Task allocation method, device and system, server and storage medium

Abstract

The invention discloses a task allocation method, device and system, a server and a storage medium, relates to the technical field of intelligent storage, and is used for reasonably configuring and scheduling robots so as to accurately and efficiently perform operation on materials at different height positions on a goods shelf. The method comprises the following steps: acquiring task information of a to-be-allocated first carrying task; the first carrying task is a task for executing a material taking action and a carrying action on the materials on the goods shelf; the task information comprises the storage height of the material on the goods shelf; under the condition that the task information further comprises an order combining identifier and the storage height is within a target interval on a goods shelf, determining recognition results of the multiple robots; executing an allocation strategy corresponding to the identification result to allocate the first carrying task; the distribution strategy comprises distributing the first carrying task to the first robot if the identification result indicates that the first robot exists, or distributing the first carrying task to the second robot if the identification result indicates that the first robot does not exist.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to a task allocation method, device, system, server and storage medium. Background Art

[0002] At present, robots are generally deployed in warehouses in warehousing scenarios to facilitate efficient operations on materials. For example, robots are used to place materials on shelves or take them out from shelves. However, in order to store more materials, the height of shelves in warehouses is getting higher and higher, which requires robots to not only support operations at lower positions on shelves, but also to have a higher height to support operations at higher positions on shelves. Therefore, it is necessary to reasonably configure and schedule robots to accurately and efficiently operate materials at different heights on shelves. Summary of the invention

[0003] The embodiments of the present application provide a task allocation method, device, system, server and storage medium for reasonably configuring and scheduling robots to accurately and efficiently operate materials at different heights on shelves.

[0004] To achieve the above objectives, the present application provides the following technical solutions:

[0005] In a first aspect, a task allocation method is provided, comprising: obtaining task information of a first handling task to be allocated. The first handling task is a task of performing material picking and handling actions on materials on a shelf. The task information includes the storage height of the material on the shelf. When the task information also includes a batch identification, and the storage height is within a target interval on the shelf, the recognition results of multiple robots are determined. The batch identification is used to indicate that the handling task for the material within the target interval is preferentially allocated to the robot carrying the handling task within the same interval. The target interval is any one of the high-level interval, the middle-level interval and the low-level interval. The operating height interval of the robot on the shelf is the high-level interval and the middle-level interval, or the middle-level interval and the low-level interval. The shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval. The recognition result is used to indicate whether there is a first robot carrying the handling task within the target interval. The allocation strategy corresponding to the recognition result is executed to allocate the first handling task. The allocation strategy includes allocating the first handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the first handling task to the second robot if the recognition result indicates that the first robot does not exist, and the second robot is a robot among multiple robots whose working height range covers the storage height.

[0006] In this technical solution, the server can identify whether there is a first robot carrying a handling task within the target interval when the first handling task to be assigned carries a group order mark and the storage height of the targeted material is within the target interval on the shelf. If there is a first robot carrying a handling task within the target interval, the server can assign the first handling task to the first robot, so as to achieve efficient and centralized group order execution of the first handling task and the handling tasks within the same interval, thereby improving the robot's operating efficiency. If there is no first robot carrying a handling task within the target interval, the server can assign the first handling task carrying a group order mark to the second robot, so that the second robot carries the group order mark, thereby continuing to assign other handling tasks within the target interval to the second robot, so as to achieve efficient and centralized group order execution of the handling tasks within the target interval, thereby improving the robot's operating efficiency.

[0007] Moreover, the target interval can be any one of the high-level interval, the middle-level interval and the low-level interval. At the same time, there are two robots with different operating height intervals among the multiple robots. In this way, the present application can support efficient and centralized order execution of handling tasks in any interval on the shelf by configuring two robots with different operating height intervals. Therefore, the present application can be used to reasonably configure and dispatch robots to accurately and efficiently operate materials at different heights on the shelf.

[0008] In a possible embodiment, a method for determining the recognition results of multiple robots specifically includes: determining a candidate robot whose working height interval includes a target interval among the multiple robots. Obtaining task information of the assigned handling tasks of each candidate robot. If there is a candidate robot whose task information of the assigned handling tasks includes a group order identification among the candidate robots, then the recognition result is determined to be that the first robot exists. If there is no candidate robot whose task information of the assigned handling tasks includes a group order identification among the candidate robots, then the recognition result is determined to be that the first robot does not exist.

[0009] Based on this, the server can quickly and accurately determine whether the robot can perform group-order execution of the handling tasks within the target range by identifying whether the task information of the robot's assigned handling tasks includes a group-order identifier, thereby improving task allocation efficiency.

[0010] In a possible embodiment, among the multiple robots, the number of robots whose working height intervals are the high-level interval and the middle-level interval is less than the number of robots whose working height intervals are the middle-level interval and the low-level interval. The target interval is the high-level interval.

[0011] Considering that the deployment cost of robots whose working height intervals are high-rise intervals and middle-rise intervals is higher than the deployment cost of robots whose working height intervals are middle-rise intervals and low-rise intervals. In addition, considering that the number of materials in the high-rise interval is small and the number of materials in the middle-rise interval is large, that is, the number of handling tasks in the high-rise interval is small and the number of handling tasks in the middle-rise interval is large. Based on this, in the present application, when the high-rise interval is set as the target interval, efficient and centralized order execution of handling tasks in the high-rise interval can be achieved. In this way, it can support setting the number of robots whose working height intervals are high-rise intervals and middle-rise intervals to be smaller than the number of robots whose working height intervals are middle-rise intervals and low-rise intervals, thereby reducing the robot deployment cost while achieving efficient execution of handling tasks in the high-rise interval.

[0012] In a possible embodiment, after assigning the first handling task to the first robot, the method further includes: when there is a second handling task in other handling tasks to be assigned and the material quantity corresponding to the assigned handling task of the first robot does not reach the rated quantity, the order-matching mark in the task information of the assigned handling task of the first robot is maintained, and the second handling task is continued to be assigned to the first robot. The second handling task is a handling task whose task information in other handling tasks includes an order-matching mark and the storage height of the targeted material is within the high-rise interval. When there is no second handling task in other handling tasks to be assigned and the material quantity does not reach the rated quantity, the order-matching mark in the task information of the assigned handling task of the first robot is deleted, and the third handling task is continued to be assigned to the first robot. The third handling task is a handling task in which the targeted material in other handling tasks is within the middle-level interval. When the material quantity reaches the rated quantity, the order-matching mark in the task information of the assigned handling task of the first robot is deleted, and the first robot is instructed to perform the handling action after performing the material picking action of all the assigned handling tasks.

[0013] Based on this, the present application can realize the efficient grouping execution of the handling tasks within the target interval by the first robot by maintaining the grouping mark of the tasks assigned to the first robot. Moreover, in the case where there is no handling task within the target interval among other handling tasks to be assigned, the present application can realize the first robot using the remaining space to execute the handling tasks within other intervals by deleting the grouping mark of the tasks assigned to the first robot, so that the handling capacity of the first robot can be utilized to the maximum extent, thereby improving the execution efficiency of the handling tasks.

[0014] In a possible embodiment, after assigning the first handling task to the second robot, the method further includes: maintaining the order-matching identifier in the task information of the first handling task, and continuing to assign the second handling task to the second robot. The second handling task is a handling task whose task information includes the order-matching identifier among other handling tasks to be assigned, and the storage height of the material for which is targeted is within the high-rise range.

[0015] Based on this, once a robot is assigned to perform a handling task within a high-rise interval, other handling tasks within the high-rise interval will also be assigned to this robot to execute, so that the handling tasks within the high-rise interval to be assigned can be quickly and centrally assigned and processed, thereby improving the execution efficiency of the handling tasks within the high-rise interval.

[0016] In a possible embodiment, the method further includes: when the task information of the first handling task also includes a group order identifier and the storage height is not within the high-rise interval, assigning the first handling task to a third robot and deleting the group order identifier in the task information of the first handling task. The third robot is a robot whose operating height interval covers the storage height among the multiple robots.

[0017] Based on this, when the handling tasks in non-high-rise intervals that do not require group order execution are assigned to robots, the present application can use the group order identifier in its task information to avoid misidentifying the robot that is performing group order execution for the handling tasks in the target interval, thereby achieving accurate allocation of handling tasks in high-rise intervals.

[0018] In a possible embodiment, before obtaining the task information of the first handling task to be assigned, the method further includes: determining the priority corresponding to each of the multiple handling tasks based on the storage heights of the materials to be assigned. The priority corresponding to the handling task whose storage height is in the high-level interval is higher than the priority corresponding to the handling task whose storage height is in the middle-level interval or the low-level interval. Based on the priorities corresponding to the multiple handling tasks, the first handling task is determined from the multiple handling tasks. The probability of a handling task among the multiple handling tasks being determined as the first handling task is positively correlated with the corresponding priority.

