Storage robot avoidance mode determination method and device and electronic equipment

Abstract

The embodiment of the invention provides a storage robot avoidance mode determination method and device and electronic equipment, and the method comprises the steps: determining whether a conflict region exists or not according to the obtained height information and position information in a first planning path of a first storage robot and the obtained height information and position information in a second planning path of a second storage robot; under the condition that the conflict area exists, obtaining time information that the first storage robot passes through the conflict area and time information that the second storage robot passes through the conflict area; according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot, whether avoidance is needed or not is determined, and under the condition that avoidance is needed, the conflict type is determined according to the position information in the first planning path and the second planning path; and according to the robot types and the conflict types of the two storage robots, determining an avoidance mode. The avoiding efficiency of the storage robot can be improved under the condition that the conflict area is accurately detected.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a method, device and electronic equipment for determining an avoidance mode for a warehousing robot. Background Art

[0002] In a warehousing environment, warehouse robots transporting goods is an efficient logistics solution. However, when multiple warehouse robots are working at the same time, the warehouse robots need to have obstacle avoidance capabilities to ensure safe movement in complex warehouse environments. At present, the commonly used method is to identify whether different warehouse robots pass through the same path point within a preset time, determine the congested area based on the same path point passed by different warehouse robots, and then select a path that does not pass through the congested area or a path that passes through less congested areas from the multiple paths planned by the warehouse robots. However, this solution only considers conflicts on the same plane. In fact, a robot that passes through a congested area does not necessarily collide with other robots that pass through congested areas, and this solution has the problem that the path cannot be avoided. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device and electronic device for determining the avoidance mode of a warehouse robot, so as to improve the avoidance efficiency of the warehouse robot while accurately detecting the conflict area. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a method for determining an avoidance mode of a warehouse robot, the method comprising:

[0005] Acquire height information and position information of a first planned path of a first storage robot and height information and position information of a second planned path of a second storage robot;

[0006] Determine whether there is a conflict area according to the height information and the position information in the first planned path and the second planned path;

[0007] In the case where there is a conflict area, obtaining time information of the first storage robot passing through the conflict area and time information of the second storage robot passing through the conflict area;

[0008] Determine whether avoidance is required according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot;

[0009] In the case where avoidance is required, determining the conflict type according to the position information in the first planned path and the second planned path;

[0010] An avoidance method is determined according to the robot types of the two warehouse robots and the conflict type.

[0011] In a possible implementation manner, determining whether there is a conflict area according to the altitude information and the position information in the first planned path and the second planned path includes:

[0012] If the height information in the first planned path and the height information in the second planned path overlap, determining the intersection of the position information in the first planned path and the position information in the second planned path;

[0013] If they intersect, a conflicting area including the position information in the first planned path and the position information in the second planned path is determined.

[0014] In a possible implementation, determining whether avoidance is required based on time information corresponding to the first warehouse robot and time information corresponding to the second warehouse robot includes: if there is overlap in the time when the first warehouse robot and the second warehouse robot enter and exit the conflict area, determining that avoidance is required.

[0015] In a possible implementation, when avoidance is required, determining the conflict type according to the position information in the first planned path and the second planned path includes:

[0016] Determine a first path vector of the first storage robot in the conflict area according to the position information of the first planned path and the position information of the second planned path in the conflict area. and a second path vector of the second storage robot in the conflict area ;

[0017] If the first path vector and the second path vector The angle formed is an obtuse angle, and the conflict type is an opposite conflict;

[0018] If the first path vector and the second path vector The angle formed is not an obtuse angle, and the conflict type is a same-direction conflict.

[0019] In a possible implementation manner, the conflict types include opposite-direction conflicts and same-direction conflicts;

[0020] The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes:

[0021] When both warehouse robots are ordinary warehouse robots and the conflict type is a same-direction conflict, the order in which the two warehouse robots enter the conflict area is determined. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. An ordinary warehouse robot is a warehouse robot whose height remains unchanged during driving.

