Warehouse management method, device and warehouse system

Abstract

The embodiment of the present disclosure provides a warehouse management method, device and system, relates to the field of intelligent warehousing, is applied to an electronic device in a warehouse system, the electronic device is in communication connection with a plurality of carrying devices, and the method comprises the following steps: sending a first operation instruction to a first carrying device in the plurality of carrying devices, the first operation instruction being used for instructing the first carrying device to move to a target shelf to take and place a target cargo, and the first operation instruction carrying a first position of a target storage position of the target cargo on the target shelf; and receiving position calibration information sent by the first carrying device, wherein the position calibration information comprises a second position, and the second position is obtained by calibrating the first position when the first carrying device moves to the target shelf and controls a taking and placing mechanism to move to the first position without identifying a position tag of the target storage position or without obtaining the target cargo. The position can be calibrated for multiple times, the time required for calibration can be reduced, and the working efficiency of the carrying device can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent warehousing technology, and in particular to a warehousing management method, apparatus and warehousing system. Background Technology

[0002] In warehouse management, when handling equipment is picking up or placing boxes, the system needs to send location information to the handling equipment to enable scheduling. After the handling equipment arrives at the corresponding location, it may need to be adjusted to align with the box if the location is inaccurate. However, if the handling equipment needs to be adjusted every time it works, it will take a long time and affect the working efficiency of the handling equipment. Summary of the Invention

[0003] This disclosure provides a warehouse management method, apparatus, and warehouse system. The following technical solutions are disclosed in this disclosure:

[0004] A first aspect of this disclosure provides a warehouse management method applied to an electronic device in a warehouse system. The electronic device is communicatively connected to multiple handling devices. The method includes: sending a first operation instruction to a first handling device among the multiple handling devices. The first operation instruction instructs the first handling device to move to a target shelf to pick up or place target goods. The first operation instruction carries a first position of the target goods at a target location on the target shelf. The method also includes receiving position calibration information sent by the first handling device. The position calibration information includes a second position, which is obtained by calibrating the first position when the first handling device moves to the target shelf and controls the picking / placing mechanism to move to the first position but fails to identify the location tag of the target location or acquire the target goods. The first handling device obtains the second position by calibrating its ground position and the position of the picking / placing mechanism relative to the target shelf until it identifies the location tag of the target location or acquires the target goods.

[0005] In some embodiments, the method further includes: sending a second operation instruction to a second handling device among a plurality of handling devices, wherein the second operation instruction is used to instruct the second handling device to move to a target shelf and pick up or place goods at a target location, the second operation instruction carries a second location, and when the picking and placing mechanism of the second handling device moves to the second location, the second handling device identifies the location tag of the target location and picks up the target goods when the identification is successful.

[0006] In some embodiments, the method further includes: receiving a third position sent by the second handling device under preset conditions, wherein the preset conditions are that the second handling device fails to identify the location tag of the target storage location or fails to acquire the target goods at the second position, and the third position is obtained by the second handling device through calibrating its ground position and the position of its picking and placing mechanism relative to the target shelf until it identifies the location tag of the target storage location or acquires the target goods.

[0007] In some embodiments, the method further includes: updating the value of a counter based on the number of times the multiple handling devices send position calibration information, wherein whenever position calibration information corresponding to the target location is received from any handling device, or whenever the deviation between the second location and the first location in the received position calibration information is greater than or equal to a preset threshold, the value of the counter corresponding to the target location is incremented by one; when the value of the counter reaches a preset value, a stop calibration command is sent to the multiple handling devices, the stop calibration command being used to instruct the multiple handling devices to stop calibrating the position tag of the target location.

[0008] In some embodiments, the method further includes: if no position calibration information is received from multiple handling devices within a preset time period, sending a shutdown command to multiple handling devices, the shutdown command being used to instruct the multiple handling devices to disable the automatic calibration function; receiving a calibration request sent by a first handling device under preset conditions, the preset conditions being that the first handling device fails to identify the location tag of the target shelf or fails to acquire the target goods when it moves to the target shelf and controls the pick-and-place mechanism to move to the first position, the calibration request being used to request the electronic device to allow the automatic calibration function to be enabled; and sending an enable command to the first handling device, the enable command being used to instruct the first handling device to enable the automatic calibration function.

[0009] In some embodiments, the method further includes: determining a deviation between a second position and a first position; and storing the second position in the storage space of an electronic device and deleting the first position from the storage space if the deviation meets a first condition, wherein the first condition is that the deviation is greater than or equal to a preset threshold.

[0010] In some embodiments, the method further includes: receiving a calibration reason and / or a first image sent by the first handling device under a second condition, wherein the calibration reason is the reason why the first handling device calibrates the first position to the second position, the second condition is that the first handling device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold, and the first image is an image collected by the first handling device containing a location tag of the target cargo location.

[0011] In some embodiments, receiving position calibration information sent by the first transport device includes: periodically receiving telemetry data sent by the first transport device, the telemetry data including position calibration information; or receiving position calibration information sent by the first transport device under a second condition, the second condition being that the first transport device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold.

[0012] A second aspect of this disclosure provides a warehouse management method applied to a first handling device in a warehouse system. The first handling device is any one of a plurality of handling devices in the warehouse system, and the plurality of handling devices are communicatively connected to an electronic device in the warehouse system. The method includes: receiving a first operation instruction sent by an electronic device, the first operation instruction instructing the first handling device to move to a target shelf to pick up or place target goods, the first operation instruction carrying a first position of the target goods at a target location on the target shelf; responding to the first operation instruction, moving to the target shelf and controlling a picking / placing mechanism to move to the first position; if the location tag of the target location is not identified or the target goods are not obtained at the first position, calibrating the ground position of the first handling device and the position of the picking / placing mechanism relative to the target shelf until the location tag of the target location is identified or the target goods are obtained, and determining the current position as a second position; sending position calibration information to the electronic device, the position calibration information including the second position.

[0013] In some embodiments, the method further includes: after completing the handling task indicated by the first operation instruction, receiving a second operation instruction sent by an electronic device, the second operation instruction being used to instruct movement to a target shelf and to pick up or place goods at a target location, the second operation instruction carrying a second location.

[0014] In some embodiments, the method further includes: in response to a second operation instruction, moving to a target shelf and controlling the pick-and-place mechanism to move to a second position; identifying the location tag of the target storage location at the second position and acquiring the target goods upon successful identification.

[0015] In some embodiments, the method further includes: if the location tag of the target storage location is not identified or the target goods are not acquired at the second location, calibrating the ground position of the first handling device and the position of the picking and placing mechanism relative to the target shelf until the location tag of the target storage location is identified or the target goods are acquired, and determining the current position as the third position; and sending the third position to the electronic device.

[0016] In some embodiments, the method further includes: receiving a stop calibration command sent by an electronic device, wherein the stop calibration command is sent to the multiple handling devices after the electronic device updates the value of a counter based on the number of times the position calibration information sent by the multiple handling devices has been received, and the value of the counter reaches a preset value, wherein whenever position calibration information corresponding to the target location is received from any handling device, or whenever the deviation between the second location and the first location in the received position calibration information is greater than or equal to a preset threshold, the value of the counter corresponding to the target location is incremented by one; the stop calibration command is used to instruct the multiple handling devices to stop calibrating the position label of the target location.

[0017] In some embodiments, the method further includes: receiving a shutdown command sent by an electronic device, wherein the shutdown command is sent by the electronic device to multiple handling devices when it has not received position calibration information from multiple handling devices within a preset time period, and the shutdown command is used to instruct the multiple handling devices to disable the automatic calibration function; sending a calibration request to the electronic device when a preset condition is met, wherein the preset condition is that when the first handling device moves to the target shelf and controls the pick-and-place mechanism to move to the first position, it fails to identify the location tag of the target location or fails to acquire the target goods, and the calibration request is used to request the electronic device to allow the automatic calibration function to be enabled; receiving an activation command sent by the electronic device, the activation command being used to instruct the first handling device to enable the automatic calibration function; and in response to the activation command, enabling the automatic calibration function and calibrating the first position.

[0018] In some embodiments, the method further includes: determining a deviation between a second position and a first position; at the second position, acquiring a first image containing a location tag of a target storage location, and determining a calibration reason, wherein the calibration reason is the reason why the first handling equipment calibrates the first position to the second position; and if the deviation meets a second condition, sending the calibration reason and / or the first image to an electronic device, wherein the second condition is that the deviation is greater than or equal to a preset threshold.

[0019] In some embodiments, sending position calibration information to an electronic device includes: periodically sending telemetry data to the electronic device, the telemetry data including position calibration information; or determining the deviation between a second position and a first position, and sending the second position to the electronic device if the deviation meets a second condition, the second condition being that the deviation is greater than or equal to a preset threshold.

[0020] A third aspect of this disclosure provides a warehouse management device, applied to an electronic device in a warehouse system. The electronic device is communicatively connected to multiple handling devices, including: a sending module for sending a first operation instruction to a first handling device among the multiple handling devices. The first operation instruction instructs the first handling device to move to a target shelf to pick up or place target goods. The first operation instruction carries a first position of the target goods at the target storage location on the target shelf; and a receiving module for receiving position calibration information sent by the first handling device. The position calibration information includes a second position, which is obtained by calibrating the first position when the first handling device moves to the target shelf and controls the picking and placing mechanism to move to the first position but fails to identify the location tag of the target storage location or acquire the target goods. The first handling device obtains the second position by calibrating its ground position and the position of the picking and placing mechanism relative to the target shelf until it identifies the location tag of the target storage location or acquires the target goods.

[0021] A fourth aspect of this disclosure provides a warehouse management device, applied to a first handling device in a warehouse system. The first handling device is any one of a plurality of handling devices in the warehouse system, and the plurality of handling devices are communicatively connected to electronic equipment in the warehouse system. The device includes: a receiving module for receiving a first operation command sent by the electronic equipment, the first operation command instructing the first handling device to move to a target shelf to pick up or place target goods, the first operation command carrying a first position of the target goods at a target location on the target shelf; a control module for responding to the first operation command, moving to the target shelf, and controlling the picking / placing mechanism to move to the first position; a calibration module for calibrating the ground position of the first handling device and the position of the picking / placing mechanism relative to the target shelf when the target location's location tag is not identified or the target goods are not obtained at the first position, until the target location's location tag is identified or the target goods are obtained, and determining the current position as a second position; and a sending module for sending position calibration information to the electronic equipment, the position calibration information including the second position.

