Automatic storage scheduling method and device, robot and server

Abstract

The invention relates to an automatic storage scheduling method and device, a robot and a server, relates to the technical field of intelligent production, reasonably plans a material distribution task based on the current state of the robot, and realizes effective distribution of materials. The method comprises the steps of responding to a scheduling instruction issued by a server, and driving to an optimal goods shelf matched with a material corresponding to the scheduling instruction after detecting that no to-be-executed task exists locally; reporting feedback information to the server; the feedback information comprises a goods shelf number of a target goods shelf detected at a stop place; responding to a goods taking instruction returned by the server to execute goods taking operation; the goods taking instruction is an operation instruction which is calculated by the server and is used for conveying associated materials and target materials to corresponding production lines; the associated material is a material which is applied to the same production line with the target material stored by the target shelf.

Description

Technical Field

[0001] The present application relates to the field of intelligent production technology, and specifically to an automatic warehousing scheduling method, device, robot and server. Background Art

[0002] In the material warehouse system of a manufacturing enterprise, material distribution is usually arranged according to the production schedule of the production line. For example, the production progress of each production line is obtained to determine whether the production line needs to be replenished with materials, and then each material required by the production line is sorted, and workers are arranged to pick up the materials in order according to the sorting and then transport them to the production line.

[0003] However, in the traditional arrangement method, the location of front-line workers is uncertain, and they may have other production tasks at the moment. Therefore, unreasonable material distribution arrangements may easily occur, resulting in the ineffective distribution of production materials. Summary of the invention

[0004] The present application aims to provide an automatic warehouse scheduling method, device, robot and server, which can reasonably plan material distribution tasks based on the current state of the robot to achieve effective material distribution.

[0005] In a first aspect, an automatic warehouse scheduling method is provided in an embodiment, which is applied to a robot, including: responding to a scheduling instruction issued by a server, and after detecting that there is no task to be executed locally, driving to the optimal shelf that matches the material corresponding to the scheduling instruction; reporting feedback information to the server; the feedback information includes the shelf number of the target shelf detected at the stop location; responding to the pickup instruction returned by the server to perform a pickup operation; the pickup instruction is an operation instruction calculated by the server to transport associated materials and target materials to the corresponding production line; the associated materials are materials that are applied to the same production line as the target materials stored on the target shelf.

[0006] In one embodiment, the method further comprises: Receive a driving path sent by a server; the driving path is used to instruct the robot to select a target section from the second section and the third section, and to instruct the robot to select the first section a number of times; the first section is a section between the target shelf and an associated shelf storing the associated materials, and the second section is a section between the associated shelf and an application production line; Responding to the pickup instruction returned by the server and executing the pickup operation, including: According to the driving route, a pickup operation is performed in response to the pickup instruction returned by the server.

[0007] In one embodiment, a pickup operation is performed in response to a pickup instruction returned by the server, including: when driving to an associated shelf storing the associated material, scanning the material code stored on the associated shelf, and sending the material code to the server; receiving a confirmation message sent by the server, and performing a pickup operation in response to the pickup instruction returned by the server.

[0008] In a second aspect, an embodiment provides an automatic warehouse scheduling method, which is applied to a server, including: broadcasting scheduling instructions to multiple robots, the scheduling instructions are used to instruct the robots to start driving to the optimal shelf; when receiving feedback information sent by the target robot, querying the target material stored on the shelf corresponding to the shelf number; the feedback information includes the shelf number detected when the target robot stops driving; based on the target material, generating a pickup instruction to deliver the material to the application production line, and sending the pickup instruction to the target robot.

[0009] In one embodiment, generating a pickup instruction for delivering the target material to the application production line according to the target material includes: Determine the associated materials required for the target material to produce the finished product by the application production line; A driving path is generated according to the first position of the target shelf corresponding to the target material and the second position of the associated shelf corresponding to the associated material; the driving path is used to instruct the robot to select a target section from the second section and the third section for driving, and to instruct the robot to select the first section for times; the first section is the section between the target shelf and the associated shelf storing the associated material, the second section is the section between the associated shelf and the application production line, and the third section is the section between the target shelf and the application production line; a pickup instruction is generated based on the driving path; the pickup instruction and the driving path are sent to the target robot.

[0010] In one embodiment, generating a driving path according to a first position of a target shelf corresponding to the target material and a second position of an associated shelf corresponding to the associated material includes: If the first position and the second position are adjacent, selecting either the second road section or the third road section as the driving route; Generating a pickup instruction based on the driving path includes: After generating a pickup instruction for taking out the target material and the associated material, the target material and the associated material are delivered to the application production line.

