Goods allocation parameter determination method and device and warehousing system

Abstract

The embodiment of the invention provides a goods allocation parameter determination method, and relates to the field of intelligent warehousing, and the method comprises the steps that first equipment receives a first instruction sent by a first system, the first instruction is used for instructing the first equipment to execute a calibration task for a calibration object, and the calibration object comprises a goods allocation for placing goods or containers; in response to the first instruction, executing a calibration task on the calibration object to determine the actual height of the calibration object; and sending the actual height to the first system. According to the method, the calibration task is executed on the calibration object based on the instruction of the first system, so that the actual height of the calibration object is determined, the purpose of determining the actual height of the goods allocation is achieved, it is avoided that wrong goods allocation height parameters are stored in the first system, execution of subsequent tasks in the warehousing system is affected, and the execution efficiency of the warehousing system is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of intelligent warehousing technology, and in particular to a method and device for determining cargo location parameters and a warehousing system. Background Art

[0002] In a warehousing system, after the shelves are set up in the inventory area, inconsistent shelf heights may occur due to uneven ground or deviations in shelf construction. This may cause the robot to be unable to perform subsequent cargo picking and placement tasks or cargo location inspection tasks, or to encounter abnormalities in picking and placing cargo boxes, or to require manual or robot repeated determination of the cargo location height. Summary of the Invention

[0003] The present disclosure provides a method, device, and system for determining cargo location parameters. The present disclosure provides the following technical solutions:

[0004] A first aspect of an embodiment of the present disclosure provides a method for determining cargo location parameters, comprising: receiving a first instruction sent by a first system, the first instruction being used to instruct a first device to perform a calibration task for a calibration object, the calibration object comprising a cargo location for placing cargo or containers; in response to the first instruction, performing the calibration task on the calibration object to determine an actual height of the calibration object; and sending the actual height to the first system.

[0005] In some embodiments, in response to a first instruction, performing a calibration task on a calibration object to determine the actual height of the calibration object includes: determining the position coordinates and initial height of the first calibration object according to the first instruction; moving to the position coordinates of the first calibration object, and determining the actual height of the first calibration object based on the initial height.

[0006] In some embodiments, determining the actual height of the first calibration object based on the initial height includes any one of the following: when the initial height is empty, lifting the first carrier of the first device until the through-beam sensor on the first device is converted from the second state to the first state, and determining the lifting height corresponding to the conversion of the through-beam sensor to the first state as the actual height of the first calibration object, the first state is that the through-beam sensors can sense each other, and the second state is that the through-beam sensors cannot sense each other; when the initial height is not empty, lifting the first carrier of the first device to the initial height, and determining the actual height of the first calibration object based on the state of the through-beam sensor during the lifting process.

[0007] In some embodiments, determining the actual height of the first calibration object based on the state of the through-beam sensor during the lifting process includes any of the following: during the lifting process, if the through-beam sensor continues to be in the first state, continue to lift the first carrier of the first device until the through-beam sensor is converted from the first state to the second state and from the second state to the first state, and determine the lifting height corresponding to the conversion of the through-beam sensor to the first state as the actual height of the first calibration object; during the lifting process, if the through-beam sensor is converted from the first state to the second state, continue to lift the first carrier of the first device until the through-beam sensor is converted from the second state to the first state, and determine the lifting height corresponding to the conversion of the through-beam sensor to the first state as the actual height of the first calibration object; during the lifting process, if the first carrier of the first device cannot be lifted to the initial height, determine the current lifting height of the first device as the actual height of the first calibration object.

[0008] In some embodiments, the method further includes: receiving a second instruction sent by the first system, the second instruction being used to instruct the first device to lower the first carrier to an initial position; and lowering the first carrier to the initial position in response to the second instruction.

[0009] In some embodiments, before performing the calibration task on the calibration object, the method also includes: determining the model of the first device, performing consistency verification on the model with the model of the calibration device, determining the model verification result, and / or determining the communication protocol version number between the first device and the first system, performing consistency verification on the communication protocol version number with the protocol version number of the calibration device, and determining the protocol version verification result; in case the model verification result fails and / or the protocol version verification result fails, sending an alarm message to the first system.

[0010] In some embodiments, the method further includes: starting a timer when the first device reaches the position coordinates of the first calibration object; sending a timeout message to the first system when the timer exceeds the first time and the actual height of the first calibration object is not determined, the timeout message is used to indicate that the first device has timed out in executing the calibration task; receiving a third instruction sent by the first system, the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

[0011] In some embodiments, the method further includes: canceling the calibration task of the first calibration object when the calibration task of the first calibration object is executed abnormally; sending a failure message to the first system, where the failure message is used to indicate that the calibration task of the first device for the first calibration object has failed; and moving to the position coordinates of the next calibration object to execute the calibration task for the next calibration object.

[0012] In some embodiments, the method further includes: receiving a second instruction sent by the first system, the second instruction being used to instruct the first device to lower the first carrier to an initial position; and lowering the first carrier to the initial position in response to the second instruction.

[0013] In the above embodiment, the first device performs a calibration task on the calibration object based on the instruction of the first system to determine the actual height of the calibration object, so as to avoid the height value of the calibration object stored in the first system being inconsistent with the actual height, resulting in failure or abnormality of subsequent tasks.

[0014] A second aspect of an embodiment of the present disclosure provides a method for determining cargo location parameters, including: sending a first instruction to a first device, the first instruction being used to instruct the first device to perform a calibration task for a calibration object, the calibration object including a cargo location for placing goods or containers; and receiving an actual height of the calibration object sent by the first device.

[0015] In some embodiments, the method further includes: determining calibration parameters; and creating a calibration task based on the calibration parameters, wherein the calibration task is used by the first device to determine an actual height of the calibration object.

[0016] In some embodiments, determining the calibration parameters includes at least one of the following: receiving a selection range from the user in the imported map through a calibration creation interface, and determining a calibration area and a calibration lane based on the selection range and the lane list in the database; receiving a fourth instruction triggered by a user's click operation, and determining an identifier of the first device based on the fourth instruction; determining an initial height based on a first preset rule; and determining an execution order based on a second preset rule, where the execution order is the calibration priority of different types of cargo locations.

[0017] In some embodiments, determining the calibration area and the calibration lane according to the selection range and the lane list in the database includes: when there is a calibration object in the selection range, determining the calibration area as the selection range in the imported map, and the calibration lane as the lane in the selection range; when there is no calibration object in the selection range, displaying a first prompt window, and the first prompt window is used to prompt that the area selection fails.

[0018] In some embodiments, determining the identification of the first device according to the fourth instruction includes: when the device status corresponding to the device identification for performing the task indicated by the fourth instruction is idle, determining the identification of the first device as the device identification for performing the task indicated by the fourth instruction; when the device status corresponding to the device identification for performing the task indicated by the fourth instruction is abnormal or the task is being executed, displaying a second prompt window, the second prompt window being used to prompt that the device selection is invalid.

[0019] In some embodiments, the first preset rule is to determine the initial altitude in the following order: historical calibration altitude; cached altitude value of the imported map; system parameter configuration.

[0020] In some embodiments, the method further includes: obtaining an imported map; receiving a target cargo location input by a user in a calibration creation interface; and determining a calibration object based on the imported map and the target cargo location.

[0021] In some embodiments, based on the imported map and the target cargo location, determining the calibration object includes: when the target cargo location is not in the imported map, displaying a third prompt window, the third prompt window is used to prompt that there is no target cargo location on the map; when the target cargo location is in the imported map, determining that the calibration object is the target cargo location.

[0022] In some embodiments, the method further includes: receiving an alarm message sent by the first device, the alarm message being used to indicate that the model verification result of the first device has failed and / or the protocol version verification result has failed; in response to the alarm message, displaying a fourth prompt window, the fourth prompt window being used to prompt that the device is abnormal.

[0023] In some embodiments, the method further includes: receiving a fifth instruction triggered by a click operation of the user, redetermining the identification of the first device according to the fifth instruction; and sending the first instruction to the redetermined first device.

[0024] In some embodiments, the method also includes: receiving timeout information sent by the first device, the timeout information is used to indicate that the first device has timed out in executing the calibration task of the first calibration object; based on the timeout information, sending a third instruction to the first device, the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

[0025] In some embodiments, the method further includes: receiving the actual height of the first calibration object sent by the first device; updating the height value of the first calibration object in the storage list based on the actual height of the first calibration object; and sending a second instruction to the first device, the second instruction being used to instruct the first device to lower the first carrier to an initial position.

[0026] In the above embodiment, the first system creates a calibration task according to the user's instructions, and sends the calibration task to the first device through the first instruction, instructing the first device to execute the calibration task to determine the actual height of the calibration object, thereby determining the cargo location parameters, that is, the actual height of the cargo location, to avoid the cargo location height stored in the system being inconsistent with the actual height, affecting the execution of subsequent tasks.

[0027] A third aspect of an embodiment of the present disclosure provides a device for determining cargo location parameters, including a receiving module, an execution module, and a sending module: the receiving module is used to receive a first instruction sent by a first system, the first instruction is used to instruct a first device to perform a calibration task for a calibration object, and the calibration object includes a cargo location for placing goods or containers; the execution module is used to perform the calibration task on the calibration object in response to the first instruction to determine the actual height of the calibration object; and the sending module is used to send the actual height to the first system.

[0028] A fourth aspect of an embodiment of the present disclosure provides a device for determining cargo location parameters, including a sending module and a receiving module: the sending module is used to send a first instruction to a first device, the first instruction is used to instruct the first device to perform a calibration task for a calibration object, and the calibration object includes a cargo location for placing goods or containers; the receiving module is used to receive the actual height of the calibration object sent by the first device.

[0029] A fifth aspect of an embodiment of the present disclosure provides a warehousing system, comprising a first device for executing the method in any implementation of the aforementioned first aspect; and a first system for executing the method in any implementation of the aforementioned second aspect.

[0030] A sixth aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor and a memory, the memory being used to store computer-executable instructions; and the processor being used to read instructions from the memory and execute the instructions to implement the method in any one of the implementation modes of the first and second aspects mentioned above.

[0031] A seventh aspect of an embodiment of the present disclosure provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are configured to enable the computer to execute the method in any implementation of the first aspect or the second aspect.

[0032] An eighth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method in any one of the implementation methods of the first and second aspects above.

