Robot scheduling method, fork robot, system and electronic device

Abstract

The embodiment of the present application relates to the technical field of robots, and discloses a robot scheduling method, a fork robot, a system and electronic equipment, the method comprises the following steps: obtaining task information of a to-be-processed task; the task information comprises a task type; determining, according to the task information, storage rack information of a target storage rack hit by the to-be-processed task; the storage rack information comprises a storage level of the target storage rack on a storage rack in a storage area; in the case that the storage level is higher than one layer, generating a first carrying task according to the task type of the to-be-processed task and the storage rack information; wherein the first carrying task is used for instructing a fork robot to take out the target storage rack from a placement position corresponding to the storage level, or instructing the fork robot to place the target storage rack in the placement position corresponding to the storage level. The technical scheme of the present application can improve the utilization rate of the goods storage space and the processing efficiency of the storage rack.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robotics technology, specifically to robot scheduling methods, forklift robots, systems, and electronic devices. Background Technology

[0002] In fields such as smart warehousing and logistics, in order to improve warehousing efficiency, it is necessary to inventory and pick goods on shelves.

[0003] To improve inventory and picking efficiency, some logistics companies use manual labor or robots to move goods on shelves. For example, robots move shelves to workstations where workers or picking equipment pick the goods. However, currently, robots can only move the bottom shelves, so warehouses can only store one layer of shelves, resulting in low warehouse space utilization. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a robot scheduling method, a fork-tooth robot, a system, and electronic equipment to solve the problem of low warehouse space utilization in the prior art.

[0005] According to one aspect of the present invention, a robot scheduling method is provided, the method comprising: acquiring task information of a task to be processed; the task information including a task type; determining shelf information of a target shelf to which the task to be processed is located based on the task information; the shelf information including a storage level of the target shelf on a storage rack in a shelf storage area; and generating a first handling task based on the task type of the task to be processed and the shelf information when the storage level is higher than one level; wherein the first handling task is used to instruct a forklift robot to remove the target shelf from the placement position corresponding to the storage level, or to instruct the forklift robot to place the target shelf at the placement position corresponding to the storage level.

[0006] In some embodiments, the task type includes an outbound task from the shelf storage area to the workstation; generating a first handling task based on the task type of the task to be processed and the shelf information includes: when the task type of the task to be processed is the outbound task, generating a first outbound task based on the shelf information; the first handling task includes the first outbound task, which is used to instruct the forklift robot to remove the target shelf from the placement position corresponding to the storage level and transport it to the pick-up buffer position of the workstation or the pick-up buffer area.

[0007] In some embodiments, the method further includes: when the first outbound task instructs the forklift robot to move the target shelf from the placement position corresponding to the storage level to the pick-up cache position, generating a second outbound task based on the pick-up cache position; the second outbound task is used to instruct the forklift robot or a handling robot to move the target shelf from the pick-up cache position to a workstation for operation on the target shelf at the workstation.

[0008] In some embodiments, the method further includes: when the storage level is one layer, generating a third outbound task based on the task type of the task to be processed and the shelf information; the third outbound task is used to instruct the forklift robot or handling robot to remove the target shelf from the placement position corresponding to the storage level and transport it to the workstation.

[0009] In some embodiments, the pick-up buffer area is located at the bottom layer of the shelf storage area.

[0010] In some embodiments, the task type includes a return-to-warehouse task from the workstation to the shelf storage area; generating a first handling task based on the task type of the task to be processed and the shelf information includes: when the task type of the task to be processed is the return-to-warehouse task, generating a first return-to-warehouse task based on the shelf information; the first handling task includes the first return-to-warehouse task, which is used to instruct the forklift robot to move the target shelf from the workstation or the return-to-warehouse buffer position in the return-to-warehouse buffer area to the placement position corresponding to the storage level.

[0011] In some embodiments, before the forklift robot moves the return-to-warehouse buffer location in the return-to-warehouse buffer area to the placement location corresponding to the storage level, the method further includes: determining the return-to-warehouse buffer location based on the shelf storage status of each buffer location in the return-to-warehouse buffer area; generating a second return-to-warehouse task based on the shelf information of the target shelf and the return-to-warehouse buffer location; the second return-to-warehouse task is used to instruct the forklift robot or the handling robot to move the target shelf from the workstation to the return-to-warehouse buffer location.

[0012] In some embodiments, the method further includes: when the storage level is one layer, generating a third return-to-warehouse task based on the task type of the task to be processed and the shelf information; the third return-to-warehouse task is used to instruct the forklift robot or the handling robot to move the target shelf from the workstation to the placement position corresponding to the storage level.

[0013] In some embodiments, the return-to-warehouse buffer area is located at the bottom layer of the shelf storage area.

[0014] In some embodiments, the target shelf is provided with a locking structure at its bottom, and the target shelf is locked to the connecting structure on the fixed bracket through the locking structure. The method further includes: generating a shelf locking command when the target shelf is being transported. The shelf locking command is used to instruct the locking structure of the target shelf to lock to the connecting structure of the target fixed bracket when the forklift robot places the target shelf on the target fixed bracket, forming a shelf assembly, so that the transport robot can transport the shelf assembly.

[0015] In some embodiments, the method further includes: detecting the location information of the target shelf; and, if it is determined from the location information that the target shelf has reached the target location, generating a shelf separation command, wherein the shelf separation command is used to instruct the locking structure of the target shelf to unlock and separate from the connection structure of the target fixed bracket.

[0016] In some embodiments, the bottom of the target shelf is provided with a plurality of protruding structures, which can form gaps when the target shelf is placed on the crossbeam of the storage rack, so that the forklift robot can pass through the gaps to pick up and place the target shelf on the storage rack.

[0017] In some embodiments, the bottom of the target shelf is provided with an identification mark. After generating a first handling task based on the task type of the task to be processed and the shelf information, the method further includes: obtaining scanning information generated by the forklift robot scanning the identification mark; and determining the shelf information of the target shelf based on the scanning information.

[0018] In some embodiments, the method further includes: determining the target shelf location corresponding to each shelf based on the outbound frequency of each shelf in the shelf storage area; the target shelf location includes a target shelf level and / or a target placement location; if the target shelf level of the shelf is different from the current shelf level of the shelf, and / or the target placement location of the shelf is different from the current placement location of the shelf, a location update instruction is generated, the location update instruction being used to instruct the forklift robot to move the shelf to the storage rack corresponding to the target shelf level according to the target shelf level of the shelf, and / or to move the shelf to the target placement location according to the target placement location of the shelf.

[0019] In some embodiments, the higher the outbound frequency of the shelf, the lower the target shelf level corresponding to the shelf; and / or, the higher the outbound frequency of the shelf, the closer the target placement location corresponding to the shelf is to the workstation.

[0020] According to another aspect of the present invention, a forklift robot is provided, comprising: a control module configured to acquire a first handling task, wherein the first handling task is generated based on the task type of the task to be processed and shelf information of the target shelf, the shelf information including the storage level of the target shelf on the storage rack in the shelf storage area, when the target shelf is at a storage level higher than one level; and a fork assembly configured to, according to the first handling task, remove the target shelf from the placement position corresponding to the storage level, or place the target shelf at the placement position corresponding to the storage level.

[0021] In some embodiments, the task type includes an outbound task from the shelf storage area to the workstation; the control module is further configured to: acquire a first outbound task, the first handling task including the first outbound task; the first outbound task is generated by the control device based on the shelf information when the task type of the task to be processed is the outbound task; the fork assembly is configured to, according to the first outbound task, remove the target shelf from the placement position corresponding to the storage level and transport it to the pick-up buffer position of the workstation or the pick-up buffer area.

[0022] In some embodiments, the control module is further configured to: acquire a second outbound task, the second outbound task being generated by the control device based on the pick-up cache location when the first outbound task instructs the forklift robot to move the target shelf from the placement location corresponding to the storage level to the pick-up cache location; the forklift assembly is configured to move the target shelf from the pick-up cache location to a workstation based on the second outbound task, so as to operate the target shelf at the workstation.

[0023] In some embodiments, the control module is further configured to: acquire a third outbound task, the third outbound task being generated by the control device based on the task type of the task to be processed and the shelf information when the storage level is one layer; the fork assembly is configured to, based on the third outbound task, remove the target shelf from the placement position corresponding to the storage level and transport it to the workstation.

[0024] In some embodiments, the task type includes a return-to-stock task from the workstation to the rack storage area; the control module is configured to: acquire a first return-to-stock task, the first handling task including the first return-to-stock task, the first return-to-stock task being generated by the control device based on the rack information when the task type of the task to be processed is the return-to-stock task; the forklift assembly is configured to, based on the first return-to-stock task, move the target rack from the return-to-stock buffer position of the workstation or the return-to-stock buffer area to the placement position corresponding to the storage level.

[0025] In some embodiments, before the forklift robot moves the return-to-warehouse buffer position of the return-to-warehouse buffer area to the placement position corresponding to the storage level, the control module is further configured to: obtain a second return-to-warehouse task, wherein the second return-to-warehouse task is determined by the control device based on the shelf storage status of each buffer position in the return-to-warehouse buffer area, and generated based on the shelf information of the target shelf and the return-to-warehouse buffer position; the forklift assembly is configured to move the target shelf from the workstation to the return-to-warehouse buffer position according to the second return-to-warehouse task.

[0026] In some embodiments, the control module is further configured to: acquire a third return-to-warehouse task, the third return-to-warehouse task being generated by the control device based on the task type of the task to be processed and the shelf information when the storage level is one layer; the forklift assembly is configured to move the target shelf from the workstation to the placement position corresponding to the storage level according to the third return-to-warehouse task.

[0027] In some embodiments, the fork assembly includes a chassis, a mast structure, and fork tines. The fork tines are movably disposed on the mast structure and move closer to or further away from the chassis via a drive device on the mast structure. The control module is further configured to: upon receiving the first handling task, determine the storage level of the target shelf on the storage rack in the shelf storage area based on the first handling task, and generate a first shelf pick-up / placement instruction based on the storage level of the target shelf on the storage rack in the shelf storage area; the drive device is configured to drive the fork tines to move up and down to the pick-up / placement height corresponding to the target shelf in response to the first shelf pick-up / placement instruction; the fork tines are configured to remove the target shelf from the target storage rack or place the target shelf on the target storage rack when the forklift robot travels to the bottom of the target storage rack for placing the target shelf.