[0019] In a possible embodiment, based on the priorities corresponding to the multiple transport tasks, the method for determining the first transport task from the multiple transport tasks specifically includes: determining the first transport task from the multiple transport tasks according to the priorities corresponding to the multiple transport tasks and the waiting allocation time corresponding to the multiple transport tasks. The waiting allocation time is the interval between the generation time of the transport task and the current time. The probability that a transport task among the multiple transport tasks is determined as the first transport task is also positively correlated with the corresponding waiting allocation time.

[0020] In a possible embodiment, the method for assigning the first handling task to the second robot specifically includes: determining a candidate robot whose operating height interval covers the storage height among multiple robots. Determining the second robot based on the position spacing corresponding to each candidate robot. The position spacing is the interval distance between the current position of the candidate robot and the storage position of the material. The probability that the candidate robot is determined as the second robot is negatively correlated with the position spacing.

[0021] In a second aspect, a task allocation device is provided, comprising: an acquisition unit, a processing unit and an execution unit.

[0022] The acquisition unit is used to acquire task information of a first handling task to be assigned. The first handling task is a task of performing a material picking action and a material handling action on a shelf. The task information includes a storage height of the material on the shelf.

[0023] A processing unit, for determining the recognition results of multiple robots when the task information also includes an order combination identifier and the storage height is within a target interval on the shelf. The order combination identifier is used to indicate that the handling task for the material within the target interval is preferentially assigned to the robot that carries the handling task within the same interval. The target interval is any one of the high-level interval, the middle-level interval and the low-level interval. The robot's operating height interval on the shelf is the high-level interval and the middle-level interval, or the middle-level interval and the low-level interval. The shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval. The recognition result is used to indicate whether there is a first robot that carries the handling task within the target interval.

[0024] The execution unit is configured to execute an allocation strategy corresponding to the recognition result to allocate the first handling task. The allocation strategy includes allocating the first handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the first handling task to the second robot if the recognition result indicates that the first robot does not exist, wherein the second robot is a robot whose operating height interval covers the storage height among the multiple robots.

[0025] In a possible embodiment, the processing unit is specifically used to: determine a candidate robot whose working height interval includes a target interval among multiple robots. Obtain task information of the assigned handling tasks of each candidate robot. If there is a candidate robot whose task information of the assigned handling task includes a group order identification among the candidate robots, it is determined that the recognition result is that the first robot exists. If there is no candidate robot whose task information of the assigned handling task includes a group order identification among the candidate robots, it is determined that the recognition result is that the first robot does not exist.

[0026] In a possible embodiment, among the multiple robots, the number of robots whose working height intervals are the high-level interval and the middle-level interval is less than the number of robots whose working height intervals are the middle-level interval and the low-level interval. The target interval is the high-level interval.

[0027] In a possible embodiment, the processing unit is further used to maintain the order-matching identifier in the task information of the assigned handling task of the first robot and continue to assign the second handling task to the first robot when there is a second handling task in other handling tasks to be assigned and the material quantity corresponding to the assigned handling task of the first robot has not reached the rated quantity. The second handling task is a handling task whose task information in other handling tasks includes an order-matching identifier and the storage height of the targeted material is within the high-rise interval. The processing unit is further used to delete the order-matching identifier in the task information of the assigned handling task of the first robot and continue to assign the third handling task to the first robot when there is no second handling task in other handling tasks to be assigned and the material quantity has not reached the rated quantity. The third handling task is a handling task for which the targeted material in other handling tasks is within the middle-rise interval. The processing unit is further used to delete the order-matching identifier in the task information of the assigned handling task of the first robot when the material quantity reaches the rated quantity, and instruct the first robot to perform the handling action after performing the material picking action of all the assigned handling tasks.

[0028] In a possible embodiment, the processing unit is further used to maintain the order-matching identifier in the task information of the first handling task, and continue to assign the second handling task to the second robot. The second handling task is a handling task whose task information includes the order-matching identifier among other handling tasks to be assigned, and the storage height of the material is within the high-rise range.

[0029] In a possible embodiment, the processing unit is further configured to assign the first handling task to a third robot and delete the group order identifier in the task information of the first handling task when the task information of the first handling task also includes a group order identifier and the storage height is not within the high-rise interval. The third robot is a robot whose operating height interval covers the storage height among the multiple robots.

[0030] In a possible embodiment, the processing unit is further used to determine the priorities corresponding to each of the multiple handling tasks based on the storage heights of the materials to be assigned. The priority corresponding to the handling task whose storage height is in the high-level interval is higher than the priority corresponding to the handling task whose storage height is in the middle-level interval or the low-level interval. The processing unit is further used to determine the first handling task from the multiple handling tasks based on the priorities corresponding to the multiple handling tasks. The probability of a handling task among the multiple handling tasks being determined as the first handling task is positively correlated with the corresponding priority.

[0031] In a possible embodiment, the processing unit is specifically used to: determine the first transport task from the multiple transport tasks according to the priorities corresponding to the multiple transport tasks and the waiting allocation time corresponding to the multiple transport tasks. The waiting allocation time is the interval between the generation time of the transport task and the current time. The probability that the transport task among the multiple transport tasks is determined as the first transport task is also positively correlated with the corresponding waiting allocation time.

[0032] In a possible embodiment, the execution unit is specifically used to: determine a candidate robot whose working height interval covers the storage height among multiple robots. Determine the second robot based on the position spacing corresponding to each candidate robot. The position spacing is the interval distance between the current position of the candidate robot and the storage position of the material. The probability that the candidate robot is determined to be the second robot is negatively correlated with the position spacing.

[0033] In a third aspect, a task allocation system is provided, including: a central management system and a robot scheduling system. The central management system is used to configure the task information of the handling task to include a batch identification when the storage height of the material targeted by the handling task on the shelf is in the high-rise interval, and send the task information of the handling task including the batch identification to the robot scheduling system. The batch identification is used to indicate that the handling task targeted by the material in the high-rise interval is preferentially allocated to the robot carrying the handling task in the same interval. The robot scheduling system is used to execute the allocation strategy corresponding to the recognition results of multiple robots to allocate the handling task when the task information of the handling task includes the batch identification. The operating height interval of the robot on the shelf is the high-rise interval and the middle-rise interval, or the middle-rise interval and the low-rise interval. The shelf height corresponding to the high-rise interval is higher than the shelf height corresponding to the middle-rise interval, and the shelf height corresponding to the middle-rise interval is higher than the shelf height corresponding to the low-rise interval. The recognition result is used to indicate whether there is a first robot carrying the handling task in the high-rise interval. The allocation strategy includes allocating the handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the handling task to the second robot if the recognition result indicates that the first robot does not exist, and the second robot is a robot whose operating height interval covers the storage height among the multiple robots.

[0034] In a fourth aspect, a server is provided, comprising: a processor and a memory. The processor is connected to the memory, the memory is used to store computer-executable instructions, and the processor executes the computer-executable instructions stored in the memory, thereby implementing any one of the methods provided in the first aspect.

[0035] In a fifth aspect, a readable storage medium is provided, comprising computer execution instructions, which, when executed on a server, causes the server to execute any one of the methods provided in the first aspect.

[0036] In a sixth aspect, a computer program product is provided, comprising computer execution instructions, which, when executed on a server, cause the server to execute any one of the methods provided in the first aspect.

[0037] In a seventh aspect, another task allocation system is provided, comprising a server, a tall robot, and a short robot. The server is used to implement any one of the task allocation methods provided in the first aspect. The tall robot is used to perform handling tasks in the high-level interval and the middle-level interval. The short robot is used to perform handling tasks in the middle-level interval and the low-level interval. The shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval.

[0038] The technical effects brought about by any implementation method in the second to seventh aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of the structure of a storage device provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the structure of a server provided in an embodiment of the present application;

[0041] Figure 3 A flowchart of a task allocation method provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of a material outbound scenario provided in an embodiment of the present application;

[0043] Figure 5 A flowchart of another task allocation method provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the structure of a task allocation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" means one or more, and "plurality" means two or more. The words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not limit them to be different.

[0046] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0047] First of all, in order to facilitate the understanding of the present application, the relevant elements involved in the present application are described.