[0033] The method, device and warehousing system for determining cargo location parameters provided by the embodiments of the present disclosure create a calibration task according to user instructions through a first system, and send the calibration task to a first device through a first instruction. The first device executes the calibration task on the calibration object to determine the actual height of the calibration object, and sends the actual height of the calibration object to the first system, so as to avoid the height value of the calibration object stored in the first system being inconsistent with the actual height, thereby affecting the execution of subsequent tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a storage system provided by an embodiment of the present disclosure is shown;

[0035] Figure 2 This is an interactive schematic diagram of a method for determining cargo location parameters applied to a first device, as proposed in an embodiment of the present disclosure;

[0036] Figure 3 A schematic diagram of a process for performing a calibration task on a calibration object proposed in an embodiment of the present disclosure;

[0037] Figure 4 A flowchart of a method for determining cargo location parameters applied to a first device, proposed in an embodiment of the present disclosure;

[0038] Figure 5 A flowchart of a method for determining cargo location parameters applied to a first device, proposed in an embodiment of the present disclosure;

[0039] Figure 6 This is a flow chart of a method for determining cargo location parameters applied to a first system, as proposed in an embodiment of the present disclosure;

[0040] Figure 7 This is a flow chart of a method for determining cargo location parameters applied to a first system, as proposed in an embodiment of the present disclosure;

[0041] Figure 8A This is a schematic diagram of map monitoring;

[0042] Figure 8B This is a schematic diagram of type verification;

[0043] Figure 8C Schematic diagram of protocol verification;

[0044] Figure 9 This is a schematic structural diagram of a device 900 for determining cargo location parameters applied to a first device, as proposed in an embodiment of the present disclosure;

[0045] Figure 10 This is a schematic structural diagram of a device 1000 for determining cargo location parameters applied to a first system, as proposed in an embodiment of the present disclosure;

[0046] Figure 11 is a structural diagram of an electronic device 1100 for implementing the above-mentioned method for determining cargo location parameters according to an exemplary embodiment. DETAILED DESCRIPTION

[0047] The following description sets forth many specific details to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of the present disclosure. Therefore, the present disclosure is not limited to the specific implementations disclosed below.

[0048] The terms used in one or more embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present disclosure. The singular forms "a", "the", and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0049] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0050] In the present disclosure, a method for determining cargo location parameters is provided. The present disclosure also relates to a cargo location parameter determination device, a warehousing system, a computing device, a computer program product, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0051] The following describes the solutions of the embodiments of the present disclosure with reference to examples.

[0052] Figure 1 The following is a schematic diagram of a warehousing system provided in an embodiment of the present disclosure, comprising a first device 101 and a first system 102. The first device may be an intelligent warehousing device in the warehousing system, such as a handling device, such as a robot for transporting bins, a robot for transporting shelves, a robot for transporting pallets, or a robot for transporting goods. The first system 102 may be, for example, a robot management system, a robot control system, a human-computer interaction system, a warehouse automation system, a warehouse management system, a warehouse control system, a warehouse management platform, a warehouse execution system, a warehouse scheduling system, or the like.

[0053] In some embodiments, the first device 101 may be a robot for transporting shelves, for example, a lurking robot, such as a P robot. The P robot is used to transport cache boxes. For example, the P robot can transport boxes placed in the cache area of ​​the inventory area to the offline station of the workstation according to the instructions of the first system, or transport boxes placed on the offline station of the workstation to the cache area. The cache area of ​​the inventory area is used to temporarily store containers or goods, and the offline station of the workstation is used to store goods or containers queued at the workstation. The cache area of ​​the inventory area and the offline station of the workstation are provided with a second carrier, and the second carrier is provided with at least one gap or through hole, etc. The goods or containers can be placed on the second carrier. For example: the second carrier includes horizontal bars arranged in parallel; or the second carrier includes a plate-like structure with multiple through holes, and the through holes can be round holes or long holes, etc.

[0054] In some embodiments, the first device is, for example, a lifting robot, a lurking robot, etc.

[0055] In some embodiments, a first carrier is provided on the first device 101, and the first carrier can be lifted or lowered. A supporting portion or a limiting portion is provided on the first carrier. The limiting portion may include a supporting assembly and a limiting assembly. The supporting assembly of the limiting portion is used to support and lift the cargo box, and the limiting assembly can be used to prevent the cargo box from falling. Alternatively, the limiting portion may only include a limiting assembly, and the bottom of the limiting portion may play a supporting role. The limiting portion may be a comb tooth, and the comb tooth can achieve the effects of the above two components. For example, the bends on both sides of the middle tooth play a limiting role, and the middle tooth body plays a supporting role. The supporting portion / limiting portion may be multiple arranged in parallel or only two at both ends. The height of the supporting portion / limiting portion may be consistent or inconsistent. For example, the height of the supporting portion / limiting portion located in the middle is consistent, and the height of the supporting portion / limiting portion located on both sides is higher than that of the supporting portion / limiting portion in the middle. A through-beam sensor is provided above the supporting parts / limiting parts on both sides, wherein the through-beam sensor determines whether the lifting height of the first carrier reaches the actual height of the cargo position based on the synergy of the transmitter and the receiver by whether they can sense each other. Furthermore, the transmitter on the through-beam sensor emits a light beam, and the receiver can receive the light beam from the transmitter when it is not blocked by an object, but cannot receive the light beam from the transmitter when it is blocked by an object. Therefore, in the process of the first device lifting the first carrier, the heights that cannot sense each other and the heights that can sense each other are determined, so as to determine the actual height of the cargo position through the height lifted by the first device.

[0056] In some embodiments, the first device is provided with a structure for carrying containers (cargo boxes, material boxes or pallets, etc.) or goods, which can be a first carrier. For example, it can include structures such as a supporting part or a limiting part, or it can be a support rod and a disc. The size of the disc is smaller than the width between the cross bars set on the cargo position. The disc has adsorption capacity and can be adsorbed on the bottom of the material box / cargo box / cargo to support it and move it out of the cargo position. The specific structure of the first carrier is not limited in this disclosure.

[0057] In some embodiments, containers (cargo boxes, material boxes or pallets, etc.) or goods can be placed in the cache position of the shelf or the offline workstation of the workstation, wherein the shelf can be a rack with multiple layers of cargo spaces, and each layer of cargo space can place two cargo boxes horizontally. The cache position is located at the lowest layer of the shelf and is used for temporary storage of goods. In the present disclosure, the cargo spaces for placing containers (cargo boxes, material boxes or pallets, etc.) or goods are all provided with second load-bearing members arranged in parallel, and the length and thickness of the second load-bearing members are fixed and consistent.

[0058] In some embodiments, the first device lifts the first carrier so that the support part / limiting part located on the first carrier can pass through the gap or hole set in the second carrier of the cargo position, so as to lift the container (cargo box, material box or pallet, etc.) or cargo located in the cargo position, and lift the container (cargo box, material box or pallet, etc.) or cargo away from the cargo position, thereby achieving the purpose of taking and placing the goods.

[0059] For example, when the support part of the first device is lifted to the cross bar of the cargo position, the cross bar has a certain thickness, which blocks the light beam path of the through-beam sensor, making it impossible for the receiver of the through-beam sensor to receive the light beam from the transmitter, that is, the through-beam sensors are in a state where they cannot sense each other. When the first device continues to be lifted until the support part exceeds the cross bar, the receiver of the through-beam sensor receives the light beam from the transmitter, that is, the through-beam sensors are in a state where they can sense each other.

[0060] In some optional embodiments, the method for determining cargo location parameters provided by the embodiments of the present disclosure can be used in a warehousing system, for example, in a terminal device within the warehousing system. The first system can have the function of issuing calibration tasks to the terminal device. For example, the warehousing system can be deployed with a robot management system, an autonomous mobile robot control system, an intelligent warehouse management platform, a robot scheduling system, and the like.

[0061] For example, the first system can be deployed on a terminal or a server. For example, when the first system is deployed on a terminal, the terminal can include various personal computers, laptops, smartphones, tablet computers, and portable wearable devices. When the first system is deployed on a server, the server can be a standalone server or a server cluster consisting of multiple servers, which is not limited in the embodiments of the present disclosure.

[0062] In the present disclosure, the first system 102 and the first device 101 in the warehousing system can communicate with each other, the first system can control or manage the first device 101, the first system can create a calibration task for the first device 101, and the first device 101 can provide feedback to the first system on the actual height of the calibration object obtained by executing the calibration task. This disclosure is not limited to this.

[0063] Figure 2 This is an interactive diagram of a method for determining cargo location parameters proposed in an embodiment of the present disclosure, which is applied to a first device and a first system in a warehousing system. Figure 2 As shown, the method includes the following steps:

[0064] Step 201: Receive a first instruction sent by a first system.

[0065] In some embodiments, the first instruction is used to instruct the first device to perform a calibration task for a calibration object, where the calibration object includes a cargo space for placing goods or containers.

[0066] In some embodiments, the first device receives a calibration task sent by the first system via an instruction. The instruction may be named a first instruction or a calibration instruction, which is not limited in this disclosure.

[0067] In some embodiments, the first system sends the first instruction to the first device, which may be sent to a specific first device, or to multiple first devices of the same type, or to a first device of the first type that is currently idle in the storage area, which is not limited in this disclosure.

[0068] In some embodiments, the first system may create a calibration task according to the user's instructions, and send the calibration task to the first device specified by the user through a first instruction.

[0069] In some embodiments, the calibration object may include a first cargo location on a shelf and / or a second cargo location on a workstation, for example, the first cargo location is used to temporarily store goods, and the second cargo location is used to store goods queued at the workstation.

[0070] For example, the first cargo location may be a cache location in an inventory area, and the second cargo location may be an offline location in a workstation.

[0071] In some embodiments, the calibration object can be a cargo location in an inventory area, a picking area, a sorting area and / or a workstation. The cargo location can be a cache location on a shelf or a workstation seeding wall, and the role of the cargo location can be to temporarily store goods or for other purposes, which is not limited in this disclosure.

[0072] In some embodiments, the calibration task may be created by the first system, and the calibration task includes calibration parameters, and the calibration parameters include at least one of a calibration area, a calibration lane, an identifier of the first device, an initial height, and an execution order.

[0073] In some embodiments, the marked area can be an area determined by a user through a markup creation interface by selecting a range in an imported map. The marked area includes the first cargo location and / or the second cargo location.

[0074] In some embodiments, the calibrated lanes may be lanes within an area determined by a user through a calibration creation interface by selecting a range in an imported map.

[0075] In some embodiments, the identifier of the first device may be the identifier of a device that the user clicks and selects through the calibration creation interface.

