting position based on the path information of section a and the driving speed of the robot; determine a second time required for the robot to transport the goods to the target position based on the path information of section b and the driving speed of the robot;

[0018] determining a third time required for the robot to return to the charging room based on the second path information and the driving speed of the robot;

[0019] determining a first power consumption based on the weight information of the cargo, the second time and the driving speed;

[0020] determining a second power consumption based on the first time, the third time, and the driving speed;

[0021] The first power consumption and the second power consumption are added together to calculate the power consumption required for transporting the goods.

[0022] By adopting the above technical solution, the electronic device fully considers the difference in power consumption when the robot is carrying goods and when traveling empty, and calculates the first power consumption when the robot is transporting goods and the second power consumption when traveling empty according to the formula for calculating the power consumption of the robot, thereby obtaining a more accurate power consumption required to transport the goods.

[0023] In another possible implementation, if there are at least two idle robots whose remaining power is greater than the power consumption, then determining that any one of the idle robots performs the current cargo delivery task includes:

[0024] Determine the at least two idle robots whose remaining power is greater than the power consumption as candidate robots;

[0025] Determine whether there is a unique shortest first path information among the first path information corresponding to each of the candidate robots;

[0026] If yes, the candidate robot corresponding to the shortest first path information is used to perform the current transport task;

[0027] Otherwise, determining the difference between the remaining power of each candidate robot corresponding to the shortest first path information and the power consumption;

[0028] Determine the candidate robot corresponding to the minimum difference to perform the current transport task.

[0029] By adopting the above technical solution, when there are at least two idle robots, the electronic device preferentially selects the candidate robot with the shortest first path information, and then selects the candidate robot with the remaining power closest to the power consumption, thereby selecting the most suitable robot to perform the current transportation task.

[0030] Furthermore, the cargo delivery strategy is formulated based on the current status information of each robot, wherein the current status information includes the remaining power and the remaining time for executing the task, including:

[0031] Determine the farthest position that the idle robot with the most remaining power can reach on the first path information;

[0032] On a side of the farthest position close to the charging room, determine any temporary placement position closest to the farthest position, so that the idle robot places the goods at the temporary placement position;

[0033] Based on a first distance between the target position information corresponding to the robot that is performing the task and the temporary placement position, generating a first ascending sequence based on the first distance;

[0034] Determine a first robot corresponding to the first distance in the first ascending sequence as a candidate relay robot;

[0035] Execute loop steps:

[0036] Obtaining the remaining time for executing the task of the candidate relay robot;

[0037] Determine whether the remaining time for executing the task is less than or equal to a preset value;

[0038] If so, the first power consumption is determined based on the current position information of the candidate relay robot, the corresponding target position information, the temporary placement position information, the target position information of the goods, the charging room position information, the weight of the goods being transported and the current weight of the goods, and it is judged whether the remaining power of the candidate relay robot is greater than or equal to the first power consumption; if it is greater than or equal to, the candidate relay robot is determined to be a relay robot, and after the relay robot completes the execution task, the relay robot is made to transport the goods placed at the temporary placement position to the target position;

[0039] If the remaining time for executing the task is greater than a preset value or the remaining power of the relay robot is less than the first power consumption, the next robot corresponding to the first distance in the first ascending sequence is determined as the relay robot, and the loop steps are repeated until the relay robot is determined, so that the relay robot transports the goods placed at the temporary placement location to the target location.

[0040] By adopting the above technical solution, when there is no idle robot that can deliver the goods to the target location, the electronic device first selects a robot to deliver the goods to the farthest location, that is, places it in a temporary storage location, and then selects a robot with sufficient power and the closest distance from the remaining robots that are performing tasks, and delivers the goods at the temporary storage location to the target location, fully deploying each robot to deliver the goods to the target location in the shortest time using the least power.

[0041] In another possible implementation, after the idle robot completes the current transport task, the method further includes:

[0042] determining a third power consumption based on the current position information of the idle robot, the position information of the charging room, and the driving speed of the robot;

[0043] Determining whether a difference between the remaining power of the idle robot and the third power consumption is less than or equal to a preset difference;

[0044] If yes, returning the idle robot to the charging room for charging;

[0045] Otherwise, wait at the original location, and when the idle robot fails to execute the current transport task for a preset number of times, the idle robot is returned to the standby position.

[0046] By adopting the above technical solution, the electronic device determines the third power consumption according to the current position of the idle robot and the position of the charging room, judges whether the remaining power of the idle robot is close to the third power consumption, and returns the robot to the charging room for charging in time when the power is insufficient; if the robot has sufficient power left after completing the task, it will wait in place to receive other tasks. When the number of unexecuted tasks reaches the preset number, it indicates that the cargo transfer task has been cleared, and it returns to the standby position.

[0047] In another possible implementation, during the process in which the idle robot performs the current transport task, the method further includes:

[0048] detecting power consumption of the robot;

[0049] When the robot is transporting the goods from the starting position of the goods to the target position, if the power consumption is greater than the preset power consumption in any time period, the power consumption of the robot is abnormal;

[0050] Generate feedback information including power consumption anomalies.

