Robot control method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a robot control method and device, equipment and a storage medium, and the method comprises the steps: obtaining the stacking number of workbins carried by a robot in response to a robot workbin operation instruction; according to the stacking number of the workbins, the target lifting height of the robot is determined; and the lifting structure of the robot is controlled to move in the vertical direction until the objective table of the robot reaches the target lifting height, user operation is facilitated, and various warehousing operation requirements can be met.

Description

Technical Field

[0001] The present application belongs to the field of robot control technology, and specifically relates to a robot control method, device, equipment and storage medium. Background Art

[0002] In the mobile robot warehouse of large storage and logistics centers, due to the limited actual space and high requirements for sorting efficiency, lurking robots are used to carry boxes. Lurking robots are robots that can lurk at the bottom of shelves or in a specific space, and lift and carry goods such as pallets, racks or boxes to designated locations through a lifting structure.

[0003] In the related technology, the latent robot operates on a single box basis when carrying material boxes. Each time the latent robot performs an operation task, it transports a material box to an inbound workstation or an outbound workstation, so that after arriving at the inbound workstation or the outbound workstation, the latent robot lifts the material box at a fixed height for the operator to pick or carry the material box at the fixed height.

[0004] However, the existing latent robots can only adapt to the operation scenario of a single material box and cannot meet the various warehouse operation needs. Summary of the invention

[0005] The present application relates to a robot control method, device, equipment and storage medium, which are used to solve the technical problem that the latent robot in the prior art can only adapt to the operation scenario of a single material box and cannot meet the various storage operation needs.

[0006] In a first aspect, the present application provides a robot control method, comprising:

[0007] In response to the robot box operation instruction, obtaining the number of boxes to be stacked that the robot carries;

[0008] Determining a target lifting height of the robot according to the number of stacked boxes;

[0009] The lifting structure of the robot is controlled to move in a vertical direction until a loading platform of the robot reaches the target lifting height, wherein the loading platform is used to carry a material box.

[0010] The present application provides a control method for a robot that can meet a variety of application scenarios, and supports the robot to carry multiple or multiple layers of material boxes. Specifically, after receiving the robot's material box operation instruction, the method first obtains the number of material box stacks carried by the robot, and controls the movement of the robot's lifting structure according to the number of material box stacks. This is convenient for users to carry out operations such as moving material boxes or sorting materials in material boxes at a comfortable and easy-to-operate height in various robot carrying situations, such as when there are no material boxes on the loading platform or when any number of material boxes are already on the loading platform. This provides an operation scenario for the robot to carry any number of material boxes. The robot can improve warehouse utilization and material box handling efficiency by carrying multiple material boxes, and through flexible robot loading platform lifting height control, it is convenient for users to operate and can meet a variety of warehouse operation needs.

[0011] Optionally, determining the target lifting height of the robot according to the number of stacked bins includes:

[0012] Obtaining the manual operation height; determining the stacking height of the boxes carried by the robot according to the number of boxes stacked; determining the target lifting height according to the manual operation height and the box stacking height.

[0013] Among them, the present application first obtains the manual operation height, which is the height that is convenient for users to operate manually, and then determines the stacking height of the cargo boxes carried by the robot according to the number of stacked cargo boxes. Because when the robot is already carrying cargo boxes, when manual operations are performed on the robot, the actual operating position is the top position of the carried cargo boxes or the bottom position of the topmost cargo box of the carried cargo boxes rather than the position of the loading platform. Therefore, it is necessary to refer to the cargo box stacking height and the manual operation height to determine the target lifting height of the robot, and then control the loading platform to move to the target position, which is convenient for manual operation, improves the flexibility of robot control, and improves the convenience of warehousing system operation and user experience.

[0014] Optionally, determining the stacking height of the boxes carried by the robot according to the stacking quantity of the boxes includes:

[0015] Obtaining a single-layer height of a material box; and determining the stacking height of the material boxes according to the single-layer height and the stacking quantity of the material boxes.

[0016] Here, the present application can accurately determine the stacking height of the material boxes according to the number of material boxes stacked and the single-layer height of the material boxes, thereby accurately determining the target lifting height of the robot, thereby improving the accuracy of robot control.

[0017] Optionally, determining the stacking height of the material boxes according to the single-layer height and the number of the material boxes stacked includes:

[0018] The first material box stacking height is calculated according to the single-layer height and the number of material boxes stacked; the robot is scanned by a preset sensor device to obtain the second material box stacking height; the first material box stacking height is verified by the second material box stacking height to obtain the material box stacking height.

[0019] Here, the present application is also provided with a preset sensing device, which can be used to collect the stacking height of the second material box carried by the robot in real time. The stacking height of the second material box collected in real time by the preset collecting device can be calibrated and verified for the calculated stacking height of the first material box to determine whether the calculated stacking height of the first material box is accurate, so as to prevent the deviation of the stacking quantity of the material boxes due to manual picking but not marking in the warehousing system when, for example, out of the warehouse, and then the wrong stacking height of the material boxes cannot be obtained, which affects the determination of the target lifting height. Through calibration and verification, the accuracy of robot control is further improved.

[0020] Optionally, scanning the robot by a preset sensing device to obtain the second material box stacking height includes:

[0021] The robot is scanned and processed by means of a preset sensing device; a first height of the top position where a continuous occlusion signal exists and a second height of the top position where a continuous hollow signal exists are determined by means of the scanning results, wherein the first height is greater than the second height; the difference between the first height and the second height is determined as the second material box stacking height.

[0022] Among them, since the lifting mechanism is partially hollow and the position of the material box will block the scanning of the preset sensing equipment, by scanning the first height of the top position where there is a continuous occlusion signal and the second height of the top position where there is a continuous hollow signal, the coverage range of the material box can be accurately judged, and then the stacking height of the scanned material box can be accurately determined, thereby further improving the accuracy of the robot control, ensuring the convenience of the user's operation of loading the robot with the material box, and improving the user experience.

[0023] Optionally, obtaining the manual operation height includes:

[0024] Obtain the manual operation height input by the user on the preset operation interface; or, receive the manual operation height sent by the user terminal; or, obtain the height information input by the user on the preset operation interface, and determine the manual operation height according to the height information; or, obtain the height information sent by the user terminal, and determine the manual operation height according to the height information; or, collect the user's height information through a preset sensing device, and determine the manual operation height according to the height information; or, access the database of the warehousing system to obtain the manual operation height.

[0025] Among them, this application provides multiple ways to obtain manual operation heights. Users can set the required manual operation height by themselves, or automatically determine the manual operation height based on the height information input by the user and collected in real time, thereby improving the flexibility of robot control and further meeting various warehousing scenarios.

[0026] Optionally, obtaining the number of stacked boxes carried by the robot includes:

[0027] Obtain the stacking quantity information carried in the robot's material box operation instruction, and determine the stacking quantity of the material boxes carried by the robot based on the stacking quantity information, wherein the stacking quantity information includes the number of stacking layers of the material box to be operated and\or the current stacking quantity of the robot's material box.

[0028] Optionally, obtaining the number of stacked boxes carried by the robot includes:

[0029] Access a database of the warehouse system to obtain the number of stacks of containers carried by the robot.

[0030] Here, when configuring the robot material box operation instructions, the user can directly configure the stacking quantity information, or the warehousing system can directly generate the robot material box operation instructions based on the preset information, so as to quickly determine the material box stacking quantity and then accurately determine the target lifting height.

[0031] Optionally, obtaining the number of stacked boxes carried by the robot includes:

[0032] The total weight of the boxes carried by the robot is collected by a preset weight collection device; the individual weight of the boxes is obtained; and the number of boxes to be stacked is determined based on the individual weight and the total weight of the boxes.