[0011] In one embodiment, generating a driving path according to a first position of a target shelf corresponding to the target material and a second position of an associated shelf corresponding to the associated material includes: If the first position and the second position are not adjacent, query whether the first adjacent shelf of the associated shelf is empty, and whether the second adjacent shelf of the target shelf is empty; If the first adjacent shelf is empty, generating a driving route that first executes the first road section and then executes the second road section; If the second adjacent shelf is empty, generating a driving route that first executes the first section twice and then executes the third section; Generating a pickup instruction based on the driving path includes: If the first adjacent shelf is empty, a pickup instruction is generated to take out the target material, transport part of the target material to the first adjacent shelf, take out the associated material, and deliver the target material and the associated material to the application production line; If the second adjacent shelf is empty, a pickup instruction is generated to drive to the associated shelf to take out the associated materials, transport part of the associated materials to the second adjacent shelf, then take out the target material, and deliver the target material and the associated materials to the application production line.

[0012] In a third aspect, an embodiment provides an automatic storage scheduling device, which is provided on a robot, and the device includes: The detection module is used to respond to the dispatch instruction issued by the server, detect that there is no task to be executed locally, and then drive to the optimal shelf that matches the material corresponding to the dispatch instruction; An information reporting module, used for reporting feedback information to the server; the feedback information includes the shelf number of the target shelf detected at the stop location; An instruction execution module is used to execute a pickup operation in response to a pickup instruction returned by the server; the pickup instruction is an operation instruction calculated by the server to transport associated materials and target materials to corresponding production lines; the associated materials are materials used in the same production line as the target materials stored on the target shelf.

[0013] In a fourth aspect, an embodiment provides an automatic storage scheduling device, which is arranged on a server, and the device includes: A broadcast module, used for broadcasting a dispatch instruction to a plurality of robots, wherein the dispatch instruction is used for instructing the robots to start driving to the optimal shelf; A query module, configured to query the target material stored on the shelf corresponding to the shelf number when receiving feedback information sent by the target robot; the feedback information includes the shelf number detected when the target robot stops driving; The instruction generation module is used to generate a pickup instruction for delivering the material to the application production line according to the target material, and send the pickup instruction to the target robot.

[0014] In a fifth aspect, an embodiment of the present application further provides a robot, in which a program executable by a processor is stored, and the program executable by the processor, when executed by the processor, is used to implement the automatic warehouse scheduling method as described above.

[0015] In a sixth aspect, an embodiment of the present application further provides a server, in which a program executable by a processor is stored, and the program executable by the processor, when executed by the processor, is used to implement the automatic warehouse scheduling method as described above.

[0016] The beneficial effects of this application are: The embodiment of the present application starts from the state of the robot that provides transportation power, and sends the scheduling instruction to all robots, so that the robot that runs to the idle state first can perform the picking task first, balancing the number of tasks performed by different robots, thereby balancing the reasonable allocation of transportation resources. The robot that responds to the scheduling instruction can reasonably select the optimal form of the end point according to the current position, so as to avoid too many roadblocks in the route of the robot to the shelf, or the route of the robot to the shelf is too long. After the robot drives to the shelf, the shelf number of the target shelf at the end point is fed back to the server, so that the server can determine to retrieve the target material from the shelf first, and then drive to the storage shelf of the associated material of the target material to retrieve the associated material according to the actual location of the robot. In the above process, there is no need to pre-specify the picking plan, such as formulating a plan to pick up a certain material first and then a certain material, but to find the robot that is idle at the current time, and flexibly adjust the picking strategy according to the specific shelf where the idle robot arrives, to ensure that the retrieval of the distribution material is reasonable in the current scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the implementation environment of the embodiment of the present application; Figure 2 It is a flowchart of the steps of the automatic warehouse scheduling method proposed in the embodiment of the present application; Figure 3 This is a flowchart of the steps of an automatic warehouse scheduling method proposed in another embodiment of the present application; Figure 4 It is a functional module diagram of the automatic storage scheduling device proposed in the embodiment of the present application; Figure 5 It is a functional module diagram of an automatic warehouse scheduling device proposed in another embodiment of the present application. DETAILED DESCRIPTION

[0018] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0019] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0020] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0021] However, the traditional arrangement of production material distribution usually only starts from the needs of the production line, but ignores the actual situation of the delivery party, and cannot achieve effective coordination between the two. For example, arrange material distribution according to the production schedule of the production line, such as obtaining the production schedule of multiple production lines, judging whether the production line needs to replenish materials, and obtaining the need to replenish materials for four production lines, and then arrange workers to distribute materials according to the status of each production line.