[0051] By adopting the above technical solution, if the road is flat and the goods are stable during the transportation of goods, the power consumption of the robot should be stable in each time period. If there are foreign objects on the way that affect the normal driving of the robot and thus hinder the normal driving of the robot, the power consumption will increase abnormally. If the electronic equipment detects abnormal conditions, it will generate feedback information to prompt the staff to check.

[0052] In another possible implementation, any of the robots continuously performs the current transport task for a preset number of times, and the method further includes:

[0053] Determine whether the number of pending tasks is less than the preset number;

[0054] If yes, determine whether there are other idle robots; if yes, return the robot to the standby position, perform a self-check procedure at the standby position, and enter the standby state after completing the self-check procedure;

[0055] If the number of pending tasks is greater than or equal to the preset number or there are no other idle robots, continue to receive and execute the current delivery task.

[0056] By adopting the above technical solution, the electronic device first determines the number of tasks currently to be done, and then determines whether there are other robots that can be called, and whether the robot can be allowed to self-check and standby. If the conditions are met, the robot self-check and standby for the current transport task is continuously executed for a preset number of times, thereby increasing the service life of the robot.

[0057] In the second aspect, the present application provides an unmanned archive warehouse robot management device, which adopts the following technical solution:

[0058] A first acquisition module, used to acquire the remaining power of at least one idle robot;

[0059] The second acquisition module is used to obtain the starting position information and weight information of the current goods;

[0060] A third acquisition module is used to acquire the current position information of the at least one idle robot and the target position information of the cargo delivery;

[0061] A first path information determination module, configured to determine first path information corresponding to each idle robot based on the current position information, the starting position of the cargo, and the target position information;

[0062] A second path information determination module, used to determine the second path information corresponding to each idle robot based on the preset location information of the charging room and the target location information;

[0063] A power consumption determination module, configured to determine the power consumption required for each idle robot to transport the goods based on the weight information of the goods, the first path information corresponding to each idle robot, and the second path information;

[0064] A judgment module, used to judge whether there is an idle robot whose remaining power is greater than the power consumption;

[0065] A task determination module, used to determine that any of the idle robots performs the task of transporting the current goods when the judgment module determines that the task is yes;

[0066] The cargo delivery strategy formulation module is used to formulate a cargo delivery strategy based on the current status information of each robot when the judgment module judges to be no, and the current status information includes the remaining power and the remaining time to execute the task.

[0067] By adopting the above technical scheme, the power consumption determination module calculates the power consumption required for the idle robot to transfer goods based on the current position information of the idle robot, the starting position information of the goods, the target position information, the position information of the charging room and the weight of the goods, wherein the power consumption also includes the power required for the robot to return to the charging room. The judgment module compares the remaining power of the idle robot with the power consumption. The task determination module or the cargo transportation strategy formulation module selects the idle robot that can perform the task of transferring goods, and ensures that the idle robot can automatically return to the charging room to charge after completing the task of transferring goods, so that the robot can be called to the maximum extent without power failure on the way, thereby improving utilization and work efficiency.

[0068] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0069] An electronic device, comprising:

[0070] at least one processor;

[0071] Memory;

[0072] At least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, and the at least one application is configured to: execute an unmanned archive warehouse robot management method as described in any one of the first aspects.

[0073] By adopting the above technical solution, the processor loads and executes the application stored in the memory, and calculates the power consumption required for the idle robot to transfer the goods based on the current position information of the idle robot, the starting position information of the goods, the target position information, the position information of the charging room and the weight of the goods, wherein the power consumption also includes the power required for the robot to return to the charging room. The remaining power of the idle robot is compared with the power consumption, and the idle robot that can perform the task of transferring the goods is selected, and it is ensured that the idle robot can automatically return to the charging room to charge after completing the task of transferring the goods, so that the robot can be called to the maximum extent without power failure on the way, thereby improving utilization and work efficiency.

[0074] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0075] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute an unmanned archive warehouse robot management method as described in any one of the first aspects.

[0076] By adopting the above technical solution, the processor loads and executes the application stored in the computer-readable storage medium, and calculates the power consumption required for the idle robot to transfer the goods based on the current position information of the idle robot, the starting position information of the goods, the target position information, the position information of the charging room and the weight of the goods, wherein the power consumption also includes the power required for the robot to return to the charging room. The remaining power of the idle robot is compared with the power consumption, and the idle robot that can perform the task of transferring the goods is selected, and it is ensured that the idle robot can automatically return to the charging room to charge after completing the task of transferring the goods, so that the robot can be called to the maximum extent without power failure on the way, thereby improving utilization and work efficiency.

