Robot avoidance method, system and device, control equipment and robot

Abstract

The embodiment of the invention provides a robot avoiding method, system and device, control equipment and a robot. The method is applied to the control equipment in a warehousing system. The method comprises the steps that whether a first target robot will collide with other air transfer robots in the same roadway or not is predicted according to the current position of the air transfer robot in real time; and if yes, the first target robot is instructed to wait for other aerial transfer robots to move out of the positions where collision possibly occurs and then continue to execute the transfer task. Due to the fact that the control equipment can control the air transfer robots in real time according to the current positions of the air transfer robots sharing the roadway, collision between the air transfer robots is avoided, and meanwhile the overall storage capacity of a warehouse cannot be compressed.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a robot avoidance method, system, device, control equipment and robot. Background Art

[0002] At present, the storage system is becoming more and more intelligent, and can realize the operations such as sorting, outbound and inbound of materials through handling robots. For example: In the related art, the storage system includes multiple storage shelves, and a lane is set between two adjacent rows of storage shelves. An aerial handling robot can be set in the lane to pick up and place materials on the storage shelves on both sides of the lane. Among them, the aerial handling robot includes a gantry that can move horizontally along the storage shelves and a picking and placing device that can move up and down along the gantry, so that materials can be picked up and placed at various positions on the storage shelves.

[0003] In the related art, in order to improve the efficiency of material handling in a warehousing system, multiple aerial handling robots are installed on the storage shelves in the aisles. However, the multiple aerial handling robots may collide during the handling process. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a robot avoidance method, system, device, control device and robot to avoid collisions between aerial handling robots. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a robot avoidance method, which is applied to a control device in a warehousing system; the warehousing system further includes: a plurality of storage shelves and at least two aerial handling robots; a lane is provided between two adjacent rows of storage shelves, and the at least two aerial handling robots are provided in the lane; the control device is in communication connection with each aerial handling robot, and the method includes:

[0006] Acquire task execution information of a current handling task to be executed, wherein the task execution information includes: a first target robot that executes the current handling task and handling path information of a target material to be handled, wherein the first target robot and the handling path information are determined based on the current handling task and a starting point and an end point of a target material of the handling task currently being executed;

[0007] Instructing the first target robot to perform the current transport task according to the transport path information;

[0008] Acquire in real time the current position of each aerial handling robot in the target lane where the first target robot is located;

[0009] Predicting in real time, based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots;

[0010] When the prediction result is yes, the first target robot is instructed to wait for other aerial transport robots to move out of a position where a collision may occur before continuing to perform the current transport task.

[0011] Optionally, the task execution information of the transport task is determined by the following steps:

[0012] Each time a new transport task is obtained, based on the starting point and end point corresponding to the new transport task and the transport path information of the currently being executed transport task, the target robot that executes the new transport task is determined and the transport path of the target robot is planned on the principle of the shortest transport path and no collision between the aerial robots during the transport process.

[0013] Optionally, the determining of the target robot for executing the new transport task and planning the transport path of the target robot based on the principle of the shortest transport path and no collision between the aerial robots during the transport process includes:

[0014] Selecting the aerial robot closest to the starting point of the new transport task as the target robot for executing the new transport task;

[0015] Based on the path planning algorithm and the transport path information of the currently executed transport task, a transport path with the shortest path and no overlap with the transport path of the currently executed transport task is planned for the target robot.

[0016] Optionally, each storage shelf includes a plurality of storage columns arranged in parallel; among the aerial handling robots in the target lane, there are at least two first aerial handling robots hung on the storage shelves on the same side of the lane; the at least two first aerial handling robots can take and place materials on the storage shelves on both sides of the lane;

[0017] The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes:

[0018] In real time, judging, based on the current positions and transport paths of the aerial transport robots, whether there is an intersection robot that will intersect with the first target robot during the movement of the first target robot;

[0019] If the intersection robot exists, it is predicted that the first target robot will collide with other aerial handling robots.

[0020] Optionally, before instructing the first target robot to wait for other aerial handling robots to move out of a position where a collision may occur and then continue to perform the current handling task, the method further includes:

[0021] According to the current positions and transport paths of the first target robot and the intersection robot, predicting the waiting time of the first target robot to avoid collision with the intersection robot;

[0022] In the case where the duration is greater than the preset duration, based on the current position of the first target robot, the end point corresponding to the current transport task and the transport path information of the currently executed transport task, the transport path is re-planned for the first target robot on the principle of the shortest transport path and no collision between the aerial robots during the transport process, and the first target robot is instructed to continue to execute the current transport task according to the re-planned transport path;

[0023] When the time length is not greater than the preset time length, the step of instructing the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur and then continue to perform the current transport task is executed.

[0024] Optionally, each storage shelf includes a plurality of storage columns arranged in parallel; among the aerial handling robots in the target lane, there are at least two first aerial handling robots hung on the storage shelves on the same side of the lane; the at least two first aerial handling robots can take and place materials on the storage shelves on both sides of the lane;

[0025] Before predicting in real time based on the current positions of the respective aerial handling robots whether the first target robot will collide with other aerial handling robots, the method further includes:

[0026] Based on the task execution information of the current transport task and the task execution information of other transport tasks being executed, determining whether there is a first adjacent task whose start point or end point is located in an adjacent storage column to the start point or end point of the current transport task;

[0027] The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes:

[0028] In the case where the first adjacent task exists, obtaining in real time a current position of a second target robot that performs the first adjacent task;

[0029] When the first target robot moves to an adjacent column of the storage column where the starting point or end point of the current handling task is located, and the second target robot moves to the storage column where the starting point or end point of the first adjacent task is located, it is predicted that the first target robot will collide with the second target robot.