[0076] In some embodiments, the initial altitude may be determined by a preset rule, which may be based on the following sequence: historically calibrated altitude; cached altitude value from imported maps; and system parameter configuration. If all three altitude values ​​are null, the initial altitude is null.

[0077] In some embodiments, the system parameter configuration may be a height value indicated by a default parameter pre-set in the first system.

[0078] In some embodiments, the execution order may be preset or configured by the system in real time, for example, the priority of the first cargo location is higher than the priority of the second cargo location, or the execution order may be the default priority of the first cargo location is higher than the second cargo location.

[0079] For example, the user selects a range in the imported map in the calibration creation interface, and the first system determines the selected range in the imported map as the calibration area, and determines the lanes in the calibration area as calibration lanes, and determines the cache bits and / or offline workstations in the calibration area as calibration objects, and determines the initial height value in the system according to preset rules. The calibration order is that the cache bits take precedence over the offline workstations of the workstation, generates a calibration task, determines the robot identifier that performs the calibration task through the robot selected by the user in the calibration creation interface, and sends the calibration task to the robot through calibration instructions.

[0080] For example, the robot receives a calibration instruction (for example, adjust_height) sent by the first system. The calibration instruction includes the set expected height value, calibration object, execution order, calibration area, and calibration lane. The calibration instruction is used to instruct the robot to perform calibration tasks for cache positions and / or offline workstations within the calibration area and calibration lane.

[0081] Step 202 : In response to the first instruction, perform a calibration task on the calibration object to determine the actual height of the calibration object.

[0082] In some embodiments, in response to the first instruction, the first device may determine a calibration object for performing a calibration task, so as to perform the calibration task on the calibration object and determine an actual height of the calibration object.

[0083] In some embodiments, the calibration object may be the first cargo location corresponding to the calibration lane and / or the second cargo location within the calibration area. The number of calibration objects may be multiple, which is not limited by the present disclosure.

[0084] In some embodiments, the first device executes a calibration task for each first cargo location within the calibration area in response to the first instruction, and determines an actual height of each first cargo location.

[0085] In some embodiments, the first device executes a calibration task for each second cargo location within the calibration area in response to the first instruction, and determines an actual height of each second cargo location.

[0086] For example, the first system sends the created calibration task to the robot via a calibration instruction. After receiving the instruction, the robot performs height calibration on the offline workstation indicated in the calibration task and / or the cache position in the inventory area.

[0087] In some embodiments, the first device may perform a calibration task on the calibration object by lifting a first carrier provided on the first device, and determining whether the lifted height of the first carrier reaches the actual height of the calibration object through the corresponding sensors of the support part / limit part provided on both sides of the first carrier, thereby determining the actual height of the calibration object.

[0088] Step 203: Send the actual altitude to the first system.

[0089] In some embodiments, after the first device performs a calibration task for the calibration object and sends the actual height of the calibration object to the first system, it also includes: receiving a second instruction sent by the first system, the second instruction is used to instruct the first device to lower the first carrier to the initial position; in response to the second instruction, the first carrier is lowered to the initial position.

[0090] In some embodiments, the first device performs a calibration task for the first cargo position and / or the second cargo position in the calibration area and the calibration lane, and after determining the actual height of each first cargo position and / or the second cargo position, sends the actual height to the first system, and the first system sends a second instruction to the first device to instruct the first device to lower the height of the first carrier to the initial position and then move to the next cargo position to perform the calibration task.

[0091] For example, when the robot is performing the calibration task of the cache locations in the inventory area, after determining the actual height of a cache location, it sends the actual height of the cache location to the first system, and receives a descending instruction sent by the first system to lower the height of the first carrier to the initial position, and then moves to the next cache location to perform the calibration task.

[0092] For example, when the robot is performing the calibration task of the offline workstation of the workstation, after determining the actual height of an offline workstation, the robot sends the actual height of the offline workstation to the first system, and receives the descending instruction sent by the first system to lower the height of the first carrier to the initial position, and then moves to the next offline workstation to perform the calibration task.

[0093] For example, when the robot performs the calibration task of the cache positions in the inventory area and the offline positions of the workstation, it first performs the calibration task on the left and right cache positions, and then performs the calibration task on the offline work. After sending the actual height of the last cache position to the first system, it receives the descending instruction issued by the first system, lowers the height of the first carrier to the initial position, and then moves to the offline position to perform the calibration task.

[0094] In the above embodiment, the first system generates a calibration task according to the user's instructions, and sends the calibration task to the first device that executes the calibration task through the first instruction, so that the first device determines the calibration task according to the first instruction, executes the calibration task for the calibration object, and determines the actual height of the calibration object to feed back to the first system, so that the parameters of the cargo location stored in the first system are consistent with the actual parameters, avoiding the inconsistency between the two causing abnormal execution or failure of subsequent tasks, thereby improving the working efficiency of the warehousing system.

[0095] Figure 3 This is a flow chart of performing a calibration task on a calibration object according to an embodiment of the present disclosure. Figure 3 right Figure 2 Step 202 in the embodiment is further described, as Figure 3 As shown, the following steps are included:

[0096] Step 301: Determine the position coordinates and initial height of a first calibration object according to a first instruction.

[0097] In some embodiments, determining the position coordinates and initial height of the first calibration object according to the first instruction may include determining the position coordinates of each calibration object for which calibration is required, and determining the initial height of the calibration object according to the first instruction issued by the first system. In other words, determining the position coordinates of the calibration object may include determining that the location of the calibration object corresponds to the location coordinates in the calibration area, i.e., the coordinates of the location of the cargo location in the storage area.

[0098] In some embodiments, the first calibration object may be an inclined cargo location or an ordinary cargo location in the calibration area. The first calibration object in the present disclosure is an ordinary cargo location.

[0099] In some embodiments, the first calibration object can be any calibration object among all calibration objects corresponding to the calibration task created by the first system. In other words, the first calibration object can be any cache bit in the calibration area corresponding to the calibration task or any offline workstation in the calibration area.

[0100] In some embodiments, the first device determines the position coordinates of each calibration object that needs to perform a calibration task according to the instruction of the first system, so as to determine the position that needs to be moved when performing the calibration task for each calibration object.

[0101] In some embodiments, the initial height may be a historical calibration height. When the historical calibration height is empty, the initial height is the cache height value of the imported map. When the cache height value of the imported map is empty, the initial height is the height value configured by the system parameters. When the values ​​of the above three are all empty, the initial height is empty. In other words, when the first device determines the initial height according to the first instruction, when the initial height is not empty, the first device needs to use the initial height as a reference to perform the calibration task for the first calibration object, so as to calibrate whether the initial height determined by the current system is the actual height of the first calibration object; when the initial height is empty, the first device does not need to use the initial height as a reference to perform the calibration task.

[0102] For example, the robot receives a calibration instruction (for example, adjust_height) issued by the first system, determines the calibration task indicated in the calibration instruction, the calibration task includes calibration parameters, and determines the position coordinates of the cache position that needs to be calibrated and / or the position coordinates of the offline workstation of the workstation through the calibration parameters, and determines whether the expected height value is indicated.

[0103] Step 302: Move to the position coordinates of the first calibration object, and determine the actual height of the first calibration object based on the initial height.

[0104] In some embodiments, the first device moves based on the position coordinates determined in step 301 and determines whether to move to the position coordinates of the first calibration object according to the QR code on the ground corresponding to the first calibration object.

[0105] In some embodiments, determining the actual height of the first calibration object may be determining the actual height of a common cargo space within the calibration area, ie, the height of a second carrier for placing cargo or containers in the common cargo space.

[0106] In some embodiments, based on the initial height, the actual height of the first calibration object is determined. When the initial height is empty, the first carrier of the first device is lifted until the through-beam sensor on the first device is converted from the second state to the first state, and the corresponding lifting height when the through-beam sensor is converted to the first state is determined as the actual height of the first calibration object. The first state is that the through-beam sensors can sense each other, and the second state is that the through-beam sensors cannot sense each other. In some embodiments, the first device responds to the first instruction and moves to the position coordinates of the first calibration object without indicating the initial height, and lifts the first carrier. Before being lifted to the height of the calibration object, the through-beam sensor will not be blocked by obstacles. Therefore, the state of the through-beam sensor is that it can sense each other. When the through-beam sensor reaches the height of the calibration object, the through-beam sensor will be blocked by the placement rack / cross bar of the calibration object (the cache rack of the cache position or the storage rack of the offline workstation). Therefore, the state of the through-beam sensor is that it cannot sense each other. When the first device continues to lift until the through-beam sensor on the support part / limiting part exceeds the placement rack / cross bar of the calibration object (the cache rack of the cache position or the storage rack of the offline workstation) and is no longer blocked, it is restored to the state where it can sense each other. At this height, the lifting height of the first device can lift the cargo box or cargo on the calibration object and move it out of the cache position or offline workstation. Therefore, the height when the state of the through-beam sensor is converted to being able to sense each other is the actual height of the calibration object.

[0107] For example, the robot moves to the target cargo location according to the calibration instructions, first determines the height at which the opposing sensors cannot sense each other, and then continues to lift until the opposing sensors can sense each other again. The current height is the actual height of the target cargo location.

[0108] In some embodiments, based on the initial height, determining the actual height of the first calibration object can be accomplished by lifting the first carrier of the first device to the initial height when the initial height is not empty, and determining the actual height of the first calibration object based on the state of the corresponding sensor during the lifting process.

[0109] In some embodiments, the first device responds to the first instruction, moves to the position coordinates of the first calibration object while indicating the initial height, and lifts the first carrier to the initial height to determine the actual height of the first calibration object based on the state of the corresponding sensor during the lifting process.

[0110] For example, the calibration instruction also includes the expected height for the first system to calibrate the cache position of the target cargo location. The robot is lifted to the expected height according to the calibration instruction, and determines whether there is a state change of the through-beam sensor during the lifting process to determine whether the expected height is accurate. If the expected height is inaccurate, the expected height value is calibrated.

[0111] In some embodiments, based on the state of the through-beam sensor during the lifting process, determining the actual height of the first calibration object can be that during the lifting process, the through-beam sensor continues to be in the first state, and the first carrier of the first device continues to be lifted until the through-beam sensor is converted from the first state to the second state and from the second state to the first state, and the lifting height corresponding to the conversion of the through-beam sensor to the first state is determined as the actual height of the first calibration object.

[0112] In some embodiments, when the initial height is indicated in the first instruction, during the process of the first device lifting the first carrier to the initial height, the through-beam sensors of the supporting parts / limiting parts on both sides of the first carrier remain in the first state, that is, they are always in a state where they can sense each other. The expected height is lower than the actual height of the first calibration object, resulting in the through-beam sensors not being blocked by obstacles during the lifting process of the first device. Therefore, the first device needs to continue lifting the first carrier until the through-beam sensors are blocked and then converted to an unblocked state. The current lifting height is the actual height of the first calibration object.