[0077] In summary, the present application includes at least one of the following beneficial technical effects:

[0078] 1. According to the current position information of the idle robot, the starting position information of the goods, the target position information, the position information of the charging room and the weight of the goods, the power consumption required for the idle robot to transfer the goods is calculated, where the power consumption also includes the power required for the robot to return to the charging room. The remaining power of the idle robot is compared with the power consumption, and the idle robot that can perform the task of transferring goods is selected, and it is ensured that the idle robot can automatically return to the charging room to charge after completing the task of transferring goods, so that the robot can be called to the maximum extent without power failure on the way, thereby improving utilization and work efficiency;

[0079] 2. When there are at least two idle robots, the electronic device preferentially selects the candidate robot with the shortest first path information, and then selects the candidate robot with the closest remaining power to power consumption, thereby selecting the most suitable robot to perform the current transportation task;

[0080] 3. When there is no idle robot that can deliver the goods to the target location, the electronic device first selects a robot to deliver the goods to the farthest location, that is, to place it at a temporary storage location, and then selects a robot with sufficient power and the closest distance from the remaining robots that are performing tasks, and delivers the goods at the temporary storage location to the target location, fully deploying each robot to deliver the goods to the target location in the shortest time using the least power. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 It is a flow chart of the unmanned archive warehouse robot management method in the embodiment of the present application.

[0082] Figure 2 It is a structural block diagram of the unmanned archive warehouse robot management device in an embodiment of the present application.

[0083] Figure 3It is a structural block diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0084] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0085] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0086] The present application embodiment discloses a robot management method for an unmanned archive warehouse. Figure 1 , executed by the electronic device, including (steps S101 to S109):

[0087] Step S101: Obtain the remaining power of at least one idle robot.

[0088] Specifically, at least one robot is arranged in the unmanned archive warehouse, and each robot performs the task of transferring goods together. A robot that does not perform a task is an idle robot. Each robot communicates with an electronic device, so the electronic device can detect the power of each robot.

[0089] Step S102: Obtain the starting position and weight information of the goods.

[0090] Specifically, the electronic device stores the structural information of the unmanned archive warehouse, and when the goods need to be transferred, the electronic device generates the starting position information and weight information of the goods.

[0091] Generally, when a batch of goods needs to be transferred, the electronic device can save the weight information input by the user, thereby obtaining the weight information of the goods.

[0092] Step S103: Acquire current location information of at least one idle robot and target location information of cargo delivery.

[0093] Specifically, the electronic device can establish a coordinate system, mark the current position of the idle robot and the target position of the cargo delivery in the coordinate system, and obtain the current position information and the target position information respectively.

[0094] Step S104: Determine the first path information corresponding to each idle robot based on the current position information, the starting position and the target position information of the goods.

[0095] Specifically, when the robot transports goods, it needs to travel from the current position of the robot to the starting position of the goods to pick up the goods, and then transport the goods from the starting position of the goods to the target position. The electronic device determines the first path information of the idle robot according to the above positions and the traversable routes in the unmanned archive warehouse.

[0096] Step S105: Determine the second path information corresponding to each idle robot based on the preset location information of the charging room and the target location information.

[0097] Specifically, after the robot delivers the goods to the target location, it should be ensured that the remaining power of the robot can support it to automatically return to the charging room. The electronic device determines the second path information according to the preset location of the charging room and the target location.

[0098] Step S106: Determine the power consumption required for each idle robot to transport the goods based on the weight information of the goods, the first path information corresponding to each idle robot, and the second path information.

[0099] The first path information includes path information a from the current position information to the starting position information of the goods and path information b from the starting position information of the goods to the target position information. When the robot is in path information a and the second path information, it walks without load, and when it is in path information b, it walks with goods, and the power consumption is different.

[0100] The a-segment path information, the b-segment path information, and the second path information all include the length of each path segment.

[0101] Step S106 includes (step S1061 to step S1066):

[0102] Step S1061: Determine the first time when the idle robot reaches the starting position based on the path information of segment a and the driving speed of the robot.

[0103] Step S1062: Determine the second time required for the robot to transport the goods to the target location based on the path information of segment b and the driving speed of the robot.

[0104] Step S1063: Determine the third time required for the robot to return to the charging room based on the second path information and the driving speed of the robot.

[0105] Specifically, the electronic device assumes that the robot travels at a constant speed and stores the travel speed of the robot in advance. Taking step S1061 as an example, the electronic device divides the length of the path segment a by the travel speed of the robot to calculate the first time when the idle robot reaches the starting position. Similarly, the electronic device calculates the second time and the third time.

[0106] Step S1064: Determine the first power consumption based on the weight information of the cargo, the second time and the driving speed.

[0107] Specifically, the power consumption of the robot is related to the weight of the cargo, the robot's driving speed and driving time, and can be calculated using the following formula:

[0108] W = kFvt;

[0109] F=μ(G 车 +G 货 ).

[0110] Among them, F is the traction force, v is the robot's driving speed, t is the driving time, and k is the coefficient.

[0111] The size of F is related to the load of the cargo. When the robot is moving at a constant speed, according to the force balance principle, it is determined that F is equal to the friction force of the robot, and the friction force of the robot is μ(G 车 +G 货 ); when the robot starts from a stationary state and gradually accelerates to v, F is in a changing state. In order to facilitate estimation, this method assumes that during the entire transportation process, F and μ(G 车 +G 货 ) are equal, the power consumption will be too small. In order to compensate for the defect, a coefficient is set, the coefficient k>1, so that the estimated power consumption can be as close to the actual power consumption as possible.

[0112] Furthermore, the electronic device calculates the first power consumption W1 according to the above formula.

[0113] Step S1065: Determine the second power consumption based on the first time, the third time and the driving speed.