[0022] A fifth aspect of this disclosure provides a warehousing system including electronic equipment and a plurality of handling devices, wherein the electronic equipment is used to perform the method of any one of the first aspects of this disclosure; and the handling devices are used to perform the method of any one of the second aspects of this disclosure.

[0023] A sixth aspect of this disclosure provides an electronic device, including: a processor and a memory; the memory for storing computer-executable instructions; and the processor for reading instructions from the memory and executing the instructions to implement the method in any of the implementations of the first and second aspects described above.

[0024] A seventh aspect of this disclosure provides a computer-readable storage medium storing computer instructions configured to cause the computer to perform the methods in any of the implementations of the first and second aspects described above.

[0025] An eighth aspect of this disclosure provides a computer program product including a computing program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the method in any of the implementations of the first and second aspects described above.

[0026] The warehouse management method, apparatus, and warehouse system provided in this disclosure send a first operation instruction to a handling device via an electronic device. The handling device determines a first position based on the first operation instruction, adjusts the first position to obtain a second position, and reports the second position to the electronic device. The second position can be directly obtained when the handling device performs handling next time, reducing the calibration time of the handling device and improving the working efficiency of the handling device. Attached Figure Description

[0027] Figure 1 A schematic diagram of a warehousing system provided in an embodiment of this disclosure is shown;

[0028] Figure 2 A schematic diagram of a handling device provided in an embodiment of this disclosure is shown;

[0029] Figure 3 A flowchart illustrating a warehouse management method for electronic devices according to an embodiment of this disclosure;

[0030] Figure 4 This is a schematic flowchart illustrating a warehouse management method for electronic devices proposed in an embodiment of this disclosure;

[0031] Figure 5 This is a schematic flowchart illustrating a warehouse management method applied to a first handling equipment according to an embodiment of this disclosure;

[0032] Figure 6 This is a schematic flowchart illustrating a warehouse management method applied to a first handling equipment according to an embodiment of this disclosure;

[0033] Figure 7 This is a schematic flowchart illustrating a warehouse management method applied to a warehousing system according to an embodiment of this disclosure;

[0034] Figure 8 This is a flowchart illustrating a robot's self-learning calibration method for picking up and placing boxes, as proposed in an embodiment of this disclosure.

[0035] Figure 9This is a schematic diagram of the structure of a warehouse management device 900 applied to electronic devices according to an embodiment of this disclosure;

[0036] Figure 10 This is a schematic diagram of the structure of a warehouse management device 1000 applied to a first handling equipment according to an embodiment of this disclosure;

[0037] Figure 11 This is a schematic diagram of the structure of an electronic device 1100 for implementing the above-described warehouse management method, according to an exemplary embodiment. Detailed Implementation

[0038] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0039] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0040] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this disclosure, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “when…”.

[0041] This disclosure provides a warehouse management method, and also relates to a warehouse management device, a warehouse system, a computing device, a computer program product, and a computer-readable storage medium, which will be described in detail in the following embodiments.

[0042] The following describes the solutions of the embodiments of this disclosure with reference to examples.

[0043] In warehousing systems, Robot Management Systems (RMS) can schedule handling equipment (such as robots) according to different handling tasks and plan travel paths for the handling equipment. When a RoboShuttle (RS) robot is placing / retrieving boxes, the RMS sends the robot the QR code information corresponding to the shelf code, as well as the height and lateral coordinates (x, y) of the storage location. After the robot reaches the target location, it recognizes the QR code location through a camera, and then the robot performs a position adjustment action to insert or retrieve the box.

[0044] However, if the robot needs to make adjustments every time, the time consumed is too long, affecting the efficiency of the robot in picking up and placing boxes and the handling efficiency, thereby reducing warehouse management performance. In order to reduce this interaction time and improve the efficiency of RS robot in picking up and placing boxes, this disclosure provides a warehouse management method to improve the working efficiency of robot picking up and placing boxes.

[0045] The warehouse management method provided in this disclosure can be used in a warehouse system.

[0046] Figure 1 A schematic diagram of a warehousing system provided according to an embodiment of the present disclosure is shown.

[0047] In some embodiments, the warehousing system 100 includes an electronic device 10 and a handling device 20, wherein the handling device 20 may be at least one. The electronic device 10 and the handling device 20 may be connected; optionally, this connection may be a communication connection, such as a wireless connection, thereby enabling the electronic device 10 to manage and schedule the handling device 20, and the handling device 20 to report information to the electronic device 10, thus achieving information exchange between the two.

[0048] Optionally, a robot management system (RMS) may be deployed on the electronic device 10. Optionally, a warehouse management system, an autonomous mobile robot (AMR) control system, etc. may also be deployed on the electronic device 10.

[0049] For example, electronic device 10 can be a terminal device or a server. For instance, when electronic device 10 is a terminal device, it can include various personal computers, laptops, smartphones, tablets, and portable wearable devices. When electronic device 10 is a server, it can be a standalone server or a server cluster consisting of multiple servers; this disclosure does not limit this.

[0050] In some examples, electronic device 10 can also receive external data information, such as orders, locations, and goods storage association information. Electronic device 10 can determine the location of the target goods based on the order information and goods storage association information, and send handling instructions to the corresponding robot based on the target location. For example, electronic device 10 can store goods storage association information, which includes at least one of the following: goods identification information, cargo box identification information, shelf identification information, shelf location information for storing goods, cargo box location information for storing goods, correspondence between shelves and cargo boxes, correspondence between shelves and goods, and correspondence between cargo boxes and goods.

[0051] In some embodiments, the handling device 20 may be a robot for handling goods and / or containers, such as an RS robot. The handling device 20 is used to pick up and place goods and / or containers on a carrier (which may be a fixed shelf or a movable shelf). For example, the handling device 20 is used to move target goods and / or containers from a target location on a carrier (which may be a fixed shelf or a movable shelf) to another location, or to move target goods and / or containers from another location to a target location on a carrier (which may be a fixed shelf or a movable shelf).

[0052] like Figure 2 As shown, this disclosure uses an RS robot as an example to illustrate the handling equipment 20.

[0053] In some embodiments, such as Figure 2 The diagram shown illustrates a handling device according to some embodiments of this disclosure. The handling device 20 may include a mobile chassis 201, a storage rack 202, a handling assembly 203, and a lifting assembly 204. The storage rack 202, the handling assembly 203, and the lifting assembly 204 are all mounted on the mobile chassis 201. The mobile chassis 201 is used to move the handling device 20 along a planned path. The storage rack 202 is used to store target goods.

[0054] Optionally, the storage system 100 may also include at least one rack (not shown), which can be moved by handling equipment. The rack may include at least one of fixed racks, mobile racks, and modular racks; this disclosure does not limit the type of rack.

[0055] Optionally, the shelving can be used to store goods and / or carriers and / or containers, which may include boxes (such as bins, cartons, etc.) and / or pallets. For example, pallets are used to store goods or boxes, and boxes are used to store goods. Optionally, the shelving can also store goods, which may include a first item and a second item, wherein the first item may be an item stored inside a box and then placed on the mobile shelving, and the second item may be an item placed directly on the mobile shelving. For example, the first item may be a fragile or small item, and the second item may be a high-volume or large item, or the second item may also be a hanging item.

[0056] For example, storage rack 202 may include multiple storage units, each of which can hold one or more goods. A handling assembly 203 is movable vertically so that its position is horizontally opposite any one of the storage units. The handling assembly 203 is used to move target goods between a target location on the rack and one of the multiple storage units. The handling assembly 203 may be equipped with a picking and placing mechanism (not shown), such as a picking mechanism (e.g., a fork) or a suction mechanism (e.g., a suction cup), to perform the function of picking and placing boxes.

[0057] The lifting assembly 204 is used to drive the conveying assembly 203 to move vertically relative to the storage rack 202. The lifting assembly 204 includes a lifting transmission mechanism and a lifting drive mechanism. The lifting drive mechanism is used to provide a second driving force for the conveying assembly 203 to move vertically relative to the storage rack 202, and the lifting transmission mechanism is used to transmit the second driving force to the conveying assembly 203.

[0058] Figure 3 This is a flowchart illustrating a warehouse management method proposed in an embodiment of this disclosure, applied to an electronic device in a warehouse system, on which a robot management system is deployed. Figure 3 As shown, the method includes the following steps:

[0059] Step 301: Send a first operation command to the first handling device among the multiple handling devices.

[0060] In some embodiments, the first handling device is any one of at least one handling device in the warehousing system, and the RMS in the electronic device schedules the first handling device according to the current task and handling requirements.

[0061] In some embodiments, the first operation instruction is used to instruct the first handling equipment to move to the target shelf to pick up or place the target goods, and the first operation instruction carries the first position of the target goods in the target storage location on the target shelf.

[0062] In other words, the first operation instruction can instruct the first handling equipment to pick up or place target goods from the target shelf. By carrying the first position, the first operation instruction can notify the first handling equipment of the position of the target goods on the target shelf (i.e., the target storage location). The first handling equipment can determine the target goods on the target shelf and pick up or place the target goods according to the location of the storage location (i.e., the first position).

[0063] In some embodiments, the target shelf has multiple storage locations, each of which can store goods. The target storage location is the position on the target shelf where the target goods are stored. For example, the target storage location may contain a box of the target goods, and the first location may be the coordinates of the target storage location, such as the coordinates of the center position of the target storage location.

[0064] Step 302: Receive position calibration information sent by the first handling device.

[0065] In some embodiments, the position calibration information includes a second position, which is obtained by calibrating the first position when the first handling device moves to the target shelf and controls the pick-and-place mechanism to move to the first position but does not recognize the location tag of the target location or acquire the target goods. The first handling device obtains the second position by calibrating the ground position of the first handling device and the position of the pick-and-place mechanism relative to the target shelf until the location tag of the target location is recognized or the target goods are acquired.