[0028] In some embodiments, the drive unit is configured to, in response to the first shelf pick-and-place command, drive the fork teeth to rise and fall to the pick-and-place height corresponding to the target shelf, and drive the fork teeth and the mast structure to move on the chassis; the fork teeth are configured to, when the forklift robot travels to the docking position of the target storage rack for placing the target shelf, remove the target shelf from the target storage rack, or place the target shelf on the target storage rack.

[0029] In some embodiments, the drive device is configured to: drive the fork teeth to descend to an initial height after the target shelf is removed from the target storage rack and the forklift robot is removed from the target storage rack; or, drive the fork teeth to descend to the initial height after the target shelf is placed on the target storage rack and the forklift robot is removed from the target storage rack.

[0030] In some embodiments, the control module is further configured to: acquire a location update instruction, wherein the location update instruction is generated by the control device determining the target shelf level and / or target placement position corresponding to each shelf based on the outbound frequency of each shelf in the shelf storage area, and when the target shelf level of the shelf is different from the current shelf level of the shelf, and / or the target placement position of the shelf is different from the current placement position of the shelf; the fork assembly is configured to, in response to the location update instruction, move the shelf to the storage rack corresponding to the target shelf level, and / or move the shelf to the target placement position, according to the target shelf level of the shelf.

[0031] According to another aspect of the present invention, a robot scheduling system is provided, the system comprising: a control device configured to determine shelf information of a target shelf to which the task to be processed is located based on task information of a task to be processed, and, if the storage level is higher than one level, generate a first handling task based on the task type of the task to be processed and the shelf information; the task information includes a task type, and the shelf information includes the storage level of the target shelf on a storage rack in a shelf storage area; the shelf storage area includes at least one storage rack, the storage rack including multiple layers of beams, each layer of beams for placing shelves; and a forklift robot configured to acquire the first handling task and, according to the first handling task, remove the target shelf from the placement position corresponding to the storage level, or place the target shelf at the placement position corresponding to the storage level.

[0032] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform operations of the robot scheduling method as described above by executing the executable instructions.

[0033] According to another aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the robot scheduling method as described above.

[0034] In summary, the robot scheduling method, forklift robot, system, and electronic device according to embodiments of the present invention can generate a first handling task when the target shelf is at a higher storage level than one level on the storage rack in the shelf storage area, so that the forklift robot can take the target shelf out from the placement position corresponding to the storage level, or place the target shelf at the placement position corresponding to the storage level.

[0035] On the one hand, it enables storage on high-level storage racks, eliminating the limitation of rack height on storage rack placement. As the number of storage rack levels increases, the number of racks that can be placed also increases, thus achieving high-density storage and improving the utilization rate of warehouse space. On the other hand, by using forklift robots to remove or place target racks from their corresponding storage level locations, automated retrieval and placement of high-level racks can be achieved, solving the problem of robots being unable to connect to high-level racks. This also improves the handling efficiency of racks, thereby increasing the overall storage efficiency of the warehousing system.

[0036] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0037] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of a robot scheduling system provided by an embodiment of the present invention is shown; Figure 2 A schematic diagram of a shelf storage area provided by an embodiment of the present invention is shown; Figure 3 A schematic diagram of a forklift robot provided in an embodiment of the present invention is shown; Figure 4A flowchart of a robot scheduling method provided by an embodiment of the present invention is shown; Figure 5 A flowchart of a shelf handling method provided by an embodiment of the present invention is shown; Figure 6A This diagram illustrates a connection between a shelf and a support according to an embodiment of the present invention. Figure 6B This diagram illustrates another connection between a shelf and a support provided in an embodiment of the present invention. Figure 7 This diagram illustrates the retrieval and placement of a shelf according to an embodiment of the present invention. Figure 8 A schematic diagram of a shelf structure provided by an embodiment of the present invention is shown; Figure 9 This diagram illustrates another type of shelf provided by an embodiment of the present invention; Figure 10 This illustration shows a schematic diagram of another type of shelf provided by an embodiment of the present invention; Figure 11 A flowchart of yet another robot scheduling method provided by an embodiment of the present invention is shown; Figure 12 A schematic diagram of the operation of a forklift robot provided in an embodiment of the present invention is shown; Figure 13 A schematic diagram of another forklift robot provided in an embodiment of the present invention is shown; Figure 14 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown. Detailed Implementation

[0038] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0039] This invention provides a robot scheduling system that can improve the efficiency of goods handling, increase the utilization rate of warehouse space, and save labor costs.

[0040] The robot scheduling system provided in the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0041] Figure 1 A schematic diagram of a robot scheduling system provided in an embodiment of the present invention is shown below. Figure 1 As shown, the robot scheduling system 100 may include a control device 110, a shelf storage area 120, a forklift robot 130, and a workstation 140.

[0042] The control device 110 is a piece of equipment or tool used to monitor, operate, and adjust shelves and robots, etc. It can be used to control and manage the shelves and the storage of goods on them, as well as to control and manage various parameters, functions, and operations of the robots. For example, the control device 110 can acquire the operating information of the forklift robot 130 and control the forklift robot 130 to move or perform shelf handling tasks, etc.

[0043] Shelf storage area 120 refers to the area for storing shelves, which can be used to store at least one storage shelf. The storage shelf includes multiple layers of beams, each layer of beams is used to place the shelf. Figure 2 This diagram illustrates a shelf storage area 120 provided in an embodiment of the present invention. Figure 2 As shown, the shelving storage area 120 may include multiple shelving areas 21, each shelving area 21 for placing storage racks 22, and each storage rack 22 may hold one or more shelves 23 for storing goods. As shown, each storage rack 22 may hold multiple layers of shelves. The target shelf is the shelf on a certain storage rack.

[0044] For example, such as Figure 2 As shown, a passageway 24 is formed between two adjacent shelf areas 21, and forklift robots 130 and the like can travel in the passageway 24.

[0045] In some cases, when shelf 23 is removed from storage rack 22, there may not be a robot temporarily available to move the shelf. In this situation, the shelf removed from storage rack 22 can be placed in a buffer area. This buffer area can be an area near the shelf storage area 120 or a specific area within the shelf storage area 120. For example, in Figure 2 In the shelf storage area 120 shown, a buffer area is set at the bottom of the storage rack area in the middle of the shelf storage area 120, including a waiting buffer area 25 and a return buffer area 26.

[0046] For example, the pick-up buffer area 25 can be used to place shelves waiting to be shipped out, that is, shelves waiting to be moved out of the shelf storage 120, and the return buffer area 26 can be used to place shelves returning to the warehouse, that is, shelves waiting to be placed on the storage rack.

[0047] In some embodiments, the shelf 23 on the storage rack may include at least one partition that divides the shelf 23 into at least two layers. Each partition on the shelf 23 may be provided with at least one storage space, each storage space being used to place goods or containers for storing goods.

[0048] It should be noted that, Figure 2The layout of the shelf storage area 120 shown is only an example. Depending on the actual site requirements, the shelf storage area 120 can be set up in different layouts. For example, the shelf area 21, the waiting buffer area 25, and the return buffer area 26 can all be set up in different locations. This embodiment does not impose any special limitations on this.

[0049] The forklift robot 130 refers to a robot equipped with fork components, which can use the fork components to lift the rack and then lower it after moving the rack to a designated location.

[0050] Figure 3 A schematic diagram of a forklift robot 130 provided in an embodiment of the present invention is shown, as follows: Figure 3 As shown, the forklift robot 130 may include a chassis 31, a mast structure 32, fork teeth 33, and a drive steering wheel (not shown) located at the bottom of the chassis. The chassis 31, mast structure 32, and fork teeth 33 constitute the fork assembly.

[0051] In some embodiments, the fork 33 is movably mounted on the gantry structure 32 and moves closer to or further away from the chassis via a drive mechanism on the gantry structure 32.

[0052] The drive unit on the gantry structure 32 can be a drive track, which can drive the fork 33 to move toward or away from the chassis 31.

[0053] Workstation 140 is a device used to handle goods handling tasks in warehouses or logistics centers. It can provide a work area for users or robots to perform tasks such as inventorying or picking goods according to task requirements.

[0054] In some embodiments, the control device 110 can monitor the working status of the workstation 140, determine the progress of the cargo handling task performed by the workstation 140, and assign a new cargo handling task to the workstation 140 when it is determined that the workstation 140 is in an idle state.

[0055] For example, the control device 110 can acquire task information of the task to be processed, determine the shelf information of the target shelf to which the task to be processed is located, and generate a first handling task based on the task type and shelf information when the storage level is higher than one level. The task information includes the task type, and the shelf information includes the storage level of the target shelf on the storage rack in the shelf storage area.

[0056] In some embodiments, the forklift robot 130 may acquire a first handling task and, according to the first handling task, remove the target shelf from the placement position corresponding to the storage level, or place the target shelf in the placement position corresponding to the storage level.

[0057] For example, when the forklift robot 130 receives the first handling task, it can travel to the corresponding position of the target shelf, remove the target shelf from its storage rack, and transport it to the destination position of the target shelf, such as the position of workstation 140. Alternatively, the forklift robot 130 can also travel to the position of workstation 130 after workstation 140 has completed the handling of goods on the target shelf, transport the target shelf from the position of workstation 130 to the shelf storage area 120, and then place it on the corresponding storage rack.

[0058] In some embodiments, since there are no obstacles in the area between the shelf storage area 120 and the workstation 140, the robot can travel quickly in the highway area between the shelf storage area 120 and the workstation 140.

[0059] Based on the robot scheduling system provided in this embodiment of the invention, storage on high-level storage racks can be realized, eliminating the limitation of storage rack height on rack placement, improving the utilization rate of storage space, and also improving the handling efficiency of racks, thereby improving the storage efficiency of the warehousing system.