[0030] Optionally, when the prediction result is yes, instructing the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur before continuing to perform the current transport task includes:

[0031] In the case where it is predicted that the first target robot will collide with the second target robot, the first target robot is instructed to wait for the second target robot to complete an operation at the starting point or end point of the first adjacent task and leave before continuing to perform the current transport task.

[0032] Optionally, a plurality of partitions are pre-set on each storage shelf, each partition includes a plurality of storage columns arranged in parallel, and each partition corresponds to an aerial handling robot;

[0033] In the case where the starting point and the end point of the transport task are located in the same partition, determining a target robot to perform the new transport task and planning a transport path for the target robot include:

[0034] Determine the aerial transport robot corresponding to the target partition where the starting point and the end point of the new transport task are located as the target robot for executing the new transport task, and plan the transport path of the target robot in the target partition;

[0035] The real-time acquisition of the current position of each aerial transport robot in the target lane where the first target robot is located includes:

[0036] Real-time acquisition of the current position of neighboring robots located in adjacent partitions in the target lane where the first target robot is located;

[0037] The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes:

[0038] According to the current positions and transport path information of the first target robot and the neighboring robot, determining whether the first target robot and the neighboring robot will arrive at the edge storage column where two partitions are connected at the same time;

[0039] When the prediction result is yes, instructing the first target robot to wait for other aerial handling robots to move out of a position where a collision may occur and then continue to perform the current handling task, comprising:

[0040] When the prediction result is yes, the first target robot is instructed to wait for the neighboring robot to move out of the edge storage column and then continue to perform the current transport task.

[0041] Optionally, each storage shelf is pre-set with multiple partitions, each partition includes multiple storage columns arranged in parallel, and each aerial handling robot can pick up and place materials across the partitions;

[0042] In the case where the starting point and the end point of the transport task are located in different partitions, determining a target robot to perform the new transport task and planning a transport path for the target robot include:

[0043] Based on the starting point and end point of the handling task, the total avoidance distance corresponding to each aerial handling robot in the entire storage shelf is calculated, and the aerial handling robot with the shortest corresponding total avoidance distance is determined as the target robot to perform the handling task, and the handling path of the target robot is planned in each partition that the handling task needs to cross; wherein the total avoidance distance is the sum of the distances that other aerial handling robots need to move in order to avoid collision with one aerial handling robot when the aerial handling robot performs the handling task.

[0044] Optionally, a plurality of partitions are pre-set on each storage shelf, each partition includes a plurality of storage columns arranged in parallel, and each aerial handling robot can pick up and place materials from storage columns at the edge of an adjacent partition;

[0045] In the case where the starting point and the end point of the transport task are located in different partitions, determining a target robot to perform the new transport task and planning a transport path for the target robot include:

[0046] Determine each aerial transport robot corresponding to each partition that the transport task is to cross as a target robot for executing the transport task, and plan a transport path for the target robot in each partition that the transport task is to cross respectively;

[0047] The instructing the first target robot to perform the current transport task according to the transport path information includes:

[0048] Instruct the target robot in the partition where the starting point is located to move the target material to the edge storage column of the partition or the adjacent partition; and instruct the target robot in the partition where the end point is located to move the target material from the edge storage column to the end point.

[0049] Optionally, each storage shelf includes a plurality of storage columns arranged in parallel, and each storage column includes a plurality of storage rows; each of the aerial handling robots in the target lane includes at least two second aerial handling robots hung on storage shelves on different sides of the lane; the at least two second aerial handling robots include: a gantry that moves horizontally along the storage shelf and a cargo picking and placing device that can move up and down along the gantry, and the cargo picking and placing device picks and places materials on the storage shelf where the device is located;

[0050] Before predicting in real time based on the current positions of the respective aerial handling robots whether the first target robot will collide with other aerial handling robots, the method further includes:

[0051] Based on the task execution information of the current transport task and the task execution information of other transport tasks being executed, determining whether there is a second adjacent task whose starting point or end point is located in a storage row or storage column opposite to the starting point or end point of the current transport task on the respective storage shelves;

[0052] The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes:

[0053] In the case where the second adjacent task exists, acquiring in real time a current position of a third target robot that performs the second adjacent task;

[0054] When the first target robot moves to an adjacent column of the storage column where the starting point or end point of the current handling task is located, and the third target robot moves to the storage column where the starting point or end point of the second adjacent task is located, and the picking and placing devices of the first target robot and the third target robot are located in storage rows at the same height, it is predicted that the first target robot will collide with the third target robot.

[0055] Optionally, when the prediction result is yes, instructing the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur before continuing to perform the current transport task includes:

[0056] When it is predicted that the first target robot will collide with the third target robot, the first target robot is instructed to wait for the third target robot to complete the operation at the starting point or the end point of the second adjacent task and leave before continuing to perform the current transport task.

[0057] Optionally, before predicting in real time based on the current positions of the respective aerial handling robots whether the first target robot will collide with other aerial handling robots, the method further includes:

[0058] Based on the task execution information of the current transport task and the transport path information in the task execution information of other transport tasks being executed, determining whether there is a fourth target robot that intersects with the first target robot during movement;

[0059] The method further comprises:

[0060] In the case where the fourth target robot exists, obtaining in real time the heights of the materials carried by the first target robot and the fourth target robot;

[0061] When the first target robot or the fourth target robot moves to an adjacent column of the intersecting storage columns, the first target robot or the fourth target robot whose material is transported is instructed to raise the height of its picking and placing device to a height where no collision occurs, and then continue to perform its corresponding transporting task.

[0062] Optionally, the obtaining of task execution information of the current transport task to be executed includes:

[0063] Based on the execution order of each transport task to be executed, task information of the transport task with the highest execution order is obtained, wherein the execution order is determined based on the priority of the transport task and the distance between the starting point and the end point corresponding to the transport task.