[0114] Specifically, the electronic device adds the first time and the third time, and calculates the second power consumption W2 according to a calculation formula.

[0115] Step S1066: Add the first power consumption and the second power consumption to calculate the power consumption required for transporting the goods.

[0116] Step S107: Determine whether there is an idle robot whose remaining power is greater than the power consumption;

[0117] If so, execute step S108; otherwise, execute step S109.

[0118] Step S108: Determine any idle robot to perform the current cargo delivery task.

[0119] In another possible implementation, there are at least two idle robots whose remaining power is greater than the power consumption, then step S108 includes (steps S1081 to S1085):

[0120] Step S1081: Determine at least two idle robots whose remaining power is greater than the power consumption as candidate robots.

[0121] Step S1082: Determine whether there is a unique shortest first path information among the first path information corresponding to each candidate robot; if so, execute step S1083; otherwise, execute steps S1084 and S1085.

[0122] Step S1083: The candidate robot corresponding to the shortest first path information executes the current transport task.

[0123] Specifically, when only one candidate robot among the candidate robots has the shortest first path information, this candidate robot is determined to perform the task of transporting and acquiring, thereby reducing power consumption and avoiding high power consumption due to the walking path process.

[0124] Step S1084: Determine the difference between the remaining power and the power consumption of each candidate robot corresponding to the shortest first path information.

[0125] Step S1085: Determine the candidate robot corresponding to the minimum difference to perform the current transport task.

[0126] Specifically, if there are at least two candidate robots whose first path information is the shortest, the candidate robot whose remaining power consumption is closest to the power consumption is selected to perform the current transportation task, so that the robot can be charged in time after the transportation is completed and the power is properly used.

[0127] Step S109: Formulate a cargo delivery strategy based on the current status information of each robot, where the current status information includes the remaining power and the remaining time to execute the task.

[0128] Specifically, when each idle robot cannot deliver the goods to the target location completely, the electronic device can arrange a delivery strategy so that each robot coordinates and cooperates to complete the delivery of the goods. Step S109 includes (steps S1091 to S1097):

[0129] Step S1091: Determine the farthest position that the idle robot with the most remaining power can reach on the first path information.

[0130] Step S1092: On the side of the farthest position close to the charging room, determine any temporary placement position closest to the farthest position, and enable the idle robot to place the goods at the temporary placement position.

[0131] Specifically, the electronic device enables the idle robot with the most remaining power to transport the goods first, so that the goods are transported as close to the target location as possible, and the electronic device uses the above-mentioned power consumption formula to calculate the farthest position that the idle robot can reach on the first path information.

[0132] Then, it is determined whether there is a temporary placement near the farthest position. The temporary placement can be an empty shelf or a temporary storage rack as shown in the figure. The temporary placement is selected on the side of the farthest position close to the charging room to prevent the robot from being unable to return to the charging room due to low power after delivering the goods far away from the temporary placement.

[0133] Step S1093: Based on the first distance between the target position information corresponding to the robot that is performing the task and the temporary placement position, generate a first ascending sequence based on the first distance.

[0134] Step S1094: Determine the robot corresponding to the first first distance in the first ascending sequence as a candidate relay robot.

[0135] Specifically, in order to reduce the power consumed in the process of reaching the temporary placement location, the electronic device prioritizes calling the robot that is closest and performing a task.

[0136] Execute loop step S1095 (step Sa to step Sc):

[0137] Step Sa: Obtain the remaining time for executing the task of the candidate relay robot.

[0138] Specifically, the electronic device has the first path information, the second path information and the driving speed of the candidate relay robot. The electronic device calculates the remaining path according to the current position, and calculates the remaining time for executing the task by dividing the remaining path by the driving speed.

[0139] Step Sb: Determine whether the remaining time for executing the task is less than or equal to a preset value; if so, execute steps Sc to Sd; otherwise, execute step S1097.

[0140] Specifically, since the parking time of the goods should not be too long, the electronic device selects a candidate relay robot that is about to complete the task as the relay robot. In order to screen the relay robot that meets the requirements, the electronic device compares the remaining time for executing the task with the preset value.

[0141] Step Sc: Determine the first power consumption based on the current position information of the candidate relay robot, the corresponding target position information, the temporary placement position information, the target position information of the cargo, the charging room position information, the weight of the cargo being transported and the current weight of the cargo.

[0142] Specifically, the electronic device further determines whether the candidate relay robot can complete the transfer of the goods based on the power consumption of the candidate relay robot.

[0143] The candidate relay robot needs to transport the unfinished goods to the corresponding target location information, then arrive at the temporary placement location and transport the goods to the target location information of the goods. The electronic device calculates the power consumption m1 before the candidate relay robot completes the task based on the current location information, the corresponding target location information and the weight of the goods being transported.

[0144] The electronic device calculates the power consumption m2 of the candidate robot during the transportation of the goods based on the temporary placement location information, the target location information of the goods and the current weight of the goods.

[0145] Furthermore, the power consumption m3 of the candidate robot returning to the charging room is calculated based on the target location information of the goods and the location information of the charging room.

[0146] The electronic device adds m1, m2 and m3 to calculate the first power consumption.