[0033] Here, the present application can set a preset weight collection device to collect the total weight of the material boxes carried by the robot in real time, and then accurately calculate the number of material boxes stacked. It combines accurate real-time collection data and information of different dimensions to complete the judgment of the number of material boxes stacked, which can further improve the accuracy of robot control and provide users with convenient operating conditions in a variety of scenarios.

[0034] Optionally, the robot material box operation instruction is a robot warehousing operation instruction; and determining the target lifting height of the robot according to the stacking quantity of the material boxes includes:

[0035] According to the robot storage operation instruction, the stacking number of the material boxes to be stored is determined; if the stacking number of the material boxes to be stored is n, then according to the stacking number of the material boxes, n target lifting heights are determined, wherein n is a positive integer.

[0036] Here, the application can realize automated multi-level control. The control strategy is that the user operates on one or a layer of material boxes at a time. For each layer of material boxes, a target lifting height is set so that the user can perform warehousing operations at this height, thereby improving the automation of control, improving the efficiency and accuracy of robot control, and further improving the intelligence of the warehousing system, reducing user operations, and improving user experience.

[0037] Optionally, controlling the lifting structure of the robot to move in a vertical direction until the loading platform of the robot reaches the target lifting height includes:

[0038] The n target lifting heights are sorted; in descending order of the n target lifting heights, in response to a trigger condition corresponding to each target lifting height, the lifting structure of the robot is lowered to each target lifting height in sequence until the loading platform of the robot reaches the last target lifting height; wherein the trigger condition is any one of a time interval trigger condition, a stacking height trigger condition, a stacking weight trigger condition, a stacking volume trigger condition and a manual marking condition.

[0039] Among them, the present application controls the warehousing of material boxes step by step. Every time a layer of material boxes is placed or picked on the robot, the height of the lifting structure is automatically lowered so that the user can continue to perform the warehousing operation at a comfortable height, thereby improving the intelligence and automation of the robot operation. The warehousing of multiple layers of material boxes can be achieved without the user having to operate multiple times, which can adapt to more warehousing operation needs and improve the user experience.

[0040] Optionally, in response to a trigger condition corresponding to each target lifting height, lowering the lifting structure of the robot in sequence according to the order of the n target lifting heights from large to small until the loading platform of the robot reaches the last target lifting height, the method further includes:

[0041] If it is determined that the robot has completed warehousing picking at all the target lifting heights, the number of material boxes stacked after picking is obtained; the transportation speed of the robot is determined according to the number of material boxes stacked after picking; and the robot is controlled to travel to a preset storage position at the transportation speed.

[0042] Here, the present application can correspond to different operating speeds according to different lifting heights or different configurations of the number of bin stackings, thereby improving the stability and reliability of robot transportation and meeting the transportation needs of the warehousing system in various scenarios.

[0043] Optionally, the robot material box operation instruction is a robot outbound operation instruction; and determining the target lifting height of the robot according to the stacking quantity of the material boxes includes:

[0044] According to the robot outbound operation instruction, the stacking number of the material boxes to be outbound is determined; if the stacking number of the material boxes to be outbound is m, then m target lifting heights are determined according to the stacking number of the material boxes, wherein m is a positive integer.

[0045] Here, this application sets up multiple control strategies for the outbound delivery scenario, and sets a target lifting height for each layer of material boxes so that users can perform outbound delivery operations at this height, thereby improving the automation of control, improving the efficiency and accuracy of robot control, and further improving the intelligence of the warehousing system, reducing user operations, and improving user experience.

[0046] Optionally, controlling the lifting structure of the robot to move in a vertical direction until the loading platform of the robot reaches the target lifting height includes:

[0047] The m target lifting heights are sorted; in order of the m target lifting heights from small to large, in response to the trigger conditions corresponding to the target lifting heights, the lifting structure of the robot is raised to each target lifting height in sequence until the loading platform of the robot reaches the last target lifting height; wherein the trigger condition is any one of a time interval trigger condition, a stacking height trigger condition, a stacking weight trigger condition, a stacking volume trigger condition and a manual marking condition.

[0048] Among them, the present application can, during the outbound process, gradually raise the lifting structure as the upper material box is moved to facilitate user operation, thereby improving the intelligence and automation of robot operation. Multi-layer material boxes can be put into storage without multiple operations by the user, which can adapt to more warehousing operation needs and improve user experience.

[0049] Optionally, the method further comprises:

[0050] In response to an inventory instruction, a storage location to be counted is determined; the robot is controlled to move the material box on the storage location to be counted to a preset inventory area, wherein the preset inventory area is an outbound workstation equipped with a preset sensor device or an inbound workstation equipped with a preset sensor device; the robot carrying the material box on the storage location to be counted is scanned and processed by the preset sensor device of the preset inventory area to determine the inventory result; and according to the inventory result and the storage information of the storage location to be counted, it is determined whether to generate difference information.

[0051] Here, the present application is configured with an inventory function, and preset sensing devices can be set at both the outbound workstation and the inbound workstation. Through the preset sensing devices, the number or number of layers of material boxes in the storage position of the storage system can be checked, thereby improving the accuracy of material box management in the storage system.

[0052] In a second aspect, the present application provides a robot control device, comprising:

[0053] An acquisition module, for acquiring the number of stacked boxes carried by the robot in response to a box operation instruction of the robot;

[0054] A determination module, used to determine a target lifting height of the robot according to the number of stacked boxes;

[0055] A control module is used to control the lifting structure of the robot to move in a vertical direction until the loading platform of the robot reaches the target lifting height, wherein the loading platform is used to carry a material box.

[0056] Optionally, the determining module includes:

[0057] The first acquisition submodule is used to acquire the manual operation height;

[0058] A first determination submodule is used to determine the stacking height of the material boxes carried by the robot according to the stacking quantity of the material boxes;

[0059] The second acquisition submodule is used to determine the target lifting height according to the manual operation height and the material box stacking height.

[0060] Optionally, the first determining submodule is specifically configured to:

[0061] Obtaining a single-layer height of a material box; and determining the stacking height of the material boxes according to the single-layer height and the stacking quantity of the material boxes.

[0062] Optionally, the first determining submodule is further specifically configured to:

[0063] The first material box stacking height is calculated according to the single-layer height and the number of material box stackings; the robot is scanned by a preset sensor device to obtain the second material box stacking height; the first material box stacking height is verified by the second material box stacking height to obtain the material box stacking height

[0064] Optionally, the first determining submodule is further specifically configured to:

[0065] The robot is scanned and processed by means of a preset sensing device; a first height of the top position where a continuous occlusion signal exists and a second height of the top position where a continuous hollow signal exists are determined by means of the scanning results, wherein the first height is greater than the second height; the difference between the first height and the second height is determined as the second material box stacking height.

[0066] Optionally, the first acquisition submodule is specifically used to:

[0067] Obtain the manual operation height input by the user on the preset operation interface; or, receive the manual operation height sent by the user terminal; or, obtain the height information input by the user on the preset operation interface, and determine the manual operation height according to the height information; or, obtain the height information sent by the user terminal, and determine the manual operation height according to the height information; or, collect the user's height information through a preset sensing device, and determine the manual operation height according to the height information; or, access the database of the warehousing system to obtain the manual operation height.

[0068] Optionally, the acquisition module is specifically used for:

[0069] Obtain the stacking quantity information carried in the robot's material box operation instruction, and determine the stacking quantity of the material boxes carried by the robot based on the stacking quantity information, wherein the stacking quantity information includes the number of stacking layers of the material box to be operated and\or the current stacking quantity of the robot's material box.

[0070] Optionally, the acquisition module is further specifically used for:

[0071] Access a database of the warehouse system to obtain the number of stacks of containers carried by the robot.