[0022] The above arrangement ignores the configuration of transportation capacity and its current status; the location of workers is uncertain, and they may have other production tasks at the moment, which will affect transportation efficiency or cause other accidents. For example, some workers are assigned too many transportation tasks, resulting in an unbalanced distribution of tasks, or the current location of workers is far from the storage location of the materials to be delivered, and the workers pick up the materials to be delivered and store them on multiple shelves that are far apart, resulting in a cumbersome delivery journey.

[0023] In view of the above situation, an embodiment of the present application proposes an automatic warehouse scheduling, which starts from the status of the transport robot and combines the production progress of the production line to match more appropriate material distribution tasks for the transport robot to achieve more scientific and intelligent distribution.

[0024] Figure 1 is a schematic diagram of the implementation environment of the embodiment of the present application, such as Figure 1 As shown, multiple robots are connected to the server in communication. The server receives information fed back by the robots, analyzes and calculates it, and then sends instructions to some robots to assign material delivery tasks to each robot.

[0025] Figure 2 is a flowchart of the steps of the automatic warehouse scheduling method proposed in the embodiment of the present application, which is applied to robots, such as Figure 2 As shown, the steps include: S101: Respond to the dispatch instruction sent by the server, and after detecting that there is no task to be executed locally, drive to the optimal shelf that matches the material corresponding to the dispatch instruction.

[0026] The server can periodically detect the production progress of all production lines, and broadcast the scheduling instructions to some or all robots according to the progress of the production lines. For example, it is detected that the production task currently being executed by production line a will end, and the materials consumed by production line a include materials a, materials b, and materials c. The server determines the multiple end points required to generate the scheduling instructions: including at least one shelf for storing material a, at least one shelf for storing material b, and at least one shelf for storing material c; the terminal server generates the scheduling instructions based on the above determination, including: controlling the robot to drive from the current position to the optimal shelf among the above multiple shelves. If each of the at least one shelf for storing material a, at least one shelf for storing material b, and at least one shelf for storing material c corresponds to a driving end point, then the optimal shelf that matches the material corresponding to the scheduling instruction represents the optimal driving end point of the robot executing the scheduling instruction at the current time.

[0027] In one example, the dispatch instruction may be: drive from the current position to the optimal shelf among preset shelves, where the preset shelves include shelf a, shelf b, and shelf c.

[0028] Broadcast scheduling instructions to some or all robots, or the server can issue scheduling instructions upon receiving user instructions; the server filters out robots that are idle at the current time based on the robots' responses to the scheduling instructions.

[0029] The robot executing the scheduling instruction can select the shelf closest to the current position among multiple shelves as the optimal shelf for the material corresponding to the scheduling instruction, or can select the shelf with the most interactions with the robot in the historical time as the optimal shelf among multiple shelves, and after selecting the last shelf, take the optimal shelf as the destination and plan the route to the destination; or, the robot takes multiple shelves as the route destination, and after planning the route, selects the shelf corresponding to the route with the least obstacles as the optimal shelf.

[0030] The server can broadcast the scheduling instructions to each of the multiple robots. The scheduling instructions are stored in the queue of the robots' tasks to be executed. After the first robot with the least tasks completes the tasks arranged before the scheduling instructions, it starts to execute the scheduling instructions and drives to the optimal shelf. When the first robot drives to the optimal shelf, it can broadcast the arrival information to other second robots. The second robots delete the scheduling instructions in the local queue, thereby avoiding repeated execution of tasks and improving the overall utilization efficiency of the robots.

[0031] S102: reporting feedback information to the server; the feedback information includes the shelf number of the target shelf detected at the stop location.

[0032] After the robot drives to the optimal shelf, it detects the shelf number of the shelf at the stopping location, generates feedback information based on the shelf number, and reports the feedback information to the server to inform the server of the location where the material has been picked up.

[0033] The robot is equipped with a scanning device, an image acquisition device, etc., which collects the QR codes, icon numbers, etc. set on the shelves to obtain the shelf number of the target shelf.

[0034] After the robot responds to the scheduling instruction and arrives at the optimal shelf, it sends the target shelf corresponding to the actual arrival location to the server. The server determines the associated materials used in the same production line as the target material based on the target material that can be obtained based on the actual arrival location of the robot.