[0060] This invention also provides a robot scheduling method, which can be implemented by... Figure 1 The control device 110 shown executes to acquire task information of the task to be processed, and determines the shelf information of the target shelf to which the task to be processed is located based on the task information. The shelf information includes the storage level of the target shelf on the storage rack in the shelf storage area. If the storage level is higher than one level, a first handling task is generated based on the task type of the task to be processed and the shelf information, so that the forklift robot can take the target shelf out from the placement position corresponding to the storage level, or place the target shelf in the placement position corresponding to the storage level.

[0061] Figure 4 A flowchart of a robot scheduling method provided by an embodiment of the present invention is shown, as follows: Figure 4 As shown, the method may include the following steps 410-430: Step 410: Obtain task information for the tasks to be processed. This task information includes the task type.

[0062] Pending tasks refer to goods tasks that have not yet been completed or processed. Depending on the business scenario and type, they may include goods inventory tasks, goods picking tasks, goods shelving tasks, etc.

[0063] Among them, inventory counting refers to the task of counting, verifying, and recording goods stored in warehouses or inventory to ensure the accuracy and consistency of inventory records; picking refers to the task of finding and collecting the required goods in the warehouse according to user orders or needs. Picking tasks usually require operations based on the items and quantities listed in the order to ensure that the correct goods are selected; shelving refers to placing goods received from suppliers or other sources into appropriate locations in the warehouse for subsequent storage and picking. This usually includes transferring goods from the receiving area to the inventory area and classifying, filing, and marking them according to specific identification or systems to facilitate future retrieval and management.

[0064] Task information can include the task name, task type, task object, and task execution time of the task to be processed. The task type indicates the type of task and the shelf status, such as whether it is a picking task or an inventory counting task, and whether the shelf status is complete when the task is a picking or inventory counting task. The task object can include information such as the goods corresponding to the task and the shelf where the goods are placed.

[0065] For example, after a user places an order online, the system generates order information. The control device can determine the ordered goods, quantity, delivery time, etc., based on the order information and generate a task to be processed accordingly. At this time, the task to be processed is to pick the ordered goods according to the order information.

[0066] Step 420: Based on the task information, determine the shelf information of the target shelf to be processed by the task.

[0067] The shelf information includes the storage level of the target shelf on the storage rack in the shelf storage area. For example, assuming the shelf storage area includes m shelf areas, each shelf area has 1 storage rack, and the target shelf is located on the 3rd level of the storage rack in the i-th shelf area, then the storage level of the target shelf on the storage rack in the shelf storage area is 3, where m, n, and i are all integers greater than 0.

[0068] Based on the task information of the task to be processed, the control device can determine the target shelf to which the task is to be processed and the shelf information of the target shelf.

[0069] For example, the control device can determine the goods corresponding to the task to be processed and the target shelf to place the goods based on the task object to be processed, and extract the shelf information of the target shelf from the database of storage shelf information, that is, the storage level of the target shelf on the storage shelf in the shelf storage area.

[0070] Step 430: If the storage level is higher than one level, generate the first handling task based on the task type and shelf information of the task to be processed.

[0071] The first handling task is used to instruct the forklift robot to remove the target shelf from the corresponding placement position in the storage level, or to instruct the forklift robot to place the target shelf in the corresponding placement position in the storage level.

[0072] When the target shelf is located at a higher storage level than one shelf in the storage area, some robots, due to limitations in size and function, are unable to remove the target shelf from the storage rack. However, forklift robots, with their adjustable forks, can access shelves at higher storage levels. Therefore, to facilitate the handling of goods on the target shelf, the control device can generate a first handling task based on the task type and shelf information. This allows the forklift robot to either remove the target shelf from its corresponding storage level location or, conversely, instruct the forklift robot to place the target shelf in its corresponding storage level location.

[0073] Through the above steps 410-430, based on the storage level of the target shelf on the storage rack, a forklift robot can be invoked to remove the shelf from the upper level of the storage rack or place the shelf at the upper level of the storage rack, so that the storage of the shelf can be freed from the limitation of warehouse height, while improving the accuracy and efficiency of shelf retrieval and placement.

[0074] In some embodiments, the task type may include outbound tasks from the shelf storage area to the workstation, such as... Figure 1 As shown, an outbound task refers to a rack transport task from rack storage area 120 to workstation 140. Based on this, the control device can generate the first transport task using the following method: When the task type to be processed is an outbound task, the first outbound task is generated based on the shelf information.

[0075] The first handling task includes the first outbound task, which instructs the forklift robot to remove the target shelf from the corresponding placement position in the storage level and transport it to the pick-up buffer position in the workstation or pick-up buffer area.

[0076] The pick-up buffer area can be used to temporarily store shelves waiting to be moved out of the shelving storage area. Multiple buffer locations can be set up within this area, and each buffer location can hold one or more shelves. A pick-up buffer location can be a location within the pick-up buffer area that does not currently hold shelves; that is, an unoccupied buffer location.

[0077] In some embodiments, to save robot handling time, a pick-up buffer area can be located at the bottom of the shelf storage area, for example, such as... Figure 2As shown, the pick-up buffer area 25 is located on the bottom left side of the storage rack in the middle of the shelf storage area 120, so that the shelf on each storage rack is closest to the pick-up buffer area 25.

[0078] For example, when the task type to be processed is an outbound task, the control device can determine the storage level of the target shelf on the storage rack based on the shelf information and generate a first outbound task, so that the forklift robot can remove the target shelf from the placement position corresponding to the storage level according to the first outbound task and transport it to the pick-up buffer position of the workstation or the pick-up buffer area.

[0079] The decision of whether the forklift robot will move the target shelf to the workstation or to the pick-up buffer area can be determined based on factors such as the availability of the workstation. For example, when the workstation has available shelf space, the control device can control the forklift robot to move the target shelf to the workstation. When the workstation does not have available shelf space, the control device can control the forklift robot to move the target shelf to the pick-up buffer area.

[0080] To facilitate the handling of the target shelf at the workstation, in some embodiments, the control device may also perform the following methods: When the first outbound task instructs the forklift robot to move the target shelf from the corresponding placement position in the storage level to the pick-up cache position, a second outbound task can be generated based on the pick-up cache position.

[0081] The second outbound task instructs a forklift robot or a handling robot to move the target shelf from the pick-up buffer location to the workstation for operation. The handling robot can be a robot specifically designed for moving shelves; it cannot remove shelves from higher levels of the storage rack and can only move in the lower and flat areas. Compared to forklift robots, handling robots are typically smaller, allowing them to travel at high speeds within the operating area.

[0082] For example, when the first outbound task instructs the forklift robot to move the target shelf from the placement position corresponding to the storage level to the pick-up cache position, the control device can generate a second outbound task based on the pick-up cache position, and call an idle forklift robot or handling robot to move the target shelf from the pick-up cache position to the workstation, so as to operate the target shelf at the workstation.

[0083] In some embodiments, the control device may generate a second outbound task after generating the first outbound task. When it is determined that the forklift robot has moved the target shelf to the pick-up buffer position, a handling instruction is generated based on the pre-generated second outbound task, thereby calling an idle forklift robot or handling robot to continue moving the target shelf from the pick-up buffer position to the workstation. Alternatively, the control device may generate a second outbound task when it is determined that the forklift robot has moved the target shelf to the pick-up buffer position, and generate a handling instruction based on the second outbound task, thereby calling an idle forklift robot or handling robot to continue moving the target shelf from the pick-up buffer position to the workstation.

[0084] It should be noted that the forklift robots in the embodiments of this invention refer to any idle forklift robot and do not specifically refer to any particular forklift robot. To avoid redundancy, they will not be described further hereafter. Based on this, the forklift robots used to move the target shelf from the shelf storage area to the pick-up buffer location and to move the target shelf from the pick-up buffer location to the workstation can be the same robot or different robots. This embodiment does not limit this.

[0085] For example, if a forklift robot does not receive a new transport task while it is moving a target shelf from the shelf storage area to the pick-up buffer location, it can continue to move the target shelf from the pick-up buffer location to the workstation. In this case, the two forklift robots are the same robot.

[0086] Using the above method, a new outbound task can be generated when the forklift robot moves the target shelf to the pick-up buffer position in the pick-up buffer area. This allows an idle forklift robot or a transport robot to move the target shelf from the pick-up buffer position to the workstation, enabling connections between forklift robots or between forklift robots and transport robots. Furthermore, when using transport robots to move the target shelf, their smaller size and higher speed compared to forklift robots improve the efficiency of moving the target shelf between the pick-up buffer area and the workstation.

[0087] In some embodiments, the control device may also perform the following methods: With only one storage level, a third outbound task can be generated based on the task type and shelf information of the task to be processed.

[0088] The third outbound task is used to instruct forklift robots or handling robots to remove the target shelf from its corresponding placement location in the storage level and transport it to the workstation.

[0089] When the target shelf is in the first storage level on the storage rack, it means that the target shelf is located in a position that can be operated by both forklift robots and handling robots. Therefore, the control device can generate a third outbound task according to the task type and shelf information of the task to be processed, so that the forklift robot or handling robot can remove the target shelf in the first storage level from the corresponding placement position and transport it to the workstation.

[0090] For example, the handling robot can be a robot with a lifting mechanism that can travel to the bottom of the storage rack, use the lifting mechanism to lift the target shelf on the first floor, move it out of the storage rack area, and then transport it to the workstation.

[0091] When there are idle forklift robots in the operating area, the forklift robots can also remove the target shelf from the corresponding placement position of the storage level and transport it to the workstation.

[0092] By generating different outbound tasks based on the storage level of the target shelf on the storage rack, forklift robots or handling robots can be called to remove the target shelf from the storage rack and transport it to the workstation. This enables automated picking, placing, and handling of the upper and lower shelves of the storage rack, improving the efficiency of shelf handling.

[0093] In some embodiments, the task type may also include a return task from the workstation to the shelf storage area, such as... Figure 1 As shown, a return-to-warehouse task can be a shelving transport task from workstation 140 to shelving storage area 120. Based on this, the control device can also generate a first transport task using the following method: When the task type of the pending task is a return-to-stock task, the first return-to-stock task is generated based on the shelf information.

[0094] The first handling task includes the first return-to-warehouse task, which instructs the forklift robot to move the target shelf from the workstation or the return-to-warehouse buffer location in the return-to-warehouse buffer area to the corresponding placement location in the storage level.