[0113] For example, the calibration instruction also includes the expected height of the cache position calibration of the target cargo location by the first system. The robot is lifted to the expected height according to the calibration instruction. When the expected height is lower than the actual height, before lifting to the expected height, the through-beam sensors on the robot can always sense each other, which means that the current height has not reached the placement rack / crossbar of the target cargo location. The robot needs to continue lifting until the through-beam sensors are unable to sense each other (reaching the height of the placement rack) and can sense each other (exceeding the height of the placement rack). The current lifting height is the actual height of the target cargo location.

[0114] In some embodiments, based on the state of the through-beam sensor during the lifting process, determining the actual height of the first calibration object can be that when the through-beam sensor is converted from a first state to a second state during the lifting process, the first carrier of the first device continues to be lifted until the through-beam sensor is converted from the second state to the first state, and the lifting height corresponding to the conversion of the through-beam sensor to the first state is determined as the actual height of the first calibration object.

[0115] In some embodiments, when the initial height is indicated in the first instruction, in the process of the first device lifting the first carrier to the initial height, the opposing sensors of the supporting parts / limiting parts on both sides of the first carrier experience a transition from the first state to the second state, but do not experience a transition from the second state to the first state, which indicates that the initial height is consistent with the height of the placement rack of the first calibration object, that is, when the first device is lifted to the initial height, the opposing sensors are in a state where they cannot sense each other, then the first device needs to continue lifting until the opposing sensors can sense each other, then the lifting height of this state is the actual height of the first calibration object.

[0116] For example, when the desired height is consistent with the bottom height of the placement rack of the target cargo location, when the robot is lifted to the desired height, the through-beam sensor is just blocked by the placement rack of the target cargo location. Therefore, the robot needs to continue to lift the first carrier until the through-beam sensor exceeds the placement rack and is converted from being blocked to being unblocked. Then this height is the actual height of the target cargo location.

[0117] In some embodiments, based on the state of the corresponding sensor during the lifting process, determining the actual height of the first calibration object can be that when the first carrier of the first device cannot be lifted to the initial height during the lifting process, the current lifting height of the first device is determined as the actual height of the first calibration object.

[0118] In some embodiments, when the initial height is indicated in the first instruction, the initial height is higher than the actual height of the first calibration object. During the lifting process of the first device, the first carrier of the first device is blocked by the placement rack of the first calibration object. Therefore, the first device cannot be lifted to the initial height. The lifting height at which the first carrier of the first device is blocked by the placement rack can be determined as the actual height of the first calibration object. This height can enable the first device to lift and move the cargo box or cargo space on the placement rack.

[0119] For example, when the expected height is higher than the actual height of the target cargo location, the robot may be unable to lift during the lifting process, and the height that the robot cannot lift may be determined as the actual height of the target cargo location.

[0120] In the above embodiment, the first device determines the actual height of the calibration object according to whether there is an initial height in the instruction of the first system and the state change of the radiation sensor during the lifting process of the first device, so as to achieve the purpose of height calibration of the calibration object.

[0121] Figure 4 This is a flow chart of the method for determining cargo location parameters proposed in the embodiment of the present disclosure. Figure 2 、 Figure 3 In the embodiment shown, before performing the calibration task on the calibration object, as shown in FIG. Figure 4 As shown, the following steps are included:

[0122] Step 401, determine the model of the first device, perform consistency check on the model with the model of the calibration device, determine the model verification result, and / or determine the communication protocol version number between the first device and the first system, perform consistency check on the communication protocol version number with the protocol version number of the calibration device, and determine the protocol version verification result.

[0123] In some embodiments, before the first device receives the first instruction sent by the first system and executes the calibration task on the calibration object, it may also first determine at least one of the model of the first device and the version number of the communication protocol between the first device and the first system, and correspondingly determine at least one of the model verification result and the protocol version verification result.

[0124] For example, Figure 8B The type verification / model verification diagram shown, Figure 8C As shown in the protocol verification diagram, after receiving the calibration instruction, the robot checks the corresponding robot model and at least one of the current protocol version number through the robot example.

[0125] In some embodiments, the calibration device model is the device model set in the system for performing calibration tasks, and the calibration device protocol version number is the protocol version number set in the system for performing calibration tasks. In different embodiments, multiple calibration device models and multiple calibration device protocol version numbers can be set, or a class of robot models or protocol version numbers can be set, or the robot model and protocol version number can be unrestricted, which is not limited in this disclosure.

[0126] In some embodiments, the first device performs consistency verification on the model of the first device and the model of the calibration device to determine whether the model of the first device supports the execution of the calibration task, and determines whether the model verification result is success or failure.

[0127] In some embodiments, the first device performs consistency check on the communication protocol version number and the calibration device protocol version number to determine whether the communication protocol version number of the first device supports the execution of the calibration task, and determines whether the protocol version check result is success or failure.

[0128] In some embodiments, when the system sets the calibration device model and the calibration device protocol version number, the first device will perform consistency verification on the model with the calibration device model, and will perform consistency verification on the communication protocol version number with the calibration device protocol version number to determine the model verification result and the protocol version verification result.

[0129] For example, the first device is a robot. After receiving the calibration instruction, the robot determines the model and protocol version number of the robot, and performs model verification and / or protocol version verification to determine whether the robot supports the calibration function. When it is determined that the model does not support the calibration function, it is determined that the model verification has failed. When the protocol version does not support the calibration function, it is determined that the protocol version verification has failed.

[0130] Step 402: If the model verification result fails and / or the protocol version verification result fails, an alarm message is sent to the first system.

[0131] In some embodiments, when the model verification result fails, the first device sends an alarm message to the first system to prompt that the model of the first device does not support the execution of the calibration task.

[0132] In some embodiments, when the protocol version verification result fails, the first device sends an alarm message to the first system to prompt that the communication protocol version number between the first device and the first system does not support the execution of the calibration task.

[0133] In some embodiments, when the model verification result fails and the protocol version verification result fails, the first device sends an alarm message to the first system to prompt that the model and communication protocol version number of the first device do not support the execution of the calibration task.

[0134] For example, after receiving the calibration instruction, the robot first performs model verification and protocol verification, and if the model verification fails and / or the protocol verification fails, it reports an error to the first system, prompting "The currently specified robot does not support the calibration function, please confirm the model of the robot to be used" or "The current protocol version robot does not support the calibration function, please confirm the model of the robot to be used."

[0135] In some embodiments, when the first device sends an alarm message to the first system, the first system can re-determine the identity of the first device that performs the calibration task, and the first system sends a first instruction to the re-determined first device so that the re-determined first device performs the calibration task.

[0136] In the above embodiment, after receiving the first instruction, the first device can first determine whether the current device model and communication protocol version number support the execution of the calibration task before executing the calibration task. If not, it can provide feedback to the first system, and the first system will re-determine the first device that executes the calibration task based on the alarm information to avoid the first device being unable to execute the calibration task, resulting in the invalidation of the calibration task.

[0137] Figure 5 This is a flow chart of a method for determining cargo location parameters proposed in an embodiment of the present disclosure. Figure 2-Figure 4 The embodiment shown, as Figure 5 As shown, the following steps are included:

[0138] Step 501: When the first device reaches the position coordinates of the first calibration object, start a timer.

[0139] In some embodiments, when the first device reaches the position coordinates of the first calibration object during the calibration task, a timer is started to control the duration of the calibration task performed by the first device through the timing duration of the timer, so as to avoid the first device staying in one position for a long time, causing the task execution time to be too long and affecting the execution of other tasks.

[0140] For example, a timing module is provided on the robot, and timing starts after the robot reaches the target cargo location.

[0141] Step 502: When the timing duration of the timer exceeds the first duration and the actual height of the first calibration object is not determined, a timeout message is sent to the first system.

[0142] In some embodiments, the timeout information is used to indicate that the first device has timed out in executing the calibration task.

[0143] In some embodiments, the first duration may be system-set.

[0144] For example, the first system sets a timeout period, for example, 30 seconds.

[0145] In some embodiments, when the timing duration exceeds the first duration, which may be when the first device stays at the position of the first calibration object for longer than the first duration and the actual height of the first calibration object is not obtained, it means that the first device has timed out in executing the calibration task at the first calibration object. The first device then sends a timeout message to the first system to prompt the first device that the calibration has timed out, and the first system issues corresponding instructions based on the timeout message.

[0146] For example, after the robot reaches the target cargo location, if the robot stays there for longer than the timeout period set by the system and no cache location or offline location is detected, it is determined that the calibration has timed out and the result of the calibration anomaly is reported to the first system.

[0147] In the above embodiment, if the first device executes the calibration task for the first calibration object for more than the first time period, it may be that there is no fault in the first device, but due to environmental factors or slow lifting, the cache position or offline workstation is not detected for a long time, which does not mean that the calibration task cannot be executed. Therefore, after reporting the timeout information to the first system, the first system can send instructions to the first device according to the number of timeouts reported by the first device.

[0148] In some embodiments, when the timing duration does not exceed the first duration, the first device executes the calibration task for the first calibration object, which also includes: if the calibration task of the first calibration object is executed abnormally, canceling the calibration task of the first calibration object; sending task failure information to the first system; moving to the position coordinates of the next calibration object, and executing the calibration task for the next calibration object.

[0149] In some embodiments, the abnormal execution of the calibration task may be a calibration failure. The reason for the calibration failure may be a hardware abnormality of the first device itself, or it may be that the cache position or the offline work station is installed unevenly on the left and right, resulting in the first device being unable to lift. Or it may be that the motor is overcurrent, resulting in the first device being unable to lift. The reason for the calibration failure may also be other environmental reasons that cause the first device to be unable to perform the calibration task normally, which is not limited by the present disclosure.

[0150] In some embodiments, when the timing duration does not exceed the first duration, the calibration may fail during the process of the first device executing the calibration task. The first device can cancel the calibration task for the current first calibration object on its own and send a task failure message to the first system. The task failure message is used to feedback to the first system that the calibration task for the first calibration object has failed. The first device will move to the position coordinates of the next calibration object and execute the calibration task for the next calibration object.

[0151] For example, when the robot is performing a calibration task, it cannot be lifted due to a hardware abnormality, or the cache position is installed unevenly on the left and right, or the motor is overcurrent. If the robot calibration fails, the calibration task of the current point will be automatically canceled, and the robot will move to the next point to continue the calibration task, and the exception code and cause of the exception will be reported to the first system.