[0035] For example, the server periodically detects the production progress of the production line, and detects that the production task currently being executed by production line a will end. The materials consumed by production line a include material a, material b, and material c. It is determined that material a is stored on shelf A, material b is stored on shelf B, and material c is stored on shelf C. The server broadcasts the scheduling instruction to multiple robots. The scheduling instruction includes the positioning of shelf A, shelf B, and shelf C. Robot 1 first completes the local task and responds to the scheduling instruction. It calculates the distance between the current positioning and the positioning of shelf A, shelf B, and shelf C respectively, and determines that shelf A is the optimal shelf based on the distance. After the robot drives to the destination, it scans the shelf code at the stop location and feeds back the shelf number to the server. The server receives the shelf code fed back by the robot, determines that the target material is material a stored on shelf A, and materials b, material c and material a are used simultaneously in the production line to produce finished products. Therefore, it is determined that the associated materials are materials b and material c. The server generates a pickup instruction, which is used to control the robot to transport materials a, material b, and material c from the corresponding shelf to production line a.

[0036] Correspondingly, if the first robot to execute the scheduling instruction is robot 2, and robot 2 is closest to the shelf where material b is stored, then after the robot drives to the end point and stops, the shelf code fed back to the server corresponds to shelf B. The server determines that the target material is material b, and the associated materials are material a and material c. The server then generates a pickup instruction to transport material b, material a, and material c from the corresponding shelves to production line a.

[0037] S103: Execute a picking operation in response to the picking instruction returned by the server; the picking instruction is an operation instruction calculated by the server to transport the associated materials and the target materials to the corresponding production line; the associated materials are materials applied to the same production line as the target materials stored on the target shelf.

[0038] The embodiment of the present application starts from the state of the robot that provides transportation power, and sends the scheduling instruction to all robots, so that the robot that runs to the idle state first can perform the picking task first, balancing the number of tasks performed by different robots, thereby balancing the reasonable allocation of transportation resources. The robot that responds to the scheduling instruction can reasonably select the optimal form of the end point according to the current position, so as to avoid too many roadblocks in the route of the robot to the shelf, or the route of the robot to the shelf is too long. After the robot drives to the shelf, the shelf number of the target shelf at the end point is fed back to the server, so that the server can determine to retrieve the target material from the shelf first, and then drive to the storage shelf of the associated material of the target material to retrieve the associated material according to the actual location of the robot. In the above process, there is no need to pre-specify the picking plan, such as formulating a plan to pick up a certain material first and then a certain material, but to find the robot that is idle at the current time, and flexibly adjust the picking strategy according to the specific shelf where the idle robot arrives, to ensure that the retrieval of the distribution material is reasonable in the current scenario.

[0039] Factors affecting the current scenario include whether each robot is idle, whether there are obstacles on the route from one location to another, etc. The above-mentioned flexible adjustment of the picking strategy can reasonably arrange idle robots to perform material delivery tasks, and at the same time reasonably arrange the picking and delivery tasks based on the current scenario.

[0040] In one embodiment, the robot performs step S103 including sub-steps: S1031: When driving to the associated shelf storing the associated material, scan the material code stored in the associated shelf, and send the material code to the server.

[0041] The server receives the material code sent by the robot, verifies whether the robot has accurately reached the associated shelf and taken out the associated material. If the material code sent by the robot is recognized as the material code of the associated material, the server returns a confirmation message to the robot.

[0042] S1032: receiving a confirmation message sent by the server, and executing a pickup operation in response to a pickup instruction returned by the server.

[0043] Therefore, in a specific implementation method in which the server reasonably arranges the pickup and delivery tasks based on the current scenario, after querying the target material that the robot can pick up when it arrives at the location, it can determine the associated materials that are prepared at the same time as the target material based on the production line where the target material is used, and reasonably plan the pickup route based on the pickup location of the associated materials.

[0044] The server generates a pickup instruction for delivering the target material to the application production line according to the target material, including: K11: Determine the associated materials required for the target material to produce the finished product on the corresponding application production line; K12: Generate a travel path according to the first position of the target shelf corresponding to the target material and the second position of the associated shelf corresponding to the associated material.

[0045] The driving path is used to instruct the robot to select a target section from the second section and the third section, and to instruct the robot to select the first section a number of times; the first section is the section between the target shelf and the associated shelf storing the associated materials, the second section is the section between the associated shelf and the application production line, and the third section is the section between the target shelf and the application production line; In one example, if there are multiple shelves storing associated materials, a shelf closest to the target shelf may be selected as the associated shelf.

[0046] K13: Generate a pickup instruction based on the driving path.

[0047] K14: Send the pickup instruction to the target robot.

[0048] In one embodiment, the server may pre-plan a route 1 for the robot to travel from a first location to a second location, calculate the distance of the route, and calculate the time 1 taken for the robot responding to the scheduling instruction to travel to the second location along the pre-planned route based on the current warehouse scenario, such as the number of robots running in the warehouse and the location of the robots.

[0049] The server pre-plans a route 2 for the robot to travel from the first position to the application production line, and calculates the time 2 for the robot responding to the scheduling instruction to travel to the production line along the pre-planned route.