[0048] A robot refers to an intelligent mobile robot that can carry boxes, such as an automated guided vehicle (AGV) intelligent handling robot. In actual application scenarios, the type, size or function of the robot can be adjusted to suit the size of the box, the size of the shelf where the box is stored, etc. For example, if the box needs to be stored at a higher position on the shelf, an actuator that supports a higher working height can be set on the robot. For another example, if the box needs to be stored at a lower position on the shelf, an actuator that supports a lower working height can be set on the robot.

[0049] A bin is a container used to store materials. Labels, barcodes and other identification information can be set on the surface of the bin to indicate information such as bin code, material type and material quantity. In addition, bins in the same warehouse can adopt uniform specifications and sizes to facilitate operations such as picking and placing on the shelf.

[0050] A bin is a space on a shelf where boxes are stored. The robot can use the configured clamping mechanism to take boxes out of the bin or place them in the bin.

[0051] The robot control system (RCS) is used to manage the robot's driving route and working status to control the robot to perform the handling task of handling the material box. The RCS can send the relevant information of the robot and the handling task to the task allocation component. The task allocation component can allocate the handling task to the robot based on the relevant information of the robot and the handling task from the RCS, so as to achieve the pairing of the handling task and the robot.

[0052] The center management system (CMS) is used to generate handling tasks according to material orders and issue handling tasks to RCS. In addition, CMS can also be used to manage the quantity, storage location, and in-and-out status of various types of materials in the warehouse, so as to achieve real-time management of inventory.

[0053] Secondly, the application scenarios involved in this application are briefly introduced.

[0054] The driving stability of the robot during the process of carrying material boxes generally decreases as the height of the robot increases. In a storage scenario with high shelf heights, in order to enable the robot to support operations at higher positions on the shelf while having better driving stability, the robot chassis needs to be raised. In this case, the robot chassis is too high to support operations at lower positions on the shelf.

[0055] Therefore, consider setting up two types of robots in the warehouse: high carts (or tall robots) and low carts (or low robots). Both high carts and low carts can pick up and put boxes from the middle section of the shelf. In addition, high carts can pick up and put boxes from the high section of the shelf. Low carts can pick up and put boxes from the low section of the shelf. In this way, boxes in the middle and high sections of the shelf can be picked up and put by high carts, and boxes in the middle and low sections of the shelf can be picked up and put by low carts.

[0056] For example, Figure 1 The figure is a schematic diagram of the structure of a storage device provided in an embodiment of the present application. Figure 1 The storage equipment shown includes Figure 1 The shelf shown in (a) Figure 1 The short car shown in (b) Figure 1 The high car shown in (c) in the figure. The shelf height is 15 layers. The operating height of the low car is 1 to 13 layers, including the 1st and 2nd layers in the low-level section, and the 3rd to 13th layers in the middle-level section. The operating height of the high car is 3 to 15 layers, including the 14th and 15th layers in the high-level section, and the 3rd to 13th layers in the middle-level section. Both the low car and the high car can pick up and put down boxes from the 3rd to 13th layers in the middle-level section.

[0057] However, since the cost of high-rise vehicles is often higher than that of low-rise vehicles, and considering that there are fewer boxes at the upper level and more boxes at the middle level, the number of high-rise tasks is smaller and the number of middle-level tasks is larger. High-rise tasks are tasks for picking and placing boxes at the upper level. Middle-level tasks are tasks for picking and placing boxes at the middle level. Therefore, there are fewer high-rise vehicles deployed in the warehouse and more low-rise vehicles.

[0058] In this case, low-level tasks and mid-level tasks can be executed in a timely manner. However, since the high-level vehicle will execute mid-level tasks at the same time as the high-level task, the high-level task is likely to wait for the mid-level task to be executed before being executed, resulting in low execution efficiency of high-level tasks and difficulty in meeting timeliness requirements. Therefore, it is necessary to reasonably dispatch robots to accurately and efficiently operate materials at different heights on the shelves. In addition, considering the problem of the small number of high-level vehicles, it is necessary to make the high-level vehicles give priority to high-level tasks as much as possible to improve the execution efficiency of high-level tasks.

[0059] Next, the implementation environment (implementation architecture) involved in this application is briefly introduced.

[0060] The embodiment of the present application provides a task allocation method, which can be applied to a server in a task allocation system. The server can have a task allocation function, which is used to allocate the handling tasks of picking and placing material boxes in a warehouse.

[0061] In an optional implementation, the server may be configured with a central management system and a robot scheduling system, and the task allocation function may be realized through the interaction between the robot scheduling system and the central management system.

[0062] For example, when the storage height of the material on the shelf targeted by the handling task is in the high-rise interval, the central management system can configure the task information of the handling task to include a group order identifier, and send the task information of the handling task including the group order identifier to the robot scheduling system. The group order identifier is used to indicate that the handling task for the material in the high-rise interval is preferentially assigned to the robot carrying the handling task in the same interval.

[0063] The robot scheduling system can receive task information of a handling task including a group order identification. Furthermore, the robot scheduling system can execute an allocation strategy corresponding to the recognition results of multiple robots to allocate the handling task when the task information of the handling task includes the group order identification. Among them, the working height interval of the robot on the shelf is a high-level interval and a middle-level interval, or a middle-level interval and a low-level interval. The shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval. The recognition result is used to indicate whether there is a first robot that carries the handling task in the high-level interval. The allocation strategy includes allocating the handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the handling task to the second robot if the recognition result indicates that the first robot does not exist, and the second robot is a robot whose working height interval covers the storage height among the multiple robots.

[0064] Optionally, the central management system and the robot scheduling system may be functional modules integrated into the same server, or may be devices independently provided from each other, which is not limited in the present application.

[0065] It is easy to understand that the interaction process between the central management system and the robot scheduling system when they are independently set as devices is the same as the interaction process between the central management system and the robot scheduling system when they are integrated into the same server.

[0066] For ease of understanding, the embodiment of the present application is described by taking the example of integrating the central management system and the robot scheduling system into the same server.

[0067] Optionally, the server may be a physical or logical server, or may be two or more physical or logical servers that share different responsibilities and cooperate with each other to implement various functions of the server. The embodiments of the present application do not impose any restrictions on the specific form of the server.

[0068] In terms of hardware implementation, the above server can be implemented as follows Figure 2 The server 10 shown is implemented. Figure 2 FIG. 1 is a schematic diagram of the structure of a server 10 provided in an embodiment of the present application. The server 10 can be used to implement the functions of the above-mentioned server.

[0069] Figure 2 The server 10 shown may include: a processor 101 , a memory 102 , a communication interface 103 , and a bus 104 . The processor 101 , the memory 102 , and the communication interface 103 may be connected via the bus 104 .

[0070] The processor 101 is the control center of the server 10, and may be a general-purpose central processing unit (CPU) or other general-purpose processors, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0071] As an example, the processor 101 may include one or more CPUs, such as Figure 2 CPU0 and CPU1 are shown in the figure.

[0072] The memory 102 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0073] In a possible implementation, the memory 102 may exist independently of the processor 101. The memory 102 may be connected to the processor 101 via a bus 104 and used to store data, instructions, or program codes. When the processor 101 calls and executes the instructions or program codes stored in the memory 102, the task allocation method provided in the embodiment of the present application can be implemented.

[0074] In another possible implementation, the memory 102 may also be integrated with the processor 101 .

[0075] The communication interface 103 is used for connecting the server 10 with other devices through a communication network, which may be Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 103 may include a receiving unit for receiving data and a sending unit for sending data.

[0076] The bus 104 may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0077] It should be pointed out that Figure 2 The structure shown in the figure does not constitute a limitation on the server 10, except Figure 2In addition to the components shown, server 10 may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0078] For ease of understanding, the task allocation method provided by this application is specifically introduced below with reference to the accompanying drawings.

[0079] like Figure 3 FIG. 2 is a flow chart of a task allocation method provided by the present application. The method includes: S201-S203.

[0080] S201: Acquire task information of a first transport task to be assigned.

[0081] Among them, the first handling task is a task of performing material picking and handling actions on the materials on the shelf. The picking action is the action of taking the materials out of the current storage location. The handling action is the action of transporting the materials to the destination location after taking the materials out. For example, the current storage location of the materials may be a shelf in the warehouse where the inventory materials are stored, and the destination location may be a warehouse outbound location. For another example, the current storage location of the materials may be a shelf in the warehouse where the inventory materials are stored, and the destination location may be a storage location on the shelf in the warehouse where the inventory materials are stored.

[0082] It should be understood that materials can be stored in a material box, and the material picking action and the material handling action can be performed on the material box. The material box is a container for storing materials in a warehouse. The material box can also be replaced by a material box, a storage box or other names. That is, the first handling task to be assigned can perform the task of picking and placing the material box and the handling action.