[0064] In a second aspect, an embodiment of the present application provides a robot avoidance method, which is applied to any aerial handling robot in a warehousing system; the warehousing system further includes: a control device and a plurality of storage shelves; a lane is provided between two adjacent rows of storage shelves, and the at least two aerial handling robots are provided in the lane; the control device is communicatively connected with each aerial handling robot, and the method includes:

[0065] Receiving an instruction sent by the control device to execute the current handling task;

[0066] Executing the current transport task according to transport path information, wherein the transport path information is determined based on the current transport task and a start point and an end point of a target material of the transport task currently being executed;

[0067] Sending the current position to the control device in real time, so that the control device can predict in real time whether the aerial handling robot will collide with other aerial handling robots in the same lane as the aerial robot based on the current position of the aerial handling robot and the current positions of other aerial handling robots in the same lane as the aerial robot;

[0068] receiving a waiting instruction sent by the control device when predicting that the aerial handling robot will collide with the other aerial handling robots;

[0069] Wait for the other aerial transport robots to move out of a position where a collision may occur before continuing to execute the current transport task.

[0070] Optionally, each storage shelf includes a plurality of storage columns arranged in parallel, and among the aerial handling robots in the lane, there are at least two aerial handling robots hung on storage shelves on different sides of the lane; the aerial handling robot includes: a gantry that moves horizontally along the storage shelf and a cargo picking and placing device that can move up and down along the gantry, and the cargo picking and placing device picks and places materials on the storage shelf where the aerial handling robot is located;

[0071] The method further comprises:

[0072] receiving a lifting height instruction sent by the control device when determining that there is a fourth target robot that intersects with the aerial handling robot during movement;

[0073] When moving to an adjacent row of the storage row where the intersection occurs, the height of the pick-and-place device is raised to a height where no collision occurs, and then the current transport task is continued.

[0074] In a third aspect, an embodiment of the present application provides a warehousing system, the warehousing system comprising: a control device, a plurality of storage shelves and at least two aerial handling robots; a lane is provided between two adjacent rows of storage shelves, and the at least two aerial handling robots are provided in the lane; the control device is communicatively connected with each aerial handling robot:

[0075] The control device is used to control the at least two aerial handling robots to implement any method described in the first aspect above;

[0076] The at least two aerial transport robots are used to receive instructions sent by the control device to execute the current transport task, execute the transport task, and send the current position to the control device in real time; and when receiving a waiting instruction, wait for other aerial transport robots to move out of the position where a collision may occur before continuing to execute the current transport task.

[0077] Optionally, the storage shelf includes: a storage area and a buffer area located at the bottom layer of the storage area;

[0078] The storage system further includes: a ground handling robot; the ground handling robot is used to move the materials to be stored from the outside of the storage shelf to the buffer area, or to move the materials in the buffer area out of the storage shelf;

[0079] The transport task includes: moving materials from the buffer area to the storage area, moving materials from the storage area to the buffer area, and moving materials from the storage area between different locations.

[0080] In a fourth aspect, an embodiment of the present application provides a robot avoidance device, which is applied to a control device in a warehousing system; the warehousing system further includes: a plurality of storage shelves and at least two aerial handling robots; a lane is provided between two adjacent rows of storage shelves, and the at least two aerial handling robots are provided in the lane; the control device is communicatively connected with each aerial handling robot, and the device includes:

[0081] An information acquisition module, used to acquire task execution information of a current handling task to be executed, wherein the task execution information includes: a first target robot that executes the current handling task and handling path information of a target material to be handled, wherein the first target robot and the handling path information are determined based on the current handling task and a starting point and an end point of a target material of the handling task currently being executed;

[0082] A first instruction module, used to instruct the first target robot to perform the current transport task according to the transport path information;

[0083] A position acquisition module, used for acquiring in real time the current position of each aerial handling robot in the target lane where the first target robot is located;

[0084] A collision prediction module, used to predict in real time whether the first target robot will collide with other aerial handling robots according to the current positions of the aerial handling robots;

[0085] The second instruction module is used to instruct the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur and then continue to perform the current transport task when the output result of the collision prediction module is yes.

[0086] In a fifth aspect, an embodiment of the present application provides a robot avoidance device, which is applied to any aerial handling robot in a warehousing system; the warehousing system further includes: a control device and a plurality of storage shelves; a lane is provided between two adjacent rows of storage shelves, and the at least two aerial handling robots are provided in the lane; the control device is communicatively connected with each aerial handling robot, and the device includes:

[0087] A first instruction receiving module, used to receive an instruction sent by the control device to execute a current transport task;

[0088] A task execution module, used for executing the current transport task according to the transport path information, wherein the transport path information is determined based on the current transport task and the starting point and the end point of the target material of the transport task currently being executed;

[0089] A position sending module, used for sending the current position to the control device in real time, so that the control device can predict in real time whether the aerial handling robot will collide with other aerial handling robots in the same lane as the aerial robot based on the current position of the aerial handling robot and the current positions of other aerial handling robots in the same lane as the aerial robot;

[0090] A second instruction receiving module, configured to receive a waiting instruction sent by the control device when predicting that the aerial handling robot will collide with the other aerial handling robots;

[0091] The task execution module is also used to wait for the other aerial transport robots to move out of a position where a collision may occur before continuing to execute the current transport task.

[0092] In a sixth aspect, an embodiment of the present application provides a control device, including:

[0093] Memory, used to store computer programs;

[0094] The processor is used to implement any method described in the first aspect when executing a program stored in the memory.

[0095] In a seventh aspect, an embodiment of the present application provides an aerial handling robot, comprising:

[0096] Memory, used to store computer programs;

[0097] The processor is used to implement any method described in the second aspect when executing a program stored in the memory.

[0098] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any of the methods described in the first aspect or any of the methods described in the second aspect.