[0022] In a possible implementation manner, the conflict types include opposite-direction conflicts and same-direction conflicts;

[0023] The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes:

[0024] When both warehouse robots are ordinary warehouse robots, and the conflict type is opposite conflict, and both warehouse robots are not located in the conflict area, the order in which the two warehouse robots enter the conflict area is determined, the warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits, and the ordinary warehouse robot is a warehouse robot whose height does not change during driving;

[0025] When both storage robots are ordinary storage robots, and the conflict type is an opposite conflict, and there is a storage robot located in the conflict area, the storage robot located in the conflict area searches for a first alternative path that avoids the conflict area; and drives along the first alternative path.

[0026] In a possible implementation manner, the conflict types include opposite-direction conflicts and same-direction conflicts;

[0027] The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes:

[0028] When there is an overhead rail transport robot among the two warehouse robots, and the conflict type is a same-direction conflict, the order in which the two warehouse robots enter the conflict area is determined. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. The overhead rail transport robot is a warehouse robot whose height can be changed in the vertical direction during driving, and the overhead rail transport robot moves horizontally along the guide rail.

[0029] In a possible implementation manner, the conflict types include opposite-direction conflicts and same-direction conflicts;

[0030] The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes:

[0031] When there is an overhead rail transport robot among the two warehouse robots, and the conflict type is an opposite conflict, and both warehouse robots are not located in the conflict area, the order in which the two warehouse robots enter the conflict area is determined, the warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. The overhead rail transport robot is a warehouse robot whose height can be changed in the vertical direction during driving, and the overhead rail transport robot moves horizontally along the guide rail;

[0032] When there is an overhead rail transport robot among the two storage robots, and the conflict type is an opposite conflict, and there is a storage robot located in the conflict area, the overhead rail transport robot avoids the non-overhead rail transport robot by adjusting its own height.

[0033] In a possible implementation manner, the overhead rail transport robot avoids the non-overhead rail transport robot by adjusting its own height, including:

[0034] The ceiling rail transport robot determines to update the height information according to the height information of the non-ceiling rail transport robot and the preset height value;

[0035] The Skyrail transport robot increases its own height according to the updated height information to avoid the non-Skyrail transport robot;

[0036] The method further comprises:

[0037] If the updated height information is greater than the maximum height of the ceiling rail transport robot, the non-ceiling rail transport robot searches for an alternative planned path that avoids the conflict area;

[0038] The non-ceiling rail transport robot travels along the alternative planned path.

[0039] In a second aspect, an embodiment of the present application provides a device for determining an avoidance mode of a storage robot, the device comprising:

[0040] An acquisition module, used to acquire height information and position information in a first planned path of the first storage robot and height information and position information in a second planned path of the second storage robot;

[0041] A conflict area determination module, used to determine whether there is a conflict area according to the height information and the position information in the first planned path and the second planned path;

[0042] A time information acquisition module, used to acquire time information of the first storage robot passing through the conflict area and time information of the second storage robot passing through the conflict area when there is a conflict area;

[0043] An avoidance module, used to determine whether avoidance is required according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot;

[0044] A conflict type determination module, used to determine the conflict type according to the position information in the first planned path and the second planned path when avoidance is required;

[0045] The avoidance mode determination module is used to determine the avoidance mode according to the robot types of the two storage robots and the conflict type.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0047] Memory, used to store computer programs;

[0048] The processor is used to implement any of the above-mentioned methods for determining the avoidance mode of the storage robot when executing the program stored in the memory.

[0049] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned methods for determining the avoidance manner of a storage robot.

[0050] The method for determining the avoidance mode of a storage robot provided in an embodiment of the present application determines whether there is a conflict area according to the height information and position information in the first planned path of the first storage robot and the height information and position information in the second planned path of the second storage robot by obtaining the height information and position information in the first planned path and the second planned path; if there is a conflict area, obtain the time information of the first storage robot passing through the conflict area and the time information of the second storage robot passing through the conflict area; determine whether avoidance is required according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot, and if avoidance is required, determine the conflict type according to the position information in the first planned path and the second planned path; determine the avoidance mode according to the robot types of the two storage robots and the conflict type. It is possible to improve the avoidance efficiency of the storage robot while accurately detecting the conflict area.