[0066] In some embodiments, the second position is obtained by calibrating the first position using the first handling equipment. For example, the second position may be the coordinates of a position slightly to the left of the center of the target storage location.

[0067] In other words, if there is an error in the first position, the first handling equipment can calibrate the first position to obtain the actual position of the target goods, i.e., the second position. For example, the reasons for the error in the first position could be that the location label is crooked, the ground slope is uneven, or the shelves are not level.

[0068] For example, a deviation in the first position may include: when the first handling equipment scans the location code (or location identifier) ​​at the first position, the coordinates of the scanned location code are different from those of the first position; the scanned location code is incomplete; the location identifier corresponding to the location where the target goods are located is not scanned, etc. This disclosure does not limit such deviations.

[0069] In some embodiments, after determining the calibrated second position, the first handling device can perform operations such as picking up and placing goods at the second position, and report the second position to the electronic device after successful picking up or placing (or before picking up or placing after calibration). This disclosure embodiment does not limit the timing of the handling device reporting the calibrated position information.

[0070] In some embodiments, after receiving a second location reported by the first conveying device, the electronic device may store the second location, or it may determine the necessity of storing the second information and store it only if necessary. Optionally, the electronic device may use the second location to update a previously stored first location. This disclosure does not limit the electronic device's handling of the second location.

[0071] In some embodiments, the electronic device can send the second position to the scheduled handling equipment when it operates on the same target goods (or the same target location) again, avoiding the handling equipment from calibrating the first position multiple times and reducing the calibration time of the handling equipment.

[0072] In some embodiments, the electronic device may periodically receive telemetry data sent by the first transport device, the telemetry data including position calibration information; or receive position calibration information sent by the first transport device under a second condition, the second condition being that the first transport device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold.

[0073] Optionally, the first handling device can periodically report telemetry data. For example, when there is a deviation between the first and second positions, the telemetry data can carry the second position. The electronic device can determine whether the deviation between the first and second positions is greater than or equal to a preset threshold, and whether the first or second condition is met, based on the received second position. If the condition is met, the first position is updated, or maintenance personnel are notified for processing. For example, when the first and second positions are the same, that is, the first handling device has not calibrated the first position, the first handling device may not report the second position, i.e., the telemetry data is empty or 0. When the electronic device receives similar telemetry data, it does not perform any of the above processing.

[0074] Optionally, the first handling device may report the second position to the electronic device when it determines that the deviation between the second position and the first position is greater than or equal to a preset threshold. In this case, the second position may not be reported through telemetry data.

[0075] In summary, the embodiments of this disclosure, by instructing the first handling equipment to perform operations such as picking up and placing goods at the first location through a first operation command, and receiving the actual location of the target goods at the storage location obtained by the first handling equipment, i.e., the second location, facilitate the electronic equipment in determining the location of the target goods. This avoids recalibrating the location of the target goods during the next scheduling, reducing calibration time and improving the working efficiency of the handling equipment. In other words, when the RMS issues a task to the RS robot, it can issue the position offset information recorded and reported by the RS robot when picking up or placing boxes at this storage location last time. This allows the RS robot to obtain relatively accurate box-picking / placing coordinates through the RMS each time it picks up or places a box, and can use this location to improve calibration efficiency.

[0076] Figure 4 This is a flowchart illustrating a warehouse management method proposed in an embodiment of this disclosure, applied to electronic devices within a warehouse system. Based on Figure 3 The illustrated embodiments, such as Figure 4 As shown, the method also includes the following steps:

[0077] Step 401: Determine the deviation between the second position and the first position.

[0078] In some embodiments, for example, the electronic device can determine the deviation between the second position and the first position. Optionally, when the deviation between the first position and the second position is large, the electronic device can update the stored first position information, or determine the cause of the deviation and correct the deviation, etc.

[0079] Step 402: Receive the calibration reason and / or first image sent by the first handling device under the second condition.

[0080] In some embodiments, the electronic device may receive a calibration reason and / or a first image sent by the first handling device under a second condition. The calibration reason is the reason why the first handling device calibrates the first position to the second position. The second condition is that the first handling device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold. The first image is an image collected by the first handling device that includes the location tag of the target cargo location.

[0081] In other words, the first handling device can determine the deviation between the second position and the first position. For example, when the first handling device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold, it can preliminarily determine the cause of the error between the first and second positions. For instance, the first handling device can acquire a first image, that is, it can acquire an image containing the location label of the target storage location. The location label can be the aforementioned storage location identifier.

[0082] In some embodiments, after determining the cause of calibration, the first handling device can report the cause of calibration and the acquired first image to the electronic device. The electronic device can further determine the cause of the error based on the cause of calibration and the first image. For example, the electronic device can notify the relevant maintenance personnel when necessary based on the further determined cause, so that the relevant maintenance personnel can handle the problem in a timely manner, thereby avoiding affecting the working efficiency of the handling device.

[0083] In some embodiments, this step is optional. For example, when the deviation between the first position and the second position is small, such as when the deviation between the first position and the second position is less than a preset threshold, the first conveying device may not determine the cause of calibration and may only calibrate the first position. In this case, this step can be omitted.

[0084] Step 403: If the deviation meets the first condition, store the second position in the storage space of the electronic device and delete the first position from the storage space.

[0085] In some embodiments, for example, the electronic device can determine the deviation between the second position and the first position; the electronic device can store the second position in the storage space of the electronic device and delete the first position from the storage space if the deviation meets a first condition, wherein the first condition is that the deviation is greater than or equal to a preset threshold.

[0086] In other words, when the deviation between the second position and the first position is large, the electronic device can use the second position to replace the first position and update the location of the target goods. When the deviation between the second position and the first position is small, the handling equipment can accommodate the deviation. In this case, the electronic device does not need to store the second position, that is, this step is optional.

[0087] In other words, the electronic device can update the first location or store the second location when the first condition is met, thereby reducing the number of data read and write operations of the RMS system without reducing the working efficiency of the handling equipment.

[0088] In some embodiments, the preset threshold in the first condition and the preset threshold in the second condition may be the same or different. For example, the preset threshold in the second condition may be greater than the preset threshold in the first condition. In other words, when the deviation between the first position and the second position is within a certain range, the electronic device may only update the first position, reducing the calibration time of the first handling equipment. However, when the deviation between the first position and the second position exceeds this range, there may be problems such as a large error affecting the operation of the handling equipment. In this case, the electronic device may notify relevant personnel to handle the deviation. That is, the preset thresholds of the first condition and the second condition can be set according to the actual usage scenario, and this disclosure does not limit this.

[0089] Step 404: Send a second operation command to the second handling device among the multiple handling devices.

[0090] In some embodiments, the second operation instruction is used to instruct the second handling equipment to move to the target shelf and pick up or place goods at the target location. The second operation instruction carries a second location. When the picking and placing mechanism of the second handling equipment moves to the second location, the second handling equipment identifies the location tag of the target location and picks up the target goods when the identification is successful.

[0091] In other words, after receiving the actual location of the target goods determined by the first handling equipment, the electronic device can store the second location. When rescheduling other handling equipment to operate on the target goods, the second location can be directly included in the operation command to instruct the other handling equipment. For example, after receiving the second operation command, the second handling equipment can directly reach the coordinates indicated by the second location. At this time, the second handling equipment can operate on the target goods without needing to calibrate its position, or with minimal calibration, which can reduce the calibration time of the second handling equipment and improve its working efficiency.

[0092] Step 405: Receive the third position sent by the second handling device under preset conditions.

[0093] In some embodiments, the preset condition is that the second handling device fails to identify the location tag of the target storage location or fails to acquire the target goods at the second position, and the third position is obtained by the second handling device through calibrating its ground position and the position of the picking and placing mechanism of the second handling device relative to the target shelf until it identifies the location tag of the target storage location or acquires the target goods.

[0094] In other words, when the second handling device receives the second operating instruction from the electronic device, it can reach the second position, identify the location tag of the target storage location, and obtain the target goods. When the second handling device fails to identify the location tag of the target storage location or fails to obtain the target goods at the second position, it indicates that the current second position is still inaccurate. At this time, the second handling device can recalibrate the second position. For example, the second handling device can calibrate the second position by calibrating the ground position and the position of the picking and placing mechanism of the second handling device relative to the target shelf, and determine the position when the second handling device identifies the location tag of the target storage location or obtains the target goods as the third position.

[0095] In some embodiments, the electronic device may receive a third position reported by the second handling device, that is, the second handling device may report the third position to the electronic device after calibrating the second position to obtain the third position.

[0096] For example, the electronic device can store the third position, such as when it is determined that the third position deviates significantly from the second position. When the goods at the second position are picked up or placed again, the third position can be directly indicated to the corresponding handling equipment. Alternatively, the electronic device may not store the third position, such as when the deviation between the third position and the second position is small, the third device may not update the second position, and so on.

[0097] For example, the electronic device can receive a calibration reason and / or a second image reported by the second handling device. The calibration reason may be the reason why the handling device calibrates the second position to the third position, and the second image is an image containing the location label of the target location collected by the second handling device.

[0098] In other words, different handling equipment can receive operation instructions from electronic devices and, based on the location information carried by the operation instructions, go to the corresponding location to perform operations such as picking up and placing target goods. When the handling equipment fails to identify the location tag of the target cargo location or fails to acquire the target goods at the indicated location, it indicates that there is a deviation between the location indicated by the electronic device and the actual location of the goods. At this time, the handling equipment can autonomously calibrate the position and report the calibrated position and / or calibration reason, collected images, and other information to the electronic device. The electronic device can update the location of the stored target goods based on the information reported by the handling equipment, and determine the calibration reason for processing, etc.

[0099] In some embodiments, this step is optional. When the second handling device identifies the location tag of the target storage location or obtains the target goods at the second location, the second handling device does not need to be recalibrated, and this step can be omitted.

[0100] Step 406: Update the counter value based on the number of times the position calibration information is sent by multiple handling devices.

[0101] In some embodiments, a counter can be used to record the number of times the position of the target storage location is calibrated. Specifically, the counter can include the total number of times different handling devices calibrate the position of the same target storage location, and different target storage locations can each correspond to a counter.