[0072] Optionally, the acquisition module is further specifically used for:

[0073] The total weight of the boxes carried by the robot is collected by a preset weight collection device; the individual weight of the boxes is obtained; and the number of boxes to be stacked is determined based on the individual weight and the total weight of the boxes.

[0074] Optionally, the robot material box operation instruction is a robot warehousing operation instruction;

[0075] The determination module comprises:

[0076] A second determination submodule is used to determine the stacking quantity of the material boxes to be stored according to the storage operation instruction of the robot;

[0077] The third determination submodule is used to determine n target lifting heights according to the stacking number of the material boxes to be stored if the stacking number of the material boxes to be stored is n, wherein n is a positive integer.

[0078] Optionally, the control module is specifically used for:

[0079] The n target lifting heights are sorted; in descending order of the n target lifting heights, in response to a trigger condition corresponding to each target lifting height, the lifting structure of the robot is lowered to each target lifting height in sequence until the loading platform of the robot reaches the last target lifting height; wherein the trigger condition is any one of a time interval trigger condition, a stacking height trigger condition, a stacking weight trigger condition, a stacking volume trigger condition and a manual marking condition.

[0080] Optionally, the control module is specifically used to sequentially lower the lifting structure of the robot in response to the trigger conditions corresponding to the target lifting heights in the order of the n target lifting heights from large to small, until the loading platform of the robot reaches the last target lifting height, and the device further includes a driving module, which is used to:

[0081] If it is determined that the robot has completed warehousing picking at all the target lifting heights, the number of material boxes stacked after picking is obtained; the transportation speed of the robot is determined according to the number of material boxes stacked after picking; and the robot is controlled to travel to a preset storage position at the transportation speed.

[0082] Optionally, the robot material box operation instruction is a robot outbound operation instruction;

[0083] The determination module comprises:

[0084] A third determination submodule is used to determine the stacking quantity of the material boxes to be shipped out according to the robot's shipping operation instruction;

[0085] The fourth determination submodule is used to determine m target lifting heights according to the stacking number of the material boxes to be shipped out if the stacking number of the material boxes to be shipped out is m, wherein m is a positive integer.

[0086] Optionally, the control module is specifically used to:

[0087] The m target lifting heights are sorted; in order of the m target lifting heights from small to large, in response to the trigger conditions corresponding to the target lifting heights, the lifting structure of the robot is raised to each target lifting height in sequence until the loading platform of the robot reaches the last target lifting height; wherein the trigger condition is any one of a time interval trigger condition, a stacking height trigger condition, a stacking weight trigger condition, a stacking volume trigger condition and a manual marking condition.

[0088] Optionally, the above device further includes an inventory module, which is used to:

[0089] In response to an inventory instruction, a storage location to be counted is determined; the robot is controlled to move the material box on the storage location to be counted to a preset inventory area, wherein the preset inventory area is an outbound workstation equipped with a preset sensor device or an inbound workstation equipped with a preset sensor device; the robot carrying the material box on the storage location to be counted is scanned and processed by the preset sensor device of the preset inventory area to determine the inventory result; and according to the inventory result and the storage information of the storage location to be counted, it is determined whether to generate difference information.

[0090] In a third aspect, the present application provides a robot control device, comprising: a memory and a processor;

[0091] The memory stores computer program instructions;

[0092] The processor executes the computer program instructions stored in the memory to implement the method as described in any one of the first aspects.

[0093] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, they are used to implement any one of the methods in the first aspect.

[0094] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements any method in the first aspect when executed by a processor.

[0095] The present application provides a robot control method, device, equipment and storage medium. When the method receives the robot's material box operation instruction, it first obtains the number of material boxes stacked by the robot, and controls the movement of the robot's lifting structure according to the number of material boxes stacked. This is convenient for users to carry out operations such as transporting material boxes or sorting materials in material boxes at a comfortable and easy-to-operate height in various robot carrying situations, such as when there are no material boxes on the loading platform or when any number of material boxes are already carried on the loading platform. This provides an operation scenario for the robot to carry any number of material boxes. The robot can improve warehouse utilization and material box processing efficiency by carrying multiple material boxes, and through flexible robot loading platform lifting height control, it is convenient for users to operate and can meet a variety of warehouse operation needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] In order to more clearly illustrate the technical solutions in the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0097] Figure 1 A schematic diagram of an application scenario of robot control provided in this embodiment;

[0098] Figure 2 A schematic diagram of the structure of a robot control system provided in an embodiment of the present application;

[0099] Figure 3 A schematic diagram of a flow chart of a robot control method provided in an embodiment of the present application;

[0100] Figure 4 A schematic flow chart of another robot control method provided in an embodiment of the present application;

[0101] Figure 5 A schematic diagram of a detection scenario of a preset acquisition device provided in an embodiment of the present application;

[0102] Figure 6 A schematic flow chart of another robot control method provided in an embodiment of the present application;

[0103] Figure 7 A schematic flow chart of another robot control method provided in an embodiment of the present application;

[0104] Figure 8 A schematic diagram of a picking method provided in an embodiment of the present application;

[0105] Fig. 9 A schematic diagram of a second picking method provided in an embodiment of the present application;

[0106] Fig.10 A third schematic diagram of a picking method provided in an embodiment of the present application;

[0107] Fig.11 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application;

[0108] Fig.12 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application.

[0109] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0110] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0111] It should be noted that, although the terms "first", "second", etc. are used to describe various information in the embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. Optionally, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.

[0112] It should be understood that the terms "comprises" and "includes" indicate the presence of the previously mentioned features, steps, operations, but do not exclude the presence, occurrence or addition of one or at least one other feature, step, operation. The terms "and / or" and the like used in this application may be interpreted as inclusive, or mean any one or any combination. Optionally, "A and / or B" means "any of the following: A; B; A and B". In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship.

[0113] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0114] Currently, all lurking robots operate on a single box basis. The storage system for single-box operation cannot effectively utilize the depth of the warehouse, and the storage capacity of the warehouse often cannot meet the actual needs. The existing technology solutions can only adapt to the operation scenarios of a single material box and cannot meet the various storage operation needs.

[0115] In order to solve the above-mentioned technical problems, the embodiments of the present application provide a robot control method, device, equipment and storage medium, which control the moving height of the robot's lifting structure by the number of stacked material boxes carried by the robot.

[0116] Demonstratively, Figure 1 A schematic diagram of an application scenario of robot control provided in this embodiment, such as Figure 1As shown, the application scenario of the embodiment of the present application includes a robot 101, which includes a travel structure 1011, a lifting structure 1012 and a loading platform 1013, and the lifting structure 1012 and the loading platform 1013 constitute the shelf of the robot. In this application scenario, the operator can perform operations on the material box carried by the robot 101 or the materials in the material box. Optionally, the robot can be a lurking robot, which can transport the material box to the warehousing workstation or the outbound workstation, and can also realize the transportation of the material box before the shelf. At the warehousing workstation or the outbound workstation, the operator, that is, the user in the embodiment of the present application, can use the robot to implement warehousing, storage, sorting, tallying, inventory and other operations for the material box or the materials in the material box.

[0117] Optionally, based on Figure 1 In the application scenario of limited warehouse height, storage racks (shelves) are deployed in the storage area to store bins. The same storage location can store single-layer bins, double-layer bins, or multi-layer stacked bins. The system can use lurking robots to carry single bins, double bins, triple bins, or even multiple bins for warehousing, storage, sorting, tallying, inventory and other operations. This warehousing system uses bins as storage units. Optionally, one or more bins can be stored in the same layer in the storage location and on the robot. This system can realize more bin storage, while ensuring that operators can more conveniently perform warehousing, sorting, tallying, inventory and other operations.