[0095] The return buffer area can be used to temporarily store shelves waiting to be moved back to the shelving storage area. Multiple buffer locations can be set within the return buffer area, and each buffer location can hold one or more shelves. A return buffer location can be an unoccupied location within the return buffer area that does not currently have shelves.

[0096] In some embodiments, to save robot handling time, a return-to-warehouse buffer area can also be located at the bottom of the shelving storage area, for example, such as... Figure 2 As shown, the return buffer area 26 is located at the bottom right of the storage rack in the middle of the shelf storage area 120, so that the shelf on each storage rack is closest to the return buffer area 26.

[0097] For example, when the task type to be processed is a return-to-stock task, the control device can determine the storage level of the target shelf on the storage rack based on the shelf information and generate a first return-to-stock task, so that the forklift robot can move the target shelf from the return-to-stock buffer position of the workstation or the return-to-stock buffer area to the placement position corresponding to the storage level according to the first return-to-stock task.

[0098] Using the above method, after the workstation completes the operation on the target shelf, a forklift robot or a handling robot can be called to move the target shelf from the workstation to the storage rack in the shelf storage area, or from the return buffer area to the storage rack in the shelf storage area, thus realizing the full-process processing of the target shelf.

[0099] In order to move the shelves placed at the workstation to the return buffer area, in some embodiments, the control device may also perform the following methods before the forklift robot moves the return buffer location in the return buffer area to the corresponding placement location in the storage level: The location of the return-to-stock cache is determined based on the shelf storage status of each cache location in the return-to-stock cache area; Based on the shelf information of the target shelf and the return-to-warehouse buffer location, a second return-to-warehouse task is generated; the second return-to-warehouse task is used to instruct the forklift robot or handling robot to move the target shelf from the workstation to the return-to-warehouse buffer location.

[0100] For example, the control device can determine the current position of the target shelf in the workstation and the return buffer position where the target shelf needs to be placed, based on the shelf information and the return buffer position of the target shelf, and generate a second return task, so that the forklift robot or handling robot can move the target shelf from the workstation to the corresponding return buffer position according to the second return task.

[0101] The control device determines whether to use a forklift robot or a transport robot to move the target shelf from the workstation to the return buffer location, based on whether the forklift robot and the transport robot are idle and their priorities. For example, because transport robots operate at higher speeds, to improve handling efficiency, the control device can use an idle transport robot to move the target shelf from the workstation to the return buffer location when one is available. If no idle transport robot is available, an idle forklift robot can be used to move the target shelf from the workstation to the return buffer area.

[0102] To improve the handling efficiency of the shelving, in some embodiments, the control device may also perform the following methods: In the case of a single storage layer, a third return-to-warehouse task is generated based on the task type and shelf information of the task to be processed.

[0103] The third return-to-warehouse task is used to instruct forklift robots or handling robots to move the target shelf from the workstation to the corresponding placement location in the storage level.

[0104] During the return process, if the target shelf is at the first storage level on the storage rack, it indicates that the target shelf is placed at a low position on the storage rack, and both forklift robots and handling robots can operate on it. Therefore, the control device can generate a third return task based on the task type and shelf information of the task to be processed, so that the forklift robot or handling robot can move the target shelf directly from the workstation back to the shelf storage area and place it in the corresponding placement position of the storage level.

[0105] Taking a handling robot with a lifting mechanism as an example, it can use the lifting mechanism to lift the target shelf and transport it to the bottom of the storage rack in the shelf storage area. Then, it lifts the target shelf to place it on the storage rack. After the target shelf is placed, the lifting mechanism lowers, and the handling robot moves out of the storage rack area.

[0106] Correspondingly, when there are idle forklift robots in the operating area, the forklift robots can also be used to move the target shelf from the workstation to the shelf storage area and place it in the corresponding position at the storage level. For example, when there are no idle handling robots in the operating area, an idle forklift robot can be called to move the target shelf from the workstation back to the storage rack in the shelf storage area.

[0107] Using the above method, different return tasks can be generated according to the storage level of the target shelf on the storage rack, so that forklift robots or handling robots can move the target shelf from the workstation back to the shelf storage area, realizing the storage of the shelf that has completed the operation at the upper and lower levels of the storage rack, that is, realizing the automated picking and placing of the shelf, while improving the handling efficiency of the shelf.

[0108] In the above method, the control device can assign outbound or return tasks to each forklift robot and handling robot based on the operating information of the forklift robot and the handling robot in the operating area. The operating information can include task information and location information. Task information includes whether the robot is currently performing a task and the content of the task, while location information includes the robot's current location.

[0109] For example, the operating area can be divided into multiple cells, each with a positioning marker, such as a QR code. When the robot moves through each cell, the scanning device on the robot scans the positioning marker and sends the scan information to the control device, allowing the control device to determine the robot's real-time position. Simultaneously, the control device can obtain the task information of each forklift robot and each transport robot, and, combined with the real-time positions of each forklift robot and each transport robot, determine which forklift robots and transport robots are idle. Then, according to the scheduling method described above, it assigns outbound or return-to-warehouse tasks to these idle forklift robots and transport robots.

[0110] In this embodiment, both the outbound and return tasks can include the path information of the corresponding robot. In this way, the robot can determine the driving path according to the path information in the acquired task so as to drive to the corresponding destination and complete the task assigned by the control device.

[0111] In this way, the control device can uniformly assign outbound or return tasks to forklift robots and handling robots, which can realize the mixed scheduling of forklift robots and handling robots, so that the two types of robots can safely travel in the same operating area and carry out shelf handling.

[0112] To illustrate the detailed methods for handling shelves using forklift robots and transport robots, Figure 5 A flowchart of a shelf handling method provided by an embodiment of the present invention is shown, as follows: Figure 5 As shown, the following steps may be included: Step 501: The control device sends first path information to the first forklift robot so that the first forklift robot travels to the placement position of the target shelf according to the first path information.

[0113] The placement location of the target shelf refers to the location of the storage rack where the target shelf is placed. The first forklift robot is any available forklift robot.

[0114] The first path information indicates the travel path from the current position of the first forklift robot to the placement position of the target shelf. Upon receiving the first path information from the control device, the first forklift robot can travel from its current position to the placement position of the target shelf according to the first path information.

[0115] Step 502: Control the fork of the first forklift robot to rise and fall to the pick-up / placement height of the target shelf, and extend to the docking position at the bottom of the target shelf.

[0116] After reaching the placement position of the target shelf, the first forklift robot can control the fork teeth to rise and fall to the picking and placing height of the target shelf, such as the gap position near the bottom of the target shelf, and then extend the fork teeth to the docking position at the bottom of the target shelf.

[0117] Step 503: Control the forks of the first forklift robot to move upward and lift the target shelf.

[0118] For example, the first forklift robot can control the fork teeth to move upward slightly, and stop moving upward when it determines that the target shelf has been placed on the fork teeth. At this time, the first forklift robot removes the target shelf.

[0119] Step 504: Control the first fork robot and its fork teeth to move out of the area where the storage rack is located.

[0120] When the first forklift robot removes the target shelf, it can move out of the storage shelf area. At the same time, as the first forklift robot moves out, its forks also exit the storage shelf area.

[0121] Step 505: Control the fork of the first fork robot to rise and fall to the initial height.

[0122] The initial height can be the height of the fork of the first fork robot before it rises or falls, or it can be the height of the first fork robot when it is traveling in a planar area.

[0123] To facilitate the first forklift robot's movement in the aisle to transport the target shelf, the first forklift robot can control the fork teeth to rise and fall to the initial height.

[0124] Step 506: The control device sends the second path information to the first forklift robot so that the first forklift robot travels to the pick-up buffer position in the pick-up buffer area according to the second path information.

[0125] The second path information can indicate the travel path from the current position of the first forklift robot to the pick-up buffer position in the pick-up buffer area, where the pick-up buffer position is any unoccupied buffer position in the pick-up buffer area.

[0126] When the first forklift robot picks up the target shelf, it can receive the second path information sent by the control device and travel to the pick-up buffer position in the pick-up buffer area according to the second path information.

[0127] Step 507: When the first forklift robot moves to the pick-up buffer position in the pick-up buffer area, control the first forklift robot to put down the target shelf.

[0128] When the first forklift robot moves to the pick-up buffer position in the pick-up buffer area, it can be controlled to put down the target shelf. For example, when the first forklift robot determines that it has reached the pick-up buffer position in the pick-up buffer area, it can move its forks in the opposite direction of the shelf placement direction corresponding to the pick-up buffer position and place the target shelf in the pick-up buffer position.

[0129] Step 508: The control device sends the third path information to the first handling robot so that the first handling robot can travel to the pick-up buffer position in the pick-up buffer area according to the third path information.

[0130] The third path information indicates the travel path from the location of the first handling robot to the pick-up buffer location in the pick-up buffer area. The first handling robot is any idle handling robot.

[0131] In order to move the target shelf to the workstation, the control device can send third path information to the first handling robot, so that the first handling robot can travel from its current location to the pick-up buffer position in the pick-up buffer area according to the third path information.

[0132] Step 509: At the pick-up buffer location, control the first handling robot to enter the bottom of the target shelf and lift the target shelf upwards.

[0133] For example, the first handling robot may be a disc-shaped robot that, upon reaching the pick-up buffer location, enters the bottom of the target shelf and raises the lifting mechanism to lift the target shelf.

[0134] Step 510: The control device sends fourth path information to the first handling robot so that the first handling robot can move the target shelf to the workstation according to the fourth path information.

[0135] The fourth path information can indicate the travel path from the current location of the first handling robot to the workstation.

[0136] When the first handling robot lifts the target shelf, it can receive the fourth path information sent by the control device and move the target shelf to the workstation according to the fourth path information.

[0137] Step 511: At the workstation, staff or other robots can take inventory or pick goods on the target shelf, or place goods from other shelves onto the target shelf.

[0138] After completing the processing of the target shelf, staff can trigger completion information, such as updating the task status of the target shelf on electronic devices.

[0139] Step 512: The control device sends the fifth path information to the second handling robot, so that the second handling robot can move the target shelf from the workstation to the return buffer position in the return buffer area according to the fifth path information.