[0102] In some embodiments, the electronic device may update the value of a counter based on the number of times the position calibration information sent by multiple handling devices is received, wherein the value of the counter corresponding to the target location is incremented by one whenever position calibration information corresponding to the target location is received from any handling device, or whenever the deviation between the second location and the first location in the received position calibration information is greater than or equal to a preset threshold.

[0103] In other words, optionally, the electronic device may increment the counter value by 1 after receiving the position calibration information corresponding to the target cargo location; or, optionally, the electronic device may, after receiving the position calibration information corresponding to the target cargo location, determine the deviation between the second position and the first position in the received position calibration information, and increment the counter value corresponding to the target cargo location by one only when the deviation between the second position and the first position is greater than or equal to a preset threshold, wherein the preset threshold may be set based on the actual application scenario, and this disclosure does not limit it.

[0104] Step 407: Send a stop calibration command to multiple handling devices.

[0105] In some embodiments, a stop calibration command is used to instruct multiple handling devices to stop calibrating the location tags of a target storage location.

[0106] For example, the stop calibration command instructs multiple handling devices to cease calibration for the same target location. For other target locations with smaller counter values, the handling devices can perform location calibration and reporting according to the above process, provided that automatic calibration is permitted.

[0107] In some embodiments, the electronic device may send a stop calibration command to multiple handling devices when the value of the counter reaches a pre-designed value.

[0108] In other words, when the counter value is greater than or equal to the pre-designed value, the electronic device can instruct the handling equipment not to recalibrate the location label of the target storage location. For example, after the location of the same target storage location has been calibrated multiple times, it can be determined that the location of the target storage location is accurate enough. At this time, when other handling equipment picks up or puts goods at the target storage location again, it is not necessary to recalibrate the location. The handling equipment can identify and retrieve the target goods based on the current location of the target storage location, which can reduce the time required for the recalibration process, simplify the operation process of the handling equipment, and improve work efficiency.

[0109] In some embodiments, this step is optional. When the target location is calibrated a few times, or when the position of the target location after calibration is not significantly different from the position before calibration, the calibration of the target location can be continued without stopping, i.e., this step can be omitted.

[0110] Step 408: Send a shutdown command to multiple handling devices.

[0111] In some embodiments, the shutdown command is used to instruct multiple handling devices to disable the automatic calibration function.

[0112] For example, a shutdown command instructs multiple handling devices to disable the automatic calibration function, meaning that automatic calibration is not performed for the position of any target storage location.

[0113] In some embodiments, if the electronic device does not receive position calibration information from multiple handling devices within a preset time period, it may send a shutdown command to multiple handling devices.

[0114] In other words, if the electronic device does not receive any position calibration information within a preset time period, it can instruct the handling equipment to turn off the automatic calibration function. For example, if the electronic device does not receive position calibration information for a long period of time, it can be assumed that the current target location is relatively accurate and does not affect the operation of the target goods. At this time, the electronic device can instruct the handling equipment to turn off the automatic calibration function.

[0115] For example, in a warehousing scenario, the handling equipment can be a robot used to move goods. When no robot reports position calibration information for a period of time, it means that the robot in the warehouse can successfully identify and operate the target goods based on the position information indicated by the electronic device, without affecting the warehouse's workflow. At this time, the electronic device can instruct the robot to turn off the automatic calibration function, saving computing power and power resources for the robot, improving the robot's endurance, and so on.

[0116] In some embodiments, this step is optional, for example, when the electronic device receives location calibration information within a preset time period, this step can be omitted.

[0117] Step 409: Receive a calibration request sent by the first handling device under preset conditions.

[0118] In some embodiments, the calibration request is used to request the electronic device to allow the automatic calibration function to be enabled, that is, the calibration request is used to request the electronic device to enable the automatic calibration function of the handling equipment.

[0119] For example, the first device can send a calibration request to the electronic device to request the first handling device to enable the automatic calibration function, that is, the handling device can request the electronic device to calibrate the target location when needed.

[0120] In some embodiments, the preset condition is that when the first handling equipment moves to the target shelf and controls the picking and placing mechanism to move to the first position, the location tag of the target storage location is not recognized or the target goods are not acquired.

[0121] In other words, when there is a discrepancy between the actual location of the target cargo location and the location indicated by the electronic device, causing the handling equipment to be unable to operate the target cargo normally, the handling equipment can send a calibration request to the electronic device to activate the automatic calibration function to calibrate the target cargo location and avoid affecting the handling equipment's handling tasks.

[0122] In some embodiments, this step is optional and can be omitted when the handling equipment can identify the location tag of the target storage location or obtain the target goods.

[0123] Step 410: Send an start command to the first handling device.

[0124] In some embodiments, the activation command is used to instruct the first handling device to activate the automatic calibration function.

[0125] In some embodiments, after receiving a calibration request from a handling device, the electronic device can enable the automatic calibration function for the handling device. For example, the handling device can be instructed to enable the automatic calibration function by an enable command.

[0126] In some embodiments, this step is a step, and for example, it may be omitted when the electronic device does not receive a calibration request.

[0127] In summary, the above embodiments of this disclosure can determine the deviation between the first position and the second position. When the deviation meets the conditions, corresponding processing is performed to correct the deviation, thereby reducing calibration time. The second position obtained by one handling device can be indicated to other handling devices, which can help other handling devices reduce the time spent searching for target goods and improve the working efficiency of the handling devices.

[0128] In the embodiments disclosed above, the electronic device can recalibrate the target cargo location by receiving a third location sent by the handling equipment, enabling adaptive calibration and updating of the target cargo location to optimize the accuracy of the indicated location. By instructing the handling equipment to stop calibrating the target cargo location based on the counter value, the calibration consumption of the handling equipment can be reduced while ensuring its normal operation. By sending a shutdown command to the handling equipment to disable the automatic calibration function, the computing power and power resources of the handling equipment can be saved. By receiving calibration requests from the handling equipment and sending an activation command, the automatic calibration function of the handling equipment can be activated when the handling equipment cannot normally acquire the target goods, thus avoiding affecting the handling tasks of the handling equipment and ensuring the working efficiency of the system, etc.

[0129] Figure 5 This is a flowchart illustrating a warehouse management method proposed in an embodiment of this disclosure. The method is applied to a first handling device in a warehouse system. The first handling device is any one of multiple handling devices in the warehouse system, and the multiple handling devices are communicatively connected to electronic equipment in the warehouse system. The method includes the following steps:

[0130] Step 501: Receive the first operation command sent by the electronic device.

[0131] In some embodiments, a first operation instruction is used to instruct the first handling device to move to the target shelf to pick up or place the target goods, and the first operation instruction carries the first position of the target goods in the target storage location on the target shelf.

[0132] In other words, the first handling device can receive the first operation instruction sent by the electronic device, and perform operations such as picking up and placing the target goods at the first position according to the first operation instruction.

[0133] Step 502: In response to the first operation command, move to the target shelf and control the pick-and-place mechanism to move to the first position.

[0134] In some embodiments, for example, the first handling device may be a robot that handles goods, and the picking and placing mechanism may be a mechanical structure for the robot user to pick up and place goods, such as a gripping fork or a suction cup, etc., which are not limited in this disclosure.

[0135] In some embodiments, the first handling device can move the pick-and-place mechanism to a first position according to a first operation command, and the pick-and-place mechanism of the first handling device can perform operations such as picking up and placing goods at the first position.

[0136] Step 503: If the location tag of the target storage location is not identified or the target goods are not acquired at the first location, calibrate the ground position of the first handling equipment and the position of the picking and placing mechanism relative to the target shelf until the location tag of the target storage location is identified or the target goods are acquired, and then determine the current position as the second position.

[0137] In some embodiments, when the first handling device fails to identify the location tag of the target storage location or fails to acquire the target goods at the first position, the location tag of the target storage location may be deviated. In this case, the first handling device can calibrate the first position. For example, the first handling device can calibrate the first position by calibrating the ground position of the first handling device and the position of the picking and placing mechanism relative to the target shelf.

[0138] In other words, the first handling equipment can adjust its own position relative to the ground, such as moving forward, backward, left, or right, or adjusting the angle, etc., to calibrate the first position; the first handling equipment can also adjust the position of the picking and placing mechanism relative to the target shelf without adjusting its own position relative to the ground, such as translating or adjusting the angle, etc., to adjust the first position.

[0139] In some embodiments, the first handling device can consider the current calibrated position as the actual position of the target cargo location, i.e., the second position, when it adjusts its position until it identifies the location tag of the target cargo location or acquires the target cargo.

[0140] Step 504: Send position calibration information to the electronic device.

[0141] In some embodiments, the location calibration information includes a second location.

[0142] In some embodiments, after determining the second position, the first handling device may report the second position to the electronic device.

[0143] In some embodiments, the first handling device can report a second position, which facilitates the electronic device to determine the deviation between the second position and the first position based on the second position. For example, when the electronic device determines that the deviation is greater than or equal to a threshold, it can store the second position and delete the first position, thereby updating the first position with the second position; or when the electronic device determines that the deviation is greater than or equal to the threshold, it can determine the cause of the deviation and notify the relevant maintenance personnel to handle it.

[0144] In some embodiments, the first conveying device sends a second location to the electronic device, including:

[0145] The system periodically sends telemetry data to the electronic device, which includes position calibration information; or it determines the deviation between the second position and the first position, and sends the second position to the electronic device if the deviation meets a second condition, wherein the second condition is that the deviation is greater than or equal to a preset threshold.

[0146] In other words, the first handling device can periodically report the second location, or it can only report it when certain conditions are met.

[0147] In summary, the above embodiments of this disclosure, by receiving a first operation instruction, determining a first position, and accurately determining the actual position of the target goods when there is an error in the first position, and reporting the actual position of the target goods to the electronic device, can facilitate the electronic device to update the first position based on the reported actual position, reduce the calibration time of the handling equipment during the next scheduling, and improve calibration efficiency.

[0148] Figure 6 This is a flowchart illustrating a warehouse management method proposed in an embodiment of this disclosure, applied to a first handling device in a warehouse system. Figure 6 As shown, it includes the following steps:

[0149] Step 601: Determine the deviation between the second position and the first position.