[0083] Optionally, the materials can be raw materials such as metal materials and plastic materials processed in the production process of the industrial production line, or parts such as electronic components and mechanical parts. The warehouse can be deployed near the industrial production line, a semi-finished product warehouse, or a commodity distribution warehouse that is convenient for logistics transfer. The embodiments of this application do not limit these.

[0084] The task information of the first handling task may include the storage height of the material on the shelf. The storage height is the height of the bin where the material is stored on the shelf. Figure 1 The storage height of the material on the shelf can be 1 layer, 13 layers, or 15 layers. Optionally, the task information of the first handling task can also include information such as the storage location of the material on the shelf, the generation time of the task, etc.

[0085] S202: When the task information also includes an order grouping identifier and the storage height is within a target range on the shelf, determining recognition results of multiple robots.

[0086] The robot's operating height range on the shelf is a high-level range and a middle-level range, or a middle-level range and a low-level range. The shelf height corresponding to the high-level range is higher than the shelf height corresponding to the middle-level range, and the shelf height corresponding to the middle-level range is higher than the shelf height corresponding to the low-level range. For example, the high-level range can be Figure 1 The 14th and 15th floors of the shelf shown in (a) in FIG. The middle layer can be Figure 1 The 3rd to 13th floors of the shelves shown in (a) in FIG. The lower floor section can be Figure 1 From layer 1 to layer 2 in the shelf shown in (a).

[0087] That is to say, the multiple robots installed in the warehouse can be divided into two types of robots. The robots with operating height intervals between the high and middle levels can be considered as high-level robots, and the robots with operating height intervals between the middle and low levels can be considered as low-level robots. In this way, the boxes in the middle and high levels of the shelves can be picked up and placed by high-level robots, and the boxes in the middle and low levels of the shelves can be picked up and placed by low-level robots.

[0088] It should be noted that, considering that when the robot performs a handling task, the actuator needs to be adjusted to the corresponding height position, so as to facilitate the material picking action on the shelf. In this case, the high vehicle is allowed to perform multiple handling tasks for materials in the high-level interval at the same time, or the low vehicle is allowed to perform multiple handling tasks for materials in the low-level interval at the same time, or any robot is allowed to perform multiple handling tasks for materials in the middle-level interval at the same time, which can reduce the range of the robot's up and down adjustment of the actuator, effectively reduce the consumption of adjusting the actuator, improve the robot's operating efficiency, and realize the rapid execution of multiple handling tasks.

[0089] Based on this, the server can set a group order mark for the handling task based on the storage height of the material on the shelf. The group order mark is used to indicate that the handling task for the material in the target interval is preferentially assigned to the robot carrying the handling task in the same interval. The target interval is any one of the high-level interval, the middle-level interval and the low-level interval.

[0090] For example, when a high-lift truck needs to perform multiple handling tasks for materials in the high-rise interval at the same time, the server can set a group order mark for the handling tasks for materials whose storage height on the shelf is in the high-rise interval. In this way, the server can assign the handling tasks with the group order mark in the high-rise interval to be assigned to the robot carrying the handling tasks in the high-rise interval, thereby realizing the rapid execution of multiple handling tasks in the high-rise interval and improving the operating efficiency of the high-lift truck.

[0091] For another example, when a low-rise vehicle needs to simultaneously execute multiple transporting tasks for materials in the low-level interval, the server can set a group order mark for the transporting tasks for materials whose storage height on the shelf is in the low-level interval. In this way, the server can assign the transporting tasks with the group order mark in the low-level interval to be assigned to the robot carrying the transporting tasks in the low-level interval, thereby realizing the rapid execution of multiple transporting tasks in the low-level interval and improving the operating efficiency of the low-rise vehicle.

[0092] In this case, after the server obtains the task information of the first transport task to be assigned, it can identify whether the task information of the first transport task includes a group order identifier. If the task information of the first transport task does not include a group order identifier, it can indicate that the first transport task does not need to be grouped with the transport tasks in the same interval, and the server can assign a robot to the first transport task based on the distance between the first transport task and each robot.

[0093] If the task information of the first handling task includes a group order mark, and the storage height is within the target range on the shelf, it can indicate that the first handling task needs to be grouped with the handling tasks in the same range, that is, it needs to be grouped with the handling tasks in the same target range. The server can identify multiple robots to obtain identification results, so as to determine whether there is a first robot carrying a handling task in the same range, and thus determine whether to group the tasks. The identification result is used to indicate whether there is a first robot carrying a handling task in the target range.

[0094] S203: Execute an allocation strategy corresponding to the recognition result to allocate a first transport task.

[0095] The allocation strategy includes allocating the first handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the first handling task to the second robot if the recognition result indicates that the first robot does not exist. The second robot is a robot whose operating height interval covers the storage height among the multiple robots.

[0096] If the recognition result is used to indicate the existence of a first robot carrying a handling task within the same interval, the server can assign the first handling task to the first robot, thereby realizing the combined execution of the first handling task and the handling tasks within the same interval, and improving the robot's operating efficiency.

[0097] If the recognition result indicates that there is no first robot that carries a handling task within the same interval, the server can determine a second robot from multiple robots whose operating height interval covers the storage height of the material targeted by the first handling task, and assign the first handling task to the second robot. In this case, the second robot is a robot that carries a handling task within the target interval. Subsequently, if the task information of other handling tasks to be assigned includes a group order identifier, and the storage height of the targeted material is within the target interval, the server can continue to assign the other handling tasks to the second robot, realize the group order execution of the handling tasks within the target interval, and improve the robot's operating efficiency.

[0098] In a possible embodiment, in the above S202, that is, when the server determines the recognition results of multiple robots, the embodiment of the present application provides an optional implementation method, including: S2021-S2024.

[0099] S2021: Determine a candidate robot among multiple robots whose working height interval includes a target interval.

[0100] The server may determine a robot whose operating height interval includes the target interval among the multiple robots as a candidate robot. For example, when the target interval is a high-rise interval, the server may determine a tall robot among the multiple robots as a candidate robot. For another example, when the target interval is a low-rise interval, the server may determine a short robot among the multiple robots as a candidate robot.

[0101] S2022: Obtain task information of the assigned handling tasks of each candidate robot.

[0102] S2023: If there is a candidate robot among the candidate robots whose task information of the assigned carrying task includes an order grouping identifier, it is determined that the recognition result is that the first robot exists.

[0103] If the task information of the assigned handling task of the candidate robot includes a group order identification, it can indicate that the handling task currently carried by the candidate robot is a handling task that needs to be performed by group order within the target interval. The server can then determine that the candidate robot whose task information of the assigned handling task includes the group order identification is the first robot. In this way, the server can determine that the recognition result is that the first robot exists. Furthermore, the server can assign the first handling task to the first robot.

[0104] S2024: If there is no candidate robot among the candidate robots whose task information of the assigned handling task includes a group order identifier, it is determined that the recognition result is that the first robot does not exist.

[0105] If the task information of the assigned handling tasks of each candidate robot does not include a group order identification, it can indicate that there is currently no robot carrying the handling tasks that need to be performed in the target interval. The server can determine that the recognition result is that the first robot does not exist.

[0106] In a possible embodiment, considering that the cost of deploying a high vehicle is higher than that of a low vehicle, and considering that the number of materials in the high-level interval is small while the number of materials in the middle-level interval is large, that is, the number of handling tasks in the high-level interval is small while the number of handling tasks in the middle-level interval is large. In this case, in order to reduce the cost of warehouse robot deployment, among the multiple robots deployed in the warehouse, the number of robots whose operating height intervals are the high-level interval and the middle-level interval can be less than the number of robots whose operating height intervals are the middle-level interval and the low-level interval. That is, the number of high vehicles can be less than the number of low vehicles.

[0107] In this case, low-level tasks and middle-level tasks can be executed in a timely manner. However, since the high-level vehicle will execute middle-level tasks at the same time as the high-level tasks, the high-level tasks are likely to wait for the middle-level tasks to be executed before being executed, resulting in low execution efficiency of high-level tasks and difficulty in meeting timeliness requirements. In order to make the high-level vehicle give priority to the handling tasks in the high-level interval as much as possible and improve the execution efficiency of the handling tasks in the high-level interval, the target interval can be set to the high-level interval. In this way, the high-level vehicle can be assigned only the handling tasks in the high-level interval in a short period of time without being assigned the handling tasks in the middle-level interval. The number of handling tasks in the high-level interval is generally small, and the number of low-level vehicles is large, which will not affect the execution efficiency of the handling tasks in the middle-level interval and the low-level interval.