[0140] The second transport robot is any idle transport robot at the current moment, which may be the same as or different from the first transport robot. The fifth path information indicates the travel path from the second transport robot's current position to the workstation and from the workstation to the return-to-warehouse buffer location. The return-to-warehouse buffer location is any unoccupied buffer location within the return-to-warehouse buffer area.

[0141] After the target shelf has been processed, the control device can send the fifth path information to the second handling robot, so that the second handling robot can travel to the workstation according to the fifth path information, lift the target shelf located at the workstation, and then transport it to the return buffer position in the return buffer area.

[0142] Step 513: When the second handling robot reaches the return buffer position in the return buffer area, control the second handling robot to put down the target shelf.

[0143] For example, upon reaching the return buffer position in the return buffer area, the second handling robot can move its lifting mechanism downwards to lower the target shelf. After lowering the target shelf, the second handling robot departs to perform a new handling task.

[0144] Step 514: The control device sends the sixth path information to the second forklift robot so that the second forklift robot travels back to the return buffer position of the buffer area according to the sixth path information.

[0145] The sixth path information is used to indicate the travel path of the second forklift robot from its current position to the return buffer position in the return buffer area. The first and second forklift robots refer to the forklift robots that are idle at the corresponding time; they can be the same or different.

[0146] When the second forklift robot receives the sixth path information sent by the control device, it can travel to the return buffer position in the return buffer area according to the sixth path information.

[0147] Step 515: When the second forklift robot reaches the return buffer position in the return buffer area, control the fork of the second forklift robot to rise and fall to the pick-up and put-down height of the target shelf, and extend to the docking position at the bottom of the target shelf, and move upward to lift the target shelf.

[0148] Step 516: The control device sends the seventh path information to the second forklift robot so that the second forklift robot can move the target shelf to the target storage shelf position in the shelf storage area according to the seventh path information.

[0149] The seventh path information is used to indicate the travel path from the current position of the second forklift robot to the target storage rack position. The target storage rack position is located in the shelf storage area, which refers to the location of the target storage rack where the target shelf is placed.

[0150] After the second forklift robot picks up the target shelf, it can receive the seventh path information sent by the control device and move the target shelf to the target storage shelf position in the shelf storage area according to the seventh path information.

[0151] Step 517: Control the fork of the second forklift robot to rise and fall to the pick-up and put-down height of the target shelf, extend to the docking position at the bottom of the target shelf, and move down to put down the target shelf.

[0152] For example, the second forklift robot can control the fork teeth to rise and fall to the bottom gap of the target storage rack, and then control the fork teeth to extend forward, thereby placing the target rack on the target storage rack.

[0153] Step 518: Control the second fork robot and its forks to move out of the area where the target storage rack is located.

[0154] Step 519: Control the fork of the second fork robot to rise and fall to the initial height.

[0155] After the fork of the second fork robot descends to the initial height, the second fork robot moves away to perform a new transport task.

[0156] In some embodiments, a control module can be configured on the forklift robot, and the methods corresponding to steps 502-505, 507, 515, 517 and 518 can be controlled and executed by the control module of the forklift robot itself, without the need for the control device to send instructions to the forklift robot.

[0157] In some embodiments, a control module may also be configured on the handling robot, thereby the methods such as steps 509 and 513 may also be controlled and executed by the control module of the handling robot itself.

[0158] The above method can realize hybrid robot scheduling based on control devices, that is, using forklift robots and handling robots to complete the shelf handling work in different areas, realizing the connection between multiple robots and improving shelf handling efficiency.

[0159] Furthermore, when forklift robots and handling robots are moving target shelves, in order to avoid mishandling the shelves, it is necessary to identify the target shelves. Therefore, in some embodiments, an identification mark can be set on the bottom of the target shelf. This identification mark can be a QR code mark, RFID (Radio Frequency Identification) tag, etc.

[0160] After generating the first handling task based on the task type and shelf information of the task to be processed, the control device can also acquire the scanning information generated by the forklift robot scanning identification mark, and determine the shelf information of the target shelf based on the scanning information.

[0161] For example, when the forklift robot arrives at the location of the target shelf, the identification device configured on the forklift robot, such as an image sensor, lidar, or ultrasonic sensor, can be used to scan and identify the identifier. The control device can receive the scanning information generated by the forklift robot scanning and identifying the identifier, and identify the shelf information of the target shelf based on the scanning information, such as the shelf name, shelf identifier, and storage location of the target shelf.

[0162] In this embodiment, the forklift robot can remove shelves from higher levels of the storage rack and transport them, while the handling robot can transport the shelves after the forklift robot has removed them from higher levels, or it can pick up and place items on the first level of the storage rack and transport them. Therefore, the rack structure needs to simultaneously meet the operational requirements of both the forklift robot and the handling robot.

[0163] To meet the above requirements, in some embodiments, a locking structure is provided at the bottom of the target shelf, and the target shelf is locked to the connecting structure on the fixed bracket through the locking structure. The locking structure and the connecting structure are mutually compatible; for example, the connecting structure can be a pin, a buckle, etc., and the locking structure can be a groove matching the pin or a locking element matching the buckle, etc. The fixed bracket refers to the component that supports the shelf to be placed on a flat surface. The fixed bracket can be set in the waiting buffer area and the return buffer area, or it can be set in other locations; this embodiment does not specifically limit this.

[0164] For example, such as Figure 6A As shown, the bottom of the target shelf can be provided with two grooves, and the top of the target fixing bracket is provided with two pins that can perfectly match the grooves on the bottom of the target shelf, so that when the target shelf is placed on the target fixing bracket, the two pins on the top of the target fixing bracket can accurately insert into the two grooves on the bottom of the target shelf. For example, as... Figure 6B As shown, four grooves can also be set at the four corners of the bottom of the target shelf, and four pins can be set at the top of the target fixing bracket to perfectly match the grooves at the bottom of the target shelf (due to view limitations). Figure 6B(The two grooves on the other side of the target shelf and the two pins on the other side of the fixed bracket are not shown), so that when the target shelf is placed on the target fixed bracket, the four pins on the top of the target fixed bracket can be accurately inserted into the four grooves on the bottom of the target shelf.

[0165] It should be noted that, Figure 6A and Figure 6B The design structure of the target shelf and fixed bracket shown is for illustrative purposes only. Depending on actual needs, the bottom of the target shelf may also be provided with a pin, and the top of the target fixed bracket may be provided with a groove. Alternatively, other locking structures may be provided at the bottom of the target shelf, and other connecting structures may be provided at the bottom of the fixed bracket. This embodiment does not impose any special limitations on these aspects.

[0166] Therefore, the control device can also generate a shelf locking command when the target shelf is being moved.

[0167] The shelf locking command is used to instruct the locking structure of the target shelf to lock and connect with the connection structure of the target fixed support when the forklift robot places the target shelf on the target fixed support, forming a shelf assembly, so that the handling robot can move the shelf assembly.

[0168] For example, when a forklift robot removes a target shelf from a high shelf in a storage unit and moves it to a pick-up buffer area, the control device can generate a shelf locking command. This command ensures that when the forklift robot places the target shelf on an unoccupied target support, and the bottom of the target shelf contacts the top of the target support, the locking structure at the bottom of the target shelf and the connecting structure at the top of the target support lock together, thus achieving a stable connection between the target shelf and the target support. Figure 6A and Figure 6B As shown, the pin at the top of the target fixing bracket is accurately inserted into the groove at the bottom of the target shelf, so that the target shelf is stably connected to the target fixing bracket.

[0169] After the locking structure of the target shelf and the connection structure of the target fixed support are locked together, the target shelf and the target fixed support form a shelf assembly. When moving the target shelf, the handling robot can move the entire shelf assembly. For example, the handling robot can lift the entire shelf assembly from the bottom of the target fixed support to move the shelf assembly.

[0170] In some embodiments, because the forklift robot is capable of removing the target shelf from the storage rack, it can move only the target shelf without moving the entire shelf assembly. Figure 7 As shown, the forklift robot's forks can enter through the bottom gap of the target shelf, thereby lifting the target shelf and carrying it.

[0171] In some cases, forklift robots can also handle rack assemblies formed by the target rack and the target fixed support.

[0172] In some embodiments, the control device can also detect the location information of the target shelf, and generate a shelf separation command if it is determined from the location information that the target shelf has reached the target location.

[0173] The shelf separation command is used to instruct the locking structure of the target shelf to unlock and separate from the connection structure of the target fixed support. The target location refers to the position where the target shelf is to be reached or a location close to that position. For example, when moving a target shelf from a workstation to a return buffer area, the target location could be the return buffer position within the return buffer area of ​​the shelf storage area; when moving a target shelf from the shelf storage area to a workstation, the target location could be the shelf placement position at the workstation.

[0174] For example, the control device can determine the position information of the target shelf based on the driving status and real-time position of the robot transporting the target shelf, or it can determine the position information of the target shelf through a positioning device installed on the target shelf. When it is determined that the target shelf has reached the target position based on the position information of the target shelf, a shelf separation command can be generated, which unlocks and separates the locking structure of the target shelf from the connection structure of the target fixed bracket. Then, the forklift robot or the operator can remove the target shelf and place it in the corresponding position.

[0175] Based on the aforementioned shelving structure and control method, the target shelving can be automatically locked during transport via its locking structure and the connection structure of the fixed support, ensuring a tight connection between the target shelving and the fixed support. This facilitates the transport of the target shelving by forklift robots and handling robots. During separation, the control device can send a shelving separation command to either the target shelving or the fixed support, adjusting the mechanical structure of both to complete the separation. Furthermore, this shelving design eliminates the need to consider the bottom space created by the shelving legs, thus improving space utilization and increasing the storage density per unit area.

[0176] In other embodiments, the bottom of the target shelf may be provided with multiple protrusions, which can form gaps when the target shelf is placed on the crossbeam of the storage rack, so that the forklift robot can pass through the gaps to pick up and place the target shelf on the storage rack.