[0099] Beneficial effects of the embodiments of the present application:

[0100] The solution provided by the embodiment of the present application is applied to a control device in a warehousing system; the warehousing system also includes: a plurality of storage shelves and at least two aerial handling robots; a lane is set between two adjacent rows of storage shelves, and at least two aerial handling robots are set in the lane; the control device is connected to each aerial handling robot in communication. The control device can obtain the task execution information of the current handling task to be executed, wherein the task execution information includes: the first target robot that executes the current handling task and the handling path information of the target material to be handled, and the first target robot and the handling path information are determined based on the starting point and end point of the current handling task and the target material of the handling task currently being executed; instruct the first target robot to execute the current handling task according to the handling path information; obtain the current position of each aerial handling robot in the target lane where the first target robot is located in real time; predict whether the first target robot will collide with other aerial handling robots in real time according to the current position of each aerial handling robot; if the prediction result is yes, instruct the first target robot to wait for other aerial handling robots to move out of the position where the collision may occur and then continue to execute the current handling task. Since the control device can predict whether there will be a collision between the aerial handling robots based on the current positions of the aerial handling robots in the same lane in real time, if the prediction result is yes, one of the aerial handling robots will be instructed to wait for the other aerial handling robots to move out of the position where the collision may occur before continuing to perform the handling task. In this way, collisions between aerial handling robots can be avoided through real-time control of the aerial handling robots.

[0101] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0103] Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application;

[0104] Figure 2 A schematic diagram of a flow chart of a robot avoidance method provided in an embodiment of the present application;

[0105] Figure 3 Based on Figure 2 A schematic diagram of a hanging method of an aerial handling robot in the illustrated embodiment;

[0106] Figure 4 Based on Figure 3 A schematic diagram of the causes of collision of the aerial handling robot of the illustrated embodiment;

[0107] Figure 5 Based on Figure 3 A schematic diagram of a specific process of a robot avoidance method in the illustrated embodiment;

[0108] Figure 6 Based on Figure 5 A schematic diagram of a robot avoidance method according to the illustrated embodiment;

[0109] Figure 7 Based on Figure 3 A schematic diagram of a specific process of another robot avoidance method according to the illustrated embodiment;

[0110] Figure 8 Based on Figure 1 A schematic diagram of a method of dividing partitions on a storage shelf in the illustrated embodiment;

[0111] Fig. 9 Based on Figure 2 A schematic diagram of another method of hanging an aerial handling robot according to the embodiment shown;

[0112] Fig.10 Based on Fig. 9 A schematic diagram of a specific process of a robot avoidance method in the illustrated embodiment;

[0113] Fig.11a Based on Fig. 9 A top view of two storage racks in the same aisle of the illustrated embodiment;

[0114] Fig.11b Based on Fig. 9 A side view of two storage racks in the same aisle of the illustrated embodiment;

[0115] Fig.12 Based on Fig.10 A schematic diagram of a specific process of a robot avoidance method in the illustrated embodiment;

[0116] Fig.13 A schematic diagram of a flow chart of another robot avoidance method provided in an embodiment of the present application;

[0117] Fig.14 Another schematic diagram of a storage system provided in an embodiment of the present application;

[0118] Fig.15 A schematic diagram of the structure of a robot avoidance device provided in an embodiment of the present application;

[0119] Fig.16 A schematic diagram of the structure of another robot avoidance device provided in an embodiment of the present application;

[0120] Fig.17 A schematic diagram of the structure of a control device provided in an embodiment of the present application;

[0121] Fig.18 A schematic diagram of the structure of an aerial handling robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0122] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0123] In order to avoid collisions between aerial handling robots, an embodiment of the present application provides a robot avoidance method, system, device, control equipment, aerial handling robot, computer-readable storage medium and computer program product. The following first introduces a robot avoidance method provided in an embodiment of the present application.

[0124] A robot avoidance method provided in an embodiment of the present application can be applied to any control device that needs to control an aerial handling robot in a warehousing system to avoid collision. For example, the control device can be a terminal device or a server, etc., which is not specifically limited here. For the sake of clear description, it is referred to as the control device below.

[0125] A robot avoidance method is applied to a control device in a storage system; the storage system also includes: a plurality of storage shelves and at least two aerial handling robots; a lane is set between two adjacent rows of storage shelves, and at least two aerial handling robots are arranged in the lane; the control device is in communication connection with each aerial handling robot.

[0126] by Figure 1 For example, Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application, wherein the aerial handling robot includes a gantry that can move horizontally along the storage shelves and a pick-up and place device that can move up and down along the gantry, so that materials can be picked up and placed at various locations on the storage shelves. The aerial handling robot is mounted on the storage shelves through its gantry, and the aerial handling robots in the same lane can be mounted on different storage shelves. It should be noted that Figure 1The hanging method of the aerial transport robot shown is only an example. In addition, the aerial transport robots in the same aisle can also be hung on the same storage shelf, or the aerial transport robots in the same aisle can simultaneously contain multiple aerial transport robots hung on different storage shelves, as well as multiple aerial transport robots hung on the same storage shelf.

[0127] Correspondingly, such as Figure 2 As shown, Figure 2 A schematic flow chart of a robot avoidance method provided in an embodiment of the present application, the method may include:

[0128] S201, obtaining task execution information of the current transport task to be executed.

[0129] Among them, the task execution information includes: the first target robot executing the current handling task and the handling path information of the target material to be handled, and the first target robot and the handling path information are determined based on the current handling task and the starting point and end point of the target material of the handling task currently being executed.

[0130] S202, instructing the first target robot to perform the current transport task according to the transport path information.

[0131] S203, acquiring in real time the current position of each aerial transfer robot in the target lane where the first target robot is located.

[0132] S204, predicting in real time based on the current positions of the aerial handling robots whether the first target robot will collide with other aerial handling robots.

[0133] S205, instructing the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur before continuing to perform the current transport task.