[0152] Step 503: Receive a third instruction sent by the first system.

[0153] In some embodiments, the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

[0154] In some embodiments, after the first device times out when executing the calibration task of the first calibration object and sends a timeout message to the first system, the first system may send a third instruction to the first device to instruct the first device to cancel the calibration task of the first calibration object that has timed out, or to instruct the first device to re-execute the calibration task for the first calibration object.

[0155] In some embodiments, after the first device times out when executing the calibration task of the first calibration object and sends the first timeout information to the first system, the first system may send a third instruction to the first device, instructing the first device to re-execute the calibration task for the first calibration object. When the first device once again sends the timeout information of the first calibration object to the first system, the first system may send a third instruction to the first device, instructing the first device to cancel the calibration task of the first calibration object.

[0156] For example, when the robot is performing the calibration task of the target cargo location, because the cache location is not detected for a long time, the robot reports an exception code and the reason for the exception to the first system: the robot calibration times out. Based on the timeout exception code reported by the robot, the first system can cancel the calibration task of the point, or instruct the robot to recalibrate the current point. If the calibration is still abnormal, the robot is instructed to skip the calibration of the point.

[0157] In the above embodiment, calibration timeout or calibration failure may occur during the execution of the calibration task by the first device. In different situations, the robot can skip the calibration task of the current calibration object on its own, or re-execute the calibration task or skip it based on the instructions of the first system, thereby achieving the purpose of determining the actual height of the calibration object and avoiding staying in one position for a long time, which may lead to a decrease in the efficiency of the first device.

[0158] In summary, the cargo location parameter determination method proposed in the present disclosure sends a first instruction to the first device through the first system, so that the first device responds to the first instruction and performs a calibration task on the calibration object to determine the actual height of the calibration object, thereby avoiding inaccurate height values ​​of the calibration object stored in the first system, which may cause failure or abnormality in the execution of subsequent tasks.

[0159] Figure 6 This is a flow chart of a method for determining cargo location parameters proposed in an embodiment of the present disclosure, which is applied to the first system, such as Figure 6 As shown, the following steps are included:

[0160] Step 601: Send a first instruction to a first device.

[0161] In some embodiments, the first instruction is used to instruct the first device to perform a calibration task for a calibration object, where the calibration object includes a cargo space for placing goods or containers.

[0162] In some embodiments, the calibration object may include a first cargo location on a shelf and / or a second cargo location on a workstation, wherein the first cargo location is used for temporarily storing cargo, and the second cargo location is used for storing cargo queued at the workstation.

[0163] For example, the first cargo location may be a cache location in an inventory area, and the second cargo location may be an offline location in a workstation.

[0164] In some embodiments, the calibration object can be a cargo location in an inventory area, a picking area, a sorting area and / or a workstation. The cargo location can be a cache location on a shelf or a workstation seeding wall, and the role of the cargo location can be to temporarily store goods or for other purposes, which is not limited in this disclosure.

[0165] In some embodiments, the calibration task may be created by the first system, and the calibration task includes calibration parameters.

[0166] In some embodiments, the identifier of the first device may be the identifier of a device that the user clicks and selects through the calibration creation interface, and the system determines the target device to which the first instruction is to be sent based on the user's selection.

[0167] For example, the user determines the robot to perform the calibration task by making a selection in the calibration creation interface. The first system creates the calibration task based on the user's selection or input in the calibration creation interface, generates a calibration instruction, and sends the calibration instruction (for example, the adjust_height instruction) to the robot.

[0168] In some embodiments, an optional implementation of step 601 may be as follows: Figure 2 The optional implementation method in the embodiment shown in step 201 is not repeated here.

[0169] Step 602: Receive the actual height of the calibration object sent by the first device.

[0170] In some embodiments, the first system receives an actual height of each cargo location determined by the first device performing a calibration task on each cargo location.

[0171] In some embodiments, the first device performs a calibration task on the calibration object in response to the first instruction to determine an actual height of the calibration object, and sends the actual height to the first system.

[0172] In some embodiments, the method in which the first device performs the calibration task on the calibration object can refer to the following example. Figures 2 to 5 The specific implementation method of the first device performing the calibration task in the illustrated embodiment will not be described in detail here.

[0173] In some embodiments, the first system receives an alarm message sent by the first device; and displays a fourth prompt window in response to the alarm message.

[0174] In some embodiments, the alarm information is used to indicate that the model verification result of the first device has failed and / or the protocol version verification result has failed.

[0175] In some embodiments, the fourth prompt window is used to prompt device abnormalities.

[0176] In some embodiments, the first device determines the model verification result and / or the protocol version verification result by, after receiving the first instruction and before executing the calibration task, determining the model of the first device, performing consistency verification on the model with the model of the calibration device, and determining the model verification result, and / or determining the communication protocol version number between the first device and the first system, performing consistency verification on the communication protocol version number with the protocol version number of the calibration device, and determining the protocol version verification result; in the event that the model verification result and / or the protocol version verification result fails, sending an alarm message to the first system.

[0177] In some embodiments, after receiving the alarm information, the first system needs to re-determine the first device that performs the calibration task. The first system may receive a fifth instruction triggered by a user's click operation, and re-determine the identification of the first device according to the fifth instruction; and send the first instruction to the re-determined first device.

[0178] For example, after receiving the calibration instruction, the robot performs model verification and / or protocol verification to determine the model verification result and / or protocol verification result. If the verification result fails, an error is reported to the first system, prompting "The currently specified robot does not support the calibration function, please confirm the model of the robot to be used" or "The current protocol version of the robot does not support the calibration function, please confirm the model of the robot to be used". The calibration creation interface will then display a corresponding prompt, and the user can reselect the robot to perform the calibration task by clicking on the calibration creation interface. The first system will determine the robot's identification based on the instruction triggered by the user, and send a calibration instruction to the re-determined robot.

[0179] In the above embodiment, it is optional for the robot to perform model verification and protocol version verification before executing the calibration task, that is, it can be replaced or omitted in different embodiments. Performing model verification and protocol version verification can improve the efficiency of task execution and avoid task execution failure and reduced execution efficiency of the calibration process when the specified device model or protocol version number does not support the calibration function. Furthermore, adding the verification process improves the overall execution efficiency of the system.

[0180] In some embodiments, the first system receives timeout information sent by the first device, where the timeout information is used to indicate that the first device has timed out from executing the calibration task of the first calibration object; and based on the timeout information, sends a third instruction to the first device.

[0181] In some embodiments, the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

[0182] In some embodiments, during the execution of the calibration task, the first device monitors the execution time of the task by starting a timer, and sends a timeout message to the first system if the timing duration exceeds the first duration and the actual height of the first calibration object is not determined.

[0183] In some embodiments, the specific implementation of the first device monitoring the time of task execution can be found in Figure 5 The optional implementation methods in the illustrated embodiment will not be described in detail here.

[0184] In some embodiments, the first system sends a third instruction to the first device based on the timeout information sent by the first device to instruct the first device to re-execute the calibration task of the first calibration object or cancel the calibration task of the first calibration object.

[0185] In some embodiments, the first system may instruct the first device to re-execute when the first device sends the first timeout information for the first calibration object, and instruct the first device to cancel the calibration task of the first calibration object when the first device sends the timeout information again.

[0186] In some embodiments, the first system may instruct the first device to cancel the calibration task of the first calibration object after the first device sends a timeout message for the first calibration object once or sends the timeout message three or four times in succession.

[0187] For example, after the robot reaches the target cargo location, if the timer duration exceeds the timeout period set by the system and no cache location or offline workstation is detected, the calibration is determined to have timed out, and the robot reports an exception code and reason for the exception to the first system: robot calibration timed out. After receiving the calibration timeout exception code, the first system can cancel the calibration task for the location, or instruct the robot to recalibrate the current location. If the calibration still times out, the robot is instructed to skip the calibration task for the location.

[0188] In some embodiments, the first system may send task failure information when the first device is executing a calibration task for the first calibration object.

[0189] In some embodiments, when the calibration task of the first calibration object is executed abnormally, the first device cancels the calibration task of the first calibration object; sends a task failure message to the first system; moves to the position coordinates of the next calibration object, and executes the calibration task for the next calibration object.

[0190] For example, if a robot fails calibration due to a hardware anomaly during calibration, it reports an exception code and reason to the first system: "Robot calibration failed." This failure could be caused by uneven installation of the buffer, preventing the robot from lifting, or motor overcurrent. If calibration fails, the robot automatically cancels the calibration task at the current location and continues at the next location.

[0191] In some embodiments, the first system receives the actual height of the first calibration object sent by the first device; based on the actual height of the first calibration object, updates the height value of the first calibration object in the storage list; and sends a second instruction to the first device, the second instruction being used to instruct the first device to lower the first carrier to an initial position.

[0192] In some embodiments, the first system stores and updates the actual height of each calibration object sent by the first device, that is, when multiple devices perform calibration tasks on the same calibration object and all report actual heights, the height values ​​of the calibration objects are updated in order.

[0193] In some embodiments, after the first device reports the actual height of a calibration object, the first system sends a second instruction to the first device to instruct the first device to lower the height of the first carrier to the initial position, so that the first device can move to the position coordinates of the next calibration object and perform the calibration task for the next calibration object.

[0194] For example, the first system stores the actual height reported by the robot, and reports the actual height of the cache position obtained through calibration to the rcs (Robotics Control System) layer of the first system. The rcs layer stores the actual height reported by the robot in the lattice table (interpolation lookup table) and adds a new mark height field (inspection_height, expected height) to the cache position. When multiple robots perform calibration tasks on the same point, the last calibration result will overwrite the previous calibration result.

[0195] In the above embodiment, the first system sends a first instruction to the first device to instruct the first device to perform a calibration task for the calibration object. During the execution process, the first system may issue different instructions based on different information reported by the first device, and after the first device reports the actual height of the calibration object, the first system stores and updates the actual height of the calibration object to achieve the purpose of determining the actual height of the calibration object, thereby avoiding inaccurate height values ​​of the calibration objects stored in the system, which affects the execution of subsequent tasks of the warehousing system.

[0196] Figure 7This is a flow chart of a method for determining cargo location parameters proposed in an embodiment of the present disclosure, based on Figure 6 The embodiment shown, as Figure 7 As shown, the following steps are included:

[0197] Step 701: Determine calibration parameters.