[0147] Step Sd: Determine whether the remaining power of the relay robot is greater than or equal to the first power consumption; if greater than or equal to, execute step S1096; otherwise, execute step S1097.

[0148] Step S1096: Determine the candidate relay robot as the relay robot, wait for the relay robot to complete the execution of the task, and then enable the relay robot to transport the goods placed at the temporary placement location to the target location.

[0149] Specifically, when the remaining power of one of the candidate relay robots is greater than or equal to the first power consumption, it is determined as the relay robot to complete the transportation task.

[0150] Step S1097: Determine that the robot corresponding to the next first distance in the first ascending sequence is the relay robot, and repeat the loop step S1095 until the relay robot is determined, so that the relay robot transports the goods placed at the temporary placement location to the target location.

[0151] Specifically, when the remaining time for executing the task of the candidate relay robot is too long, or the remaining power is insufficient to complete the relay transportation task, it is determined whether the next candidate relay robot in the first ascending sequence can complete the relay transportation task.

[0152] In another possible implementation, after the idle robot completes the current transport task, the method further includes (steps S11 to S14):

[0153] Step S11: Determine the third power consumption based on the current position information of the idle robot, the position information of the charging room, and the driving speed of the robot.

[0154] Specifically, the electronic device determines the path length of the idle robot to the charging room based on the current position information of the idle robot and the position information of the charging room, and calculates the third power consumption of the idle robot directly returning to the charging room based on the path length and the driving speed.

[0155] Step S12: Determine whether the difference between the remaining power of the idle robot and the third power consumption is less than or equal to a preset difference; if so, execute step S13; otherwise, execute step S14.

[0156] Step S13: Return the idle robot to the charging room for charging.

[0157] Specifically, since the third power consumption estimated by the electronic device is not completely accurate, under the premise of ensuring that the robot can automatically return to the charging room to charge, the idle robot returns to charge when the difference between the remaining power of the idle robot and the third power consumption is less than or equal to the preset difference.

[0158] Step S14: Waiting at the original location, when the idle robot has not performed the current transport task for a preset number of times, the idle robot is returned to the standby position.

[0159] Specifically, in order to facilitate the mobilization to receive tasks, the idle robot first waits in place to facilitate receiving transfer tasks. If the idle robot has not been called for a preset number of times, it returns to the standby position and waits for the next call.

[0160] In another possible implementation, in order to detect the power consumption of the robot and timely troubleshoot unexpected situations, when the idle robot is performing the current transport task, the above method further includes:

[0161] The power consumption of the robot is obtained; when the robot is transporting goods from the starting location to the target location, if the power consumption is greater than the preset power consumption in any time period, the power consumption of the robot is abnormal; and feedback information including the abnormal power consumption is generated.

[0162] Specifically, if the road is flat and the goods are stable during the transportation process, the robot's power consumption should be stable in each time period. If there are foreign objects on the way that affect the normal driving of the robot and thus hinder the normal driving of the robot, the power consumption will increase abnormally. If the electronic equipment detects abnormal conditions, it will generate feedback information to prompt the staff to check.

[0163] In another possible implementation, in order to maintain the robot in time and increase its service life, when any robot continuously performs the current transport task for a preset number of times, the method further includes (steps S31 to S33):

[0164] Among them, the preset number of times is set according to the specific situation. For example, the preset number of times can be 20 times. When the robot performs the current transportation task 20 times in succession, the electronic device determines whether the current robot can enter the standby maintenance process.

[0165] Step S31: Determine whether the number of pending tasks is less than a preset number; if so, execute step S32; otherwise, execute step S33.

[0166] Specifically, in order to maintain the normal operation of the transportation process, the electronic device stipulates that the current robot can enter the standby maintenance process only when the number of pending tasks is less than a preset number.

[0167] Step S32: Determine whether there are other idle robots; if so, execute step S33: return the idle robot to the standby position, execute the self-check procedure at the standby position, and enter the standby state after completing the self-check procedure.

[0168] Specifically, in order to maintain the normal operation of the transportation process, the electronic device stipulates that the current robot can enter the standby maintenance process only when there is an idle robot that can be called.

[0169] Step S33: Continue to receive and execute the current delivery task.

[0170] In order to better implement the above method, the present application embodiment also provides an unmanned archive warehouse robot management device, referring to Figure 2 The unmanned archive warehouse robot management device 200 includes:

[0171] A first acquisition module 201 is used to acquire the remaining power of at least one idle robot;

[0172] The second acquisition module 202 is used to obtain the starting position information and weight information of the current goods;

[0173] The third acquisition module 203 is used to obtain the current position information of at least one idle robot and the target position information of the cargo delivery;

[0174] A first path information determination module 204, configured to determine first path information corresponding to each idle robot based on current position information, a starting position and a target position information of the cargo;

[0175] A second path information determination module 205, used to determine the second path information corresponding to each idle robot based on the preset charging room position information and the target position information;

[0176] The power consumption determination module 206 is used to determine the power consumption required for each idle robot to transport the goods based on the weight information of the goods, the first path information corresponding to each idle robot, and the second path information;

[0177] The judgment module 207 is used to judge whether there is an idle robot with a remaining power greater than the power consumption;

[0178] The task determination module 208 is used to determine any idle robot to perform the current cargo delivery task when the judgment module determines that it is yes;

[0179] The cargo delivery strategy formulation module 209 is used to formulate a cargo delivery strategy based on the current status information of each robot when the judgment module judges to be no, and the current status information includes the remaining power and the remaining time for executing the task.