[0118] Optionally, Figure 1 Taking the process of operators performing operations on the first, second and third layers of the shelf as examples, the embodiment of the present application can control the moving height of the robot's lifting structure by the number of stacked boxes carried by the robot, so that the bottom height of the target operation box corresponding to the operator just meets the operation requirements. The operation requirement here is the height at which the operator can operate comfortably, which can be determined according to actual conditions.

[0119] Optionally, Figure 2 A schematic diagram of a control system of a robot provided in an embodiment of the present application, the system may be a complete storage system, or a part of a storage system, such as Figure 2 As shown, the control system of the robot provided in the embodiment of the present application consists of four parts: a management end, a peripheral end, a device end and a client end.

[0120] Optionally, the management end here may be a computer rack control device, or a processor, a processing device or a server corresponding to the computer rack control device.

[0121] See also Figure 2 , the contents and functions of each part are as follows:

[0122] Management side: includes three platforms: equipment management platform, autonomous mobile robot (AMR) scheduling platform and smart warehouse management platform.

[0123] Equipment management platform: The controller is used to access preset sensing devices such as infrared sensors to detect the height of the robot's carrying box.

[0124] AMR dispatching platform: Through the control and dispatching of robots, the material box transportation between the warehousing workstation, storage location, and outbound workstation can be realized. At the same time, the robots can be dispatched to perform lifting at different heights to cooperate with operators to perform warehousing, picking, etc. The embodiment of the present application can dispatch X robots, where X is any positive integer.

[0125] Smart warehousing platform management: manage storage locations, and manage the number of bins and materials in each storage location.

[0126] Hardware side: Inbound and outbound workstations. The workstations are equipped with preset sensing devices such as infrared sensors to detect the height of the material box currently carried by the robot.

[0127] Client: The client for inbound and outbound operations, also known as the user terminal, can be set up at the outbound workstation and the inbound workstation, or separately. Operators can complete inbound and outbound operations on the client according to the operation requirements.

[0128] It is understandable that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the control system architecture of the robot. In other feasible implementations of the present application, the above architecture may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently, which can be determined according to the actual application scenario and is not limited here. Figure 2 The components shown may be implemented in hardware, software, or a combination of software and hardware.

[0129] In addition, the network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0130] The technical solution shown in the present application is described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be described repeatedly in different embodiments.

[0131] Optionally, Figure 3A schematic diagram of a flow chart of a robot control method provided in an embodiment of the present application. The execution subject of the embodiment of the present application may be Figure 2 The specific execution entity of the robot control system or management terminal can be determined according to the actual application scenario. Figure 3 As shown, the method comprises the following steps:

[0132] S301: In response to a robot container operation instruction, the number of container stacks carried by the robot is obtained.

[0133] Optionally, the robot box operation instruction can be a user through Figure 2 Initiated on the client.

[0134] Optionally, the number of stacked boxes carried by the robot is obtained, including:

[0135] Obtain the stacking quantity information carried in the robot's material box operation instruction, and determine the stacking quantity of the material boxes carried by the robot based on the stacking quantity information.

[0136] The stacking quantity information includes the stacking number of the material box to be operated and / or the current stacking number of the material box of the robot.

[0137] Specifically, when the operator initiates a robot material box operation instruction through the client, he can directly enter the number of stacked material boxes carried by the robot on the client, that is, the number of stacked material boxes carried by the robot, or he can enter the number of stacked layers of material boxes to be operated. If the material boxes need to be taken away from the robot, then the number of stacked layers of the material boxes to be operated is the number of stacked material boxes carried by the robot. If the material boxes need to be transported to the robot, then the number of stacked layers of the material boxes to be operated minus 1, which is the number of stacked material boxes carried by the robot.

[0138] Optionally, obtaining the number of stacked boxes carried by the robot includes: accessing a database of the warehouse system to obtain the number of stacked boxes carried by the robot.

[0139] Optionally, the operator can update the number of stacks of containers carried by the robot in the database of the warehouse system each time a container is placed on the robot or a container is taken away from the robot.

[0140] Optionally, the warehousing system can automatically identify the number of stacked boxes carried by the robot through a preset collection device or a preconfigured identification device on the robot, and update the number of stacked boxes in the database of the warehousing system every time the number of stacked boxes changes.

[0141] Here, in the embodiment of the present application, when configuring the robot material box operation instructions, the user can directly configure the stacking quantity information, or the warehouse system can directly generate the robot material box operation instructions based on preset information, so as to quickly determine the material box stacking quantity and then accurately determine the target lifting height.

[0142] Optionally, obtaining the number of stacked boxes carried by the robot includes: collecting the total weight of the boxes carried by the robot through a preset weight collection device; obtaining the individual weight of the boxes; and determining the number of stacked boxes based on the individual weight and the total weight of the boxes.

[0143] Among them, the preset weight collection device can be set on the loading platform of the robot.

[0144] Here, the embodiment of the present application can set a preset weight collection device to collect the total weight of the material boxes carried by the robot in real time, and then accurately calculate the number of material boxes stacked. It combines accurate real-time collection data and information of different dimensions to complete the judgment of the number of material boxes stacked, which can further improve the accuracy of robot control and provide users with convenient operating conditions in a variety of scenarios.

[0145] S302: Determine the target lifting height of the robot according to the number of stacked boxes.

[0146] Optionally, the target lifting height of the robot is determined according to the number of stacked boxes, including: obtaining the manual operation height; determining the stacking height of the boxes carried by the robot according to the number of stacked boxes; and determining the target lifting height according to the manual operation height and the stacking height of the boxes.

[0147] In a possible implementation, the working scenario of the embodiment of the present application is: an operator at a storage workstation carries a new material box to a robot, and the robot may not be carrying any material boxes, or may be carrying at least one material box, and the operator needs to place a material box on top of the top material box currently carried by the robot. Figure 1 In the first scenario shown, if the robot is not currently carrying a container and a new container needs to be placed on the first floor, the target lifting height is the manual operation height, such as Figure 1 In the second scenario shown, if the robot is carrying a box and the new box needs to be placed on the second floor, the target lifting height is the manual operation height minus the height of one box. Therefore, the calculation formula for the target lifting height of this working scenario is: target lifting height = manual operation height - box stacking height.

[0148] Optionally, in the warehousing process, the embodiment of the present application is configured with two working modes, one is the cache rack warehousing mode, and the other is the direct warehousing mode. In the cache rack warehousing mode, the operator places a single material box, a double material box or multiple material boxes on the cache rack, and the operator completes the material box binding warehousing operation through the client. The robot can complete the single box or multiple boxes of goods according to the actual height of the cache rack. In the direct warehousing mode, the operator binds the single material box or multiple material boxes that need to be stored through the client. The AMR scheduling system can automatically adjust the lifting height according to the number of bound material boxes. When a single material box is stored, it is lifted to the height set by the operator. Both modes can be controlled by the above-mentioned method of determining the target lifting height.

[0149] In a possible implementation, the working scenario of the embodiment of the present application is: the operator takes the material box from the robot at the outbound workstation, the operator needs to take the top material box currently carried by the robot, and the operator should operate the bottom of the material box. Therefore, the calculation formula for the target lifting height of this working scenario is: target lifting height = manual operation height - material box stacking height + single-layer height of the material box.

[0150] In one possible implementation, the working scenario of the embodiment of the present application is: the operator performs warehousing, storage, sorting, tallying, inventory and other operations on the materials in the top box of the robot. In this case, if the operator needs to pick the materials at the bottom of the top box, the calculation formula for the target lifting height is: target lifting height = manual operation height - box stacking height + single-layer height of the box.

[0151] S303: Control the lifting structure of the robot to move in the vertical direction until the loading platform of the robot reaches the target lifting height.

[0152] Among them, the loading platform is used to carry the material box.

[0153] Optionally, the loading platform can also be used to carry trays or racks, etc.