[0177] like Figure 8As shown in the bottom and side views of the shelf, the target shelf has four protruding structures at its bottom, located at each of the four corners. These four protruding structures allow the target shelf to be placed on the crossbeams of the storage rack. When the target shelf is placed on the crossbeams, a gap is formed between the target shelf and the crossbeams, allowing the forks of the forklift robot to reach into the bottom of the target shelf through this gap and complete the picking and placing action.

[0178] At the same time, such as Figure 9 As shown, the lifting mechanism of the handling robot can lift the target shelf from the area formed by the four raised structures, so the design of these four raised structures will not affect the handling robot's ability to move the target shelf. For example, as... Figure 10 As shown, when the forklift robot is moving a target shelf, it can extend its forks into the bottom of the target shelf and fix the forks in the bottom space next to the protruding structure. Then the forks can lift the target shelf and move it.

[0179] The rack design allows both forklift robots and handling robots to dock with the rack for handling and lifting operations, thus simultaneously meeting the handling requirements of both forklift robots and handling robots on the target rack, resulting in greater compatibility and flexibility.

[0180] To improve the efficiency of outbound and inbound operations of shelving, in some embodiments, reference is made to... Figure 11 As shown, the control device can also perform the following methods: Step 1110: Determine the target shelf location for each shelf based on the outbound frequency of each shelf in the shelving storage area.

[0181] The target shelf location includes the target shelf level and / or the target placement location. The target shelf level refers to the storage level of the shelf on the storage rack, and the target placement location refers to which storage rack the shelf is on and its specific position on that rack.

[0182] For example, the control device can determine the outbound frequency of each shelf in the shelf storage area based on the historical processing data of the task to be processed, and score the shelves according to the outbound frequency. Based on the score, the shelves are classified, such as into shelf category A with high outbound frequency, shelf category B with relatively high outbound frequency, and shelf category C with low outbound frequency. Then, based on the classification, the target shelf location for each type of shelf is determined, such as the target shelf level and target placement location.

[0183] In some embodiments, the higher the frequency of shelf outbound, the lower the target shelf level corresponding to the shelf; and / or, the higher the frequency of shelf outbound, the closer the target placement location corresponding to the shelf is to the workstation.

[0184] Step 1120: If the target shelf level of the shelf is different from the current shelf level of the shelf, and / or the target placement position of the shelf is different from the current placement position of the shelf, then generate a position update instruction.

[0185] The location update instruction is used to instruct the forklift robot to move the shelf to the storage rack corresponding to the target shelf level, and / or to move the shelf to the target placement position, based on the target shelf level.

[0186] When the target shelf level is different from the current shelf level or the target placement position is different from the current placement position, it means that the storage level where the shelf should be placed is not the current storage level, and the current placement position is not the current position. Therefore, the control device can generate a position update command, so that the forklift robot can move the shelf to the storage rack corresponding to the target shelf level according to the target shelf level, and at the same time move the shelf to the target placement position according to the target placement position.

[0187] Therefore, by using the above methods, shelves with high outbound frequency can be placed on the lower levels of the storage racks and on storage racks close to the workstations, which facilitates the handling of the shelves by forklift robots and handling robots, reduces the frequent docking between forklift robots and handling robots, reduces the time for forklift robots to pick up shelves, and thus improves the working efficiency of the robots.

[0188] The robot scheduling method provided by the embodiments of the present invention can generate a first handling task when the target shelf is at a higher storage level than one level on the storage rack in the shelf storage area, so that the forklift robot can take the target shelf out from the placement position corresponding to the storage level, or place the target shelf at the placement position corresponding to the storage level.

[0189] On the one hand, it enables storage on high-level storage racks, eliminating the limitation of rack height on storage rack placement. As the number of storage rack levels increases, the number of racks that can be placed also increases, thus achieving high-density storage and improving the utilization rate of warehouse space. On the other hand, by using forklift robots to remove or place target racks from their corresponding storage level locations, automated retrieval and placement of high-level racks can be achieved, solving the problem of robots being unable to connect to high-level racks. This also improves the handling efficiency of racks, thereby increasing the overall storage efficiency of the warehousing system.

[0190] In some aspects of this embodiment, the structure of the shelf can be designed so that both forklift robots and handling robots can pick up, place, and move the shelf, thereby improving the shelf's compatibility with robots and increasing shelf handling efficiency.

[0191] In other aspects of this embodiment, the location and storage level of the shelves can be updated according to the frequency of shelf outbound operations, so that shelves with high outbound frequency are placed in positions that are easy for robots to pick up and move, thereby improving the efficiency of robot handling of shelves.

[0192] This invention also provides a forklift robot, which may include a control module and a fork assembly.

[0193] Among them, the control module refers to the device with control function on the fork robot, which can typically be a microprocessor, control chip, and actuator, etc. The fork assembly is a mechanical component used to handle and operate shelves or goods, which can include structures such as chassis, mast structure and fork teeth.

[0194] For example, the fork tines can move up and down in the shelving system and extend and retract to accommodate different shelving spacings, achieving vertical and horizontal movement via motors and transmission devices, and enabling the picking and placing of shelves or goods.

[0195] In some embodiments, the control module can calculate the movement path of the fork tines when it receives shelf information, and then control the movement of the fork tines to perform the picking and placing actions on the shelf.

[0196] In some embodiments, the control module can acquire a first handling task, such as receiving a first handling task sent by a control device. The fork assembly can then, according to the first handling task, remove the target shelf from the placement position corresponding to the storage level, or place the target shelf in the placement position corresponding to the storage level.

[0197] The first handling task is generated based on the task type of the task to be processed and the shelf information of the target shelf when the target shelf is at a higher storage level on the storage rack in the shelf storage area. The shelf information may include the storage level of the target shelf on the storage rack in the shelf storage area.

[0198] For example, in such Figure 1 In the robot scheduling system shown, the control module of the fork-tooth robot can receive the first handling task sent by the control device 110, and according to the first handling task, remove the target shelf from the storage rack of the shelf storage area 120 and transport it to the workstation 140. Alternatively, according to the first handling task, the target shelf can be transported from the workstation 140 to the shelf storage area 120 and placed in the corresponding placement position of the storage level.

[0199] The fork-tooth robot provided by this invention can retrieve and place shelves stored on the upper levels of the storage rack, so that shelf placement is no longer limited by space and helps to achieve high-density shelf storage.

[0200] In some embodiments, the task type of the task to be processed may include an outbound task from the shelf storage area to the workstation. Based on this, the control module can be configured to acquire a first outbound task. The first handling task includes a first outbound task; the first outbound task is generated by the control device based on shelf information when the task type of the task to be processed is an outbound task.

[0201] The forklift assembly is configured to remove the target shelf from its corresponding placement location at the storage level and move it to the pick-up buffer location at the workstation or pick-up buffer area, based on the first outbound task.

[0202] For example, the control module can obtain the first outbound task, and based on the first outbound task, determine the storage level of the target shelf and the placement position on the storage level, as well as whether the target shelf needs to be moved to the workstation or the pick-up buffer position in the pick-up buffer area. Then, the forklift assembly is used to remove the target shelf from the placement position corresponding to the storage level and move it to the workstation or the pick-up buffer position in the pick-up buffer area.

[0203] In some embodiments, the control module is further configured to acquire a second outbound task. This second outbound task is generated by the control device based on the pick-up cache location, provided that the first outbound task instructs the forklift robot to move the target shelf from its placement position at the corresponding storage level to the pick-up cache location.

[0204] The fork assembly is configured to move the target rack from the pick-up buffer location to the workstation according to the second outbound task, so that the target rack can be operated at the workstation.

[0205] For example, when the first outbound task instructs the forklift robot to move the target shelf from the corresponding placement position in the storage level to the pick-up buffer position, the control module can obtain the second outbound task and move the target shelf from the pick-up buffer position to the workstation through the forklift assembly, so as to operate the target shelf at the workstation.

[0206] Using the above method, forklift robots can move the target shelf to the workstation or the pick-up buffer position in the pick-up buffer area. While the forklift robot is moving the target shelf to the pick-up buffer position, other forklift robots can move the target shelf from the pick-up buffer position to the workstation, thus realizing the connection between forklift robots.

[0207] In some embodiments, the control module is further configured to acquire a third outbound task. This third outbound task is generated by the control device, in the case of a single storage level, based on the task type and shelf information of the task to be processed.

[0208] The forklift assembly is configured to remove the target rack from its corresponding placement location at the storage level and move it to the workstation based on the third outbound task.

[0209] Since the forklift robot can operate the target shelf even when the target shelf is on the storage shelf level, when the forklift robot receives the third outbound task, it can use the fork assembly to remove the target shelf on the first level from the corresponding placement position of the storage level and directly transport it to the workstation.

[0210] In some embodiments, the task type of the task to be processed may also include a return-to-warehouse task from the workstation to the shelf storage area. Based on this, the control module can be configured to acquire a first return-to-warehouse task. The first handling task includes the first return-to-warehouse task, which is generated by the control device based on shelf information when the task type of the task to be processed is a return-to-warehouse task.

[0211] The forklift assembly is configured to move the target rack from the return buffer location in the workstation or return buffer area to the corresponding placement location in the storage level, based on the first return task.

[0212] For example, the control module can obtain the first return task and, based on the first return task, determine whether the target shelf is located at the workstation or the return cache location of the return buffer area, as well as the storage level and placement location of the target shelf at that storage level. Then, the forklift assembly can be used to move the target shelf from the workstation or the return cache location of the return buffer area to the placement location corresponding to the storage level.

[0213] In other words, after the workstation completes its operation on the target shelf, the forklift robot can move the target shelf from the workstation to the storage rack in the shelf storage area, or from the return buffer area to the storage rack in the shelf storage area, thus realizing the return operation of the target shelf.

[0214] To move shelves placed at workstations to the return-to-warehouse buffer area, in some embodiments, before the forklift robot moves the return-to-warehouse buffer location in the buffer area to the corresponding placement location at the storage level, the control module can also be configured to acquire a second return-to-warehouse task. This second return-to-warehouse task is generated by the control device based on the shelf storage status of each buffer location in the return-to-warehouse buffer area, determining the return-to-warehouse buffer location, and based on the shelf information of the target shelf and the return-to-warehouse buffer location.

[0215] The forklift assembly is configured to move the target rack from the workstation to the return buffer location based on the second return task.