[0198] In some embodiments, determining the calibration parameters includes at least one of the following: receiving a user's selected range in an imported map through a calibration creation interface, and determining a calibration area and a calibration lane based on the selected range and a lane list in a database; receiving a fourth instruction triggered by a user's click operation, and determining an identifier of the first device based on the fourth instruction; determining an initial height based on a first preset rule; determining an execution order based on a second preset rule, and determining the calibration priority of different types of cargo locations in the execution order.

[0199] In some embodiments, the calibration parameters include at least one of a calibration area, a calibration lane, an identifier of the first device, an initial height, and an execution order.

[0200] In some embodiments, the initial height may be empty or not. The initial height is determined according to a first preset rule. The first preset rule can be pre-set by the user, and the present disclosure is not limited thereto. If the first preset rule is not set, the initial height does not need to be determined.

[0201] In some embodiments, when the user does not select a range in the imported map, the calibrated area is the entire range in the imported map, and the calibrated lanes are all lanes in the imported map.

[0202] In some embodiments, when the user does not set the second preset rule, the default execution order is that the first cargo location has a higher priority than the second cargo location.

[0203] For example, Figure 8A In the map monitoring diagram shown, a new transaction type and a calibration type are added to the first system. In the calibration creation interface, the user selects a range in the imported map. The first system then determines the selected range in the imported map as the calibration area based on the user's selection. The calibration lane is determined based on the calibration area and the lane list. The robot that performs the calibration task is determined based on the device identifier selected by the user in the calibration creation interface.

[0204] In some embodiments, determining the calibration area and the calibration lane according to the selection range and the lane list in the database includes: when there is a calibration object in the selection range, determining the calibration area as the selection range in the imported map, and the calibration lane as the lane in the selection range; when there is no calibration object in the selection range, displaying a first prompt window, and the first prompt window is used to prompt that the area selection fails.

[0205] For example, after the user specifies an area in the calibration creation interface, if there is no target cargo location in the area, the system will report an error message: No calibrable cargo location is found in the area, please redefine the area.

[0206] In some embodiments, determining the identification of the first device according to the fourth instruction includes: when the device status corresponding to the device identification for performing the task indicated by the fourth instruction is idle, determining the identification of the first device as the device identification for performing the task indicated by the fourth instruction; when the device status corresponding to the device identification for performing the task indicated by the fourth instruction is abnormal or the task is being executed, displaying a second prompt window, the second prompt window being used to prompt that the device selection is invalid.

[0207] For example, the user selects the robot ID on the calibration creation interface, and the system determines whether the robot is in idle state. If the robot is in idle state, the user clicks [OK] on the interface, and the robot that performs the calibration task is determined, and the first system sends a calibration instruction to the robot; when the robot is abnormal or performing a task, the user clicks [OK] on the interface, and the system prompts: The specified robot cannot perform the calibration task, please re-specify the robot.

[0208] In some embodiments, the first preset rule is to determine the initial altitude in the following order: historical calibration altitude; cached altitude value of the imported map; system parameter configuration.

[0209] In some embodiments, the system parameter configuration may be an altitude value indicated in a default parameter preset by the first system.

[0210] For example, the calibration instruction issued by the first system includes an expected height value, and the rule for obtaining the expected height value is: the actual height value of the historical calibration is stored in the lookup table in the system (for example, boxc_lattice); if the actual height value is empty, the cache height value (for example, jacking_height) stored in the map parameter table (for example, mapbuilder) when the map is imported is taken; if jacking_height in mapbuilder is empty, the value of the system parameter configuration is taken as the expected height value, wherein the system parameter configuration is set according to the lowest value in the inventory area, so that the robot can search for the support part of the cargo location from the lowest value. If the set value is higher than the actual support part height, there is a risk of colliding with the support part of the cargo location.

[0211] In some embodiments, the method further includes obtaining an imported map; receiving a target cargo location input by a user in a calibration creation interface; and determining a calibration object based on the imported map and the target cargo location.

[0212] In some embodiments, based on the imported map and the target cargo location, determining the calibration object includes: when the target cargo location is not in the imported map, displaying a third prompt window, the third prompt window is used to prompt that there is no target cargo location on the map; when the target cargo location is in the imported map, determining that the calibration object is the target cargo location.

[0213] For example, the user enters the target cargo location in the calibration creation interface, and the first system determines whether the target cargo location exists in the imported map. If the target cargo location does not exist, a prompt is given: there is no such target cargo location in the map; if the target cargo location exists, the target cargo location in the imported map is determined as the calibration object.

[0214] Step 702: Create a calibration task based on the calibration parameters.

[0215] In some embodiments, the calibration task is used by the first device to determine an actual height of a calibration object.

[0216] In some embodiments, based on the calibration parameters, creating a calibration task can be that the first system determines at least one of the calibration area, calibration lane, initial height, and execution order according to the instructions triggered by the user in the calibration creation interface or the preset rules in the system, creates the calibration task, and determines the identification of the first device determined according to the user's selection, and determines the device identification for executing the calibration task.

[0217] In the above embodiment, a new calibration task type is added to the system to determine calibration parameters based on user operations on the interface, thereby creating a calibration task and sending a calibration instruction to the first device that executes the calibration task.

[0218] The following is a specific implementation of a method for determining cargo location parameters provided by the present disclosure, including a first system side and a robot side:

[0219] 1. First system side:

[0220] Step 1: Create a calibration task and issue it.

[0221] Create a new transaction type in the first system and add a calibration type; select the area and lane according to the imported map, where the selected area is the range selected by the mouse on the map; the selected lane is the lane list obtained from the database, and all lanes are selected by default. However, when the area is selected, the range of the lane is determined by the selected area range.

[0222] Step 2. After the staff clicks the inspection instruction (for example, the GO_INSPECT instruction) on the system interface, the first system sends a calibration instruction (adjust_height) to the robot. The calibration instruction includes at least one of the calibration object, execution order, calibration area, lane, and expected height; the staff can control the first system to send instructions to the robot to cancel or pause the calibration task through the task cancel and task pause buttons on the system interface.

[0223] Among them, the rules for obtaining the expected height value are as follows: the actual height value of historical calibration is stored in boxc_lattice in the first system; if the actual height value is empty, the cache height value jacking_height stored in mapbuilder when the map is imported is taken; if jacking_height in mapbuilder is empty, the value of the system parameter configuration is taken as the expected height value, among which the system parameter configuration is set according to the lowest value in the inventory area, so that the robot can start searching for the support part from the lowest value. If the set value is higher than the actual support part height, there is a risk of collision with the support part.

[0224] Among them, the calibration objects include points in the inventory area and offline workstations.

[0225] To prevent the calibration results of offline workstations from being inserted into the calibration results of the inventory area, the default execution order is: first calibrate the points in the inventory area, then calibrate the points of offline workstations.

[0226] Step 3: The first system receives the calibration anomaly reported by the robot and performs the following operations based on the anomaly type:

[0227] After receiving the calibration timeout exception code, cancel the calibration task of the point and automatically skip it; or control the robot to recalibrate the current point. If the calibration is still abnormal, skip the calibration of the point.

[0228] Step 4: After receiving the calibration result reported by the robot, the first system sends a lowering instruction to the robot to control the robot to lower the height of the first bearing member and continue to perform the calibration task of the next point.

[0229] Furthermore, the first system stores the actual height reported by the robot, and the robot reports the actual height of the cache position obtained through calibration to the RCS layer of the first system. The RCS layer stores the actual height reported by the robot in the lattice table and adds a new mark height field (inspection_height) for the cache position. When multiple robots perform calibration tasks on the same point, the last calibration result will overwrite the previous calibration result.

[0230] Further, such as Figure 8A As shown in the map monitoring diagram, the first system performs map monitoring and adds a calibration type to the new transaction type in warehouse management; and displays the area, aisle, target cargo location, robot ID, transaction code, shelf layer, cargo location; cache location calibration height; and abnormal prompts.

[0231] Optionally, the cache position calibration height may not be set. In this case, the expected height value carried in the calibration instruction is determined according to the acquisition rule.

[0232] Among them, abnormal prompts include:

[0233] The robot ID does not meet the requirements. After clicking [OK], the front-end prompt appears: The specified robot cannot perform the calibration task. Please re-specify the robot.

[0234] When calibrating a specified area, if the robot number is not specified and you click OK, an error message will be displayed: The robot is not specified for the calibration task;

[0235] When calibrating a designated area, if there is no target cargo location in the area, an error message will be displayed: No calibrable cargo location found in the area, please re-specify the area;

[0236] When the input target cargo location is not on the map, a prompt will appear: There is no such target cargo location on the map.

[0237] 2. On the first device side, taking the first device as a robot as an example:

[0238] Step 1: According to the adjust_height command issued by the first system, after reaching the target position, the robot detects laser information through the left and right beam sensors on the robot support during the lifting process. When an obstacle is detected, it is considered that it has touched the bottom of the buffer position. When the robot continues to lift and the left and right beam sensors can emit light, it is considered that the current height can lift the cargo box placed in the buffer position. The current lifting height is recorded and reported to the first system.

[0239] Specifically, the calibration instruction includes the calibration object, area, and aisle. The robot moves to the target cargo location according to the calibration instruction, calibrates the actual height of the target cargo location based on the perception of the through-beam sensor, and feeds back to the first system.

[0240] Optionally, the calibration instruction also includes the expected height. The robot is lifted to the expected height according to the calibration instruction, and determines whether the beam sensor can sense it, and whether it changes from being unable to sense it to being able to sense it during the lifting process, so as to determine the actual height of the target cargo position and feed it back to the first system.

[0241] Optionally, the robot moves to the target location according to the calibration instructions. Based on the expected height and whether the through-beam sensor can sense it, the robot can determine whether the current height is the calibration height. There are two situations:

[0242] If the desired height is lower than the actual height, and the robot's through-beam sensor can still sense it before the desired height is reached, it means the current height has not yet reached the support of the target cargo location. The robot will continue to lift until the through-beam sensor can no longer sense it, indicating that the cargo has reached the support. The robot needs to continue lifting until the through-beam sensor can sense it, and the current height is the actual height of the target cargo location.

[0243] When the expected height is higher than the actual height, during the lifting process, the robot needs to determine the height that the through-beam sensor cannot perceive and continue lifting until the through-beam sensor can perceive it. The current height is the actual height of the target cargo position.

[0244] Optionally, after receiving the calibration command, the robot performs type verification and protocol verification:

[0245] Type verification / model verification: such as Figure 8B The type verification diagram shown in the figure checks the corresponding robot model through the robot instance, and checks the corresponding body model (for example, P40-V2) through the robot model. Figure 8C As shown, when the robot model is not P40-V2, an error message is given: "The currently specified robot does not support the calibration function. Please confirm the model of the robot to be used." The first system then reselects the robot and sends the calibration command.