[0150] In some embodiments, the first handling device can determine the deviation between the second position and the first position. For example, when the deviation between the second position and the first position is small, the first handling device only reports the second position; while when the deviation between the first position and the second position is indeed large, the first handling device can preliminarily determine the calibration cause and report the calibration cause.

[0151] In some embodiments, this step is optional. For example, the first handling device may only report the second position without determining the deviation between the first and second positions. In this case, the deviation between the first and second positions can be determined by an electronic device, and this step can be omitted.

[0152] Step 602, at the second location, acquire a first image containing the location tag of the target cargo location and determine the cause of calibration.

[0153] In some embodiments, the first handling device may, at a second location, acquire a first image containing a location tag of the target location and determine a calibration reason, which is the reason why the first handling device calibrates the first location to the second location.

[0154] In other words, after the first handling equipment is calibrated to the second position, it can acquire a first image containing the location label of the target location at the second position, and preliminarily determine the cause of calibration based on the first image, such as the location label being misaligned.

[0155] In some embodiments, this step is optional. For example, the first transport device may only report the second position without determining the calibration reason. For example, if the deviation between the first position and the second position is small and the first transport device is compatible, the first transport device may not acquire the first image and may not determine the calibration reason, i.e., this step is omitted; or the first transport device may only acquire the first image without determining the calibration reason. In this case, the electronic device can determine the calibration reason based on the first image, etc. This disclosure does not limit this.

[0156] Step 603: If the deviation meets the second condition, send the calibration reason and / or the first image to the electronic device.

[0157] In some embodiments, if the deviation between the first position and the second position meets a second condition, the first handling device may send a calibration reason and / or a first image to the electronic device, wherein the second condition is that the deviation is greater than or equal to a preset threshold.

[0158] In other words, the first device can initially determine the cause of the calibration, and when the conditions are met, report the cause of the calibration and the first image to the electronic device, so that the electronic device can further determine the cause of the deviation.

[0159] In some embodiments, this step is optional. For example, when the deviation between the first position and the second position is less than a preset threshold, the first handling device may not report the calibration reason and the first image; or the first handling device may only report the first image and not report the calibration reason, in which case the electronic device can determine the calibration reason based on the first image.

[0160] Step 604: After completing the handling task indicated by the first operation instruction, receive the second operation instruction sent by the electronic device.

[0161] In some embodiments, the second operation instruction is used to instruct movement to the target shelf and to pick up or place goods at the target location, and the second operation instruction carries the second location.

[0162] In other words, when the first handling device reports the second location of the target goods, and the electronic device schedules the handling device to operate on the target goods again, it can directly send the previously obtained second location to the handling device. The handling device can then move directly to the second location to operate on the target goods without needing to recalibrate, thus reducing the calibration time and improving the working efficiency of the handling device.

[0163] Optionally, the electronic equipment can schedule the same handling equipment to process the target goods, or it can schedule different handling equipment to process the target goods, and this disclosure does not limit this.

[0164] In some embodiments, this step is optional. For example, when the electronic device schedules other handling equipment to pick up or place the target goods, such as when the electronic device schedules a second handling equipment to pick up or place the goods, this step can be omitted.

[0165] Step 605: In response to the second operation command, move to the target shelf and control the pick-and-place mechanism to move to the second position.

[0166] In some embodiments, after receiving a second operation command, the first handling device moves directly to the second position, reducing the calibration time of the handling device and improving its efficiency.

[0167] In some embodiments, this step is optional. For example, when the electronic device schedules other handling equipment to pick up or place the target goods, such as when the electronic device schedules a second handling equipment to pick up or place the goods, this step can be omitted.

[0168] Step 606: Identify the location tag of the target cargo location at the second location and retrieve the target cargo upon successful identification.

[0169] In some embodiments, if the first handling device identifies the location tag of the target storage location or obtains the target goods at the second location, the first handling device can identify the location tag of the target storage location and obtain the target goods at the second location.

[0170] In some embodiments, this step is optional. For example, if the first handling device fails to identify the location tag of the target storage location or fails to acquire the target goods at the second location, this step can be omitted.

[0171] Step 607: If the location tag of the target storage location is not identified or the target goods are not acquired at the second location, calibrate the ground position of the first handling equipment and the position of the picking and placing mechanism relative to the target shelf until the location tag of the target storage location is identified or the target goods are acquired, and then determine the current position as the third location.

[0172] In other words, if the first handling equipment fails to identify the location tag of the target storage location or fails to acquire the target goods at the second position, it indicates that the actual location of the target storage location has changed. The first handling equipment can calibrate the second position, for example, by calibrating the ground position of the first handling equipment and the position of the picking and placing mechanism relative to the target shelf, until the location tag of the target storage location is identified or the target goods are acquired. At this point, the actual location of the target storage location after the change can be obtained, which is the third position.

[0173] In some embodiments, this step is optional. For example, when the first handling device can identify the location tag of the target storage location or obtain the target goods at the second location, there is no need to calibrate the second location, and this step can be omitted.

[0174] Step 608: Send the third location to the electronic device.

[0175] In some embodiments, the first handling device may report a third location to an electronic device.

[0176] In other words, the handling equipment can report the calibrated actual position to the electronic equipment whenever there is an error between the actual position and the position sent by the electronic equipment, so that the electronic equipment can update the position of the target goods.

[0177] In some embodiments, this step is optional. For example, when the first handling device can identify the location tag of the target location at the second position or obtain the target goods, there is no need to calibrate the second position to obtain the third position, and this step can be omitted.

[0178] Step 609: Receive a stop calibration command sent by the electronic device.

[0179] In some embodiments, the handling equipment can receive a stop calibration command sent by an electronic device. The stop calibration command is sent by the electronic device to the multiple handling devices after updating the value of a counter based on the number of times the position calibration information sent by the multiple handling devices has been received, and when the value of the counter reaches a preset value. Specifically, whenever position calibration information corresponding to the target storage location is received from any handling device, or whenever the deviation between the second position and the first position in the received position calibration information is greater than or equal to a preset threshold, the value of the counter corresponding to the target storage location is incremented by one. The stop calibration command is used to instruct the multiple handling devices to stop calibrating the position label of the target storage location.

[0180] In other words, after receiving a stop calibration command, the handling equipment can determine the target location indicated by the stop calibration command. When the handling equipment receives an operation to retrieve or place goods at that target location, it can directly go to the location indicated by the electronic equipment to perform the operation on the target goods. When there is a deviation between the actual location of the target location and the location indicated by the electronic equipment, the handling equipment will no longer calibrate the location of the target location.

[0181] Optionally, when the handling equipment cannot identify the location tag of the target location or cannot obtain the target goods at the aforementioned target location, the handling equipment may also send error feedback to the electronic equipment, or may send a calibration request to the electronic equipment to request position calibration, etc., which are not limited in this disclosure.

[0182] In some embodiments, this step is optional and can be omitted when the electronic device determines that the value of the counter has not reached the pre-designed value.

[0183] Step 610: Receive a shutdown command sent by the electronic device.

[0184] In some embodiments, the handling device may receive a shutdown command sent by an electronic device, wherein the shutdown command is sent by the electronic device to multiple handling devices when it has not received position calibration information from multiple handling devices within a preset time period, and the shutdown command is used to instruct the multiple handling devices to turn off the automatic calibration function.

[0185] For example, after receiving a shutdown command from the electronic device, the handling equipment can disable the automatic calibration function. In this case, the handling equipment will not perform automatic calibration for any target location. Instead, the handling equipment can determine the target location solely through the operation commands sent by the electronic device and operate on the goods at the target location. When there is a deviation between the position indicated by the electronic device and the actual position, the handling equipment will not perform calibration.

[0186] Optionally, when the handling equipment cannot identify the location tag of the target location at the location indicated by the electronic device, or cannot obtain the target goods, the handling equipment may also send error feedback to the electronic device, or may send a calibration request to the electronic device to request position calibration, etc., which are not limited in this disclosure.

[0187] In some embodiments, this step is optional and can be omitted when the electronic device receives position calibration information from multiple handling devices within a preset time period.

[0188] Step 611: Send a calibration request to the electronic device.

[0189] In some embodiments, the handling equipment may send a calibration request to the electronic device when a preset condition is met. The preset condition is that when the first handling equipment moves to the target shelf and controls the picking and placing mechanism to move to the first position, it fails to identify the location tag of the target location or fails to acquire the target goods. The calibration request is used to request the electronic device to allow the automatic calibration function to be enabled.

[0190] In other words, when the automatic calibration function of the handling equipment is turned off, the handling equipment cannot calibrate the position of the target storage location. If the handling equipment fails to recognize the location tag of the target storage location or fails to acquire the target goods, it cannot perform operations such as picking up or placing the target goods, which may affect the handling task of the handling equipment. At this time, the handling equipment can send a calibration request to the electronic equipment to request the automatic calibration function to be turned on so as to calibrate the position of the target storage location, complete the handling task, and avoid affecting work efficiency.

[0191] In some embodiments, this step is optional. When the handling equipment can identify the location tag of the target storage location or obtain the target goods, there is no need to request the electronic equipment, that is, this step can be omitted.

[0192] Step 612: Receive the power-on command sent by the electronic device.

[0193] In some embodiments, the handling equipment may receive an activation command sent by an electronic device, the activation command being used to instruct the first handling equipment to activate the automatic calibration function.

[0194] In some embodiments, the handling device may, in response to an activation command, activate an automatic calibration function and calibrate a first position.

[0195] In other words, after receiving the start command from the electronic equipment, the handling equipment can activate the automatic calibration function to calibrate the position of the target location, complete the handling task, and avoid affecting work efficiency.

[0196] In some embodiments, this step is optional. When the handling equipment can identify the location tag of the target storage location or obtain the target goods, there is no need to request the electronic equipment, that is, this step can be omitted.

[0197] In summary, the above embodiments of this disclosure, by receiving a second operation instruction from an electronic device and determining a second position, can enable operations such as picking up and placing target goods at the second position; or, when there is a deviation between the second position and the actual position of the target goods, the actual position of the target goods can be determined and reported to the electronic device, so that the electronic device can update the position of the target goods.