[0134] In the solution provided by the embodiment of the present application, the control device can predict in real time whether there will be a collision between the aerial handling robots according to the current positions of the aerial handling robots in the same lane. If the prediction result is yes, one of the aerial handling robots will be instructed to wait for the other aerial handling robots to move out of the position where the collision may occur before continuing to perform the handling task. In this way, collisions between aerial handling robots can be avoided through real-time control of the aerial handling robots.

[0135] First, the warehousing system in the embodiment of the present application is introduced. The warehousing system may include a control device and at least two aerial handling robots, wherein the warehousing system will issue handling tasks to the control device, and the control device can control each aerial handling robot to perform the handling tasks through the communication connection between it and each aerial handling robot.

[0136] The storage system may further include a plurality of storage shelves, wherein an aisle is provided between two adjacent rows of storage shelves, and the at least two aerial handling robots are disposed in the aisles between the storage shelves.

[0137] After obtaining the handling tasks issued by the warehousing system, the control device can store the handling tasks in the task pool. Then the control device can first determine the execution order of each handling task in the task pool according to the priority of each handling task, according to the principle that the higher the priority, the earlier the execution order. Furthermore, if there are multiple handling tasks with the same priority, the control device can determine the distance between the starting point and the end point according to the starting point and end point corresponding to the handling task through algorithms such as Dijkstra, and then determine the execution order between multiple handling tasks with the same priority according to the principle that the shorter the distance, the earlier the execution order. The above is an example of a method for determining the execution order of handling tasks, and it can also be other task determination methods, such as determining the execution order according to the time sequence in which the control device obtains the handling tasks. The present application does not specifically limit the method for setting the task execution order.

[0138] Every time the control device obtains a new handling task issued by the warehousing system, it can store the new handling task in the task pool, and then execute the above steps of determining the execution order between the various handling tasks, so as to update the execution order of the various handling tasks in real time.

[0139] In addition, after obtaining the new handling tasks issued by the warehousing system and determining the execution order of the new handling tasks, the control device can also implement the basic logic of scheduling and avoidance by planning the handling paths of various aerial robots in the air to determine the target robot that performs the handling task and plan the handling path of the target robot. Specifically:

[0140] The control device can determine the target robot that executes the new transport task and plan the transport path of the target robot based on the starting point and end point corresponding to the new transport task and the transport path information of the currently being executed transport task, with the principle of shortest transport path and no collision between the aerial robots during the transport process.

[0141] In one embodiment, the control device can first select the aerial robot closest to the starting point of the new transport task according to the positions of the various aerial transport robots as the target robot for executing the new transport task; and then, based on the path planning algorithm and the transport path information of the currently executing transport task, plan a transport path for the target robot that is the shortest and does not overlap with the transport path of the currently executing transport task.

[0142] The path planning algorithm may be an algorithm such as Dijkstra, which is not specifically limited here.

[0143] For example, when the Dijkstra algorithm is used as the path planning algorithm, the control device can first create a weighted graph, where the nodes in the weighted graph represent the various locations that the target robot can reach, and the edges between the nodes represent the distances between the nodes. Then, the control device can mark the obstacle path in the weighted graph, that is, the path that the target robot needs to avoid, based on the transport path information of the currently executed transport task.

[0144] Then, the control device can start from the starting point of the new handling task according to the weighted graph of the obstacle path at the above-mentioned mark, traverse all its unvisited adjacent nodes and update the shortest path, and then repeat the above process for the adjacent nodes until it is expanded to the end point, thereby planning a handling path for the target robot with the shortest path and without overlapping with the handling path of the currently being executed handling task.

[0145] After the control device determines the execution order of each handling task and the task execution information (the target robot that executes the handling task and the handling path information) in the above manner, it can determine the handling task with the highest execution order as the current handling task based on the execution order of each handling task to be executed, and then obtain the task execution information of the current handling task. After obtaining the task execution information, the control device can determine the first target robot that executes the current handling task and the handling path information of the target material to be transported, and then the control device can instruct the first target robot to execute the current handling task according to the handling path information.

[0146] When instructing the first target robot to perform the handling task, the control device can obtain the current position of each aerial handling robot in the target lane where the first target robot is located in real time by receiving the current position reported by each aerial handling robot in real time. Then the control device can predict whether the first target robot will collide with other aerial handling robots based on the current position of each aerial handling robot. If the prediction result is yes, the control device can instruct the first target robot to wait for other aerial handling robots to move out of the position where the collision may occur before continuing to perform the current handling task.

[0147] The specific methods of “predicting whether a collision will occur” and “instructing the first target robot to wait” will be described in detail in subsequent embodiments and will not be repeated here.

[0148] It should be noted here that the control device obtains information in real time and predicts collision in real time, which may be to obtain information at preset time intervals and predict collision at preset time intervals, wherein the unit of the preset time interval may be milliseconds, for example: 1ms, 2ms, 3ms, etc.

[0149] In the solution provided by the embodiment of the present application, the control device can predict in real time whether there will be a collision between the aerial handling robots according to the current positions of the aerial handling robots in the same lane. If the prediction result is yes, one of the aerial handling robots will be instructed to wait for the other aerial handling robots to move out of the position where the collision may occur before continuing to perform the handling task. In this way, collisions between aerial handling robots can be avoided through real-time control of the aerial handling robots.

[0150] The aerial handling robots in the same lane may include multiple aerial handling robots hung on storage shelves on the same side of the lane, or multiple aerial handling robots hung on storage shelves on different sides of the lane. The following describes in detail the solution provided by the embodiment of the present application from two aspects: "the avoidance method between multiple aerial handling robots hung on storage shelves on the same side of the lane" and "the avoidance method between multiple aerial handling robots hung on storage shelves on different sides of the lane".