[0246] Protocol verification: such as Figure 8B The protocol verification diagram shown in the figure checks the corresponding robot model through the robot instance; Figure 8C As shown in the figure, the corresponding body model is checked by the robot model (for example, P40-V2). If the robot model is not P40-V2, an error message is displayed: "The current protocol version robot does not support the calibration function. Please confirm the robot model to use." The first system then reselects the robot and sends the calibration command.

[0247] Furthermore, if the robot performs calibration abnormally, the abnormality types reported to the first system include calibration failure and calibration timeout:

[0248] Calibration Failure: Calibration failed due to a hardware anomaly. Exception code 32067 is reported to the primary system. Cause: P40 robot calibration failed. For example, this could be caused by uneven buffer placement, preventing the robot from lifting, or motor overcurrent. These anomalies are rare.

[0249] At the same time, when the robot encounters an abnormality during lifting and cannot lift normally, resulting in calibration failure, the robot can automatically cancel the calibration task at the current point and continue the calibration task at the next point.

[0250] Calibration timeout: If the cache position is not detected for an extended period, an exception code 34101 will be reported to the primary system. The cause of the exception is: P40 robot calibration timeout. The timeout is system-set and defaults to 30 seconds, starting from the robot's arrival at the point. If the cache position is not detected after this time, the robot's timing module will determine that the calibration has timed out and report the calibration exception to the primary system.

[0251] Step 2: After receiving the task cancellation instruction from the first system, the robot cancels the current calibration task and needs to restart the calibration process when starting the calibration task again.

[0252] Step 3: After receiving the task suspension instruction from the first system, the robot suspends the current calibration task. When receiving the resume execution instruction from the first system again, the robot can continue to perform the current calibration task.

[0253] Beneficial effects of this program:

[0254] The first system sends a calibration task to the robot, which calibrates the cache locations at points in the inventory area and offline workstations to determine the actual height of the cache locations. This avoids inconsistent cache location heights due to uneven ground or deviations in shelf construction, thereby preventing the robot from failing or experiencing abnormalities during subsequent cargo picking and placing tasks or cargo box inspections.

[0255] Figure 9 This is a structural diagram of a device 900 for determining cargo location parameters proposed in an embodiment of the present disclosure, as shown in FIG. Figure 9 As shown, the device includes:

[0256] The receiving module 901 is configured to receive a first instruction sent by the first system, where the first instruction is configured to instruct the first device to perform a calibration task for a calibration object, where the calibration object includes a cargo space for placing goods or containers.

[0257] The execution module 902 is configured to execute a calibration task on the calibration object in response to the first instruction to determine an actual height of the calibration object.

[0258] The sending module 903 is configured to send the actual altitude to the first system.

[0259] In some embodiments, the execution module is further configured to determine the position coordinates and initial height of the first calibration object according to the first instruction; move to the position coordinates of the first calibration object, and determine the actual height of the first calibration object based on the initial height.

[0260] In some embodiments, determining the actual height of the first calibration object based on the initial height includes any one of the following: when the initial height is empty, lifting the first carrier of the first device until the through-beam sensor on the first device is converted from the second state to the first state, and determining the lifting height corresponding to the conversion of the through-beam sensor to the first state as the actual height of the first calibration object, the first state is that the through-beam sensors can sense each other, and the second state is that the through-beam sensors cannot sense each other; when the initial height is not empty, lifting the first carrier of the first device to the initial height, and determining the actual height of the first calibration object based on the state of the through-beam sensor during the lifting process.

[0261] In some embodiments, determining the actual height of the first calibration object based on the state of the through-beam sensor during the lifting process includes any of the following: during the lifting process, if the through-beam sensor continues to be in the first state, continue to lift the first carrier of the first device until the through-beam sensor is converted from the first state to the second state and from the second state to the first state, and determine the lifting height corresponding to the conversion of the through-beam sensor to the first state as the actual height of the first calibration object; during the lifting process, if the through-beam sensor is converted from the first state to the second state, continue to lift the first carrier of the first device until the through-beam sensor is converted from the second state to the first state, and determine the lifting height corresponding to the conversion of the through-beam sensor to the first state as the actual height of the first calibration object; during the lifting process, if the first carrier of the first device cannot be lifted to the initial height, determine the current lifting height of the first device as the actual height of the first calibration object.

[0262] In some embodiments, the receiving module is further used to receive a second instruction sent by the first system, where the second instruction is used to instruct the first device to lower the first carrier to an initial position; in response to the second instruction, the first carrier is lowered to the initial position.

[0263] In some embodiments, the execution module is also used to determine the model of the first device, perform consistency verification on the model with the model of the calibration device, determine the model verification result, and / or determine the communication protocol version number between the first device and the first system, perform consistency verification on the communication protocol version number with the protocol version number of the calibration device, and determine the protocol version verification result; if the model verification result fails and / or the protocol version verification result fails, an alarm message is sent to the first system.

[0264] In some embodiments, the execution module is also used to start a timer when the first device reaches the position coordinates of the first calibration object; when the timer timing exceeds the first time length and the actual height of the first calibration object is not determined, send a timeout information to the first system, the timeout information is used to indicate that the first device has timed out in executing the calibration task; receive a third instruction sent by the first system, the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

[0265] In some embodiments, the execution module is also used to cancel the calibration task of the first calibration object if the calibration task of the first calibration object is executed abnormally; send a failure message to the first system, the failure information is used to indicate that the calibration task of the first device for the first calibration object has failed; move to the position coordinates of the next calibration object, and execute the calibration task for the next calibration object.

[0266] In some embodiments, the receiving module is further used to receive a second instruction sent by the first system, and the second instruction is used to instruct the first device to lower the first carrier to the initial position; the execution module is also used to lower the first carrier to the initial position in response to the second instruction.

[0267] In summary, the cargo location parameter determination device proposed in the present disclosure can perform a calibration task on the calibration object based on the first instruction sent by the first system to determine the actual height of the calibration object, and send abnormal situations during the execution process to the first system to receive instructions from the first system and determine how to deal with the abnormal situations, thereby achieving the purpose of determining the actual height of the calibration object, avoiding the storage of incorrect cargo location heights in the first system, affecting the execution of subsequent tasks in the warehousing system, and improving the execution efficiency of the warehousing system.

[0268] Figure 10 This is a structural diagram of a device 1000 for determining cargo location parameters proposed in an embodiment of the present disclosure, as shown in FIG. Figure 10 As shown, the device includes:

[0269] The sending module 1001 is configured to send a first instruction to the first device, where the first instruction is configured to instruct the first device to perform a calibration task for a calibration object, where the calibration object includes a cargo space for placing goods or containers.

[0270] The receiving module 1002 is configured to receive the actual height of the calibration object sent by the first device.

[0271] In some embodiments, the cargo location parameter determination apparatus further includes a processing module for determining calibration parameters; creating a calibration task based on the calibration parameters, the calibration task being used by the first device to determine the actual height of the calibration object.

[0272] In some embodiments, determining the calibration parameters includes at least one of the following: receiving a selection range from the user in the imported map through a calibration creation interface, and determining a calibration area and a calibration lane based on the selection range and the lane list in the database; receiving a fourth instruction triggered by a user's click operation, and determining an identifier of the first device based on the fourth instruction; determining an initial height based on a first preset rule; and determining an execution order based on a second preset rule, where the execution order is the calibration priority of different types of cargo locations.

[0273] In some embodiments, the processing module is also used to determine that the calibration area is the selection range in the imported map and the calibration lane is the lane in the selection range when there is a calibration object in the selection range; when there is no calibration object in the selection range, a first prompt window is displayed, and the first prompt window is used to prompt that the area selection fails.

[0274] In some embodiments, the processing module is also used to determine that the identifier of the first device is the device identifier for executing the task indicated by the fourth instruction when the device status corresponding to the device identifier for executing the task indicated by the fourth instruction is idle; and to display a second prompt window when the device status corresponding to the device identifier for executing the task indicated by the fourth instruction is abnormal or executing the task, and the second prompt window is used to prompt that the device selection is invalid.

[0275] In some embodiments, the first preset rule is to determine the initial altitude in the following order: historical calibration altitude; cached altitude value of the imported map; system parameter configuration.

[0276] In some embodiments, the processing module is further used to obtain an imported map; receive a target cargo location input by a user in a calibration creation interface; and determine a calibration object based on the imported map and the target cargo location.

[0277] In some embodiments, the processing module is further used to display a third prompt window when the target cargo location is not in the imported map, and the third prompt window is used to prompt that there is no target cargo location on the map; when the target cargo location is in the imported map, the calibration object is determined to be the target cargo location.

[0278] In some embodiments, the receiving module is also used to receive an alarm message sent by the first device, and the alarm message is used to indicate that the model verification result of the first device has failed and / or the protocol version verification result has failed; in response to the alarm message, a fourth prompt window is displayed, and the fourth prompt window is used to prompt that the device is abnormal.

[0279] In some embodiments, the receiving module is further configured to receive a fifth instruction triggered by a click operation of the user, redetermine the identification of the first device according to the fifth instruction; and send the first instruction to the redetermined first device.

[0280] In some embodiments, the receiving module is also used to receive timeout information sent by the first device, and the timeout information is used to indicate that the first device has timed out in executing the calibration task of the first calibration object; the sending module is also used to send a third instruction to the first device based on the timeout information, and the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

[0281] In some embodiments, the receiving module is also used to receive the actual height of the first calibration object sent by the first device; based on the actual height of the first calibration object, update the height value of the first calibration object in the storage list; and send a second instruction to the first device, the second instruction being used to instruct the first device to lower the first carrier to an initial position.

[0282] In summary, the cargo location parameter determination device proposed in the present disclosure creates a calibration task based on user instructions, and sends the calibration task to the first device through a first instruction, instructing the first device to perform the calibration task on the calibration object to determine the actual height of the calibration object, thereby storing the actual height of the cargo location in the first system, achieving the purpose of determining the cargo location parameters, avoiding the cargo location height stored in the system from being inconsistent with the actual height, affecting the execution of subsequent tasks in the warehousing system, and further improving the overall execution efficiency of the system.

[0283] Figure 11 11 is a schematic diagram illustrating the structure of an electronic device 1100 for implementing the aforementioned method for determining cargo location parameters, according to an exemplary embodiment. The components of electronic device 1100 include, but are not limited to, a memory 1110 and a processor 1120. Processor 1120 and memory 1110 are connected via a bus 1130, and a database 1150 is used to store data.