[0108] Furthermore, all the shelves in the warehouse can be high-type shelves. Alternatively, the shelves in the warehouse can include two types of shelves: high-type shelves and low-type shelves. Among them, high-type shelves are shelves with high-level intervals, middle-level intervals and low-level intervals. Low-type shelves are shelves with middle-level intervals and low-level intervals, but no high-level intervals are set.

[0109] Based on this, when the target interval is a high-rise interval, in order to make the handling tasks in the high-rise interval carry a group order identification, the server can identify the type of shelf where the materials targeted by each handling task are located, and configure a group order identification for all handling tasks on the high-type shelves.

[0110] In this way, the task information of the handling tasks in the high-level interval can include the group order identification. In addition, the task information of the handling tasks in the middle and low-level intervals on the high-type shelves also includes the group order identification. However, the task information of the handling tasks in the middle and low-level intervals on the low-type shelves does not include the group order identification. In this case, the server can update the task information of the handling tasks on the high-type shelves assigned to the robot, and by deleting or keeping the group order identification, achieve the effect of group order execution only for the handling tasks in the high-level interval.

[0111] Based on this, in the above S203, after the server assigns the first handling task to the first robot, the task assignment method provided in the embodiment of the present application further includes: S301-S303.

[0112] S301: When there is a second handling task among other handling tasks to be assigned, and the material quantity corresponding to the assigned handling task of the first robot has not reached the rated quantity, maintain the order combination mark in the task information of the assigned handling task of the first robot, and continue to assign the second handling task to the first robot.

[0113] Among them, the second handling task is a handling task whose task information includes an order combination identifier among other handling tasks, and the storage height of the targeted materials is within the high-rise range.

[0114] The rated quantity is the amount of material that the high-rise truck is allowed to carry. That is, the high-rise truck can carry a maximum of the rated quantity of material.

[0115] In one possible approach, considering that the weight that a high-lift truck can carry is limited, the rated quantity may be the number of materials, that is, the maximum number of materials that a high-lift truck can carry. For example, the rated quantity may be 100 or 150. In this case, the number of materials corresponding to the task assigned to the high-lift truck may be the number of materials stored in the material box carried by the task assigned to the high-lift truck.

[0116] Alternatively, considering the limited storage space of the high-rise vehicle, the rated quantity may be the number of bins, that is, the maximum number of bins that the high-rise vehicle can carry. For example, the rated quantity may be 10 or 13. In this case, the number of materials corresponding to the task assigned to the high-rise vehicle may be the number of bins carried by the task assigned to the high-rise vehicle.

[0117] If there is a second handling task among the other handling tasks to be assigned, and the material quantity corresponding to the assigned handling tasks of the first robot has not reached the rated quantity, the server maintains the group order identification in the task information of the assigned handling tasks of the first robot, and continues to assign the second handling task to the first robot, thereby realizing the group order execution of handling tasks in the high-level interval on the first robot.

[0118] S302: When there is no second transport task in other transport tasks to be assigned and the material quantity has not reached the rated quantity, delete the order combination mark in the task information of the assigned transport tasks of the first robot, and continue to assign the third transport task to the first robot.

[0119] Among them, the third handling task is a handling task for materials in the middle range among other handling tasks.

[0120] If the second handling task does not exist in the other handling tasks to be assigned, and the number of materials corresponding to the task assigned to the first robot does not reach the rated number, it can be indicated that all the handling tasks in the high-level interval have been assigned for execution, and there are currently no handling tasks in the high-level interval that need to be assigned, and there is still remaining space on the first robot. The server can delete the group order identification in the task information of the assigned handling tasks of the first robot. It should be understood that the assigned handling tasks of the first robot include the first handling task.

[0121] In this case, the server may assign the third handling task from other handling tasks to be assigned to the first robot. For example, the server may select, from other handling tasks to be assigned, a third handling task whose number of materials to be handled does not exceed the number of materials that can be accommodated by the remaining space on the first robot. Subsequently, when the number of materials corresponding to the task assigned to the first robot reaches the rated number, the server plans a driving route for the first robot and instructs the first robot to drive along the planned driving route to transport the materials to the designated location.

[0122] Based on this, the present application can avoid the problem of leaving the shelf when there is remaining space on the first robot, so that the carrying capacity of the first robot can be utilized to the maximum extent, thereby improving the execution efficiency of the carrying task.

[0123] S303: When the material quantity reaches the rated quantity, the order combination mark in the task information of the assigned handling task of the first robot is deleted, and the first robot is instructed to perform the handling action after performing the material picking action of all the assigned handling tasks.

[0124] If the number of materials corresponding to the task assigned to the first robot reaches the rated quantity, the server can determine that the first robot has left the shelf, delete the order-matching identifier in the task information of the first robot's assigned handling tasks, and instruct the first robot to perform the handling action after executing all the material picking actions of the assigned handling tasks.

[0125] In a possible embodiment, in the above S203, after the server assigns the first handling task to the second robot, the task assignment method provided in the embodiment of the present application further includes: S401.

[0126] S401: Maintain the order-matching identifier in the task information of the first handling task, and continue to assign the second handling task to the second robot.

[0127] The second handling task is a handling task whose task information includes a batch order identifier among other handling tasks to be assigned, and the storage height of the targeted materials is within the high-rise range.

[0128] It should be noted that after the server assigns the first handling task to the second robot, the second robot carries a group order identifier and carries the handling task in the high-rise area. In this case, the server can keep the group order identifier in the task information of the first handling task, so as to facilitate the continued assignment of the second handling task to the second robot.

[0129] In this way, once a high-rise vehicle is assigned to perform a handling task within a high-rise interval, other handling tasks within the high-rise interval will also be assigned to the high-rise vehicle for execution, so that the handling tasks within the high-rise interval to be assigned can be quickly and centrally assigned and processed, thereby improving the execution efficiency of the handling tasks within the high-rise interval. Therefore, the present application can improve the problem of low execution efficiency of handling tasks within the high-rise interval when fewer high-rise vehicles are deployed, better meet timeliness requirements, and reduce robot deployment costs.

[0130] In a possible embodiment, after the above S201, that is, before the server obtains the task information of the first transport task to be assigned, the task assignment method provided in the embodiment of the present application further includes: S501.

[0131] S501: When the task information of the first transport task also includes a group order identifier and the storage height is not within the high-rise interval, the first transport task is assigned to the third robot, and the group order identifier in the task information of the first transport task is deleted.

[0132] Among them, the third robot is a robot among the multiple robots whose operating height range covers the storage height.

[0133] Considering that the handling tasks in the middle and lower sections of the high-type shelves will also carry the group order mark, but the handling tasks in the middle and lower sections do not need to be executed in a group order. In this case, when the handling tasks in the middle and lower sections are assigned to the robots, the group order mark in the task information of the handling tasks in the middle and lower sections needs to be deleted. In this way, when the handling tasks in the middle section are assigned to the high section, the group order execution of the handling tasks in the middle section by the high-level vehicle can be avoided, so that the high-level vehicle can perform the handling tasks in the high-level section as much as possible.

[0134] Based on this, after allocating the first transport task to the third robot, the server may delete the group order identifier in the task information of the first transport task to prevent the third robot from carrying the group order identifier.

[0135] In a possible embodiment, before the above S201, that is, before the server obtains the task information of the first transport task to be assigned, the task assignment method provided in the embodiment of the present application further includes: S601.

[0136] S601: Determine the priorities corresponding to the multiple handling tasks based on the storage heights of the materials to which the multiple handling tasks are assigned.

[0137] Among them, the priority corresponding to the handling task for materials whose storage height is in the high-level interval is higher than the priority corresponding to the handling task for materials whose storage height is in the middle-level interval or the low-level interval.

[0138] Considering that there are fewer high-rise vehicles, in order to improve the execution efficiency of the handling tasks in the high-rise interval, the priority of the handling tasks in the high-rise interval can be set higher than the priority of the handling tasks in the middle-rise interval, and the priority of the handling tasks in the high-rise interval can be set higher than the priority of the handling tasks in the low-rise interval. In this way, the probability of the handling tasks in the high-rise interval being selected and assigned can be higher, thereby improving the execution efficiency of the handling tasks in the high-rise interval.

[0139] Optionally, the multiple handling tasks to be assigned may be tasks for handling boxes in the same group of shelves. The same group of shelves may be one or more shelves in the same area of ​​the warehouse, or one or more shelves storing the same type of materials, or one or more shelves that meet other conditions. In this way, the present application can enable the robot to perform handling tasks on the same group of shelves, thereby improving the robot's operating efficiency and the execution efficiency of handling tasks.