[0180] Furthermore, the first path information includes path information of segment a from the current position to the starting position of the goods and path information of segment b from the starting position of the goods to the target position. The power consumption determination module 206 is specifically used for:

[0181] Determine the first time when the idle robot arrives at the starting position based on the path information of segment a and the driving speed of the robot;

[0182] Determine the second time required for the robot to transport the goods to the target location based on the path information of segment b and the driving speed of the robot; determine the third time required for the robot to return to the charging room based on the second path information and the driving speed of the robot;

[0183] determining a first power consumption based on the weight information of the cargo, the second time, and the driving speed;

[0184] determining a second power consumption based on the first time, the third time and the driving speed;

[0185] The first power consumption and the second power consumption are added together to calculate the power consumption required for transporting the goods.

[0186] In another possible implementation, there are at least two idle robots whose remaining power is greater than the power consumption. When determining that any idle robot performs the current cargo delivery task, the task determination module 208 is specifically configured to:

[0187] Determine at least two idle robots whose remaining power is greater than the power consumption as candidate robots;

[0188] Determine whether there is a unique shortest first path information among the first path information corresponding to each candidate robot;

[0189] If so, the candidate robot corresponding to the shortest first path information is used to perform the current transport task;

[0190] Otherwise, determine the difference between the remaining power and the power consumption of each candidate robot corresponding to the shortest first path information;

[0191] Determine the candidate robot corresponding to the minimum difference to perform the current transportation task.

[0192] Furthermore, the cargo delivery strategy formulation module 209 is specifically used to:

[0193] Determine the farthest position that the idle robot with the most remaining power can reach on the first path information;

[0194] On the side of the farthest position close to the charging room, determine any temporary placement position closest to the farthest position, so that the idle robot places the goods at the temporary placement position;

[0195] Based on a first distance between the target position information corresponding to the robot that is performing the task and the temporary placement position, a first ascending sequence is generated based on the first distance;

[0196] Determine the robot corresponding to the first first distance in the first ascending sequence as a candidate relay robot;

[0197] Execute loop steps:

[0198] Obtain the remaining time for the candidate relay robots to perform their tasks;

[0199] Determine whether the remaining time for executing the task is less than or equal to the preset value;

[0200] If so, the first power consumption is determined based on the current position information of the candidate relay robot, the corresponding target position information, the temporary placement position information, the target position information of the goods, the charging room position information, the weight of the goods being transported and the current weight of the goods, and it is judged whether the remaining power of the candidate relay robot is greater than or equal to the first power consumption; if it is greater than or equal to, the candidate relay robot is determined to be a relay robot, and after the relay robot completes the execution of the task, the relay robot is made to transport the goods placed at the temporary placement position to the target position;

[0201] If the remaining time for executing the task is greater than a preset value or the remaining power of the relay robot is less than the first power consumption, the robot corresponding to the next first distance in the first ascending sequence is determined as the relay robot, and the loop steps are repeated until the relay robot is determined, so that the relay robot transports the goods placed at the temporary placement location to the target location.

[0202] In another possible implementation, after the idle robot completes the current transport task, the unmanned archive warehouse robot management device 200 further includes:

[0203] A third power consumption determination module, used to determine the third power consumption based on the current position information of the idle robot, the position information of the charging room and the driving speed of the robot;

[0204] A second judgment module is used to judge whether the difference between the remaining power of the idle robot and the third power consumption is less than or equal to a preset difference;

[0205] A first execution module, configured to make the idle robot return to the charging room for charging when the second judgment module determines that the result is yes;

[0206] The second execution module is used to wait at the original location when the second judgment module judges to be no, and when the idle robot fails to execute the current transport task for a preset number of times, the idle robot returns to the standby position.

[0207] In another possible implementation, during the process in which the idle robot performs the current transport task, the unmanned archive warehouse robot management device 200 further includes:

[0208] A power consumption detection module is used to detect the power consumption of the robot;

[0209] The power consumption abnormality determination module is used to determine that the robot has abnormal power consumption if the power consumption is greater than the preset power consumption in any time period during the process of the robot transporting the goods from the starting position to the target position;

[0210] The feedback information generating module is used to generate feedback information including abnormal power consumption.

[0211] In another possible implementation, any robot continuously performs the current transport task for a preset number of times, and the unmanned archive warehouse robot management device 200 further includes:

[0212] The third judgment module is used to judge whether the number of pending tasks is less than a preset number;

[0213] A fourth judgment module, used to judge whether there are other idle robots when the third judgment module judges that the robot is idle;

[0214] A third execution module is used to make the robot return to a standby position when the fourth judgment module determines that the robot exists, execute a self-checking program at the standby position, and enter a standby state after completing the self-checking program;

[0215] The fourth execution module is used to continue receiving and executing the current delivery task when the third judgment module or the fourth judgment module judges to be no.