[0050] The server pre-plans a route 3 for the robot to travel from the second position to the application production line, and calculates the time 3 for the robot responding to the scheduling instruction to travel to the production line along the pre-planned route.

[0051] Among them, whether there are other robots on the route will also affect the time it takes for the robot to travel from one location to another.

[0052] If the sum of route 3 and route 1 is greater than the round-trip route, the round-trip route is the sum of route 2 and twice route 1, and the sum of time 3 and time 1 is greater than the round-trip time, the round-trip time is the sum of time 2 and twice time 1, and the generated driving path is: first position to second position, second position to first position, first position to application production line. The pickup instruction generated based on the driving path is: first drive from the first position to the second position, retrieve the associated materials, then drive from the second position to the first position, retrieve the target materials, and then drive from the first position to the application production line.

[0053] If the sum of route 3 and route 1 is greater than the round-trip route distance, but the sum of time 3 and time 1 is less than or equal to the round-trip time, it can be inferred that route 2 may have obstacles or other road conditions that are not suitable for driving, and the generated driving path is: from the first position to the second position, from the second position to the application production line. The pickup instructions generated based on the driving path are: retrieve the target material at the first position, drive from the first position to the second position, and after retrieving the associated materials, drive from the second position to the application production line.

[0054] If the sum of route 3 and route 1 is less than or equal to the round-trip route, and the sum of time 3 and time 1 is less than or equal to the round-trip time, the generated driving route is: from the first location to the second location, from the second location to the application production line. The pickup instructions generated based on the driving route are: retrieve the target material at the first location, drive from the first location to the second location, retrieve the associated material, and then drive from the second location to the application production line.

[0055] The robot receives the driving path sent by the server, and responds to the pickup instruction to perform the pickup operation according to the driving path.

[0056] After the above process determines the storage location of the materials to be delivered, the distance of the robot from the target material storage location to the associated material storage location can be pre-planned. The time it takes for the robot to travel to the associated material storage location can be further calculated. Combined with the distance and time the robot travels from the target material storage location to the application production line, and combined with the distance and time the robot travels from the target material storage location to the application production line, the robot's picking order and driving path can be flexibly generated. The robot's picking strategy and driving method are more suitable for the current scenario, avoiding long time spent on transporting materials due to line obstacles.

[0057] As production continues, materials may be consumed, and new materials may be put into storage. As the production line is upgraded, the materials used to produce the same product may also change. Based on this, the robot in the embodiment of the present application can also update the storage location of the materials during the execution of the material transport program to adapt to the production line's demand for material combinations. For example, to facilitate the use of materials, materials a, e, and f used in the same production line are stored on shelves in the same area. As the production method is upgraded, the materials required for the production of the same product on the production line change to materials a, b, and c, while the shelves storing materials b and c are placed in other areas. The robot needs to travel from one area to another each time it transports materials, which is inefficient.

[0058] In this application, the shelf is provided with a scanning device, and the material enters or leaves the warehouse through the scanning device. The scanning device scans the material code and uploads it to the server. The server identifies the material and records the material's exit and entry records. At the same time, the server recognizes that a new material is stored in a certain shelf, and establishes or updates the corresponding relationship between the new material and the shelf. The server can then locate the material based on the shelf code of the shelf, and find the storage shelf of the material through the corresponding relationship.

[0059] In the process of executing the material transport procedure, the robot can transport the materials to a centralized location, and the server detects that the materials are stored in the shelves and updates the corresponding relationship between the shelves and the materials. In one embodiment, the server can execute step K12 through the following sub-steps: K121: Determine whether the first position and the second position are adjacent.

[0060] K122: If the first position and the second position are adjacent to each other, select either the second road section or the third road section as the driving route.

[0061] Based on the output result of K122, the server may execute step K13 in the following manner: K131: After generating a pickup instruction for taking out the target material and the associated material, the target material and the associated material are delivered to the application production line.

[0062] Executing the pickup instruction generated by K131 can be specifically expressed as: after taking out the target material from the target shelf, move forward or backward a preset number of steps to the adjacent shelf, take out the related materials, and drive from the first position to the application production line according to the driving path.

[0063] K123: If the first position and the second position are not adjacent, query whether the first adjacent shelf of the associated shelf is empty, and whether the second adjacent shelf of the target shelf is empty.

[0064] K124: If the first adjacent shelf is empty, generate a driving path that executes the first road section first and then the second road section.

[0065] If the first adjacent shelf is empty, the generated driving path can be specifically expressed as: from the first position to the second position, and from the second position to the application production line.