[0051] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0053] Figure 1 A flow chart of a method for determining an avoidance mode for a storage robot provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of a sky rail transport robot;

[0055] Figure 3 A schematic diagram of the conflict zone;

[0056] Figure 4A schematic diagram of a structure of a device for determining an avoidance mode for a storage robot provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0059] In a warehousing environment, warehouse robots transporting goods is an efficient logistics solution. However, when multiple warehouse robots are working at the same time, the warehouse robots need to have obstacle avoidance capabilities to ensure safe movement in complex warehouse environments. At present, the commonly used method is to identify whether different warehouse robots pass through the same path point within a preset time, determine the congested area based on the same path point passed by different warehouse robots, and then select a path that does not pass through the congested area or a path that passes through less congested areas from the multiple paths planned by the warehouse robots. However, this solution only considers conflicts on the same plane. In fact, a robot that passes through a congested area does not necessarily collide with other robots that pass through congested areas, and this solution has the problem that the path cannot be avoided.

[0060] To this end, the first aspect of the present application provides a method for determining an avoidance mode for a storage robot, see Figure 1 , the method comprising:

[0061] S101, obtaining height information and position information of a first planned path of a first storage robot and height information and position information of a second planned path of a second storage robot.

[0062] The overlapping space formed by the first planned path and the second planned path in space is called the conflict area. It is understandable that only when there are at least two warehouse robots in the warehouse environment, the warehouse robots are likely to collide, so it is necessary to take measures to avoid them. The conflict area is generally the overlapping space formed by the planned paths of two warehouse robots. Assuming that there are three warehouse robots A, B, and C, each with a planned path, the conflict area detection is the overlap detection of A's planned path and B's planned path, and then the overlap detection of A's planned path and C's planned path, and finally the overlap detection of B's ​​planned path and C's planned path.

[0063] The planned path includes not only the path of the warehouse robot on the horizontal plane, but also the height information of the warehouse robot during the driving process. This height information generally refers to the height of the goods being delivered by the warehouse robot.

[0064] S102: Determine whether there is a conflicting area according to the altitude information and the position information in the first planned path and the second planned path.

[0065] Among them, the position information generally refers to the position where the storage robot moves on the horizontal plane, and the position information reflects the path of the storage robot on the horizontal plane.

[0066] S103: When there is a conflict area, obtain time information when the first storage robot passes through the conflict area and time information when the second storage robot passes through the conflict area.

[0067] For two warehouse robots to collide, it is not enough to have a conflict area. For example, the planned paths of two existing warehouse robots are exactly the same, but one works during the day and the other works at night. In this case, the two warehouse robots will not collide at all, so there is no need to avoid. In the embodiment of the present application, it is necessary not only to determine whether there is a conflict area but also to determine whether avoidance is required. For this purpose, it is necessary to obtain the time information corresponding to the warehouse robots in the conflict area, and determine whether there is a possibility of collision between the two warehouse robots based on the time information corresponding to the first warehouse robot in the conflict area and the time information corresponding to the second warehouse robot in the conflict area.

[0068] On the one hand, by obtaining the time information of the warehouse robot at each path point, the corresponding time information of the warehouse robot in the conflict area can be obtained, that is, the time when the warehouse robot enters the conflict area and the time when it leaves the conflict area. On the other hand, the time and driving speed of the warehouse robot when entering the conflict area can also be obtained. Since the planned path of the warehouse robot is known, the time when the warehouse robot leaves the conflict area can be estimated, and the time when the warehouse robot enters the conflict area and leaves the conflict area can be obtained.

[0069] S104. Determine whether avoidance is required based on the time information corresponding to the first storage robot and the time information corresponding to the second storage robot.

[0070] S105: When avoidance is required, determine the conflict type according to the position information in the first planned path and the second planned path.

[0071] When avoidance is required, that is, the two storage robots are bound to conflict in space, at this time, it is necessary to further determine the conflict type based on the position information in the first planned path and the second planned path.