[0198] In the above embodiments of this disclosure, the handling equipment can receive a stop calibration command from the electronic device to avoid recalibrating the position of a specific target storage location, thereby reducing the calibration consumption of the handling equipment; by receiving a shut-off command from the electronic device, the automatic calibration function can be turned off, saving the computing power and power resources of the handling equipment; by sending a calibration request to the electronic device when the handling task cannot be performed normally, receiving a start command from the electronic device, and activating the automatic calibration function based on the start command, the handling task can be avoided and the working efficiency of the handling equipment can be guaranteed.

[0199] Figure 7 This is a flowchart illustrating a warehouse management method proposed in an embodiment of this disclosure, applied to a warehouse system. Figure 7 As shown, it includes the following steps:

[0200] Step 701: The electronic device sends a first operation command to the handling equipment.

[0201] For optional implementations of step 701, please refer to [link / reference]. Figure 3 Step 301 Figure 5 Optional implementation methods of step 501, and Figure 3 , Figure 5 Other related parts in the embodiments involved will not be described in detail here.

[0202] Step 702: In response to the first operation command, the handling equipment moves to the target shelf and controls the picking and placing mechanism to move to the first position.

[0203] For optional implementations of step 702, please refer to [link / reference]. Figure 5 Optional implementation methods of step 502, and Figure 5 Other related parts in the embodiments involved will not be described in detail here.

[0204] Step 703: If the handling equipment fails to identify the location tag of the target storage location or acquire the target goods at the first position, it calibrates the ground position of the handling equipment and the position of the picking and placing mechanism relative to the target shelf until the location tag of the target storage location is identified or the target goods are acquired, and then the current position is determined as the second position.

[0205] For optional implementations of step 703, please refer to [link / reference]. Figure 5 Optional implementation methods for step 503, and Figure 5 Other related parts in the embodiments involved will not be described in detail here.

[0206] Step 704: The transport device sends the second location to the electronic device.

[0207] For optional implementations of step 704, please refer to [link / reference]. Figure 3 Step 302 Figure 5 Optional implementations of step 504, and Figure 3 , Figure 5 Other related parts in the embodiments involved will not be described in detail here.

[0208] Step 705: The handling equipment determines the deviation between the second position and the first position.

[0209] For optional implementations of step 705, please refer to [link / reference]. Figure 6 Optional implementation methods of step 601, and Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0210] In some embodiments, this step is optional. For example, the handling equipment may only report the second position without determining the deviation between the first and second positions. In this case, the deviation between the first and second positions can be determined by an electronic device, and this step can be omitted.

[0211] Step 706: The electronic device determines the deviation between the second position and the first position.

[0212] For optional implementations of step 706, please refer to [link / reference]. Figure 4 Optional implementation methods of step 401, and Figure 4 Other related parts in the embodiments involved will not be described in detail here.

[0213] Step 707: The handling equipment, in the second position, acquires a first image containing the location tag of the target storage location and determines the cause of calibration.

[0214] For optional implementations of step 707, please refer to [link / reference]. Figure 6 Optional implementation methods of step 602, and Figure 6Other related parts in the embodiments involved will not be described in detail here.

[0215] In some embodiments, this step is optional. For example, the transport device may only report the second position without determining the calibration reason. For example, if the deviation between the first position and the second position is small and the transport device can accommodate the deviation, the transport device may not collect the first image and may not determine the calibration reason, i.e., this step is omitted; or the transport device may only collect the first image without determining the calibration reason. In this case, the electronic device can determine the calibration reason based on the first image, etc. This disclosure does not limit this.

[0216] Step 708: If the deviation meets the second condition, the handling equipment sends the calibration reason and / or the first image to the electronic equipment.

[0217] For optional implementations of step 708, please refer to [link / reference]. Figure 4 Step 402 Figure 6 Optional implementation methods of step 603, and Figure 4 , Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0218] In some embodiments, this step is optional. For example, when the deviation between the first position and the second position is small, such as when the deviation between the first position and the second position is less than a preset threshold, the conveying device may not determine the cause of calibration and may only calibrate the first position. In this case, this step can be omitted.

[0219] Step 709: If the deviation meets the first condition, the electronic device stores the second position in the storage space of the electronic device and deletes the first position from the storage space.

[0220] For optional implementations of step 709, please refer to [link / reference]. Figure 4 Optional implementation methods for step 403, and Figure 4 Other related parts in the embodiments involved will not be described in detail here.

[0221] In some embodiments, this step is optional; for example, if the above deviation does not meet the first condition, this step can be omitted.

[0222] Step 710: The electronic device sends a second operation command to the handling equipment.

[0223] For optional implementations of step 710, please refer to [link / reference]. Figure 4 Step 404 Figure 6 Optional implementations of step 604, and Figure 4 , Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0224] Step 711: In response to the second operation command, the handling equipment moves to the target shelf and controls the picking and placing mechanism to move to the second position.

[0225] For optional implementations of step 711, please refer to [link / reference]. Figure 6 Optional implementations of step 605, and Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0226] In some embodiments, this step is optional. For example, when the electronic device schedules other handling equipment to pick up or place the target goods, such as when the electronic device schedules a second handling equipment to pick up or place the goods, this step can be omitted.

[0227] Step 712: Identify the location tag of the target cargo location at the second location and retrieve the target cargo upon successful identification.

[0228] For optional implementations of step 712, please refer to [link / reference]. Figure 6 Optional implementation methods for step 606, and Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0229] In some embodiments, this step is optional. For example, if the handling equipment fails to identify the location tag of the target storage location or fails to acquire the target goods at the second location, this step can be omitted.

[0230] Step 713: If the handling equipment fails to identify the location tag of the target storage location or acquire the target goods at the second position, the ground position of the handling equipment and the position of the picking and placing mechanism relative to the target shelf are calibrated until the location tag of the target storage location is identified or the target goods are acquired, and the current position is determined as the third position.

[0231] For optional implementations of step 713, please refer to [link / reference]. Figure 6 Optional implementations of step 607, and Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0232] In some embodiments, this step is optional. For example, when the handling equipment can identify the location tag of the target storage location at the second position, or acquire the target goods, there is no need to calibrate the second position, and this step can be omitted.

[0233] Step 714: The transport equipment sends the third location to the electronic equipment.

[0234] For optional implementations of step 714, please refer to [link / reference]. Figure 4 Step 405 Figure 6 Optional implementation methods for step 608, and Figure 4 , Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0235] In some embodiments, this step is optional. For example, when the handling equipment can identify the location tag of the target location at the second position or obtain the target goods, there is no need to calibrate the second position to obtain the third position, and this step can be omitted.

[0236] Step 715: The electronic device updates the counter value based on the number of times the position calibration information is sent by multiple handling devices.

[0237] For optional implementations of step 715, please refer to [link / reference]. Figure 4 Optional implementation methods for step 406, and Figure 4 Other related parts in the embodiments involved will not be described in detail here.

[0238] Step 716: The electronic device sends a stop calibration command to the handling equipment.

[0239] For optional implementations of step 716, please refer to [link / reference]. Figure 4 Step 407 Figure 6 Optional implementation methods for step 609, and Figure 4 , Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0240] In some embodiments, this step is optional. When the target location is calibrated a few times, or when the position of the target location after calibration is not significantly different from the position before calibration, the calibration of the target location can be continued without stopping, i.e., this step can be omitted.

[0241] Step 717: The electronic device sends a shutdown command to the handling equipment.

[0242] For optional implementations of step 717, please refer to [link / reference]. Figure 4 Step 408 Figure 6 Optional implementation methods for step 610, and Figure 4 , Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0243] In some embodiments, this step is optional, for example, when the electronic device receives location calibration information within a preset time period, this step can be omitted.

[0244] Step 718: The transport equipment sends a calibration request to the electronic equipment.

[0245] For optional implementations of step 718, please refer to [link / reference]. Figure 4 Step 409 Figure 6 Optional implementation methods for step 611, and Figure 4 , Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0246] In some embodiments, this step is optional and can be omitted when the handling equipment can identify the location tag of the target storage location or obtain the target goods.

[0247] Step 719: The electronic device sends an opening command to the handling equipment.

[0248] For optional implementations of step 719, please refer to [link / reference]. Figure 4 Step 410 Figure 6 Optional implementation methods for step 612, and Figure 4 , Figure 6 Other related parts in the embodiments involved will not be described in detail here.

[0249] In some embodiments, this step is a step, and for example, it may be omitted when the electronic device does not receive a calibration request.

[0250] In some embodiments, step 705 is executed after step 703 and before step 708, and the execution order of other steps can be interchanged.

[0251] In some embodiments, step 706 is executed after step 704 and before step 709, and the execution order of other steps can be interchanged.

[0252] In some embodiments, step 716 is performed after step 715, and the execution order of other steps can be interchanged.

[0253] In some embodiments, step 719 is performed after step 718, and the execution order of other steps can be interchanged.

[0254] In this implementation or embodiment, unless there is contradiction, each step can be independent, arbitrarily combined or exchanged in order, optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other implementations or other embodiments.

[0255] The technical solutions of this disclosure will be further described in detail below with reference to specific application embodiments.

[0256] The following is a specific implementation of a robot pick-and-place box coordinate self-learning calibration method provided in this disclosure. The flowchart of the method is as follows: Figure 8 As shown:

[0257] On the first mission:

[0258] 1. The RMS system sends box retrieval / returning action commands to the RS robot and sends initial cargo location coordinate information;

[0259] 2. Robot's arrival coordinates at the storage location (may be inaccurate)

[0260] 3. The robot calibrates the coordinates of the cargo location;

[0261] 4. After the RS robot completes the pickup / return of the box, it updates the cargo location coordinate correction data (x, y) to the RMS system using the robot's telemetry data;

[0262] 5. The RMS system stores the corrected location coordinates (x, y) reported by the robot into the database;

[0263] For the next mission:

[0264] 1. When the RMS system issues instructions for picking up / returning, it provides the RS robot with coordinate information (x, y) recorded in the database when issuing the path;

[0265] 2. The RS robot directly reaches the (x, y) position of this point;

[0266] 3. When the positional deviation is small, it can be quickly calibrated. After the quick calibration is completed, insertion can begin.