[0151] Regarding the avoidance method between multiple aerial handling robots hung on storage shelves on the same side of the aisle:

[0152] like Figure 3 As shown, Figure 3 Based on Figure 2 A schematic diagram of a hanging method of an aerial handling robot in the illustrated embodiment is shown, in which the aerial handling robot 1 and the aerial handling robot 2 in the alley can both be hung on the storage shelves on the same side of the alley, that is, hung on the storage shelf 1, and the aerial handling robot 1 and the aerial handling robot 2 can both pick up and place materials on the storage shelf 1, and can also pick up and place materials on the storage shelf 2.

[0153] Each storage shelf includes multiple storage columns arranged in parallel, and each storage column includes multiple rows of storage locations. In order to reduce the distance between the storage locations in each column to increase the storage space, the distance between the storage locations in each column is set to be very small. This results in a collision between the aerial handling robots hung on the storage shelves on the same side of the aisle when two aerial handling robots need to reach adjacent storage locations to pick up and place materials.

[0154] For example, aerial handling robot 1 needs to reach bin 2 to pick up and place materials, and aerial handling robot 2 needs to reach bin 3 to pick up and place materials. Figure 4 As shown, Figure 4 Based on Figure 3Schematic diagram of the cause of collision of the aerial handling robot of the illustrated embodiment; when the aerial handling robot 1 is located at the position where the storage bin 2 is located, because the distance between the storage bin 2 and the storage bin 3 is too small, the gantry of the aerial handling robot 1 occupies the space where the gantry of the aerial handling robot 2 moves to the storage bin 3. Therefore, if the aerial handling robot 2 wants to move from the position where the storage bin 4 is located to the position where the storage bin 3 is located, a collision will occur between the gantry of the aerial handling robot 1 and the gantry of the aerial handling robot 2.

[0155] In order to avoid the above collision, Figure 5 As shown, Figure 5 Based on Figure 3 A schematic diagram of a specific flow chart of a robot avoidance method in the embodiment shown; before the control device executes the above step S204, step S501 may be executed:

[0156] S501, based on the task execution information of the current transport task and the task execution information of other transport tasks being executed, it is determined whether there is a first adjacent task whose start point or end point is located in an adjacent storage column to the start point or end point of the current transport task.

[0157] The control device can obtain the task execution information of the current handling task and the task execution information of other handling tasks being executed, and then determine, based on the acquired task execution information, whether there are any handling tasks among the other handling tasks being executed whose starting point or end point is located in an adjacent storage column to the starting point or end point of the current handling task; if so, the handling task is determined as the first adjacent task.

[0158] Among them, the starting point or end point of the first adjacent task and the starting point or end point of the current handling task are located in adjacent storage columns. The starting point of the current handling task and the starting point of the first adjacent task may be located in adjacent storage columns, or the starting point of the current handling task and the end point of the first adjacent task may be located in adjacent storage columns, or the end point of the current handling task and the starting point of the first adjacent task may be located in adjacent storage columns, or the end point of the current handling task and the end point of the first adjacent task may be located in adjacent storage columns, and no specific limitation is made here.

[0159] Assume that the starting point of the current handling task performed by the first target robot is bin 2, and there is currently an aerial handling robot whose end point of the handling task performed by it is bin 3. Then, because the end point of the handling task performed by the aerial handling robot and the starting point of the current handling task are located in adjacent storage columns (i.e., bin 3 and bin 2 are located in adjacent storage columns), the handling task performed by the aerial handling robot can be determined as the first adjacent task, and the aerial handling robot can be determined as the second target robot.

[0160] Correspondingly, such as Figure 5As shown, when the control device executes the above step S204, it can be specifically implemented through steps S502-S503:

[0161] S502, acquiring in real time the current position of the second target robot performing the first adjacent task.

[0162] If there is a first adjacent task, the control device may acquire the current position of the second target robot executing the first adjacent task in real time.

[0163] S503, when the first target robot moves to an adjacent column of the storage column where the starting point or end point of the current handling task is located, and the second target robot moves to the storage column where the starting point or end point of the first adjacent task is located, it is predicted that the first target robot will collide with the second target robot.

[0164] The control device can monitor the positions of the first target robot and the second target robot in real time. When it is monitored that the first target robot moves to an adjacent column of the storage column where the starting point or end point of the current handling task is located, and the second target robot moves to the storage column where the starting point or end point of the first adjacent task is located, it is predicted that the first target robot will collide with the second target robot.

[0165] Continuing with the above example, the control device monitors the positions of the first target robot and the second target robot in real time. Figure 6 For example, Figure 6 Based on Figure 5 Schematic diagram of the robot avoidance method of the embodiment shown, at this time, the control device detects that the first target robot moves to the adjacent column of the storage column where the starting point of the current handling task is located (that is, the gantry of the first target robot is located at Figure 6 When the second target robot moves to the storage column where the end point of the first adjacent task is located (that is, the gantry of the second target robot is located at Figure 6 The control device may predict that the first target robot will collide with the second target robot when the first target robot is at the position shown in FIG.

[0166] Correspondingly, such as Figure 5 As shown, when the control device executes the above step S205, it can be specifically implemented through S504:

[0167] S504, instructing the first target robot to wait for the second target robot to complete the operation at the starting point or the end point of the first adjacent task and leave before continuing to perform the current transport task.

[0168] When the control device predicts that the first target robot will collide with the second target robot, it will instruct the first target robot to wait until the second target robot completes the operation at the starting point or end point of the first adjacent task and leaves, and then continue to perform the current handling task.

[0169] Continuing with the above example, when the control device predicts that the first target robot will collide with the second target robot, it will instruct the first target robot to wait for the second target robot to complete the operation at bin 3 and leave before continuing to perform the current handling task and thus reach bin 2.