[0066] Based on the output result of K124, the server executes step K13 through the following sub-steps: K132: Generate a pickup instruction for taking out the target material, transporting part of the target material to the first adjacent shelf, taking out the associated material, and delivering the target material and the associated material to the application production line.

[0067] Executing the pickup instruction generated by K132 can be specifically expressed as: after taking out the target material from the target shelf, drive from the first position to the second position, take out the associated materials, store part of the target material on the first adjacent shelf of the associated shelf, and drive from the second position to the application production line according to the driving path.

[0068] K125: If the second adjacent shelf is empty, generate a driving path that executes the first section twice and then executes the third section.

[0069] If the first adjacent shelf is empty, the generated driving path can be specifically expressed as: from the first position to the second position, from the second position to the first position, and from the first position to the application production line.

[0070] Based on the output result of K125, the server executes step K13 through the following sub-steps: K133: If the second adjacent shelf is empty, generate a pickup instruction for driving to the associated shelf to take out the associated material, transporting part of the associated material to the second adjacent shelf, then taking out the target material, and delivering the target material and the associated material to the application production line.

[0071] Executing the pickup instruction generated by K133 can be specifically expressed as: driving from the first position to the second position, taking out related materials, then driving from the second position to the first position, storing some related materials on the second adjacent shelf of the target shelf, taking out the target materials from the target shelf, and driving from the second position to the application production line according to the driving path.

[0072] The server recognizes that the target material is stored in the first adjacent shelf, and establishes a corresponding relationship between the first adjacent shelf and the target material. The server recognizes that the associated material is stored in the second adjacent shelf, and establishes a corresponding relationship between the second adjacent shelf and the target material. Therefore, the next time the target material and associated material required by the application production line need to be delivered to the application production line, the robot can complete the pickup from the adjacent shelf in the same area, simplifying the robot's pickup process. At the same time, based on the above method, the storage location of the material can be updated. In the process of picking up materials, the storage location of the material can be adjusted regardless of changes in the multiple materials required by the production line, simplifying the subsequent robot material delivery process.

[0073] If the first adjacent shelf and the second adjacent shelf are not empty, then according to other embodiments, the driving path of the robot is determined by comparing the total distance of the second section and the third section.

[0074] Figure 3 This is a flowchart of the steps of the automatic storage scheduling method proposed in another embodiment of the present application, which is applied to a server, such as Figure 3 As shown, the steps include: S201: Broadcasting a scheduling instruction to multiple robots, wherein the scheduling instruction is used to instruct the robots to start driving to the optimal shelf.

[0075] S202: When receiving feedback information sent by the target robot, query the target material stored on the shelf corresponding to the shelf number; the feedback information includes the shelf number detected when the target robot stops driving.

[0076] The target robot is the first robot to respond to the dispatch instruction.

[0077] S203: Generate a pickup instruction for delivering the material to the application production line according to the target material, and send the pickup instruction to the target robot so that the robot transports the target material to the application production line according to the pickup instruction.

[0078] For the specific implementation of the automatic warehouse scheduling method on the server side, please refer to other embodiments of the robot side of the embodiments of the present application, and this application will not go into details.

[0079] Figure 4 is a functional module diagram of the automatic storage scheduling device proposed in the embodiment of the present application, such as Figure 4 As shown, the automatic storage scheduling device is arranged on the robot, including: The detection module 41 is used to respond to the dispatch instruction sent by the server, and after detecting that there is no task to be executed locally, drive to the optimal shelf that matches the material corresponding to the dispatch instruction.

[0080] The information reporting module 42 is used to report feedback information to the server; the feedback information includes the shelf number of the target shelf detected at the stop location.

[0081] The instruction execution module 43 is used to execute the picking operation in response to the picking instruction returned by the server; the picking instruction is an operation instruction calculated by the server to transport the associated materials and the target materials to the corresponding production line; the associated materials are materials used in the same production line as the target materials stored on the target shelf.

[0082] Figure 4 The implementation principle and technical effects of the automatic warehouse scheduling device provided in the illustrated embodiment may be further referred to the relevant description in the embodiment of the automatic warehouse scheduling method.

[0083] Optionally, the device further comprises: A receiving module is used to receive a driving path sent by a server; the driving path is used to instruct the robot to select a target section from the second section and the third section for driving, and to instruct the robot to select the first section for driving a number of times; the first section is the section between the target shelf and the associated shelf storing the associated materials, and the second section is the section between the associated shelf and the application production line; The instruction execution module is specifically used to execute a pickup operation according to the driving route and in response to the pickup instruction returned by the server.

[0084] Optionally, the instruction execution module includes: An information sending submodule, for, when driving to an associated shelf storing the associated material, scanning the material code stored on the associated shelf, and sending the material code to a server; The message receiving submodule is used to execute a pickup operation in response to a pickup instruction returned by the server when receiving a confirmation message sent by the server.