[0216] The various variations and specific examples of the methods in the aforementioned embodiments are also applicable to the unmanned archive warehouse robot management device of the present embodiment. Through the aforementioned detailed description of the unmanned archive warehouse robot management method, those skilled in the art can clearly know the implementation method of the unmanned archive warehouse robot management device in the present embodiment. Therefore, for the sake of brevity of the specification, it will not be described in detail here.

[0217] In order to better implement the above method, the present application embodiment provides an electronic device, referring to Figure 3 , the electronic device 300 includes: a processor 301, a memory 303 and a display screen 305. Among them, the memory 303 and the display screen 305 are connected to the processor 301, such as through a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0218] Processor 301 may be a CPU (Central Processing Unit), a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0219] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 302 may be divided into an address bus, a data bus, a control bus, etc.

[0220] The memory 303 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0221] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the above method embodiment.

[0222] Figure 3 The electronic device 300 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0223] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, the unmanned archive warehouse robot management method provided in the above embodiment is implemented. The processor loads and executes the computer program in the computer-readable storage medium. The implementation method is as follows: based on the current position information of the idle robot, the starting position information of the goods, the target position information, the position information of the charging room and the weight of the goods, the power consumption required for the idle robot to transfer the goods is calculated, wherein the power consumption also includes the power required for the robot to return to the charging room. The remaining power of the idle robot is compared with the power consumption, and the idle robot that can perform the task of transferring the goods is selected, and it is ensured that the idle robot can automatically return to the charging room for charging after completing the task of transferring the goods, so that the robot can be called to the maximum extent without power failure on the way, thereby improving utilization and work efficiency.

[0224] In this embodiment, the computer-readable storage medium may be a tangible device that holds and stores instructions used by the instruction execution device. The computer-readable storage medium may be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, the computer-readable storage medium may be a portable computer disk, a hard disk, a USB flash drive, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a podium random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, an optical disk, a magnetic disk, a mechanical encoding device, and any combination thereof.

[0225] The computer program in this embodiment includes program codes for executing all the aforementioned methods, and the program codes may include instructions corresponding to the steps of the methods provided in the above embodiments. The computer program can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded to an external computer or external storage device via a network (e.g., the Internet, a local area network, a wide area network, and / or a wireless network). The computer program can be executed entirely on a user's computer or as an independent software package.

[0226] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

[0227] In addition, it is to be understood that relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprises," "comprising," or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or elements that are inherent to such process, method, article, or device.

Claims

1. A robot management method for an unmanned archive warehouse, characterized in that: include: Get the remaining power of at least one idle robot; Get the starting position information and weight information of the current goods; Acquire current location information of the at least one idle robot and target location information of cargo delivery; Determine first path information corresponding to each idle robot based on the current position information, the starting position of the cargo, and the target position information; Determine the second path information corresponding to each idle robot based on the preset location information of the charging room and the target location information; Determine the power consumption required for each idle robot to transport the goods based on the weight information of the goods, the first path information corresponding to each idle robot, and the second path information; Determining whether there is an idle robot whose remaining power is greater than the power consumption; If so, determining any of the idle robots to perform the current cargo delivery task; Otherwise, a cargo delivery strategy is formulated based on the current status information of each robot, wherein the current status information includes the remaining power and the remaining time to perform the task; The cargo delivery strategy is formulated based on the current status information of each robot, wherein the current status information includes the remaining power and the remaining time for executing the task, including: Determine the farthest position that the idle robot with the most remaining power can reach on the first path information; On a side of the farthest position close to the charging room, determine any temporary placement position closest to the farthest position, so that the idle robot places the goods at the temporary placement position; Based on a first distance between the target position information corresponding to the robot that is performing the task and the temporary placement position, generating a first ascending sequence based on the first distance; Determine a first robot corresponding to the first distance in the first ascending sequence as a candidate relay robot; Execute loop steps: Obtaining the remaining time for executing the task of the candidate relay robot; Determine whether the remaining time for executing the task is less than or equal to a preset value; If so, the first power consumption is determined based on the current position information of the candidate relay robot, the corresponding target position information, the temporary placement position information, the target position information of the goods, the charging room position information, the weight of the goods being transported and the current weight of the goods, and it is judged whether the remaining power of the candidate relay robot is greater than or equal to the first power consumption; if it is greater than or equal to, the candidate relay robot is determined to be a relay robot, and after the relay robot completes the execution task, the relay robot is made to transport the goods placed at the temporary placement position to the target position; If the remaining time for executing the task is greater than a preset value or the remaining power of the relay robot is less than the first power consumption, the next robot corresponding to the first distance in the first ascending sequence is determined as the relay robot, and the loop steps are repeated until the relay robot is determined, so that the relay robot transports the goods placed at the temporary placement location to the target location.