[0216] For example, the control module can obtain the second return task, and based on the second return task, determine the current position of the target shelf at the workstation, as well as the return cache position in the return cache area where the target shelf needs to be placed, and then use the forklift assembly to move the target shelf from the workstation to the corresponding return cache position.

[0217] In some embodiments, the control module is further configured to acquire a third return-to-stock task. This third return-to-stock task is generated by the control device, in the case of a single storage level, based on the task type and shelf information of the task to be processed.

[0218] The forklift assembly is configured to move the target rack from the workstation to the corresponding placement location in the storage level based on the third return task.

[0219] When the control module receives the third return task, it can determine that the target shelf is stored at the first level on the storage rack. Then, the forklift robot can use the fork assembly to move the target shelf directly from the workstation back to the shelf storage area and place it in the corresponding storage position.

[0220] Using the above method, the forklift robot can receive different return tasks and move the target shelf to the corresponding location according to the return task.

[0221] Regarding the structure of the forklift robot, in some embodiments, the fork assembly of the forklift robot may include a chassis, a mast structure, and fork teeth, with the fork teeth movably mounted on the mast structure and raised or lowered toward the chassis via a drive mechanism on the mast structure.

[0222] For example, in such Figure 3 In the forklift robot 130 shown, the chassis 31 is a rectangular structure with a groove in the center. The gantry structure 32 can move forward or backward along the groove. The fork teeth 33 extend in a direction parallel to the plane of the chassis. The fork teeth 33 can be driven to move towards or away from the chassis (i.e., up or down) by the drive device on the gantry structure 32.

[0223] Therefore, the control module can also be configured to, upon receiving a first handling task, determine the storage level of the target shelf on the storage rack in the shelf storage area based on the first handling task, and generate a first shelf pick-up / placement instruction based on the storage level of the target shelf on the storage rack in the shelf storage area.

[0224] For example, when the control module receives the first handling task, it can determine the target shelf and the storage level of the target shelf on the storage rack in the shelf storage area based on the first handling task, and generate an instruction to control the fork assembly, namely the first shelf pick-up and put-down instruction.

[0225] The drive unit is configured to, in response to a first shelf pick / place command, drive the forks to rise and fall to the pick / place height corresponding to the target shelf. The forks are configured to either remove the target shelf from the target storage rack or place the target shelf on the target storage rack when the forklift robot travels to the bottom of the target storage rack for placing the target shelf.

[0226] The bottom of the target storage rack where the target shelf is placed can be either the bottom of the aisle where the target storage rack is located or the bottom of the target storage rack itself.

[0227] The mast structure can respond to the pick / place command of the first shelf, driving the forklift teeth to rise and fall to the corresponding pick / place height of the target shelf, such as... Figure 12 As shown, this could be the bottom of the corresponding level of the storage rack where the target shelf is located (the bottom of the second level of the storage rack). Simultaneously, the forklift robot can travel to the bottom of the target storage rack used to place the target shelf, as shown. Figure 12 As shown, the forklift robot 130 travels to the bottom of the target storage rack. At this time, the chassis is located below the target storage rack, and the forks extend to the bottom of the target rack as the forklift robot moves. Then, the forks can move slightly upward to lift the target rack off the target storage rack and remove it, or the forks can move slightly downward to place the target rack on the target storage rack.

[0228] In some embodiments, the drive unit may also be configured to, in response to a first shelf pick-up / placement command, drive the fork teeth to rise and fall to the pick-up / placement height corresponding to the target shelf, and drive the fork teeth and the mast structure to move on the chassis; the fork teeth are configured to, when the forklift robot travels to the docking position of the target storage rack for placing the target shelf, remove the target shelf from the target storage rack, or place the target shelf on the target storage rack.

[0229] The target storage rack where the target shelf is placed can be positioned in the aisle corresponding to the target storage rack, and the robot can stop in the aisle.

[0230] For example, such as Figure 13 As shown, the drive unit can respond to the first shelf pick-up and put-down command, drive the fork 33 to rise and fall to the pick-up and put-down height corresponding to the target shelf, that is, the bottom of the target storage rack (the bottom of the second layer of the storage rack), and drive the fork 33 and the mast structure 32 to move on the chassis 31 to the front side of the chassis 31. At this time, the forklift robot travels to the parking position of the target storage rack used to place the target shelf, that is, the passage formed by the storage rack. The fork 33 can move up slightly to lift the target shelf from the target storage rack and take it off, or the fork 33 can also move down slightly to place the target shelf on the target storage rack.

[0231] The two methods described above can be used to control the chassis of the forklift robot to move together with the fork teeth to the area where the target storage rack is located, or to control only the fork teeth to move to the area where the target storage rack is located. In this way, regardless of whether there is space at the bottom of the storage rack that allows the chassis of the forklift robot to enter, the picking and placing of the shelves on the storage rack can be completed. In some narrow areas, the normal operation of the forklift robot can still be ensured.

[0232] In addition, when the chassis of the forklift robot moves along with the fork teeth to the area where the target storage rack is located, other robots can move in the aisle without being affected by the forklift robot, thus improving the space utilization of the operating area and increasing the working efficiency of the robots.

[0233] In some embodiments, the drive unit is configured to drive the forks to descend to an initial height after the target shelf is removed from the target storage rack and the forklift robot is removed from the target storage rack; or, after the target shelf is placed on the target storage rack and the forklift robot is removed from the target storage rack, the drive unit is configured to drive the forks to descend to an initial height.

[0234] The initial height can be the height at which the forklift robot moves while transporting the shelf, or it can be the height near the chassis, etc.

[0235] To facilitate the movement of the forklift robot, after the target shelf is removed from the target storage rack and the forklift robot moves out of the target storage rack, or after the target shelf is placed on the target storage rack and the forklift robot moves out of the target storage rack, the drive unit can drive the fork teeth to descend to the initial height, thereby facilitating its movement in the aisle.

[0236] In some embodiments, the control module is also configured to acquire location update instructions.

[0237] The location update instruction is generated by the control device based on the outbound frequency of each shelf in the shelf storage area, determining the target shelf level and / or target placement position of each shelf, and when the target shelf level of the shelf is different from the current shelf level of the shelf, and / or the target placement position of the shelf is different from the current placement position of the shelf.

[0238] The forklift assembly is configured to, in response to a location update command, move the rack to the storage rack corresponding to the target rack level, and / or move the rack to the target placement location, based on the target rack level.

[0239] For example, when the control module receives a location update instruction, it can parse the location update instruction to determine the shelf, its current placement location and current shelf level, as well as the target placement location and target shelf level. In response to the location update instruction, the control module can move the shelf from the storage shelf corresponding to the current shelf level to the storage shelf corresponding to the target shelf level, or move the shelf from the current placement location to the target placement location, based on the target shelf level.

[0240] Therefore, when a forklift robot receives a position update instruction, it can move the shelf from one location in the shelf storage area to another, so that shelves with a high outbound frequency are placed on storage racks that are easy to pick up and move, thereby improving the robot's efficiency in handling shelves.

[0241] According to the embodiments of the present invention, the fork-tooth robot can obtain a first handling task through the control module, and take out the target shelf from the placement position corresponding to the storage level through the fork assembly according to the first handling task, or place the target shelf in the placement position corresponding to the storage level, so as to realize the picking and placing of the shelf on each storage level of the storage rack, thereby improving the picking, placing and handling efficiency of the shelf.

[0242] Figure 14 The diagram shows a structural schematic of an electronic device provided by an embodiment of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the electronic device.

[0243] like Figure 14 As shown, the electronic device can be the control device in the above embodiments. Specifically, the electronic device may include: a processor 1402, a communications interface 1404, a memory 1406, and a communications bus 1408.

[0244] The processor 1402, communication interface 1404, and memory 1406 communicate with each other via communication bus 1408. Communication interface 1404 is used to communicate with other network elements such as clients or other servers. The processor 1402 executes program 1410, specifically performing the relevant steps described above in the robot scheduling method embodiment.

[0245] Specifically, program 1410 may include program code, which includes computer-executable instructions.

[0246] Processor 1402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The electronic device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0247] Memory 1406 is used to store program 1410. Memory 1406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0248] Specifically, program 1410 can be called by processor 1402 to cause the electronic device to execute the steps in the above-described robot scheduling method.

[0249] This invention also provides a computer-readable storage medium storing at least one executable instruction that, when executed on a scheduling system of an electronic device / robot, causes the scheduling system of the electronic device / robot to perform the robot scheduling method in any of the above method embodiments.

[0250] Specifically, the executable instructions can be used to cause the scheduling system of the electronic device / robot to execute the steps in the robot scheduling method described above.

[0251] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0252] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0253] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0254] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A robot scheduling method, characterized in that, The method includes: Obtain task information for tasks to be processed; the task information includes the task type. Based on the task information, determine the shelf information of the target shelf to which the task to be processed is located; the shelf information includes the storage level of the target shelf on the storage rack in the shelf storage area; the storage level of the shelf on the storage rack is determined according to the outbound frequency of the shelf; When the storage level is higher than one level, a first handling task is generated based on the task type of the task to be processed and the shelf information; The first handling task is used to instruct the forklift robot to remove the target shelf from the placement position corresponding to the storage level, or to instruct the forklift robot to place the target shelf in the placement position corresponding to the storage level; the handling robot has a lifting mechanism and moves in the bottom and planar areas of the shelf storage area, and the structure of the handling robot is different from that of the forklift robot.

2. The method according to claim 1, characterized in that, The task types include outbound tasks from the shelf storage area to the workstation; generating a first handling task based on the task type of the task to be processed and the shelf information includes: When the task type of the task to be processed is the outbound task, a first outbound task is generated according to the shelf information; the first handling task includes the first outbound task, which is used to instruct the forklift robot to remove the target shelf from the placement position corresponding to the storage level and transport it to the pick-up buffer position of the workstation or the pick-up buffer area.

3. The method according to claim 2, characterized in that, The method further includes: When the first outbound task instructs the forklift robot to move the target shelf from the placement position corresponding to the storage level to the pick-up buffer position, a second outbound task is generated based on the pick-up buffer position. The second outbound task is used to instruct the forklift robot or handling robot to move the target shelf from the pick-up buffer position to the workstation for operation on the target shelf at the workstation.