[0085] Figure 5 is a functional module diagram of an automatic storage scheduling device proposed in another embodiment of the present application, such as Figure 5 As shown, the automatic storage scheduling device is set on the server, including: A broadcast module 51, used for broadcasting a scheduling instruction to a plurality of robots, wherein the scheduling instruction is used for instructing the robots to start driving to the optimal shelf; A query module 52 is used to query the target material stored on the shelf corresponding to the shelf number when receiving the feedback information sent by the target robot; the feedback information includes the shelf number detected when the target robot stops driving; The instruction generation module 53 is used to generate a pickup instruction for delivering the material to the application production line according to the target material, and send the pickup instruction to the target robot.

[0086] Figure 5 The implementation principle and technical effects of the automatic warehouse scheduling device provided in the illustrated embodiment may be further referred to the relevant description in the embodiment of the automatic warehouse scheduling method.

[0087] Optionally, the instruction generation module includes: A determination submodule is used to determine the associated materials required for the target material to produce the finished product by the application production line; A path generation submodule is used to generate a driving path according to a first position of a target shelf corresponding to the target material and a second position of an associated shelf corresponding to the associated material; the driving path is used to instruct the robot to select a target section from the second section and the third section for driving, and to instruct the robot to select the first section for times; the first section is a section between the target shelf and an associated shelf storing the associated material, the second section is a section between the associated shelf and an application production line, and the third section is a section between the target shelf and the application production line; An instruction generation submodule, used for generating a pickup instruction based on the driving path; The sending submodule is used to send the pickup instruction and the driving path to the target robot.

[0088] Optionally, the path generation submodule is specifically configured to select any one of the second road section and the third road section as the driving path if the first position and the second position are adjacent; The instruction generation submodule is specifically used to generate a pickup instruction for delivering the target material and the associated material to the application production line after taking out the target material and the associated material.

[0089] Optionally, the path generation submodule is specifically used to query whether the first adjacent shelf of the associated shelf is empty and whether the second adjacent shelf of the target shelf is empty if the first position and the second position are not adjacent; if the first adjacent shelf is empty, generate a driving path that first executes the first section and then executes the second section; if the second adjacent shelf is empty, generate a driving path that first executes the first section twice and then executes the third section; The instruction generation submodule is specifically used to generate a pickup instruction for taking out the target material, transporting part of the target material to the first adjacent shelf, taking out the related materials, and delivering the target material and the related materials to the application production line if the first adjacent shelf is empty; and to generate a pickup instruction for driving to the related shelf to take out the related materials, transporting part of the related materials to the second adjacent shelf, taking out the target material, and delivering the target material and the related materials to the application production line if the second adjacent shelf is empty.

[0090] Regarding the various modules / units included in the various devices described in the above embodiments, they can be software modules / units, or hardware modules / units, or they can be partially software modules / units and partially hardware modules / units. For example, for various devices applied to or integrated in a chip, the various modules / units included therein can all be implemented in the form of hardware such as circuits, or at least some of the modules / units can be implemented in the form of software programs, which run on a processor integrated inside the chip, and the remaining modules / units can be implemented in the form of hardware such as circuits; for various devices applied to or integrated in a chip module, the various modules / units included therein can all be implemented in the form of hardware such as circuits, and different modules / units can be located in the same component of the chip module (such as a chip, circuit module, etc.) or in different components, or at least some of the modules / units can be implemented in the form of software programs. The software program may be implemented in the form of a program, which runs on a processor integrated in the chip module, and the remaining modules / units may be implemented in the form of hardware such as circuits; for each device applied to or integrated in the electronic terminal device, each module / unit contained therein may be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (for example, a chip, a circuit module, etc.) or in different components in the electronic terminal device, or at least some modules / units may be implemented in the form of a software program, which runs on a processor integrated in the electronic terminal device, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits.

[0091] In one embodiment of the present application, a computer-readable storage medium is provided, on which a program is stored. The stored program includes a method that can be loaded by a processor and process any one of the above embodiments.

[0092] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above-mentioned embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and can be downloaded or copied and saved in the memory of the local device, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0093] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For technicians in the technical field to which the present application belongs, they can also make some simple deductions, deformations or substitutions based on the ideas of the present application.

Claims

1. An automatic warehouse scheduling method, characterized in that: The method is applied to a robot, and the method comprises: Respond to the dispatch instruction sent by the server, and after checking that there is no task to be executed locally, drive to the optimal shelf that matches the material corresponding to the dispatch instruction; Reporting feedback information to the server; the feedback information includes the shelf number of the target shelf detected at the stop location; The picking operation is performed in response to the picking instruction returned by the server; the picking instruction is an operation instruction calculated by the server to transport the associated materials and the target materials to the corresponding production line; the associated materials are materials used in the same production line as the target materials stored on the target shelf.