[0170] In addition, for multiple aerial handling robots hung on the storage shelves on the same side of the lane, there may be intersections between the multiple aerial handling robots. In order to avoid collisions in such situations, Figure 7 As shown, Figure 7 Based on Figure 3 A specific flow chart of another robot avoidance method according to the embodiment shown; when the control device executes the above step S204, it can be specifically implemented through step S701:

[0171] S701, judging in real time based on the current positions and transport paths of each aerial transport robot whether there is an intersection robot that will intersect with the first target robot during the movement of the first target robot. If yes, executing step S702. If no, predicting that the first target robot will not collide with other aerial transport robots.

[0172] The control device can determine the subsequent path of each aerial transport robot according to the current position and transport path of each aerial transport robot in real time, and then judge whether there is an aerial transport robot that will reach the same position as the first target robot in the subsequent movement process according to the subsequent path of each aerial transport robot. If so, the aerial transport robot is determined as an intersection robot.

[0173] For example, the transport path of the aerial transport robot a is "moving from the 1st storage column on the storage shelf to the 5th storage column", and it is currently located at the 2nd storage column on the storage shelf. The transport path of the first target robot is "moving from the 9th storage column on the storage shelf to the 3rd storage column", and it is currently located at the 8th storage column on the storage shelf. Then for the aerial transport robot a, its subsequent path is "moving from the 2nd storage column on the storage shelf to the 5th storage column", and for the first target robot, its subsequent path is "moving from the 8th storage column on the storage shelf to the 3rd storage column", and the control device can determine that the two will intersect at the 5th storage column, so the aerial transport robot a can be determined as an intersection robot.

[0174] Because the aerial handling robots cannot cross over each other, when the first target robot and the intersection robot intersect, if the two continue to move after reaching adjacent positions, a collision will occur. Therefore, in order to avoid a collision, the control device can predict that the first target robot will collide with other aerial handling robots when it determines that there is an intersection robot, and thus executes a corresponding collision avoidance strategy.

[0175] Correspondingly, such as Figure 7 As shown, before executing the above step S205, the control device may also execute steps S702-S703, and then choose to execute step S704 or step S205 according to the judgment result of step S703:

[0176] S702: predicting the waiting time for the first target robot to avoid collision with the intersection robot according to the current positions and transport paths of the first target robot and the intersection robot.

[0177] For the first target robot, when there is an intersection robot that will intersect with it, the control device can avoid the intersection robot by controlling the first target robot to wait, thereby avoiding a collision, or it can avoid the intersection robot by replanning the transport path of the first target robot, thereby avoiding a collision. The control device can choose between the above two collision avoidance strategies based on the cost of waiting, specifically:

[0178] The control device can first determine the overlapping path in the subsequent path of the first target robot and the intersection robot based on the current position and transportation path of the first target robot and the intersection robot, and then determine the time the first target robot needs to wait for the intersection robot to leave the overlapping path after moving to the vicinity of the overlapping path (without entering the overlapping path), and use it as the time the first target robot needs to wait in order to avoid a collision with the intersection robot. Among them, the time for the intersection robot to leave the overlapping path can be the time for the intersection robot to leave the position that blocks the first target robot from entering the overlapping path, or it can be the time for the intersection robot to leave the entire overlapping path, which is not specifically limited here.

[0179] Continuing with the above example, the overlapping path of the first target robot and the intersection robot is "from the 3rd storage column to the 5th storage column". Assuming that the first target robot and the intersection robot have the same moving speed, when the first target robot moves to the vicinity of the overlapping path, that is, when it moves to the 6th storage column, the intersection robot moves to the 4th storage column. Assuming that it takes 1 second for the intersection robot to move from the 4th storage column to the 5th storage column, 3 seconds to complete the handling task in the 5th storage column, and 3 seconds to move from the 5th storage column to the 2nd storage column, then 4 seconds (the time it takes for the intersection robot to leave the position that blocks the first target robot from entering the overlapping path) can be determined as the time the first target machine needs to wait, and 7 seconds (the time it takes for the intersection robot to leave the entire overlapping path) can also be determined as the time the first target machine needs to wait.

[0180] S703, determine whether the duration is greater than a preset duration. If yes, execute step S704, if not, execute step S205.

[0181] After obtaining the time the first target robot needs to wait to avoid a collision with the intersection robot, the control device can determine whether the waiting time of the first target robot is too long by judging whether the obtained time is greater than the preset time, and thus choose whether to avoid by waiting or by replanning the path.

[0182] S704, based on the current position of the first target robot, the end point corresponding to the current transport task and the transport path information of the currently executed transport task, the transport path is re-planned for the first target robot on the principle of shortest transport path and no collision between the aerial robots during the transport process, and the first target robot is instructed to continue to perform the current transport task according to the re-planned transport path.

[0183] If the waiting time of the first target robot is too long, that is, the predicted time is greater than the preset time, then the control device can re-plan the transport path for the first target robot, and instruct the first target robot to continue to perform the current transport task according to the re-planned transport path to achieve avoidance without instructing the first target robot to wait, thereby improving the execution efficiency of the transport task.

[0184] Among them, the control device re-plans the transport path for the first target robot based on the current position of the first target robot, the end point corresponding to the current transport task, and the transport path information of the currently executed transport task, with the shortest transport path and no collision between the aerial robots during the transport process as the principle. The method and the type of path planning method mentioned above will not be repeated here.

[0185] In one embodiment, in order to facilitate the management of multiple aerial transfer robots hung on storage shelves on the same side of the aisle, multiple partitions can be set in advance on each storage shelf, and each partition includes multiple storage columns arranged in parallel, so that the multiple aerial transfer robots hung on the storage shelves on the same side of the aisle can be managed according to the partitions.