[0140] S602: Determine a first transport task from the plurality of transport tasks based on respective priorities of the plurality of transport tasks.

[0141] The probability of a transport task among the multiple transport tasks being determined as the first transport task is positively correlated with the corresponding priority.

[0142] Based on this, when the server selects tasks from multiple handling tasks and assigns them to robot operations, it is easier to select handling tasks within the high-level interval, thereby increasing the probability of priority execution of handling tasks within the high-level interval, so that the handling tasks within the high-level interval to be assigned can be quickly and centrally assigned and processed.

[0143] In a possible embodiment, in the above S602, that is, when the server determines the first transport task from multiple transport tasks based on the priorities corresponding to each of the multiple transport tasks, the embodiment of the present application provides an optional implementation method, including: S6021.

[0144] S6021: Determine a first transport task from the plurality of transport tasks according to the priorities corresponding to the plurality of transport tasks and the waiting allocation times corresponding to the plurality of transport tasks.

[0145] The waiting allocation time is the interval between the generation time of the transport task and the current time. The probability of a transport task among the multiple transport tasks being determined as the first transport task is also positively correlated with the corresponding waiting allocation time.

[0146] Based on this, when the server selects tasks from multiple handling tasks and assigns them to robot operations, the earlier the handling tasks are generated, the more likely they are to be selected, thereby effectively meeting the timeliness requirements of the handling tasks and avoiding the problem of handling tasks not being assigned for execution for a long time.

[0147] In a possible embodiment, in the above S203, when the server assigns the first handling task to the second robot, the embodiment of the present application provides an optional implementation method, including: S2031-S2032.

[0148] S2031: Determine a candidate robot among multiple robots whose operating height range covers the storage height.

[0149] S2032: Determine the second robot based on the position spacing corresponding to each candidate robot.

[0150] The position spacing is the distance between the current position of the candidate robot and the storage position of the material. The probability of the candidate robot being determined as the second robot is negatively correlated with the position spacing.

[0151] In this way, the server can assign the first handling task to a robot that is closer to execute, so that the high-level robot can carry materials according to the principle of proximity, reduce the driving distance, and improve work efficiency.

[0152] In one embodiment, in actual application, the task allocation method provided by the present application can be implemented through the group order execution function configured by the server. The group order execution function is a function for combining and executing the handling tasks according to the material points. The material point can be the starting point before the material is handled, or it can be the end point after the material is handled. For example, the material point can be the shelf or the entrance before the material is handled. For another example, the material point can be the exit after the material is handled.

[0153] For ease of understanding, the following Figure 4This section introduces the logic of group buying execution.

[0154] like Figure 4 The figure is a schematic diagram of a material outbound scenario provided in an embodiment of the present application. Figure 4 The figure shows the layout relationship between robots, loaders, conveyor lines, and picking platforms in the material outbound scenario. On the left are two loaders and two robots deployed at the inbound entrance. On the right are two loaders and two robots deployed at the outbound entrance. The robots are directly connected to the loaders, and the loaders are connected to the conveyor lines.

[0155] Figure 4 In the process, the robot at the outbound port can place all the boxes taken from the shelves in the warehouse on the loader at the outbound port. Figure 4 The material box is operated in the direction of the arrow from top to bottom, so that the material box flows to the conveyor line. The conveyor line can operate from right to left, so that the material box passes through each picking station. In this way, the staff at the picking station can pick the materials in the material box to take out the materials that need to be shipped out from the material box, and leave the remaining materials that do not need to be shipped out in the material box, so that the material box carries the remaining materials that do not need to be shipped out and is transported to the loading and unloading machine at the entrance along the conveyor line. The loading and unloading machine at the entrance can be operated in the direction of the arrow from top to bottom, so that the material box can be transported to the loading and unloading machine at the entrance along the conveyor line. Figure 4 The robot at the entrance can directly take out the material box from the loading and unloading machine at the entrance and move it to the shelf in the warehouse for storage.

[0156] In order to improve the efficiency of material in and out of the warehouse, a standby robot can be set up around the outbound port to wait for scheduling. The standby robot can be scheduled to perform the outbound task of moving materials from the shelf to the outbound port, and can also be pre-assigned the inbound task of moving materials from the inbound port to the shelf.

[0157] This method of sharing robots for both outbound and inbound tasks is feasible when there is no efficiency requirement. However, if more outbound tasks need to be completed within a certain period of time, this method will make it difficult to move the material boxes on the loading and unloading machine at the inbound entrance into the warehouse in time due to the walking avoidance between robots at the outbound and inbound entrances, the small available space for robots, and the fast picking speed of workers. This will cause the conveyor line to be crowded with material boxes, making it impossible to carry out material outbound, and the outbound efficiency is low.

[0158] In order to meet the efficiency requirements of material in and out of the warehouse, you can configure an outbound order identification corresponding to the outbound port where the material is located after being transported, and an inbound order identification corresponding to the inbound port where the material is located after being transported. In addition, different outbound ports can be configured with different outbound order identifications for distinction, and different inbound ports can be configured with different inbound order identifications for distinction. In this way, the server can recognize that the outbound port and the inbound port belong to different order types, so as to assign different robots to work, thereby efficiently executing the outbound task of the outbound port and the inbound task of the inbound port through the order execution function configured by the server.

[0159] For example, when an outbound task is issued under the central management system configured by the server, it can be identified that the material point corresponding to the material transported by the outbound task is configured with an outbound order identification, and the outbound order identification is carried in the task information of the outbound task and sent to the robot scheduling system. Furthermore, the robot scheduling system can assign the robot located at the outbound port corresponding to the outbound order identification to perform the operation for the outbound task. In this case, the robot located at the outbound port can carry the outbound order identification. Subsequently, the robot scheduling system can assign an outbound task carrying the same outbound order identification to the robot, but not assigning tasks carrying other order identifications, so that the outbound task of the outbound port can be efficiently performed by a dedicated robot.

[0160] For another example, when the central management system configured by the server issues a warehousing task, it can identify that the material point corresponding to the material transported by the warehousing task is configured with an warehousing order identification, and send the warehousing order identification to the robot scheduling system in the task information of the warehousing task. In addition, the robot scheduling system can assign the robot located at the warehousing entrance corresponding to the warehousing order identification to perform the operation for the warehousing task, so that the dedicated robot can efficiently perform the warehousing task at the entrance.

[0161] Furthermore, when a robot that performs an entry task carries a rated number of boxes and is about to leave the entry, or has left the entry and is heading for the shelf, an outbound task may hit one or more boxes carried by the robot that performs an entry task. In this case, the entry task performed by the robot can be interrupted, and the robot can be made to perform the outbound task directly to improve outbound efficiency. Based on this consideration, when a robot that performs an entry task carries a rated number of boxes, or there are no boxes that need to be entered on the loader, the entry order mark carried by the task information of the entry task can be cleared, and after the entry order mark is cleared, the robot defaults to a state that can be interrupted by the task.

[0162] Based on this, the server can avoid the problem of sharing robots at the exit and entry ports by executing orders together, and improve the operating efficiency of robots at the exit and entry ports by dispatching dedicated robots to work at the exit or entry ports.

[0163] Furthermore, when the server executes the handling tasks on a group of shelves by grouping orders, the handling tasks on the group of shelves carry the same grouping order identifier. In other words, the handling tasks in the low-level interval, the handling tasks in the middle-level interval, and the handling tasks in the high-level interval on the group of shelves carry the same grouping order identifier. In this case, for a high-rise vehicle, since the number of handling tasks in the middle-level interval is large, the robot scheduling system is likely to assign the handling tasks in the middle-level interval to the high-rise vehicle, resulting in the high-level interval handling tasks not being executed.

[0164] In order to improve the execution efficiency of high-level range handling tasks, when low-level range handling tasks and middle-level range handling tasks on the group of shelves are assigned to robots, the group order identification of low-level range handling tasks and middle-level range handling tasks can be deleted. Figure 5 , which is a flow chart of another task allocation method provided in an embodiment of the present application. Figure 5 The task allocation method shown includes: S701-S714.

[0165] S701: The central management system determines whether the transport task to be assigned is a transport task within a high-rise area.

[0166] S702: The central management system determines whether there is a batch order mark at the material point corresponding to the handling task to be assigned.

[0167] The same group order identification can be configured for the low-level interval handling tasks, middle-level interval handling tasks and high-level interval handling tasks of the same material point.