[0154] In some possible embodiments, based on Figure 1 In the first working scenario, when a single material box is put into storage, the number of material boxes carried by the robot is 0, and it is lifted to the height set by the operator, that is, the manual operation height. Assuming that the AMR lifting height is H1 and the single-layer height of the material box is A, the manual operation height is H1+A.

[0155] When the second box of the double box is put into storage, the number of boxes carried by the robot is 1. Figure 1In the second scenario, the operator binds the second material box through the client, and the AMR scheduling system adjusts the lifting height through actual calculation. Assuming that the target lifting height is H2 at this time, H2=H1-A. At this time, the operator's actual operating height is consistent with the single material box status.

[0156] When the third box of the three boxes is put into storage, the number of boxes carried by the robot is 2, that is, Figure 1 In the third scenario, the operator binds the third material box of the three material boxes through the client, and the AMR scheduling system adjusts the lifting height through actual calculation. Assuming that the target lifting height is H3 at this time, H3=H1-AA. At this time, the actual operating height of the operator is consistent with the single material box status.

[0157] The present application provides a control method for a robot that can meet a variety of application scenarios, and supports the robot to carry multiple or multiple layers of material boxes. Specifically, after receiving the robot's material box operation instruction, the method first obtains the number of material box stacks carried by the robot, and controls the movement of the robot's lifting structure according to the number of material box stacks. This is convenient for users to carry out operations such as moving material boxes or sorting materials in material boxes at a comfortable and easy-to-operate height in various robot carrying situations, such as when there are no material boxes on the loading platform or when any number of material boxes are already on the loading platform. This provides an operation scenario for the robot to carry any number of material boxes. The robot can improve warehouse utilization and material box handling efficiency by carrying multiple material boxes, and through flexible robot loading platform lifting height control, it is convenient for users to operate and can meet a variety of warehouse operation needs.

[0158] Optionally, the embodiment of the present application can determine the target lifting height through the manual operation height and the material box stacking height, and then control the movement of the robot lifting structure. Figure 4 A flow chart of another robot control method provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the method includes:

[0159] S401: In response to a robot container operation instruction, the number of container stacks carried by the robot is obtained.

[0160] The implementation of step S401 is the same as that of step S301, and will not be described in detail here.

[0161] S402: Acquire the manual operation height.

[0162] Optionally, obtaining the manual operation height includes:

[0163] Obtain the manual operation height input by the user on the preset operation interface; or, receive the manual operation height sent by the user terminal; or, obtain the height information input by the user on the preset operation interface, and determine the manual operation height according to the height information; or, obtain the height information sent by the user terminal, and determine the manual operation height according to the height information; or, collect the user's height information through a preset sensing device, and determine the manual operation height according to the height information; or, access the database of the warehousing system to obtain the manual operation height.

[0164] Optionally, the preset operation interface can be displayed on a display device of the client.

[0165] Optionally, determining the manual operation height according to the height information includes: determining the manual operation height according to the height information and a preset comfortable height ratio. Alternatively, the manual operation height may be determined according to the height information and a correspondence between the preset height information and the manual operation height. The preset comfortable height ratio and the correspondence between the preset height information and the manual operation height may be determined according to actual conditions, and the embodiments of the present application do not impose specific restrictions on this.

[0166] Among them, the embodiments of the present application provide multiple methods for obtaining manual operation heights. Users can set the required manual operation height by themselves, or automatically determine the manual operation height based on the height information input by the user and collected in real time, thereby improving the flexibility of robot control and further meeting various warehousing scenarios.

[0167] S403: Determine the stacking height of the material boxes carried by the robot according to the number of material boxes stacked.

[0168] Optionally, the stacking height of the boxes carried by the robot is determined according to the number of boxes stacked, including: obtaining a single-layer height of the boxes; and determining the stacking height of the boxes according to the single-layer height and the number of boxes stacked.

[0169] Optionally, if the material boxes are the same, the product of the single-layer height of the material boxes and the number of material boxes stacked is the stacking height of the material boxes carried by the robot.

[0170] Optionally, if the containers are different, all the containers being transported are weighted by the single-layer height of each container to obtain the stacking height of the containers transported by the robot.

[0171] Here, the embodiment of the present application can accurately determine the stacking height of the material boxes according to the number of material boxes stacked and the single-layer height of the material boxes, so as to accurately determine the target lifting height of the robot, thereby improving the accuracy of robot control.

[0172] Optionally, the stacking height of the material boxes is determined according to the single-layer height and the number of material boxes stacked, including: calculating the first material box stacking height according to the single-layer height and the number of material boxes stacked; scanning the robot through a preset sensing device to obtain the second material box stacking height; and verifying the first material box stacking height through the second material box stacking height to obtain the material box stacking height.

[0173] Optionally, the preset sensing device is an infrared sensing device provided on a warehousing workstation or a warehousing outgoing workstation.

[0174] Here, the embodiment of the present application is also provided with a preset sensing device, which can be used to collect the stacking height of the second material box carried by the robot in real time. The stacking height of the second material box collected in real time by the preset collecting device can be calibrated and verified for the calculated stacking height of the first material box to determine whether the calculated stacking height of the first material box is accurate, so as to prevent the deviation of the stacking quantity of the material boxes due to manual picking but not marking in the warehousing system when, for example, out of the warehouse, and then the wrong stacking height of the material boxes cannot be obtained, which affects the determination of the target lifting height. Through calibration and verification, the accuracy of the robot control is further improved.

[0175] Specifically, the embodiment of the present application uses infrared sensing equipment to correct the stacking height of the material box to ensure accuracy.

[0176] For example, in one possible implementation, in an outbound picking application scenario, if the robot enters the workstation and is working, and the manual picking is completed and the upper material layer is taken away without marking it in the system, the system records that two boxes are stored in the storage location, but one box is actually stored; similarly, the system records that three boxes are stored, but two boxes are actually stored; when the system records that two boxes are stored in the storage location, it will be lifted to H2 by default after arriving at the workstation, but it needs to be lifted to H1 in reality. To solve the above problems, an infrared sensor device is installed at the workstation to detect the overall height of the robot. As an example, Figure 5 A schematic diagram of a detection scenario of a preset acquisition device provided in an embodiment of the present application, such as Figure 5 As shown, a preset sensing device 510 is provided in the workstation 51. The workstation here can be a storage workstation or a storage workstation, and the preset sensing device 510 is a sensor, which can be an infrared sensor and / or a light curtain sensor. Figure 5 In the figure, two scanning scenarios and two robot heights are shown, wherein, during scanning, the positions of the robot 101 and the preset sensor device 510 can be determined according to actual conditions, and the embodiments of the present application do not impose specific limitations on this.

[0177] like Figure 5As shown in the figure, the sensor installed at the workstation detects the height of the current material box carried by the robot. The sensor uploads the detected height data to the controller, which then transmits the data to the equipment access platform, and the data is then transmitted to the intelligent warehouse management platform to determine the current lifting height. The sensor detects whether there is a continuous occlusion signal at a certain height, and the robot lifting mechanism is partially hollow. The system detects and corrects the actual number of storage boxes through height detection, and transmits the control status to the scheduling system, which adjusts the lifting height of the mobile machine to H1.

[0178] Optionally, the robot is scanned and processed by a preset sensing device to obtain the second material box stacking height, including: scanning and processing the robot by a preset sensing device; determining a first height of the top position where there is a continuous occlusion signal and a second height of the top position where there is a continuous hollow signal through the scanning results, wherein the first height is greater than the second height; and determining the difference between the first height and the second height as the second material box stacking height.