[0284] The electronic device 1100 also includes an access device 1140 that enables the electronic device 1100 to communicate via one or more networks 1160. Examples of such networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1140 may include one or more of any type of network interface (e.g., a network interface card (NIC)) whether wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0285] In one embodiment of the present disclosure, the above components of the electronic device 1100 and Figure 11 Other components not shown in the figure may also be connected to each other, for example, via a bus. Figure 11 The electronic device structure block diagram shown is for illustrative purposes only and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.

[0286] Electronic device 1100 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook computer, etc.), a mobile phone (e.g., a smartphone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). Electronic device 1100 may also be a mobile or stationary server.

[0287] When the processor 1120 executes the computer instructions, the steps of the method for determining the cargo location parameters are implemented.

[0288] The above is a schematic diagram of an electronic device according to this embodiment. It should be noted that the technical solution of this electronic device is based on the same concept as the technical solution of the aforementioned method for determining cargo location parameters. For details not described in detail in the technical solution of the computing electronic device, please refer to the description of the technical solution of the aforementioned method for determining cargo location parameters.

[0289] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method for determining cargo location parameters described in the above embodiments of the present disclosure.

[0290] An embodiment of the present disclosure further provides a computer program product, including a computer program, which executes the cargo location parameter determination method described in the above embodiment of the present disclosure when a processor is used to execute the computer program.

[0291] The foregoing description describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0292] The computer instructions include computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium.

[0293] It should be noted that for the aforementioned method embodiments, for ease of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0294] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0295] The preferred embodiments of the present disclosure disclosed above are intended only to help illustrate the present disclosure. The optional embodiments do not describe all details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made based on the content of the present disclosure. The present disclosure selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present disclosure, so that those skilled in the art can better understand and utilize the present disclosure. The present disclosure is limited only by the claims and their full scope and equivalents.

Claims

1. A method for determining cargo position parameters, characterized in that: include: receiving a first instruction sent by the first system, wherein the first instruction is used to instruct the first device to perform a calibration task for a calibration object, wherein the calibration object includes a cargo space for placing cargo or a container; In response to the first instruction, performing the calibration task on the calibration object to determine an actual height of the calibration object; The actual altitude is sent to the first system.

2. The method according to claim 1, characterized in that In response to the first instruction, performing the calibration task on the calibration object to determine the actual height of the calibration object includes: Determine the position coordinates and initial height of the first calibration object according to the first instruction; Move to the position coordinates of the first calibration object, and determine the actual height of the first calibration object based on the initial height.

3. The method according to claim 2, characterized in that Determining the actual height of the first calibration object based on the initial height includes any one of the following: When the initial height is empty, lift the first bearing member of the first device until the through-beam sensor on the first device is converted from the second state to the first state, and determine the lifting height corresponding to the conversion of the through-beam sensor to the first state as the actual height of the first calibration object, the first state is that the through-beam sensors can sense each other, and the second state is that the through-beam sensors cannot sense each other; When the initial height is not empty, the first carrier of the first device is lifted to the initial height, and the actual height of the first calibration object is determined based on the state of the through-beam sensor during the lifting process.

4. The method according to claim 3, characterized in that The determining the actual height of the first calibration object based on the state of the through-beam sensor during the lifting process includes any one of the following: During the lifting process, when the through-beam sensor is continuously in the first state, the first bearing member of the first device is continuously lifted until the through-beam sensor is converted from the first state to the second state and then from the second state to the first state, and the lifting height corresponding to when the through-beam sensor is converted to the first state is determined as the actual height of the first calibration object; During the lifting process, when the through-beam sensor is converted from the first state to the second state, the first bearing member of the first device is continuously lifted until the through-beam sensor is converted from the second state to the first state, and the lifting height corresponding to the conversion of the through-beam sensor to the first state is determined as the actual height of the first calibration object; During the lifting process, if the first bearing member of the first device cannot be lifted to the initial height, the current lifting height of the first device is determined as the actual height of the first calibration object.

5. The method according to any one of claims 1 to 4, characterized in that Before executing the calibration task on the calibration object, the method further includes: Determine the model of the first device, perform a consistency check between the model and the model of the calibration device, and determine the model verification result, and / or determine the communication protocol version number between the first device and the first system, perform a consistency check between the communication protocol version number and the protocol version number of the calibration device, and determine the protocol version verification result; When the model verification result fails and / or the protocol version verification result fails, an alarm message is sent to the first system.

6. The method according to claim 5, characterized in that The method further comprises: When the first device reaches the position coordinates of the first calibration object, start a timer; When the timing duration of the timer exceeds a first duration and the actual height of the first calibration object is not determined, sending a timeout message to the first system, where the timeout message is used to indicate that the first device has timed out in executing the calibration task; A third instruction sent by the first system is received, where the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

7. The method according to claim 6, characterized in that The method further comprises: In the case where the calibration task of the first calibration object is executed abnormally, canceling the calibration task of the first calibration object; Sending task failure information to the first system, where the task failure information is used to indicate that a calibration task of the first device for the first calibration object has failed; Move to the position coordinates of the next calibration object and perform the calibration task for the next calibration object.

8. The method according to claim 1, characterized in that The method further comprises: receiving a second instruction sent by the first system, where the second instruction is used to instruct the first device to lower the first bearing member to an initial position; In response to the second instruction, the first carrier is lowered to the initial position.

9. A method for determining cargo position parameters, characterized in that: include: Sending a first instruction to a first device, wherein the first instruction is used to instruct the first device to perform a calibration task for a calibration object, wherein the calibration object includes a cargo space for placing goods or containers; Receive the actual height of the calibration object sent by the first device.

10. The method according to claim 9, characterized in that The method further comprises: Determine calibration parameters; Based on the calibration parameters, the calibration task is created, and the calibration task is used by the first device to determine the actual height of the calibration object.

11. The method according to claim 10, characterized in that Determining the calibration parameters includes at least one of the following: Through the calibration creation interface, receiving the frame selection range of the user in the imported map, and determining the calibration area and calibration lane according to the frame selection range and the lane list in the database; receiving a fourth instruction triggered by a click operation of a user, and determining an identifier of the first device according to the fourth instruction; Determining an initial height based on a first preset rule; The execution order is determined based on the second preset rule, and the execution order is the marked priority of different types of cargo locations.

12. The method according to claim 11, characterized in that The determining of the calibration area and the calibration lane according to the frame selection range and the lane list in the database includes: When the calibration object exists in the frame selection range, determining that the calibration area is the frame selection range in the imported map, and the calibration lane is the lane in the frame selection range; When the calibration object does not exist in the selection range, a first prompt window is displayed, where the first prompt window is used to prompt that the area selection fails.

13. The method according to claim 11, characterized in that Determining the identification of the first device according to the fourth instruction includes: When the device state corresponding to the device identifier for executing the task indicated by the fourth instruction is idle, determining the identifier of the first device as the device identifier for executing the task indicated by the fourth instruction; When the device status corresponding to the device identification for executing the task indicated by the fourth instruction is abnormal or is executing the task, a second prompt window is displayed, and the second prompt window is used to prompt that the device selection is invalid.

14. The method according to claim 11, characterized in that The first preset rule is to determine the initial height in the following order: Historical calibration altitude; The cache bit height value of the imported map; System parameter configuration.

15. The method according to claim 11, characterized in that The method further comprises: Obtaining the imported map; Receiving a target cargo location input by a user in the calibration creation interface; The calibration object is determined based on the import map and the target cargo location.

16. The method according to claim 15, characterized in that The determining the calibration object based on the import map and the target cargo location includes: When the target cargo location is not in the imported map, a third prompt window is displayed, wherein the third prompt window is used to prompt that there is no target cargo location on the map; When the target cargo location is in the imported map, the calibration object is determined to be the target cargo location.

17. The method according to any one of claims 9 to 16, characterized in that: The method further comprises: Receiving an alarm message sent by the first device, where the alarm message is used to indicate that a model verification result and / or a protocol version verification result of the first device has failed; In response to the alarm information, a fourth prompt window is displayed, and the fourth prompt window is used to prompt that the device is abnormal.

18. The method according to claim 17, characterized in that The method further comprises: receiving a fifth instruction triggered by a click operation of a user, and re-determining an identifier of the first device according to the fifth instruction; The first instruction is sent to the re-determined first device.

19. The method according to claim 18, characterized in that The method further comprises: receiving timeout information sent by the first device, where the timeout information is used to indicate that the first device has timed out in executing a calibration task of a first calibration object; Based on the timeout information, a third instruction is sent to the first device, where the third instruction is used to instruct the first device to cancel the calibration task of the first calibration object, or the third instruction is used to instruct the first device to re-execute the calibration task of the first calibration object.

20. The method according to claim 19, characterized in that The method further comprises: Receiving an actual height of the first calibration object sent by the first device; Based on the actual height of the first calibration object, updating the height value of the first calibration object in the storage list; A second instruction is sent to the first device, where the second instruction is used to instruct the first device to lower the first supporting member to an initial position.

21. A device for determining cargo position parameters, characterized in that: Including receiving module, execution module and sending module: The receiving module is used to receive a first instruction sent by the first system, where the first instruction is used to instruct the first device to perform a calibration task for a calibration object, where the calibration object includes a cargo space for placing goods or containers; The execution module is configured to execute the calibration task on the calibration object in response to the first instruction to determine an actual height of the calibration object; The sending module is used to send the actual height to the first system.

22. A device for determining cargo position parameters, characterized in that: Including sending module and receiving module: A sending module, configured to send a first instruction to a first device, wherein the first instruction is used to instruct the first device to perform a calibration task for a calibration object, wherein the calibration object includes a cargo space for placing goods or containers; A receiving module is used to receive the actual height of the calibration object sent by the first device.

23. A warehousing system, comprising a first device and a first system, wherein the first device is configured to execute the method according to any one of claims 1 to 8, and the first system is configured to execute the method according to any one of claims 9 to 20.

24. An electronic device comprising: A processor and a memory, wherein the memory is used to store computer executable instructions; The processor is configured to read the instruction from the memory, and execute the instruction to implement the method according to any one of claims 1 to 8, or the method according to any one of claims 9 to 20.

25. A computer-readable storage medium, wherein: The storage medium stores computer program instructions, and when a computer reads the instructions, the method according to any one of claims 1 to 8 or 9 to 20 is executed.

26. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 or 9 to 20 is implemented.

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