[0168] Optionally, different grouping flags can be configured for the low-level range handling tasks, middle-level range handling tasks, and high-level range handling tasks of the same material point. For example, the grouping flag value range of the low-level range handling tasks and the middle-level range handling tasks can be between 1-100, and the grouping flag value of the high-level range handling tasks can be increased by 1000 by default based on the grouping flag value of the low-level range handling tasks and the middle-level range handling tasks.

[0169] S703: The central management system sends task information of the handling task carrying the group order identification to the robot scheduling system.

[0170] S704: The robot scheduling system parses and stores the task information.

[0171] S705: When the transport task to be assigned is a transport task within a high-level interval, the robot scheduling system configures the transport task to be assigned to correspond to the highest priority.

[0172] S706: The robot scheduling system allocates robots to each transporting task based on the priority and order identification corresponding to each transporting task to be allocated.

[0173] S707: The robot scheduling system obtains the pairing relationship between the robot and the assigned handling task.

[0174] S708: The robot scheduling system determines whether the robot's assigned transport task is a transport task within a high-rise area.

[0175] S709: The robot scheduling system maintains the order identification of the handling task in the high-level area when the robot completes the execution.

[0176] If the task assigned to the robot is a high-rise area handling task, the group order mark can be kept. It should be understood that the robot assigned the high-rise area handling task is a high-rise vehicle. In this case, the high-rise vehicle carries the group order mark, and the server can continue to assign other high-rise area handling tasks to the high-rise vehicle.

[0177] S710: The robot scheduling system continues to assign other high-rise area handling tasks to the robot.

[0178] S711: The robot scheduling system schedules the robot to continue to perform the transportation task in the high-rise area.

[0179] S712: The robot scheduling system determines whether the preset conditions are met.

[0180] Among them, the preset conditions may include that the number of materials corresponding to the task assigned to the robot reaches the rated number, and there is no high-level range handling task among other handling tasks to be assigned.

[0181] S713: The robot scheduling system deletes the group order identifier in the task information of the robot's assigned handling task.

[0182] It should be understood that the specific implementation of this process can refer to the description in S302-S303 above, which will not be repeated here.

[0183] S714: The robot scheduling system clears the order identification of the current task when the robot completes the execution.

[0184] If it is not a handling task within the high-level interval, the robot scheduling system can clear the order identification of the handling tasks within the low-level interval and the handling tasks within the middle-level interval after the robot picks up the material box.

[0185] When the group order identifier of the current task is cleared, the robot no longer carries the group order identifier. In this case, the robot scheduling system can assign other handling tasks to the robot based on the priorities and group order identifiers corresponding to other handling tasks to be assigned.

[0186] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the method. It is understandable that, in order to realize the above functions, the server includes at least one of the hardware structure and software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0187] The embodiment of the present application can divide the server into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0188] For example, Figure 6 The structure diagram of a task allocation device is shown. The task allocation device 20 can be used to execute the method involved in the above embodiment. The task allocation device 20 includes: an acquisition unit 801, a processing unit 802 and an execution unit 803.

[0189] The acquisition unit 801 is used to acquire task information of a first transport task to be assigned. The first transport task is a task of performing a material picking action and a transport action on a material on a shelf. The task information includes the storage height of the material on the shelf.

[0190] Processing unit 802 is used to determine the recognition results of multiple robots when the task information also includes an order combination identifier and the storage height is within a target interval on the shelf. The order combination identifier is used to indicate that the handling task for the material within the target interval is preferentially assigned to the robot that carries the handling task within the same interval. The target interval is any one of the high-level interval, the middle-level interval and the low-level interval. The robot's operating height interval on the shelf is the high-level interval and the middle-level interval, or the middle-level interval and the low-level interval. The shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval. The recognition result is used to indicate whether there is a first robot that carries the handling task within the target interval.

[0191] The execution unit 803 is configured to execute an allocation strategy corresponding to the recognition result to allocate the first handling task. The allocation strategy includes allocating the first handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the first handling task to the second robot if the recognition result indicates that the first robot does not exist, wherein the second robot is a robot whose operating height interval covers the storage height among the multiple robots.

[0192] In a possible embodiment, the processing unit 802 is specifically used to: determine a candidate robot whose working height interval includes a target interval among multiple robots. Obtain task information of the assigned handling tasks of each candidate robot. If there is a candidate robot whose task information of the assigned handling tasks includes a group order identification among the candidate robots, it is determined that the recognition result is that the first robot exists. If there is no candidate robot whose task information of the assigned handling tasks includes a group order identification among the candidate robots, it is determined that the recognition result is that the first robot does not exist.

[0193] In a possible embodiment, among the multiple robots, the number of robots whose working height intervals are the high-level interval and the middle-level interval is less than the number of robots whose working height intervals are the middle-level interval and the low-level interval. The target interval is the high-level interval.

[0194] In a possible embodiment, the processing unit 802 is also used to maintain the order-matching identifier in the task information of the assigned handling task of the first robot and continue to assign the second handling task to the first robot when there is a second handling task in other handling tasks to be assigned and the material quantity corresponding to the assigned handling task of the first robot has not reached the rated quantity. The second handling task is a handling task whose task information includes an order-matching identifier in other handling tasks and the storage height of the targeted material is within the high-rise interval. The processing unit 802 is also used to delete the order-matching identifier in the task information of the assigned handling task of the first robot and continue to assign the third handling task to the first robot when there is no second handling task in other handling tasks to be assigned and the material quantity has not reached the rated quantity. The third handling task is a handling task whose targeted material is within the middle-level interval in other handling tasks. The processing unit 802 is also used to delete the order-matching identifier in the task information of the assigned handling task of the first robot when the material quantity reaches the rated quantity, and instruct the first robot to perform the handling action after performing the material picking action of all the assigned handling tasks.

[0195] In a possible embodiment, the processing unit 802 is further configured to maintain the order-matching identifier in the task information of the first handling task, and continue to assign the second handling task to the second robot. The second handling task is a handling task whose task information includes the order-matching identifier among other handling tasks to be assigned, and the storage height of the material is within the high-rise range.

[0196] In a possible embodiment, the processing unit 802 is further configured to assign the first transport task to a third robot and delete the group order identifier in the task information of the first transport task when the task information of the first transport task also includes a group order identifier and the storage height is not within the high-rise interval. The third robot is a robot whose operating height interval covers the storage height among the multiple robots.

[0197] In a possible embodiment, the processing unit 802 is further used to determine the priorities corresponding to each of the multiple handling tasks based on the storage heights of the materials to be assigned. The priority corresponding to the handling task whose storage height is in the high-level interval is higher than the priority corresponding to the handling task whose storage height is in the middle-level interval or the low-level interval. The processing unit 802 is further used to determine the first handling task from the multiple handling tasks based on the priorities corresponding to the multiple handling tasks. The probability of a handling task among the multiple handling tasks being determined as the first handling task is positively correlated with the corresponding priority.

[0198] In a possible embodiment, the processing unit 802 is specifically configured to: determine the first transport task from the multiple transport tasks according to the priorities corresponding to the multiple transport tasks and the waiting allocation time corresponding to the multiple transport tasks. The waiting allocation time is the interval between the generation time of the transport task and the current time. The probability that a transport task among the multiple transport tasks is determined as the first transport task is also positively correlated with the corresponding waiting allocation time.

[0199] In a possible embodiment, the execution unit 803 is specifically used to: determine a candidate robot whose operating height interval covers the storage height among multiple robots. Determine the second robot based on the position spacing corresponding to each candidate robot. The position spacing is the interval distance between the current position of the candidate robot and the storage position of the material. The probability that the candidate robot is determined to be the second robot is negatively correlated with the position spacing.

[0200] For the specific description of the above optional manner, please refer to the above method embodiment, which will not be repeated here. In addition, the explanation of any server provided above and the description of the beneficial effects can refer to the above corresponding method embodiment, which will not be repeated here.

[0201] As an example, combining Figure 2 The functions implemented in part or in whole in the acquisition unit 801, the processing unit 802 and the execution unit 803 in the task allocation device 20 can be Figure 2 Processor 101 in the Figure 2 The program code in the memory 102 is implemented.

[0202] An embodiment of the present application further provides a readable storage medium, on which a computer program is stored. When the computer program is executed on a server, the server executes any of the methods executed by the server provided above.

[0203] For the explanation of the relevant contents and description of the beneficial effects of any of the readable storage media provided above, reference may be made to the corresponding embodiments above, which will not be repeated here.