[0072] S106: Determine an avoidance method according to the robot types of the two storage robots and the conflict types.

[0073] The robot types include ordinary storage robots and Sky Transfer Unit (STU). Ordinary storage robots do not move at the same height during operation, which is the configured height. The configured height is related to the load of the ordinary storage robot. When ordinary storage robots plan their paths, they consider the height status when judging whether a certain location is passable. If the height is greater than the height allowed by the map, the map area is impassable. Sky Transfer Robots can only move within a certain plane. For details, see Figure 2 The movement direction of the overhead rail transport robot is horizontal movement along the guide rail. The mechanism 201 for delivering objects moves up and down in the vertical direction.

[0074] The method for determining the avoidance mode of a storage robot provided in an embodiment of the present application determines whether there is a conflict area according to the height information and position information in the first planned path of the first storage robot and the height information and position information in the second planned path of the second storage robot by obtaining the height information and position information in the first planned path and the second planned path; if there is a conflict area, obtain the time information of the first storage robot passing through the conflict area and the time information of the second storage robot passing through the conflict area; determine whether avoidance is required according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot, and if avoidance is required, determine the conflict type according to the position information in the first planned path and the second planned path; determine the avoidance mode according to the robot types of the two storage robots and the conflict type. It is possible to improve the avoidance efficiency of the storage robot while accurately detecting the conflict area.

[0075] In an example, the above step S102 may specifically include:

[0076] S201: If the height information in the first planned path and the height information in the second planned path overlap, determine the intersection of the position information in the first planned path and the position information in the second planned path.

[0077] If the height information in the first planned path and the height information in the second planned path overlap, it means that the heights of the goods being delivered by the two storage robots are similar, and such two storage robots are likely to collide, so it is necessary to further determine the intersection of the two storage robots on the horizontal plane. Specifically, the intersection of the two storage robots on the horizontal plane can be determined by observing whether the position information in the first planned path and the position information in the second planned path intersect.

[0078] If there is no overlap between the height information in the first planned path and the height information in the second planned path, it can be determined that the two storage robots do not overlap in space and no subsequent processing is performed.

[0079] S202: If they intersect, determine a conflicting area including the position information in the first planned path and the position information in the second planned path.

[0080] The conflict area is an area obtained by taking the intersection of the position information in the first planned path and the position information in the second planned path.

[0081] In an example, the above step S104 may specifically include:

[0082] If the time when the first storage robot and the second storage robot enter and exit the conflict area overlaps, it is determined that avoidance is required.

[0083] If the time when two storage robots enter and exit the conflict area overlaps, it means that the probability of a collision between the two storage robots is very high, and measures need to be taken to avoid it.

[0084] In an example, the above step S105 may specifically include:

[0085] S301, determining a first path vector of the first storage robot in the conflict area according to the position information of the first planned path and the position information of the second planned path in the conflict area and a second path vector of the second storage robot in the conflict area .

[0086] See also Figure 3 , in the conflict region 101, the first path vector and the second path vector The angle formed between them is θ. It can be observed that the range of the angle θ is 0°≤θ≤180°.

[0087] S302: If the first path vector and the second path vector The angle formed is an obtuse angle and the conflict type is an opposite conflict.

[0088] S303: If the first path vector and the second path vector The angle formed is not an obtuse angle, and the conflict type is a same-direction conflict.

[0089] First path vector and the second path vector The angle between them is θ;

[0090]

[0091] When cos(θ) ≥ 0, the conflict type is a same-direction conflict;

[0092] When cos(θ)<0, the conflict type is opposite conflict.

[0093] In an example, the above step S106 may specifically include:

[0094] When both warehouse robots are ordinary warehouse robots and the conflict type is a same-direction conflict, the order in which the two warehouse robots enter the conflict area is determined. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. An ordinary warehouse robot is a warehouse robot whose height remains unchanged during driving.