2. The method according to claim 1, characterized in that The method further comprises: Receive a driving path sent by a server; the driving path is used to instruct the robot to select a target section from the second section and the third section, and to instruct the robot to select the first section a number of times; the first section is a section between the target shelf and an associated shelf storing the associated materials, and the second section is a section between the associated shelf and an application production line; Responding to the pickup instruction returned by the server and executing the pickup operation, including: According to the driving route, a pickup operation is performed in response to the pickup instruction returned by the server.

3. The method according to claim 1, characterized in that Responding to the pickup instruction returned by the server and executing the pickup operation, including: When driving to the associated shelf storing the associated material, scanning the material code stored in the associated shelf, and sending the material code to the server; Receive the confirmation message sent by the server, and execute the pickup operation in response to the pickup instruction returned by the server.

4. An automatic warehouse scheduling method, characterized in that: Applied to a server, the method comprises: Broadcasting a scheduling instruction to a plurality of robots, wherein the scheduling instruction is used to instruct the robots to start driving to the optimal shelf; When receiving feedback information sent by the target robot, query the target material stored on the shelf corresponding to the shelf number; the feedback information includes the shelf number detected when the target robot stops driving; According to the target material, a pickup instruction for delivering the material to the application production line is generated, and the pickup instruction is sent to the target robot.

5. The method according to claim 4, characterized in that According to the target material, a pickup instruction is generated to deliver the material to the application production line, including: Determine the associated materials required for the target material to produce the finished product by the application production line; A driving path is generated according to the first position of the target shelf corresponding to the target material and the second position of the associated shelf corresponding to the associated material; the driving path is used to instruct the robot to select the target section from the second section and the third section, and to instruct the robot to select the first section for driving; the first section is the section between the target shelf and the associated shelf storing the associated material, the second section is the section between the associated shelf and the application production line, and the third section is the section between the target shelf and the application production line; Generate a pickup instruction based on the driving path; The pickup instruction and the driving path are sent to the target robot.

6. The method according to claim 5, characterized in that Generate a driving path according to a first position of a target shelf corresponding to the target material and a second position of an associated shelf corresponding to the associated material, including: If the first position and the second position are adjacent, selecting either the second road section or the third road section as the driving route; Generating a pickup instruction based on the driving path includes: After generating a pickup instruction for taking out the target material and the associated material, the target material and the associated material are delivered to the application production line.

7. The method according to claim 5, characterized in that Generate a driving path according to a first position of a target shelf corresponding to the target material and a second position of an associated shelf corresponding to the associated material, including: If the first position and the second position are not adjacent, query whether the first adjacent shelf of the associated shelf is empty, and whether the second adjacent shelf of the target shelf is empty; If the first adjacent shelf is empty, generating a driving route that first executes the first road section and then executes the second road section; If the second adjacent shelf is empty, generating a driving route that first executes the first section twice and then executes the third section; Generating a pickup instruction based on the driving path includes: If the first adjacent shelf is empty, a pickup instruction is generated to take out the target material, transport part of the target material to the first adjacent shelf, take out the associated material, and deliver the target material and the associated material to the application production line; If the second adjacent shelf is empty, a pickup instruction is generated to drive to the associated shelf to take out the associated materials, transport part of the associated materials to the second adjacent shelf, then take out the target material, and deliver the target material and the associated materials to the application production line.

8. An automatic storage scheduling device, characterized in that: The device comprises: The detection module is used to respond to the dispatch instruction issued by the server, detect that there is no task to be executed locally, and then drive to the optimal shelf that matches the material corresponding to the dispatch instruction; An information reporting module, used for reporting feedback information to the server; the feedback information includes the shelf number of the target shelf detected at the stop location; An instruction execution module is used to execute a pickup operation in response to a pickup instruction returned by the server; the pickup instruction is an operation instruction calculated by the server to transport associated materials and target materials to corresponding production lines; the associated materials are materials used in the same production line as the target materials stored on the target shelf.

9. A robot, characterized in that: The method comprises at least one processor and at least one memory connected to the processor; the memory stores program instructions for being executed by the processor, and the processor calls the program instructions to execute any one of the methods described in claims 1 to 3.

10. A server, characterized in that: It comprises at least one processor and at least one memory connected to the processor; the memory stores program instructions for being executed by the processor, and the processor calls the program instructions to execute any method according to claims 4 to 7.

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