[0179] Among them, since the lifting mechanism is partially hollow and the position of the material box will block the scanning of the preset sensing equipment, by scanning the first height of the top position where there is a continuous occlusion signal and the second height of the top position where there is a continuous hollow signal, the coverage range of the material box can be accurately judged, and then the stacking height of the scanned material box can be accurately determined, thereby further improving the accuracy of the robot control, ensuring the convenience of the user's operation of loading the robot with the material box, and improving the user experience.

[0180] S404: Determine the target lifting height according to the manual operation height and the material box stacking height.

[0181] S405: Control the lifting structure of the robot to move in the vertical direction until the loading platform of the robot reaches the target lifting height.

[0182] The implementation of steps S404 and S405 can be seen from the above steps S302 and S303.

[0183] The embodiment of the present application first obtains the manual operation height, which is a height that is convenient for users to operate manually, and then determines the stacking height of the cargo boxes carried by the robot according to the number of stacked cargo boxes. Because when the robot is already carrying cargo boxes, when a manual operation is performed on the robot, the actual operation position is the top position of the transported cargo boxes or the bottom position of the uppermost cargo box of the transported cargo boxes rather than the position of the loading platform. Therefore, it is necessary to refer to the cargo box stacking height and the manual operation height to determine the target lifting height of the robot, and then control the loading platform to move to the target position, which is convenient for manual operation, improves the flexibility of robot control, and improves the convenience of warehousing system operation and user experience.

[0184] Optionally, the robot material box operation instruction is a robot storage operation instruction; the embodiment of the present application can automatically control the multiple lifting and lowering of the robot during the storage process, and accordingly, Figure 6 A flowchart of another robot control method provided in an embodiment of the present application is shown as follows: Figure 6 As shown, the method includes:

[0185] S601: In response to a robot container operation instruction, obtain the number of container stacks carried by the robot.

[0186] S602: Determine the stacking quantity of the material boxes to be stored according to the robot storage operation instruction.

[0187] Optionally, the stacking quantity may be preset by an operator.

[0188] S603: If the number of stacked boxes to be stored is n, n target lifting heights are determined according to the number of stacked boxes.

[0189] Wherein, the target lifting height may be determined according to the above embodiments.

[0190] Wherein, n is a positive integer.

[0191] Here, the embodiment of the present application can realize automated multi-level control. The control strategy is that the user operates on one or a layer of material boxes at a time. For each layer of material boxes, a target lifting height is set so that the user can perform warehousing operations at this height, thereby improving the automation of control, improving the efficiency and accuracy of robot control, and further improving the intelligence of the warehousing system, reducing user operations, and improving user experience.

[0192] S604: Sort the n target lifting heights.

[0193] S605: In the order of n target lifting heights from large to small, in response to the trigger conditions corresponding to each target lifting height, the robot's lifting structure is lowered to each target lifting height in turn until the robot's loading platform reaches the last target lifting height.

[0194] The trigger condition is any one of a time interval trigger condition, a stack height trigger condition, a stack weight trigger condition, a stack volume trigger condition and a manual marking condition.

[0195] Optionally, the time interval trigger condition may be to lower the altitude once every preset time interval.

[0196] Optionally, the stack height trigger condition is real-time monitoring of the stack height, and if the previous material box is detected to be put into storage, it is triggered.

[0197] Optionally, the stacking weight trigger condition and the stacking volume trigger condition are real-time monitoring of the stacking weight or volume, and if the previous material box is detected to be put into storage, it is triggered.

[0198] Optionally, the manual marking condition may be a marking condition clicked by an operator on the client or set in advance.

[0199] The embodiment of the present application controls the warehousing of material boxes step by step. Every time the placement or picking operation of a layer of material boxes is completed on the robot, the height of the lifting structure is automatically lowered so that the user can continue to perform the warehousing operation at a comfortable height. This improves the intelligence and automation of the robot operation, and the warehousing of multiple layers of material boxes can be achieved without the user having to operate multiple times. It can adapt to more warehousing operation needs and improve the user experience.

[0200] Optionally, in the order of n target lifting heights from large to small, in response to the trigger conditions corresponding to the target lifting heights, the lifting structure of the robot is lowered in sequence until the loading platform of the robot reaches the last target lifting height, and further includes:

[0201] If it is determined that the robot has completed warehousing picking at all target lifting heights, the number of material boxes stacked after picking is obtained; the transportation speed of the robot is determined according to the number of material boxes stacked after picking; and the robot is controlled to travel to the preset storage position at the transportation speed.

[0202] Specifically, the robot can be configured to operate at different speeds according to different lifting heights. When carrying a single box, the speed is set to V1; when carrying two boxes, the speed is set to V2; and when carrying three boxes, the speed is set to V3.

[0203] It is understandable that V1-V3 can be determined according to actual conditions, and the present application embodiment does not impose specific restrictions on this. In the specific implementation process, the number of material boxes can be multiple, and the corresponding speeds can also be multiple.

[0204] Here, the embodiments of the present application can correspond to different operating speeds according to different lifting heights or different configurations of the number of bin stackings, thereby improving the stability and reliability of robot transportation and meeting the transportation needs of the warehousing system in various scenarios.

[0205] Optionally, the robot box operation instruction is a robot outbound operation instruction; the embodiment of the present application can automatically control the multiple lifting and lowering of the robot during the outbound process, and accordingly, Figure 7 A flowchart of another robot control method provided in an embodiment of the present application is shown as follows: Figure 7 As shown, the method includes:

[0206] S701: In response to the robot container operation instruction, obtain the number of container stacks carried by the robot.

[0207] S702: Determine the stacking quantity of the material boxes to be shipped out according to the robot's outbound operation instruction.

[0208] Optionally, the stacking quantity may be preset by an operator.

[0209] S703: If the number of stacked boxes to be shipped out is m, m target lifting heights are determined according to the number of stacked boxes.

[0210] Wherein, the target lifting height may be determined according to the above embodiments.

[0211] Wherein, m is a positive integer.

[0212] Here, the embodiment of the present application sets up multiple control strategies for the outbound delivery scenario, and sets a target lifting height for each layer of material boxes so that users can perform outbound delivery operations at this height, thereby improving the automation of control, improving the efficiency and accuracy of robot control, and further improving the intelligence of the warehousing system, reducing user operations, and improving user experience.

[0213] S704: Sort the m target lifting heights.

[0214] S705: In the order of m target lifting heights from small to large, in response to the trigger conditions corresponding to each target lifting height, the lifting structure of the robot is raised to each target lifting height in sequence until the loading platform of the robot reaches the last target lifting height.

[0215] The trigger condition is any one of a time interval trigger condition, a stack height trigger condition, a stack weight trigger condition, a stack volume trigger condition and a manual marking condition.

[0216] The triggering condition may refer to S605 in the above embodiment.

[0217] Among them, the embodiment of the present application can, during the outbound process, gradually raise the lifting structure as the upper material box is moved to facilitate user operation, thereby improving the intelligence and automation of robot operation. Multi-layer material boxes can be put into storage without multiple operations by the user, which can adapt to more warehousing operation needs and improve user experience.

[0218] In some embodiments, Figure 8-Figure 10 They are schematic diagrams of the picking method of the embodiment of the present application, see Figure 8-Figure 10 During outbound picking, the intelligent warehouse management system and dispatching system dispatch the goods to be picked to the picking workstation. At the same time, the system determines the lifting height according to the number of boxes bound to the current storage location. For example, when picking three boxes of goods, the robot automatically lifts to height H3. Figure 8As shown in the figure, when the third box of goods is picked, the operator takes the empty box on the third layer and marks it in the system. At this time, the robot automatically adjusts the lifting height to H2, as shown in the figure. Fig. 9 Similarly, the operator completes the picking of the goods on the second layer and removes the empty boxes on the second layer and completes the operation on the client operation interface. At this time, the robot automatically adjusts the lifting height to H1, as shown in Fig.10 shown.