2. The method according to claim 1, characterized in that The first path information includes path information of segment a from the current position to the starting position of the goods and path information of segment b from the starting position of the goods to the target position. The determining of the power consumption required for transporting the goods based on the weight information of the goods, the first path information and the second path information includes: Determine the first time when the idle robot arrives at the starting position based on the path information of section a and the driving speed of the robot; Determine a second time required for the robot to transport the goods to the target location based on the path information of segment b and the driving speed of the robot; determining a third time required for the robot to return to the charging room based on the second path information and the driving speed of the robot; determining a first power consumption based on the weight information of the cargo, the second time and the driving speed; determining a second power consumption based on the first time, the third time, and the driving speed; The first power consumption and the second power consumption are added together to calculate the power consumption required for transporting the goods.

3. The method according to claim 1, characterized in that: If there are at least two idle robots whose remaining power is greater than the power consumption, determining any one of the idle robots to perform the current cargo delivery task includes: Determine the at least two idle robots whose remaining power is greater than the power consumption as candidate robots; Determine whether there is a unique shortest first path information among the first path information corresponding to each of the candidate robots; If yes, the candidate robot corresponding to the shortest first path information is used to perform the current transport task; Otherwise, determining the difference between the remaining power of each candidate robot corresponding to the shortest first path information and the power consumption; Determine the candidate robot corresponding to the minimum difference to perform the current transportation task.

4. The method according to claim 1, characterized in that: When the idle robot completes the current transport task, the method further includes: determining a third power consumption based on the current position information of the idle robot, the position information of the charging room, and the driving speed of the robot; Determine whether the difference between the remaining power of the idle robot and the third power consumption is less than or equal to a preset difference; If yes, returning the idle robot to the charging room for charging; Otherwise, wait at the original location, and when the number of times that the idle robot fails to execute the current transport task reaches a preset number, the idle robot is returned to the standby position.

5. The method according to claim 1, characterized in that During the process of the idle robot performing the current transport task, the method further comprises: detecting power consumption of the robot; When the robot is transporting the goods from the starting position of the goods to the target position, if the power consumption is greater than the preset power consumption in any time period, the power consumption of the robot is abnormal; Generate feedback information including power consumption anomalies.

6. The method according to claim 1, characterized in that When any of the robots continuously performs the current transport task for a preset number of times, the method further includes: Determine whether the number of pending tasks is less than the preset number; If yes, determine whether there are other idle robots; if yes, return the robot to the standby position, perform a self-check procedure at the standby position, and enter the standby state after completing the self-check procedure; If the number of pending tasks is greater than or equal to the preset number or there are no other idle robots, continue to receive and execute the current delivery task.

7. An unmanned archive warehouse robot management device, characterized in that: include: A first acquisition module 201 is used to acquire the remaining power of at least one idle robot; The second acquisition module 202 is used to obtain the starting position information and weight information of the current goods; A third acquisition module 203 is used to acquire the current position information of the at least one idle robot and the target position information of the cargo delivery; A first path information determination module 204, configured to determine first path information corresponding to each idle robot based on the current position information, the starting position of the cargo, and the target position information; A second path information determination module 205, configured to determine the second path information corresponding to each idle robot based on the preset location information of the charging room and the target location information; A power consumption determination module 206, configured to determine the power consumption required for each idle robot to transport the goods based on the weight information of the goods, the first path information corresponding to each idle robot, and the second path information; A judgment module 207 is used to judge whether there is an idle robot whose remaining power is greater than the power consumption; The task determination module 208 is used to determine that any of the idle robots performs the task of transporting the current goods when the judgment module determines that the task is yes; A cargo delivery strategy formulation module 209, for formulating a cargo delivery strategy based on the current status information of each robot when the judgment module determines that the decision is no, wherein the current status information includes the remaining power and the remaining time for executing the task; The cargo transportation strategy formulation module 209 is specifically used to: Determine the farthest position that the idle robot with the most remaining power can reach on the first path information; On a side of the farthest position close to the charging room, determine any temporary placement position closest to the farthest position, so that the idle robot places the goods at the temporary placement position; Based on a first distance between the target position information corresponding to the robot that is performing the task and the temporary placement position, generating a first ascending sequence based on the first distance; Determine a first robot corresponding to the first distance in the first ascending sequence as a candidate relay robot; Execute loop steps: Obtaining the remaining time for executing the task of the candidate relay robot; Determine whether the remaining time for executing the task is less than or equal to a preset value; If so, the first power consumption is determined based on the current position information of the candidate relay robot, the corresponding target position information, the temporary placement position information, the target position information of the goods, the charging room position information, the weight of the goods being transported and the current weight of the goods, and it is judged whether the remaining power of the candidate relay robot is greater than or equal to the first power consumption; if it is greater than or equal to, the candidate relay robot is determined to be a relay robot, and after the relay robot completes the execution task, the relay robot is made to transport the goods placed at the temporary placement position to the target position; If the remaining time for executing the task is greater than a preset value or the remaining power of the relay robot is less than the first power consumption, the next robot corresponding to the first distance in the first ascending sequence is determined as the relay robot, and the loop steps are repeated until the relay robot is determined, so that the relay robot transports the goods placed at the temporary placement location to the target location.

8. An electronic device, characterized in that: include: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, and the at least one application is configured to: execute an unmanned archive warehouse robot management method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and executed according to any one of claims 1 to 6, and which is a method for managing an unmanned archive warehouse robot.

Images