4. The method according to claim 2, characterized in that, The method further includes: When the storage level is one layer, a third outbound task is generated based on the task type of the task to be processed and the shelf information; the third outbound task is used to instruct the forklift robot or handling robot to remove the target shelf from the placement position corresponding to the storage level and transport it to the workstation.

5. The method according to claim 2, characterized in that, The pick-up buffer area is located at the bottom of the shelf storage area.

6. The method according to claim 1, characterized in that, The task types include return tasks from workstations to the shelf storage area; the generation of a first handling task based on the task type of the task to be processed and the shelf information includes: When the task type of the task to be processed is the return-to-warehouse task, a first return-to-warehouse task is generated based on the shelf information; the first handling task includes the first return-to-warehouse task, which is used to instruct the forklift robot to move the target shelf from the return-to-warehouse cache position of the workstation or the return-to-warehouse cache area to the placement position corresponding to the storage level.

7. The method according to claim 6, characterized in that, Before the forklift robot moves the return-to-warehouse buffer location of the return-to-warehouse buffer area to the placement location corresponding to the storage level, the method further includes: The location of the return-to-warehouse cache is determined based on the shelf storage status of each cache location in the return-to-warehouse cache area; Based on the shelf information of the target shelf and the return-to-warehouse buffer location, a second return-to-warehouse task is generated; the second return-to-warehouse task is used to instruct the forklift robot or handling robot to move the target shelf from the workstation to the return-to-warehouse buffer location.

8. The method according to claim 6, characterized in that, The method further includes: When the storage level is one layer, a third return-to-warehouse task is generated based on the task type of the task to be processed and the shelf information; the third return-to-warehouse task is used to instruct the forklift robot or handling robot to move the target shelf from the workstation to the placement position corresponding to the storage level.

9. The method according to claim 6, characterized in that, The return-to-warehouse buffer area is located at the bottom layer of the shelf storage area.

10. The method according to claim 1, characterized in that, The target shelf is provided with a locking structure at its bottom, and the target shelf is locked to a connecting structure on a fixed bracket via the locking structure. The method further includes: When the target shelf is being moved, a shelf locking command is generated. The shelf locking command is used to instruct the locking structure of the target shelf to lock and connect with the connection structure of the target fixed support when the forklift robot places the target shelf on the target fixed support, forming a shelf assembly, so that the handling robot can move the shelf assembly.

11. The method according to claim 10, characterized in that, The method further includes: Detect the location information of the target shelf; If the location information determines that the target shelf has reached the target location, a shelf separation command is generated. The shelf separation command is used to instruct the locking structure of the target shelf to unlock and separate from the connection structure of the target fixed bracket.

12. The method according to claim 1, characterized in that, The bottom of the target shelf is provided with multiple protruding structures, which can form gaps when the target shelf is placed on the crossbeam of the storage rack, so that the forklift robot can pass through the gaps to pick up and place the target shelf on the storage rack.

13. The method according to any one of claims 1-9, characterized in that, The target shelf is equipped with an identification mark at its bottom. After generating a first handling task based on the task type of the task to be processed and the shelf information, the method further includes: Obtain the scanning information generated by the forklift robot scanning the identification mark; Based on the scanned information, the shelf information of the target shelf is determined.

14. The method according to any one of claims 1-9, characterized in that, The method further includes: Based on the outbound frequency of each shelf in the storage area, the target shelf location corresponding to each shelf is determined; the target shelf location includes the target shelf level and / or the target placement location. If the target shelf level of the shelf is different from the current shelf level of the shelf, and / or the target placement position of the shelf is different from the current placement position of the shelf, a position update instruction is generated. The position update instruction is used to instruct the forklift robot to move the shelf to the storage rack corresponding to the target shelf level, and / or to move the shelf to the target placement position, according to the target shelf level of the shelf.

15. The method according to claim 14, characterized in that, The higher the outbound frequency of the shelf, the lower the target shelf level corresponding to the shelf; and / or, the higher the outbound frequency of the shelf, the closer the target placement location corresponding to the shelf is to the workstation.

16. A forklift robot, characterized in that, include: The control module is configured to acquire a first handling task, which is generated based on the task type of the task to be processed and the shelf information of the target shelf when the target shelf is at a higher storage level on the storage rack in the shelf storage area. The shelf information includes the storage level of the target shelf on the storage rack in the shelf storage area. The storage level of the shelf on the storage rack is determined according to the frequency of outbound shipments from the shelf; The forklift assembly is configured to, according to the first handling task, either remove the target shelf from the placement position corresponding to the storage level, or place the target shelf in the placement position corresponding to the storage level.

17. The forklift robot according to claim 16, characterized in that, The task types include outbound tasks from the shelf storage area to the workstation; the control module is also configured to: Obtain a first outbound task, the first handling task including the first outbound task; the first outbound task is generated by the control device based on the shelf information when the task type of the task to be processed is the outbound task; The forklift assembly is configured to, according to the first outbound task, remove the target shelf from the placement position corresponding to the storage level and transport it to the pick-up buffer position of the workstation or the pick-up buffer area.

18. The forklift robot according to claim 17, characterized in that, The control module is also configured to: Obtain a second outbound task, which is generated by the control device based on the pick-up cache location when the first outbound task instructs the forklift robot to move the target shelf from the placement location corresponding to the storage level to the pick-up cache location. The forklift assembly is configured to move the target shelf from the pick-up buffer location to the workstation according to the second outbound task, so as to operate the target shelf at the workstation.

19. The forklift robot according to claim 17, characterized in that, The control module is also configured to: Obtain a third outbound task, which is generated by the control device based on the task type of the task to be processed and the shelf information when the storage level is one layer. The forklift assembly is configured to remove the target shelf from its placement position corresponding to the storage level and transport it to the workstation according to the third outbound task.

20. The forklift robot according to claim 16, characterized in that, The task types include back-to-stock tasks from workstations to the shelf storage area; the control module is configured to: Obtain the first return-to-warehouse task, the first handling task includes the first return-to-warehouse task, the first return-to-warehouse task is generated by the control device according to the shelf information when the task type of the task to be processed is the return-to-warehouse task; The forklift assembly is configured to move the target rack from the return cache location of the workstation or return cache area to the placement location corresponding to the storage level, according to the first return task.

21. The forklift robot according to claim 20, characterized in that, Before the forklift robot moves the return-to-warehouse buffer location of the return-to-warehouse buffer area to the placement location corresponding to the storage level, the control module is further configured to: Obtain a second return-to-warehouse task. The second return-to-warehouse task is generated by the control device based on the shelf storage status of each cache location in the return-to-warehouse cache area, determining the return-to-warehouse cache location, and based on the shelf information of the target shelf and the return-to-warehouse cache location. The forklift assembly is configured to move the target rack from the workstation to the return buffer location according to the second return task.

22. The forklift robot according to claim 20, characterized in that, The control module is also configured to: The third return-to-warehouse task is obtained, which is generated by the control device based on the task type of the task to be processed and the shelf information when the storage level is one layer. The forklift assembly is configured to move the target rack from the workstation to the placement location corresponding to the storage level, according to the third return task.

23. The forklift robot according to any one of claims 16-22, characterized in that, The fork assembly includes a chassis, a mast structure, and fork teeth. The fork teeth are movably mounted on the mast structure and move closer to or further away from the chassis via a drive device on the mast structure. The control module is further configured to: Upon receiving the first handling task, the storage level of the target shelf on the storage rack in the shelf storage area is determined based on the first handling task, and a first shelf pick-up and drop instruction is generated based on the storage level of the target shelf on the storage rack in the shelf storage area. The drive unit is configured to drive the fork teeth to rise and fall to the pick-up / placement height corresponding to the target shelf in response to the first shelf pick-up / placement command; The fork is configured to either remove the target shelf from the target storage rack or place the target shelf on the target storage rack when the forklift robot travels to the bottom of the target storage rack for placing the target shelf.

24. The forklift robot according to claim 23, characterized in that, The drive unit is configured to respond to the first shelf pick-up / placement command by driving the fork teeth to rise and fall to the pick-up / placement height corresponding to the target shelf, and to drive the fork teeth and the mast structure to move on the chassis; The fork is configured to either remove the target shelf from the target storage rack or place the target shelf on the target storage rack when the forklift robot travels to the docking position of the target storage rack for placing the target shelf.

25. The forklift robot according to claim 23, characterized in that, The drive device is configured as follows: After the target shelf is removed from the target storage rack and the forklift robot is removed from the target storage rack, the fork tines are driven to descend to the initial height; or, after the target shelf is placed on the target storage rack and the forklift robot is removed from the target storage rack, the fork tines are driven to descend to the initial height.

26. The forklift robot according to claim 16, characterized in that, The control module is also configured to: Obtain a location update instruction, which is generated by the control device based on the outbound frequency of each shelf in the shelf storage area, determining the target shelf level and / or target placement position corresponding to each shelf, and when the target shelf level of the shelf is different from the current shelf level of the shelf, and / or the target placement position of the shelf is different from the current placement position of the shelf. The forklift assembly is configured to, in response to the location update command, move the rack to the storage rack corresponding to the target rack level, and / or move the rack to the target placement location, based on the target placement location of the rack.

27. A robot scheduling system, characterized in that, The system includes: The control device is configured to determine the shelf information of the target shelf to which the task to be processed is located based on the task information of the task to be processed, and generate a first handling task based on the task type of the task to be processed and the shelf information when the storage level is higher than one level; the task information includes the task type, and the shelf information includes the storage level of the target shelf on the storage rack in the shelf storage area; the storage level of the shelf on the storage rack is determined based on the outbound frequency of the shelf. The shelf storage area includes at least one storage rack, and the storage rack includes multiple layers of beams, each layer of beams being used to place the shelf. A forklift robot is configured to acquire the first handling task and, based on the first handling task, remove the target shelf from the placement position corresponding to the storage level, or place the target shelf in the placement position corresponding to the storage level.

28. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to perform the operation of the robot scheduling method as described in any one of claims 1-15 by executing the executable instructions.

29. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the robot scheduling method according to any one of claims 1-15.

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