[0219] Optionally, in the above process, each time the operator removes a material box, there is no need to mark it in the system. According to the trigger conditions in the above embodiment, the storage system can automatically adjust the lifting height of the robot.

[0220] In some embodiments, the embodiments of the present application are further provided with an inventory mode. Accordingly, any one of the above embodiments may further include the following steps:

[0221] In response to an inventory instruction, a storage location to be counted is determined; a robot is controlled to move a material box on the storage location to be counted to a preset inventory area, wherein the preset inventory area is an outbound workstation equipped with a preset sensor device or an inbound workstation equipped with a preset sensor device; a robot carrying a material box on the storage location to be counted is scanned and processed by a preset sensor device in the preset inventory area to determine an inventory result; and whether to generate difference information is determined based on the inventory result and storage information of the storage location to be counted.

[0222] Optionally, in the inventory mode, the intelligent warehouse management system and the dispatching system can dispatch mobile robots to move the boxes stored in the storage location to a workstation equipped with sensor detection. The workstation can actually detect the height of the current box to determine whether there is a discrepancy between the actual storage and the system storage. For example, if the system records that three boxes are stored in the storage location, and the mobile robot carries the box to the sensor detection area of ​​the workstation, if a continuous blocked signal is detected at a certain height, it can be determined that there is a box at that height, and there is a hollow area in the machine mechanism. If the detection shows two box signals, the system will generate difference information, which will be processed manually or automatically.

[0223] Here, the embodiment of the present application is configured with an inventory function, and preset sensor equipment can be set at the outbound workstation and the inbound workstation. Through the preset sensor equipment, the number or number of layers of material boxes in the storage position of the storage system can be checked, thereby improving the accuracy of the material box management of the storage system.

[0224] Fig.11 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application, such as Fig.11As shown, the device of the embodiment of the present application includes: an acquisition module 1101, a determination module 1102 and a control module 1103. The control device of the robot here can be the above-mentioned client itself, or an integrated circuit that implements the function of the client. It should be noted here that the division of the acquisition module 1101, the determination module 1102 and the control module 1103 is only a division of logical functions, and the two can be integrated or independent physically.

[0225] The acquisition module is used to obtain the number of stacked boxes carried by the robot in response to the robot box operation instruction;

[0226] A determination module is used to determine the target lifting height of the robot according to the number of stacked bins;

[0227] The control module is used to control the lifting structure of the robot to move in the vertical direction until the loading platform of the robot reaches the target lifting height.

[0228] Optionally, the determination module includes:

[0229] The first acquisition submodule is used to acquire the manual operation height;

[0230] The first determination submodule is used to determine the stacking height of the material boxes carried by the robot according to the number of material boxes stacked;

[0231] The second acquisition submodule is used to determine the target lifting height according to the manual operation height and the material box stacking height.

[0232] Optionally, the first determining submodule is specifically used for:

[0233] Obtain the single-layer height of the material box; determine the material box stacking height based on the single-layer height and the number of material boxes stacked.

[0234] Optionally, the first determining submodule is further specifically configured to:

[0235] Calculate the first bin stacking height based on the single-layer height and the number of bin stackings; scan the robot through the preset sensor equipment to obtain the second bin stacking height; verify the first bin stacking height through the second bin stacking height to obtain the bin stacking height

[0236] Optionally, the first determining submodule is further specifically configured to:

[0237] The robot is scanned and processed by means of a preset sensing device; the first height of the top position where a continuous occlusion signal exists and the second height of the top position where a continuous hollow signal exists are determined by means of the scanning results, wherein the first height is greater than the second height; the difference between the first height and the second height is determined as the second material box stacking height.

[0238] Optionally, the first acquisition submodule is specifically used for:

[0239] Obtain the manual operation height input by the user on the preset operation interface; or, receive the manual operation height sent by the user terminal; or, obtain the height information input by the user on the preset operation interface, and determine the manual operation height according to the height information; or, obtain the height information sent by the user terminal, and determine the manual operation height according to the height information; or, collect the user's height information through a preset sensing device, and determine the manual operation height according to the height information; or, access the database of the warehousing system to obtain the manual operation height.

[0240] Optionally, the acquisition module is specifically used for:

[0241] Obtain the stacking quantity information carried in the robot's material box operation instruction, and determine the stacking quantity of the material boxes carried by the robot based on the stacking quantity information, wherein the stacking quantity information includes the number of stacking layers of the material box to be operated and\or the current stacking quantity of the robot's material box.

[0242] Optionally, the acquisition module is further specifically used for:

[0243] Access the warehouse system's database to obtain the number of bin stacks carried by the robot.

[0244] Optionally, the acquisition module is further specifically used for:

[0245] The total weight of the boxes carried by the robot is collected through the preset weight collection device; the individual weight of the boxes is obtained; and the number of boxes to be stacked is determined based on the individual weight and the total weight of the boxes.

[0246] Optionally, the robot material box operation instruction is a robot warehousing operation instruction;

[0247] The modules are determined to include:

[0248] The second determination submodule is used to determine the stacking quantity of the material boxes to be stored according to the robot storage operation instruction;

[0249] The third determination submodule is used to determine n target lifting heights according to the number of material boxes stacked if the number of material boxes to be stored is n, wherein n is a positive integer.

[0250] Optionally, the control module is specifically used for:

[0251] The n target lifting heights are sorted; in the order of the n target lifting heights from large to small, in response to the trigger conditions corresponding to the target lifting heights, the lifting structure of the robot is lowered to each target lifting height in turn, until the robot's loading platform reaches the last target lifting height; wherein the trigger condition is any one of the time interval trigger condition, the stacking height trigger condition, the stacking weight trigger condition, the stacking volume trigger condition and the manual marking condition.

[0252] Optionally, the control module is specifically used to sequentially lower the lifting structure of the robot in response to the trigger conditions corresponding to the target lifting heights in the order of n target lifting heights from large to small, until the loading platform of the robot reaches the last target lifting height, and the above-mentioned device further includes a driving module, which is used to:

[0253] If it is determined that the robot has completed warehousing picking at all target lifting heights, the number of material boxes stacked after picking is obtained; the transportation speed of the robot is determined according to the number of material boxes stacked after picking; and the robot is controlled to travel to the preset storage position at the transportation speed.

[0254] Optionally, the robot material box operation instruction is a robot outbound operation instruction;

[0255] The modules are determined to include:

[0256] The third determination submodule is used to determine the stacking quantity of the material boxes to be shipped out according to the robot's outbound operation instruction;

[0257] The fourth determination submodule is used to determine m target lifting heights according to the stacking number of the material boxes to be shipped out if the stacking number of the material boxes is m, wherein m is a positive integer.

[0258] Optionally, the control module is specifically used for:

[0259] The m target lifting heights are sorted; in order of the m target lifting heights from small to large, in response to the trigger conditions corresponding to the target lifting heights, the lifting structure of the robot is raised to each target lifting height in sequence until the robot's loading platform reaches the last target lifting height; wherein the trigger condition is any one of the time interval trigger condition, the stacking height trigger condition, the stacking weight trigger condition, the stacking volume trigger condition and the manual marking condition.

[0260] Optionally, the above device further includes an inventory module, which is used to:

[0261] In response to an inventory instruction, a storage location to be counted is determined; a robot is controlled to move a material box on the storage location to be counted to a preset inventory area, wherein the preset inventory area is an outbound workstation equipped with a preset sensor device or an inbound workstation equipped with a preset sensor device; a robot carrying a material box on the storage location to be counted is scanned and processed by a preset sensor device in the preset inventory area to determine an inventory result; and whether to generate difference information is determined based on the inventory result and storage information of the storage location to be counted.