[0095] When the two warehouse robots are both ordinary warehouse robots, and the conflict type is a same-direction conflict, after determining the order in which the two warehouse robots enter the conflict area, a first-come-first-served strategy is adopted. The warehouse robot that enters the conflict area first can drive normally according to the planned path, and the warehouse robot that enters the conflict area later needs to wait for a preset time before entering the conflict area. The preset time can be set according to the time it takes for the warehouse robot that enters the conflict area first to pass through the conflict area, in order to avoid the warehouse robot that enters the conflict area later and the warehouse robot that enters the conflict area first to collide in the conflict area.

[0096] In an example, the above step S106 may specifically include:

[0097] When both warehouse robots are ordinary warehouse robots, and the conflict type is opposite conflict, and both warehouse robots are not located in the conflict area, determine the order in which the two warehouse robots enter the conflict area. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. The ordinary warehouse robot is a warehouse robot whose height remains unchanged during driving;

[0098] When both storage robots are ordinary storage robots, and the conflict type is an opposite conflict, and there is a storage robot located in the conflict area, the storage robot located in the conflict area searches for a first alternative path that avoids the conflict area; and drives along the first alternative path.

[0099] When both storage robots are ordinary storage robots, the conflict type is an opposite conflict, and both storage robots are not located in the conflict area, the first-arrival-first-pass strategy is still adopted.

[0100] When both warehouse robots are ordinary warehouse robots, and the conflict type is opposite conflict, and there is a warehouse robot in the conflict area, the warehouse robot in the conflict area will give way. The warehouse robot in the conflict area can be the first warehouse robot or the second warehouse robot. The warehouse robot in the conflict area searches for a first alternative path to avoid the conflict area; then it drives along the first alternative path. If the warehouse robot in the conflict area does not find an alternative path to avoid the conflict area, it abandons the current planned path and can choose to stop moving.

[0101] When both storage robots are ordinary storage robots, and the conflict type is opposite conflict, and the first storage robot and the second storage robot are both in the conflict area, the storage robot with a lower priority will actively avoid and find an alternative path to avoid the conflict area; then it will drive along the alternative path, and the storage robot with a higher priority can continue to drive along the original planned path. If the priorities of the two storage robots are the same, since at most one storage robot can avoid at a time, any storage robot can be selected to actively avoid. If it cannot be avoided, an alarm will be issued.

[0102] In an example, the above step S106 may specifically include:

[0103] When there is an overhead rail transport robot among two warehouse robots and the conflict type is a same-direction conflict, the order in which the two warehouse robots enter the conflict area is determined. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. The overhead rail transport robot is a warehouse robot whose height can change in the vertical direction during driving, and the overhead rail transport robot moves horizontally along the guide rail.

[0104] When there is a ceiling rail transport robot among the two storage robots and the conflict type is a same-direction conflict, the first-arrival-first-pass strategy is still adopted.

[0105] In an example, the above step S106 may specifically include:

[0106] When there is an overhead rail transport robot among the two warehouse robots, and the conflict type is an opposite conflict, and both warehouse robots are not in the conflict area, determine the order in which the two warehouse robots enter the conflict area. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. The overhead rail transport robot is a warehouse robot whose height can change in the vertical direction during driving, and the overhead rail transport robot moves horizontally along the guide rail;

[0107] When there is a ceiling rail transport robot among the two storage robots, and the conflict type is an opposite conflict, and there is a storage robot located in the conflict area, the ceiling rail transport robot avoids the non-ceiling rail transport robot by adjusting its own height.

[0108] When there is a ceiling rail transport robot among the two storage robots, and the conflict type is an opposite conflict, and both storage robots are not in the conflict area, the first-arrival-first-pass strategy is still adopted.

[0109] When there is a ceiling rail transport robot among two warehouse robots, and the conflict type is an opposite conflict, and there is a warehouse robot located in the conflict area, the warehouse robot located in the conflict area can be a ceiling rail transport robot or a non-ceiling rail transport robot; the ceiling rail transport robot determines the updated height information according to the height information of the non-ceiling rail transport robot and the preset height value; the ceiling rail transport robot increases its own height according to the updated height information to avoid the non-ceiling rail transport robot.