[0204] The embodiment of the present application also provides a computer program product including instructions, when the instructions are run on the server, the server executes any one of the methods in the above embodiments. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the server, the process or function according to the embodiment of the present application is generated in whole or in part. The server can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a readable storage medium, or transmitted from one readable storage medium to another readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The readable storage medium can be any available medium that can be accessed by the server or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), etc.

[0205] It should be noted that the above-mentioned devices for storing computer instructions or computer programs provided in the embodiments of the present application, such as but not limited to the above-mentioned memories, readable storage media, etc., are all non-transitory.

[0206] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, 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 the server, the process or function according to the embodiment of the present application is generated in whole or in part. The server can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a readable storage medium, or transmitted from one readable storage medium to another readable storage medium. For example, the computer instructions can 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 (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The readable storage medium can be any available medium that can be accessed by the server or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), etc.

[0207] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0208] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A task allocation method, characterized in that: include: Obtaining task information of a first handling task to be assigned; The first handling task is a task of performing material picking and handling actions on materials on the shelf; the task information includes the storage height of the materials on the shelf; When the task information also includes an order grouping identifier and the storage height is within a target interval on the shelf, the recognition results of multiple robots are determined; the order grouping identifier is used to indicate that the handling task for the material within the target interval is preferentially allocated to the robot carrying the handling task within the same interval; the target interval is any one of the high-level interval, the middle-level interval and the low-level interval; the robot's operating height interval on the shelf is the high-level interval and the middle-level interval, or the middle-level interval and the low-level interval; the shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval; the recognition result is used to indicate whether there is a first robot carrying the handling task within the target interval; Execute an allocation strategy corresponding to the recognition result to allocate the first handling task; the allocation strategy includes allocating the first handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the first handling task to a second robot if the recognition result indicates that the first robot does not exist, and the second robot is a robot among the multiple robots whose working height range covers the storage height.

2. The method according to claim 1, characterized in that Determining the recognition results of the multiple robots includes: Determine a candidate robot among the multiple robots whose operating height interval includes the target interval; Obtaining task information of the assigned handling tasks of each of the candidate robots; If there is a candidate robot among the candidate robots whose task information of the assigned handling task includes the order-matching identifier, determining that the recognition result is that the first robot exists; If there is no candidate robot among the candidate robots whose task information of the assigned handling task includes the order-matching identifier, it is determined that the recognition result is that the first robot does not exist.

3. The method according to claim 1, characterized in that Among the multiple robots, the number of robots whose working height intervals are the high-level interval and the middle-level interval is less than the number of robots whose working height intervals are the middle-level interval and the low-level interval; and the target interval is the high-level interval.

4. The method according to claim 3, characterized in that After assigning the first handling task to the first robot, the method further includes: When there is a second handling task in the other handling tasks to be assigned, and the material quantity corresponding to the assigned handling task of the first robot has not reached the rated quantity, the order combination identifier in the task information of the assigned handling task of the first robot is maintained, and the second handling task continues to be assigned to the first robot; the second handling task is a handling task whose task information in the other handling tasks includes the order combination identifier, and the storage height of the targeted materials is within the high-rise interval; When the second handling task does not exist in other handling tasks to be assigned and the material quantity does not reach the rated quantity, the order combination identifier in the task information of the assigned handling tasks of the first robot is deleted, and the third handling task continues to be assigned to the first robot; the third handling task is a handling task for the material in the other handling tasks that is within the middle-layer interval; When the material quantity reaches the rated quantity, the order combination identifier in the task information of the assigned handling task of the first robot is deleted, and the first robot is instructed to perform the handling action after executing the material picking action of all the assigned handling tasks.

5. The method according to claim 3, characterized in that: After assigning the first handling task to the second robot, the method further includes: Maintain the order-binding identifier in the task information of the first handling task, and continue to assign the second handling task to the second robot; the second handling task is a handling task whose task information among other handling tasks to be assigned includes the order-binding identifier, and the storage height of the targeted materials is within the high-rise range.

6. The method according to claim 3, characterized in that The method further comprises: When the task information of the first transport task also includes the order-binding identifier and the storage height is not within the high-rise interval, the first transport task is assigned to a third robot, and the order-binding identifier in the task information of the first transport task is deleted; the third robot is a robot among the multiple robots whose working height interval covers the storage height.

7. The method according to claim 1, characterized in that Before obtaining the task information of the first handling task to be assigned, the method further includes: Based on the storage heights of the materials targeted by the multiple handling tasks to be assigned, the priorities corresponding to the multiple handling tasks are determined; the priority corresponding to the handling task whose storage height is within the high-level interval is higher than the priority corresponding to the handling task whose storage height is within the middle-level interval or the low-level interval; Based on the priorities corresponding to the multiple transport tasks, the first transport task is determined from the multiple transport tasks; the probability of a transport task among the multiple transport tasks being determined as the first transport task is positively correlated with the corresponding priority.

8. The method according to claim 7, characterized in that The determining the first transport task from the multiple transport tasks based on the priorities corresponding to the multiple transport tasks respectively includes: The first transport task is determined from the multiple transport tasks according to the priorities corresponding to each of the multiple transport tasks and the waiting allocation time corresponding to each of the multiple transport tasks; the waiting allocation time is the interval between the generation time of the transport task and the current time; the probability of a transport task among the multiple transport tasks being determined as the first transport task is also positively correlated with the corresponding waiting allocation time.

9. The method according to claim 1, characterized in that: The allocating the first handling task to the second robot comprises: Determine a candidate robot among the multiple robots whose operating height interval covers the storage height; The second robot is determined based on the position spacing corresponding to each of the candidate robots; the position spacing is the interval distance between the current position of the candidate robot and the storage position of the material; the probability of the candidate robot being determined as the second robot is negatively correlated with the position spacing.

10. A task allocation device, characterized in that: include: Acquisition unit, processing unit and execution unit; The acquisition unit is used to acquire task information of a first handling task to be assigned; The first handling task is a task of performing material picking and handling actions on materials on the shelf; the task information includes the storage height of the materials on the shelf; The processing unit is used to determine the recognition results of multiple robots when the task information also includes an order combination identifier and the storage height is within a target interval on the shelf; the order combination identifier is used to indicate that the handling task for the material within the target interval is preferentially allocated to the robot carrying the handling task within the same interval; the target interval is any one of the high-level interval, the middle-level interval and the low-level interval; the robot's operating height interval on the shelf is the high-level interval and the middle-level interval, or the middle-level interval and the low-level interval; the shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval; the recognition result is used to indicate whether there is a first robot carrying the handling task within the target interval; The execution unit is used to execute an allocation strategy corresponding to the recognition result to allocate the first handling task; the allocation strategy includes allocating the first handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the first handling task to a second robot if the recognition result indicates that the first robot does not exist, and the second robot is a robot among the multiple robots whose working height range covers the storage height.

11. A task allocation system, characterized in that: include: Central management system and robot dispatching system; The central management system is used to configure the task information of the handling task to include a group order identifier when the storage height of the material targeted by the handling task on the shelf is in a high-rise interval, and send the task information of the handling task including the group order identifier to the robot scheduling system; the group order identifier is used to indicate that the handling task for the material in the high-rise interval is preferentially allocated to the robot carrying the handling task in the same interval; The robot scheduling system is used to execute an allocation strategy corresponding to the recognition results of multiple robots to allocate the handling task when the task information of the handling task includes the group order identifier; the working height interval of the robot on the shelf is the high-level interval and the middle-level interval, or the middle-level interval and the low-level interval; the shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval; the recognition result is used to indicate whether there is a first robot that carries the handling task in the high-level interval; the allocation strategy includes allocating the handling task to the first robot if the recognition result indicates that the first robot exists, or allocating the handling task to the second robot if the recognition result indicates that the first robot does not exist, and the second robot is a robot among the multiple robots whose working height interval covers the storage height.

12. A server, characterized in that: include: processor; The processor is connected to a memory, the memory is used to store computer-executable instructions, and the processor executes the computer-executable instructions stored in the memory, so that the server implements the method according to any one of claims 1 to 9.

13. A readable storage medium, characterized in that: Used to store computer instructions, when the computer instructions are executed on a server, the server is caused to execute the method according to any one of claims 1 to 9.

14. A task allocation system, characterized in that: include: A server, a tall robot, and a short robot; wherein the server is used to implement the task allocation method described in any one of claims 1 to 9; the tall robot is used to perform handling tasks within the high-level interval and the middle-level interval; the short robot is used to perform handling tasks within the middle-level interval and the low-level interval; the shelf height corresponding to the high-level interval is higher than the shelf height corresponding to the middle-level interval, and the shelf height corresponding to the middle-level interval is higher than the shelf height corresponding to the low-level interval.

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