[0267] 4. After the RS robot completes the pickup / return of the box, it updates the cargo location coordinate correction data (x, y) to the RMS system using the robot's telemetry data;

[0268] 5. The RMS system stores the corrected location coordinates (x, y) reported by the robot into the database.

[0269] In summary, the embodiments disclosed above optimize the robot's subsequent box-picking and placing actions by recording the robot's box-picking and placing coordinates. This significantly improves overall task efficiency in a warehouse and drastically reduces the time spent on robot box-picking and placing calibration.

[0270] Figure 9 This is a schematic diagram of the structure of a warehouse management device 900 according to an embodiment of the present disclosure. It is applied to the first master station device of an electronic device in a warehouse system, and the electronic device is communicatively connected to multiple handling devices, such as... Figure 9 As shown, the device includes:

[0271] The sending module 910 is used to send a first operation command to a first handling device among multiple handling devices. The first operation command instructs the first handling device to move to the target shelf to pick up or place target goods. The first operation command carries the first position of the target goods in the target storage location on the target shelf. The receiving module 920 is used to receive position calibration information sent by the first handling device. The position calibration information includes a second position. The second position is obtained by calibrating the first position when the first handling device moves to the target shelf and controls the picking and placing mechanism to move to the first position but does not recognize the location tag of the target storage location or obtain the target goods. The first handling device obtains the second position by calibrating the ground position of the first handling device and the position of the picking and placing mechanism relative to the target shelf until the location tag of the target storage location is recognized or the target goods are obtained.

[0272] In some embodiments, the sending module can also be used to send a second operation instruction to a second handling device among a plurality of handling devices. The second operation instruction is used to instruct the second handling device to move to the target shelf and pick up or place goods at the target location. The second operation instruction carries a second location. When the picking and placing mechanism of the second handling device moves to the second location, the second handling device identifies the location tag of the target location and picks up the target goods when the identification is successful.

[0273] In some embodiments, the receiving module is further configured to receive a third position sent by the second handling device under preset conditions, wherein the preset conditions are that the second handling device fails to identify the location tag of the target storage location or fails to acquire the target goods at the second position, and the third position is obtained by the second handling device through calibrating its ground position and the position of the picking and placing mechanism of the second handling device relative to the target shelf until it identifies the location tag of the target storage location or acquires the target goods.

[0274] In some embodiments, the warehouse management device further includes a processing module for updating the value of a counter based on the number of times the position calibration information sent by multiple handling devices is received, wherein the value of the counter corresponding to the target storage location is incremented by one whenever position calibration information corresponding to the target storage location is received from any handling device, or whenever the deviation between the second position and the first position in the received position calibration information is greater than or equal to a preset threshold.

[0275] In some embodiments, the sending module is further configured to send a stop calibration command to multiple handling devices when the value of the counter reaches a pre-designed value. The stop calibration command is used to instruct the multiple handling devices to stop calibrating the location tag of the target storage location.

[0276] In some embodiments, the sending module is further configured to send a shutdown command to multiple handling devices if it does not receive position calibration information from multiple handling devices within a preset time period. The shutdown command is used to instruct the multiple handling devices to turn off the automatic calibration function.

[0277] In some embodiments, the receiving module is further configured to receive a calibration request sent by the first handling device under preset conditions. The preset conditions are that when the first handling device moves to the target shelf and controls the picking and placing mechanism to move to the first position, it fails to identify the location tag of the target location or fails to acquire the target goods. The calibration request is used to request the electronic device to allow the automatic calibration function to be enabled.

[0278] In some embodiments, the sending module is further configured to send an activation command to the first handling device, the activation command being used to instruct the first handling device to activate the automatic calibration function.

[0279] In some embodiments, the processing module is further configured to determine the deviation between the second position and the first position; if the deviation meets a first condition, the second position is stored in the storage space of the electronic device, and the first position is deleted from the storage space, wherein the first condition is that the deviation is greater than or equal to a preset threshold.

[0280] In some embodiments, the receiving module is further configured to receive a calibration reason and / or a first image sent by the first handling device under a second condition, wherein the calibration reason is the reason why the first handling device calibrates the first position to the second position, the second condition is that the first handling device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold, and the first image is an image containing the location label of the target cargo location collected by the first handling device.

[0281] In some embodiments, the receiving module is further configured to periodically receive telemetry data sent by the first handling device, the telemetry data including position calibration information; or receive position calibration information sent by the first handling device under a second condition, the second condition being that the first handling device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold.

[0282] Figure 10 This is a schematic diagram of the structure of a warehouse management device 1000 according to an embodiment of the present disclosure. It is applied to a first handling device in a warehouse system. The first handling device is any one of multiple handling devices in the warehouse system. These multiple handling devices are communicatively connected to electronic equipment in the warehouse system, such as... Figure 10 As shown, the device includes:

[0283] The receiving module 1010 is used to receive a first operation command sent by the electronic device. The first operation command instructs the first handling device to move to the target shelf to pick up or place target goods. The first operation command carries the first position of the target goods in the target storage location on the target shelf. The control module 1020 is used to respond to the first operation command, move to the target shelf, and control the picking and placing mechanism to move to the first position. The calibration module 1030 is used to calibrate the ground position of the first handling device and the position of the picking and placing mechanism relative to the target shelf when the location tag of the target storage location is not identified or the target goods are not obtained in the first position, until the location tag of the target storage location is identified or the target goods are obtained, and determine the current position as the second position. The sending module 1040 is used to send position calibration information to the electronic device, and the position calibration information includes the second position.

[0284] In some embodiments, the receiving module is further configured to receive a second operation instruction sent by an electronic device after completing the handling task indicated by the first operation instruction. The second operation instruction is configured to instruct the movement to the target shelf and the picking and placing of goods at the target location. The second operation instruction carries a second location.

[0285] In some embodiments, the control module is further configured to respond to a second operation command, move to the target shelf, and control the picking and placing mechanism to move to a second position; identify the location tag of the target storage location at the second position and retrieve the target goods when identification is successful.

[0286] In some embodiments, the calibration module is further configured to calibrate the ground position of the first handling device and the position of the picking and placing mechanism relative to the target shelf when the location tag of the target storage location is not identified or the target goods are not acquired at the second position, until the location tag of the target storage location is identified or the target goods are acquired, and then determine the current position as the third position.

[0287] In some embodiments, the transmitting module is also configured to transmit a third location to the electronic device.

[0288] In some embodiments, the receiving module is further configured to receive a stop calibration command sent by an electronic device. The stop calibration command is sent by the electronic device to the multiple handling devices after updating the value of a counter based on the number of times the position calibration information sent by the multiple handling devices has been received, and when the value of the counter reaches a preset value. Specifically, whenever position calibration information corresponding to the target location is received from any handling device, or whenever the deviation between the second position and the first position in the received position calibration information is greater than or equal to a preset threshold, the value of the counter corresponding to the target location is incremented by one. The stop calibration command is used to instruct the multiple handling devices to stop calibrating the position label of the target location.

[0289] In some embodiments, the receiving module is further configured to receive a shutdown command sent by the electronic device, wherein the shutdown command is sent by the electronic device to the multiple handling devices when it has not received position calibration information from the multiple handling devices within a preset time period, and the shutdown command is used to instruct the multiple handling devices to turn off the automatic calibration function.

[0290] In some embodiments, the sending module is further configured to send a calibration request to the electronic device when a preset condition is met. The preset condition is that when the first handling device moves to the target shelf and controls the picking and placing mechanism to move to the first position, it fails to identify the location tag of the target location or fails to acquire the target goods. The calibration request is used to request the electronic device to allow the automatic calibration function to be enabled.

[0291] In some embodiments, the receiving module is further configured to receive an activation command sent by an electronic device, the activation command being used to instruct the first handling device to activate the automatic calibration function.

[0292] In some embodiments, the warehouse management device further includes a processing module for activating an automatic calibration function and calibrating a first position in response to an activation command.

[0293] In some embodiments, the processing module is further configured to determine the deviation between the second position and the first position; at the second position, acquire a first image containing the location label of the target location, and determine the calibration reason, which is the reason why the first handling equipment calibrates the first position to the second position.

[0294] In some embodiments, the sending module is further configured to send a calibration reason and / or a first image to the electronic device if the deviation meets a second condition, wherein the second condition is that the deviation is greater than or equal to a preset threshold.

[0295] In some embodiments, the transmitting module is further configured to periodically transmit telemetry data to the electronic device, the telemetry data including a second position; or to determine the deviation between the second position and the first position, and transmit the second position to the electronic device if the deviation meets a second condition, the second condition being that the deviation is greater than or equal to a preset threshold.

[0296] Figure 11 This is a schematic diagram of an electronic device provided according to an embodiment of the present disclosure. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the methods described in the above embodiments. Figure 11As shown, the electronic device 1100 includes a processor (1101) and a memory (1102). Exemplarily, the electronic device 1100 may also include a communications interface (1103) and a communications bus (1104).

[0297] The processor 1101, memory 1102, and communication interface 1103 communicate with each other via communication bus 1104. Communication interface 1103 is used to communicate with other network elements such as clients or other servers.

[0298] In some embodiments, the processor 1101 is used to execute a program 1105, specifically performing the steps described above in the method embodiments. For example, program 1105 may include program code, which includes computer-executable instructions.

[0299] For example, processor 1101 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 disclosure. Electronic device 1100 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0300] In some embodiments, memory 1102 is used to store program 1105. Memory 1102 may include high-speed RAM memory and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0301] Specifically, program 1105 can be called by processor 1101 to cause electronic device 1100 to execute the method shown in any of the above embodiments.

[0302] This disclosure provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device 1100, causes the electronic device 1100 to perform the method described above.

[0303] For example, the computer-readable storage medium may be a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0304] The beneficial effects achievable by the handling device, warehousing system, electronic device, and computer-readable storage medium provided in the embodiments of this disclosure can be referred to in the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0305] Embodiments of this disclosure also provide a computer program product, including a computer program that is executed by a processor using the methods described in the above embodiments of this disclosure.

[0306] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0307] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0308] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0309] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0310] It should be understood that various parts of the embodiments of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0311] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0312] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The aforementioned storage medium can be a read-only memory, a hard disk, or an optical disk, etc.