[0110] The preset height value is a fixed empirical value, which may be 50 mm, etc. The ceiling rail transport robot determines the updated height information obtained based on the height information of the non-ceiling rail transport robot and the preset height value, which is a height value greater than the sum of the height information of the non-ceiling rail transport robot and the preset height value.

[0111] In one example, the method further comprises:

[0112] If the updated height information is greater than the maximum height of the Skyrail transport robot, the non-Skyrail transport robot searches for an alternative planning path that avoids the conflict area;

[0113] The non-ceiling rail transport robot travels along the alternative planned path.

[0114] If the minimum updated height information determined by the overhead rail transport robot is greater than the upper limit 202 of the overhead rail transport robot (203 in the figure is the lower limit of the overhead rail transport robot), then the non-overhead rail transport robot will choose an alternative path to avoid the conflict area. If it cannot be avoided, the non-overhead rail transport robot will abandon the currently planned path and can choose to stop moving.

[0115] In the embodiment of the present application, there will be no conflict between the overhead rail transport robots, because the spatial interference between the overhead rail transport robots will be completely avoided from the layout, so there is no need to consider dealing with the spatial conflict between the two.

[0116] In a second aspect, the present application also provides a device for determining an avoidance mode of a storage robot, see Figure 4 , the device comprises:

[0117] An acquisition module 301 is used to acquire height information and position information in a first planned path of a first storage robot and height information and position information in a second planned path of a second storage robot;

[0118] A conflict area determination module 302 is used to determine whether there is a conflict area according to the height information and the position information in the first planned path and the second planned path;

[0119] The time information acquisition module 303 is used to acquire the time information of the first storage robot passing through the conflict area and the time information of the second storage robot passing through the conflict area when there is a conflict area;

[0120] The avoidance module 304 is used to determine whether avoidance is required according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot;

[0121] A conflict type determination module 305, for determining the conflict type according to the position information in the first planned path and the second planned path when avoidance is required;

[0122] The avoidance mode determination module 306 is used to determine the avoidance mode according to the robot types of the two storage robots and the conflict type.

[0123] The present application also provides an electronic device, such as Figure 5 As shown, including:

[0124] Memory 401, used for storing computer programs;

[0125] The processor 402 is used to implement any of the above-mentioned methods for determining the avoidance mode of the storage robot when executing the program stored in the memory 401.

[0126] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 402, the communication interface, and the memory 401 communicate with each other via the communication bus.

[0127] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0128] The communication interface is used for communication between the above electronic device and other devices.

[0129] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0130] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0131] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for determining the avoidance mode of a warehouse robot are implemented.

[0132] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the methods for determining the avoidance manner of a storage robot in the above-mentioned embodiments.

[0133] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0134] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0135] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0136] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for determining an avoidance mode of a warehouse robot, characterized in that: The method comprises: Acquire height information and position information of a first planned path of a first storage robot and height information and position information of a second planned path of a second storage robot; Determine whether there is a conflict area according to the height information and the position information in the first planned path and the second planned path; In the case where there is a conflict area, obtaining time information of the first storage robot passing through the conflict area and time information of the second storage robot passing through the conflict area; Determine whether avoidance is required according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot; In the case where avoidance is required, determining the conflict type according to the position information in the first planned path and the second planned path; An avoidance method is determined according to the robot types of the two warehouse robots and the conflict type.

2. The method according to claim 1, characterized in that: The determining whether there is a conflict area according to the height information and the position information in the first planned path and the second planned path includes: If the height information in the first planned path and the height information in the second planned path overlap, determining the intersection of the position information in the first planned path and the position information in the second planned path; If they intersect, a conflicting area including the position information in the first planned path and the position information in the second planned path is determined.

3. The method according to claim 1, characterized in that: The determining whether to avoid according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot includes: If the time when the first storage robot and the second storage robot enter and exit the conflict area overlaps, it is determined that avoidance is required.