[0262] refer to Fig.12 , which shows a schematic diagram of the structure of a control device 1200 of a robot suitable for implementing an embodiment of the present disclosure, and the control device 1200 of the robot may be a terminal device or a server. The terminal device may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, personal digital assistants (PDAs), tablet computers (Portable Android Devices, PADs), portable multimedia players (PMPs), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.12 The control device of the robot shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0263] like Fig.12 As shown, the robot control device 1200 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1201, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1202 or a program loaded from a storage device 1208 to a random access memory (RAM) 1203. Various programs and data required for the operation of the robot control device 1200 are also stored in the RAM 1203. The processing device 1201, the ROM 1202, and the RAM 1203 are connected to each other via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0264] Typically, the following devices may be connected to the I / O interface 1205: input devices 1206 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 1207 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1208 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1209. The communication device 1209 may allow the robot's control device 1200 to communicate with other devices wirelessly or by wire to exchange data. Although Fig.12 The control device 1200 of the robot having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0265] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 1209, or installed from a storage device 1208, or installed from a ROM 1202. When the computer program is executed by the processing device 1201, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0266] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, or infrared system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0267] The computer-readable medium may be included in the control device of the robot; or may exist independently without being assembled into the control device of the robot.

[0268] The computer-readable medium carries one or more programs. When the one or more programs are executed by the control device of the robot, the control device of the robot executes the method shown in the above embodiment.

[0269] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0270] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0271] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware. The name of a unit does not limit the unit itself in some cases. For example, the first acquisition unit may also be described as a "unit for acquiring at least two Internet Protocol addresses".

[0272] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0273] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0274] The control device of the robot in the embodiment of the present application can be used to execute the technical solutions in the above-mentioned method embodiments of the present application. Its implementation principles and technical effects are similar and will not be repeated here.

[0275] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any of the above-mentioned robot control methods.

[0276] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement any of the above-mentioned robot control methods.

[0277] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0278] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0279] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0280] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A robot control method, characterized in that: include: In response to the robot box operation instruction, obtaining the number of boxes to be stacked that the robot carries; Determining a target lifting height of the robot according to the number of stacked boxes; The lifting structure of the robot is controlled to move in a vertical direction until a loading platform of the robot reaches the target lifting height, wherein the loading platform is used to carry a material box.

2. The method according to claim 1, characterized in that Determining the target lifting height of the robot according to the number of stacked bins includes: Get the manual operation height; Get the single-layer height of the material box; Determining the stacking height of the material boxes according to the single-layer height and the number of the material boxes stacked; The target lifting height is determined according to the manual operation height and the material box stacking height.

3. The method according to claim 2, characterized in that The step of determining the stacking height of the material boxes according to the single-layer height and the number of the material boxes stacked comprises: Calculating a first material box stacking height according to the single-layer height and the number of material boxes stacked; Scanning the robot by means of a preset sensing device to obtain a second material box stacking height; The first material box stacking height is verified by the second material box stacking height to obtain the material box stacking height.

4. The method according to claim 3, characterized in that The method of scanning the robot by a preset sensing device to obtain a second material box stacking height includes: Scanning the robot through a preset sensor device; Determine, through the scanning results, a first height of a top position where a continuous shielding signal exists and a second height of a top position where a continuous hollow signal exists, wherein the first height is greater than the second height; The difference between the first height and the second height is determined as the second container stacking height.

5. The method according to claim 2, characterized in that: The obtaining of the manual operation height comprises: Obtaining the manual operation height input by the user on the preset operation interface; or, Receiving the manual operation altitude sent by the user terminal; or, Obtaining height information input by the user on a preset operation interface, and determining the manual operation height according to the height information; or, Obtaining height information sent by the user terminal, and determining the manual operation height according to the height information; or, Collect the height information of the user through a preset sensor device, and determine the manual operation height according to the height information; or Access the warehouse system's database to obtain manual operation heights.

6. The method according to claim 1, characterized in that The obtaining of the number of stacked boxes carried by the robot includes: Obtaining the stacking quantity information carried in the robot's box operation instruction, and determining the stacking quantity of boxes carried by the robot according to the stacking quantity information, wherein the stacking quantity information includes the stacking number of the boxes to be operated and\or the current stacking number of boxes of the robot; or, Accessing a database of a storage system to obtain the number of stacked boxes carried by the robot; or, The total weight of the material box carried by the robot is collected by a preset weight collection device; Get the individual weight of a bin; The stacking quantity of the containers is determined based on the single weight and the total weight of the containers.

7. The method according to any one of claims 1 to 6, characterized in that: The robot material box operation instruction is a robot warehousing operation instruction; Determining the target lifting height of the robot according to the number of stacked bins includes: Determine the number of stacks of material boxes to be stored according to the robot storage operation instruction; If the number of stacked material boxes to be stored is n, then n target lifting heights are determined according to the number of stacked material boxes, wherein n is a positive integer.

8. The method according to claim 7, characterized in that The controlling the lifting structure of the robot to move in a vertical direction until the loading platform of the robot reaches the target lifting height comprises: Sorting the n target lifting heights; In accordance with the order of the n target lifting heights from large to small, in response to the trigger conditions corresponding to the target lifting heights, the lifting structure of the robot is lowered to each target lifting height in sequence until the loading platform of the robot reaches the last target lifting height; The trigger condition is any one of a time interval trigger condition, a stack height trigger condition, a stack weight trigger condition, a stack volume trigger condition and a manual marking condition.

9. The method according to claim 8, characterized in that In the order of the n target lifting heights from large to small, in response to the trigger conditions corresponding to the target lifting heights, the lifting structure of the robot is lowered in sequence until the loading platform of the robot reaches the last target lifting height, the method further includes: If it is determined that the robot has completed the warehousing picking at all the target lifting heights, the number of bins stacked after picking is obtained; Determining the transport speed of the robot according to the number of stacked boxes after picking; The robot is controlled to travel to a preset storage position at the transport speed.

10. The method according to any one of claims 1 to 6, characterized in that: The robot material box operation instruction is a robot outbound operation instruction; Determining the target lifting height of the robot according to the number of stacked bins includes: Determine the stacking quantity of the material boxes to be shipped out according to the robot's outbound operation instruction; If the number of stacked boxes to be shipped out is m, then m target lifting heights are determined according to the number of stacked boxes, where m is a positive integer.

11. The method according to claim 10, characterized in that The controlling the lifting structure of the robot to move in a vertical direction until the loading platform of the robot reaches the target lifting height comprises: Sorting the m target lifting heights; In order of the m target lifting heights from small to large, in response to a trigger condition corresponding to each target lifting height, sequentially raising the lifting structure of the robot to each target lifting height until the loading platform of the robot reaches the last target lifting height; The trigger condition is any one of a time interval trigger condition, a stack height trigger condition, a stack weight trigger condition, a stack volume trigger condition and a manual marking condition.

12. The method according to any one of claims 1 to 6, characterized in that: Also includes: In response to the inventory instruction, determining the storage location to be inventoryed; Control the robot to move the material box on the storage location to be counted to a preset inventory counting area, wherein the preset inventory counting area is a warehouse-out workstation equipped with a preset sensor device or a warehouse-in workstation equipped with a preset sensor device; Scanning the robot carrying the material box on the storage location to be counted by using the preset sensing device in the preset inventory counting area to determine the inventory counting result; Determine whether to generate difference information according to the inventory result and the storage information of the storage location to be inventory counted.

13. A robot control device, characterized in that: include: An acquisition module, for acquiring the number of stacked boxes carried by the robot in response to a box operation instruction of the robot; A determination module, used to determine a target lifting height of the robot according to the number of stacked boxes; The control module is used to control the lifting structure of the robot to move in a vertical direction until the loading platform of the robot reaches the target lifting height.

14. A robot control device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which are used to implement the method according to any one of claims 1 to 12 when the computer program instructions are executed by a processor.

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