[0313] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A warehouse management method characterized by, An electronic device used in a warehousing system, the electronic device being communicatively connected to multiple handling devices, the method comprising: Send a first operation instruction to a first handling device among the plurality of handling devices. The first operation instruction is used to instruct the first handling device to move to the target shelf to pick up or place the target goods. The first operation instruction carries the first position of the target goods in the target storage location on the target shelf. The system receives position calibration information sent by the first handling device. The position calibration information includes a second position. The second position is obtained by calibrating the first position when the first handling device moves to the target shelf and controls the pick-and-place mechanism to move to the first position but fails to identify the location tag of the target storage location or acquire the target goods. The first handling device obtains the second position by calibrating the ground position of the first handling device and the position of the pick-and-place mechanism relative to the target shelf until it identifies the location tag of the target storage location or acquires the target goods.

2. The method of claim 1, wherein, The method further includes: A second operation instruction is sent to the second handling device among the plurality of handling devices. The second operation instruction is used to instruct the second handling device to move to the target shelf and pick up or place goods at the target location. The second operation instruction carries the second location. When the picking and placing mechanism of the second handling device moves to the second location, the second handling device identifies the location tag of the target location and acquires the target goods when the identification is successful.

3. The method of claim 2, wherein, The method further includes: The third position is received by the second handling device under preset conditions, wherein the preset conditions are that the second handling device fails to identify the location tag of the target storage location or fails to acquire the target goods at the second position, and the third position is obtained by the second handling device through calibrating its ground position and the position of its picking and placing mechanism relative to the target shelf until it identifies the location tag of the target storage location or acquires the target goods.

4. The method of claim 2, wherein, The method further includes: The counter value is updated according to the number of times the multiple handling devices send position calibration information. Specifically, whenever position calibration information corresponding to the target location is received from any handling device, or whenever the deviation between the second location and the first location in the received position calibration information is greater than or equal to a preset threshold, the value of the counter corresponding to the target location is incremented by one. When the value of the counter reaches the pre-designed value, a stop calibration command is sent to the plurality of handling devices. The stop calibration command is used to instruct the plurality of handling devices to stop calibrating the location label of the target storage location.

5. The method of claim 2, wherein, The method further includes: If no position calibration information is received from the plurality of handling devices within a preset time period, a shutdown command is sent to the plurality of handling devices, the shutdown command being used to instruct the plurality of handling devices to disable the automatic calibration function; The system receives a calibration request sent by the first handling device under preset conditions. The preset conditions are that when the first handling device moves to the target shelf and controls the picking and placing mechanism to move to the first position, it fails to identify the location tag of the target shelf or fails to acquire the target goods. The calibration request is used to request the electronic device to allow the automatic calibration function to be enabled. An activation command is sent to the first handling device, the activation command being used to instruct the first handling device to activate the automatic calibration function.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Determine the deviation between the second position and the first position; If the deviation meets the first condition, the second position is stored in the storage space of the electronic device, and the first position is deleted from the storage space. The first condition is that the deviation is greater than or equal to a preset threshold.

7. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The first handling device receives a calibration reason and / or a first image sent under a second condition. The calibration reason is the reason why the first handling device calibrates the first position to the second position. The second condition is that the first handling device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold. The first image is an image collected by the first handling device that includes the location tag of the target cargo location.

8. The method according to any one of claims 1 to 5, characterized in that, The receipt of the position calibration information sent by the first handling device includes: Periodically receive telemetry data sent by the first handling device, the telemetry data including the position calibration information; or The first handling device receives the position calibration information sent under a second condition, wherein the second condition is that the first handling device determines that the deviation between the second position and the first position is greater than or equal to a preset threshold.

9. A warehouse management method, characterized in that, A first handling device applied in a warehousing system, wherein the first handling device is any one of a plurality of handling devices in the warehousing system, the plurality of handling devices being communicatively connected to electronic equipment in the warehousing system, the method comprising: The device receives a first operation instruction sent by the electronic device. The first operation instruction is used to instruct the first handling device to move to the target shelf to pick up or place the target goods. The first operation instruction carries the first position of the target goods in the target storage location on the target shelf. In response to the first operation command, the device moves to the target shelf and controls the pick-and-place mechanism to move to the first position; If the location tag of the target storage location is not identified or the target goods are not acquired at the first location, the ground position of the first handling equipment and the position of the picking and placing mechanism relative to the target shelf are calibrated until the location tag of the target storage location is identified or the target goods are acquired, and the current position is determined as the second position. The electronic device sends location calibration information, which includes the second location.

10. The method according to claim 9, characterized in that, The method further includes: After completing the handling task indicated by the first operation instruction, a second operation instruction is received from the electronic device. The second operation instruction is used to instruct the device to move to the target shelf and pick up or place goods at the target location. The second operation instruction includes the second location.

11. The method according to claim 10, characterized in that, The method further includes: In response to the second operation command, the device moves to the target shelf and controls the pick-and-place mechanism to move to the second position; The location tag of the target cargo location is identified at the second location, and the target cargo is retrieved upon successful identification.

12. The method according to claim 11, characterized in that, The method further includes: If the location tag of the target storage location is not identified or the target goods are not acquired at the second location, the ground position of the first handling equipment and the position of the picking and placing mechanism relative to the target shelf are calibrated until the location tag of the target storage location is identified or the target goods are acquired, and the current position is determined as the third location; The third location is sent to the electronic device.

13. The method according to claim 10, characterized in that, The method further includes: The system receives a stop calibration command from the electronic device. This stop calibration command is sent by the electronic device to the multiple handling devices after updating a counter value based on the number of times the position calibration information sent by the multiple handling devices has been received, and when the counter value reaches a preset value. Specifically, whenever position calibration information corresponding to the target location is received from any handling device, or whenever the deviation between the second position and the first position in the received position calibration information is greater than or equal to a preset threshold, the value of the counter corresponding to the target location is incremented by one. The stop calibration command instructs the multiple handling devices to stop calibrating the position label of the target location.

14. The method according to claim 10, characterized in that, The method further includes: The electronic device receives a shutdown command sent by the electronic device, wherein the shutdown command is sent by the electronic device to the multiple handling devices when it has not received position calibration information from the multiple handling devices within a preset time period, and the shutdown command is used to instruct the multiple handling devices to turn off the automatic calibration function; Under preset conditions, a calibration request is sent to the electronic device. The preset conditions are that when the first handling device moves to the target shelf and controls the picking and placing mechanism to move to the first position, it fails to identify the location tag of the target shelf or fails to acquire the target goods. The calibration request is used to request the electronic device to allow the automatic calibration function to be enabled. The device receives an activation command sent by the electronic device, the activation command being used to instruct the first handling device to activate the automatic calibration function; In response to the activation command, the automatic calibration function is activated, and the first position is calibrated.

15. The method according to any one of claims 9 to 14, characterized in that, The method further includes: Determine the deviation between the second position and the first position; At the second position, a first image containing the location tag of the target storage location is acquired, and the calibration reason is determined, wherein the calibration reason is the reason why the first handling equipment calibrates the first position to the second position; If the deviation meets the second condition, the calibration reason and / or the first image are sent to the electronic device, whereby the second condition is that the deviation is greater than or equal to a preset threshold.

16. The method according to any one of claims 9 to 14, characterized in that, Sending the second location to the electronic device includes: Periodically send telemetry data to the electronic device, the telemetry data including the second location; or The deviation between the second position and the first position is determined, and if the deviation meets a second condition, the second position is sent to the electronic device, wherein the second condition is that the deviation is greater than or equal to a preset threshold.

17. A warehouse management device, characterized in that, An electronic device used in a warehousing system, the electronic device being communicatively connected to multiple handling devices, including: The sending module is used to send a first operation instruction to a first handling device among the plurality of handling devices. The first operation instruction is used to instruct the first handling device to move to the target shelf to pick up or put down the target goods. The first operation instruction carries the first position of the target goods in the target storage location on the target shelf. The receiving module is used to receive position calibration information sent by the first handling device. The position calibration information includes a second position, which is obtained by calibrating the first position when the first handling device moves to the target shelf and controls the picking and placing mechanism to move to the first position but does not recognize the position tag of the target storage location or acquire the target goods. The first handling device obtains the second position by calibrating the ground position of the first handling device and the position of the picking and placing mechanism relative to the target shelf until it recognizes the position tag of the target storage location or acquires the target goods.

18. A warehouse management device, characterized in that, A first handling device applied in a warehousing system, wherein the first handling device is any one of a plurality of handling devices in the warehousing system, the plurality of handling devices being communicatively connected to electronic equipment in the warehousing system, comprising: The receiving module is used to receive a first operation instruction sent by the electronic device. The first operation instruction is used to instruct the first handling device to move to the target shelf to pick up or place the target goods. The first operation instruction carries the first position of the target goods in the target storage location on the target shelf. The control module is used to respond to the first operation command, move to the target shelf, and control the picking and placing mechanism to move to the first position; The calibration module is used to calibrate the ground position of the first handling equipment and the position of the picking and placing mechanism relative to the target shelf when the location tag of the target storage location is not identified or the target goods are not acquired at the first position, until the location tag of the target storage location is identified or the target goods are acquired, and then determine the current position as the second position. A transmitting module is used to transmit position calibration information to the electronic device, wherein the position calibration information includes the second position.

19. A warehousing system, characterized in that, Includes electronic equipment and multiple handling devices, among which, The electronic device is used to perform the method as described in any one of claims 1 to 8; The conveying equipment is used to perform the method as described in any one of claims 9 to 16.

20. An electronic device, comprising: Processor and memory, of which, The memory is used to store computer-executable instructions; The processor is configured to read the instructions from the memory and execute the instructions to implement the method as described in any one of claims 1 to 8, or the method as described in any one of claims 9 to 16.

21. A computer-readable storage medium, wherein, The storage medium stores computer program instructions, which, when read by a computer, execute the method as described in any one of claims 1 to 8, or the method as described in any one of claims 9 to 16.

22. A computer program product comprising a computer program, wherein, When executed by a processor, the computer program implements the method of any one of claims 1 to 8, or the method of any one of claims 9 to 16.

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