4. The method according to claim 1, characterized in that: In the case where avoidance is required, determining the conflict type according to the position information in the first planned path and the second planned path includes: Determine a first path vector of the first storage robot in the conflict area according to the position information of the first planned path and the position information of the second planned path in the conflict area. and a second path vector of the second storage robot in the conflict area ; If the first path vector and the second path vector The angle formed is an obtuse angle, and the conflict type is an opposite conflict; If the first path vector and the second path vector The angle formed is not an obtuse angle, and the conflict type is a same-direction conflict.

5. The method according to claim 1, characterized in that The conflict types include opposite-direction conflicts and same-direction conflicts; The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes: When both warehouse robots are ordinary warehouse robots and the conflict type is a same-direction conflict, the order in which the two warehouse robots enter the conflict area is determined. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. An ordinary warehouse robot is a warehouse robot whose height remains unchanged during driving.

6. The method according to claim 1, characterized in that The conflict types include opposite-direction conflicts and same-direction conflicts; The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes: When both warehouse robots are ordinary warehouse robots, and the conflict type is opposite conflict, and both warehouse robots are not located in the conflict area, the order in which the two warehouse robots enter the conflict area is determined, the warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits, and the ordinary warehouse robot is a warehouse robot whose height does not change during driving; When both storage robots are ordinary storage robots, and the conflict type is an opposite conflict, and there is a storage robot located in the conflict area, the storage robot located in the conflict area searches for a first alternative path that avoids the conflict area; and drives along the first alternative path.

7. The method according to claim 1, characterized in that The conflict types include opposite-direction conflicts and same-direction conflicts; The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes: When there is an overhead rail transport robot among the two warehouse robots, and the conflict type is a same-direction conflict, the order in which the two warehouse robots enter the conflict area is determined. The warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. The overhead rail transport robot is a warehouse robot whose height can be changed in the vertical direction during driving, and the overhead rail transport robot moves horizontally along the guide rail.

8. The method according to claim 1, characterized in that The conflict types include opposite-direction conflicts and same-direction conflicts; The determining of the avoidance method according to the robot types of the two storage robots and the conflict type includes: When there is an overhead rail transport robot among the two warehouse robots, and the conflict type is an opposite conflict, and both warehouse robots are not located in the conflict area, the order in which the two warehouse robots enter the conflict area is determined, the warehouse robot that enters the conflict area first drives normally, and the warehouse robot that enters the conflict area later waits. The overhead rail transport robot is a warehouse robot whose height can be changed in the vertical direction during driving, and the overhead rail transport robot moves horizontally along the guide rail; When there is an overhead rail transport robot among the two storage robots, and the conflict type is an opposite conflict, and there is a storage robot located in the conflict area, the overhead rail transport robot avoids the non-overhead rail transport robot by adjusting its own height.

9. The method according to claim 8, characterized in that The overhead rail transport robot avoids the non-overhead rail transport robot by adjusting its own height, including: The ceiling rail transport robot determines to update the height information according to the height information of the non-ceiling rail transport robot and the preset height value; The Skyrail transport robot increases its own height according to the updated height information to avoid the non-Skyrail transport robot; The method further comprises: If the updated height information is greater than the maximum height of the ceiling rail transport robot, the non-ceiling rail transport robot searches for an alternative planned path that avoids the conflict area; The non-ceiling rail transport robot travels along the alternative planned path.

10. A device for determining an avoidance mode of a storage robot, characterized in that: The device comprises: An acquisition module, used to acquire height information and position information in a first planned path of the first storage robot and height information and position information in a second planned path of the second storage robot; A conflict area determination module, used to determine whether there is a conflict area according to the height information and the position information in the first planned path and the second planned path; A time information acquisition module, used to acquire time information of the first storage robot passing through the conflict area and time information of the second storage robot passing through the conflict area when there is a conflict area; An avoidance module, used to determine whether avoidance is required according to the time information corresponding to the first storage robot and the time information corresponding to the second storage robot; A conflict type determination module, used to determine the conflict type according to the position information in the first planned path and the second planned path when avoidance is required; The avoidance mode determination module is used to determine the avoidance mode according to the robot types of the two storage robots and the conflict type.

11. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-9 when executing a program stored in a memory.

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