[0186] by Figure 8 For example, Figure 8 Based on Figure 1 A schematic diagram of a method of dividing partitions on a storage shelf in the illustrated embodiment; for a storage shelf including 12 storage columns and 8 storage rows, the 1st to 3rd storage columns can be divided into partition 1, the 4th to 6th storage columns can be divided into partition 2, the 7th to 9th storage columns can be divided into partition 3, and the 10th to 12th storage columns can be divided into partition 4.

[0187] In this case, for the transport task, the transport task can be divided into a non-cross-region task and a cross-region task according to whether the starting point and the end point of the transport task are located in the same partition, that is, when the starting point and the end point of the transport task are located in the same partition, the transport task is a non-cross-region task, and when the starting point and the end point of the transport task are located in different partitions, the transport task is a cross-region task. The following will describe in detail the solutions provided in the embodiments of the present application from the two aspects of "non-cross-region tasks" and "cross-region tasks".

[0188] For "non-cross-region tasks":

[0189] After multiple partitions are set on the storage shelf, a correspondence between the partitions and the aerial handling robots can be established so that each partition corresponds to an aerial handling robot. In this case, when determining the task execution information of the handling task, the control device can determine the aerial handling robot corresponding to the target partition where the starting point and the end point of the handling task are located as the target robot for performing the handling task, and plan the handling path of the target robot in the target partition.

[0190] For example, the first partition includes storage columns 1-10, corresponding to the aerial handling robot 1, the second partition includes storage columns 11-20, corresponding to the aerial handling robot 2, and the third partition includes storage columns 21-30, corresponding to the aerial handling robot 3. Assuming that the starting point and the end point of the handling task are both located in the first partition, the control device can determine the aerial handling robot 1 as the target robot to perform the handling task, and plan the handling path of the aerial handling robot 1 in the first partition.

[0191] Accordingly, because for the first target robot, only robots located in its adjacent partitions may collide with the first target robot, the control device can predict whether a collision will occur and instruct to avoid the collision based only on the relevant information of the first target robot and the robots in the adjacent partitions. Specifically:

[0192] The control device can obtain the current position of the first target robot and its neighboring robots, wherein the first target robot and the neighboring robots are located in the same lane and the partitions where the two are located are adjacent. Then the control device can determine whether the first target robot and the neighboring robot will reach the edge storage column where the two partitions are connected at the same time according to the current position and transportation path information of the first target robot and the neighboring robot. If the judgment result is yes, the first target robot is instructed to wait for the neighboring robot to move out of the edge storage column before continuing to perform the current transportation task.

[0193] Continuing with the above partition example, assume that the first target robot is the aerial handling robot 1. Because the aerial handling robot 2 is a neighboring robot of the aerial handling robot 1, the control device can only obtain the current positions of the aerial handling robot 1 and the aerial handling robot 2 when obtaining the current position. Then the control device can determine whether there is a situation of "the aerial handling robot 2 arrives at the 11th storage column at the same time as the aerial handling robot 1 arrives at the 10th storage column" based on the current positions and handling path information of the aerial handling robot 1 and the aerial handling robot 2. If so, instruct the aerial handling robot 1 to wait for the aerial handling robot 2 to move out of the 11th storage column before entering the 10th storage column to perform the handling task.

[0194] For "cross-region tasks":

[0195] In one embodiment, when determining an aerial transport robot to perform a transport task that requires crossing zones, the control device may select only one aerial transport robot to perform the transport task. Specifically:

[0196] For each aerial transport robot in each partition that the transport task is to cross, the control device can calculate, based on the starting point and end point of the transport task, the sum of the distances that other aerial transport robots in each partition that the aerial transport robot is to cross in order to avoid collision with it when the aerial transport robot performs the transport task, as the total avoidance distance corresponding to the aerial transport robot. Then the control device can determine the aerial transport robot with the shortest total avoidance distance as the target robot to perform the transport task, and plan the transport path of the target robot in each partition that the transport task is to cross.

[0197] Continuing with the above partition example, assuming that the starting point of the transport task is located at the 9th storage column and the end point is located at the 22nd storage column, then the partitions that the transport task needs to cross are the first partition, the second partition and the third partition, and the aerial transport robots in each partition to be crossed are aerial transport robot 1, aerial transport robot 2 and aerial transport robot 3.

[0198] Based on the starting point and end point of the carrying task, the control device can calculate the sum of the distance that the aerial carrying robot 2 needs to move to avoid a collision with the aerial carrying robot 1 and the distance that the aerial carrying robot 3 needs to move to avoid a collision with the aerial carrying robot 1 when the aerial carrying robot 1 performs the carrying task, and determine it as the total avoidance distance corresponding to the aerial carrying robot 1, which is assumed to be 10m.

[0199] At the same time, the control device can also calculate, based on the starting and end points of the carrying task, the sum of the distance that the aerial carrying robot 1 needs to move to avoid a collision with the aerial carrying robot 2 and the distance that the aerial carrying robot 3 needs to move to avoid a collision with the aerial carrying robot 2 when the aerial carrying robot 2 performs the carrying task, and determine it as the total avoidance distance corresponding to the aerial carrying robot 2, assuming it is 2m.

[0200] The control device can also calculate, based on the starting and end points of the carrying task, the sum of the distance that the aerial carrying robot 1 needs to move to avoid a collision with the aerial carrying robot 3 and the distance that the aerial carrying robot 2 needs to move to avoid a collision with the aerial carrying robot 3 when the aerial carrying robot 3 performs the carrying task, and determine it as the total avoidance distance corresponding to the aerial carrying robot 3, which is assumed to be 7m.

[0201] Then, because the total avoidance distance corresponding to the aerial transport robot 2 is the shortest, the aerial transport robot 2 can be determined as the target robot to perform the transport task, and the transport path of the aerial transport robot 2 can be planned in the first partition, the second partition, and the third partition.

[0202] In another embodiment, when determining an aerial transport robot to perform a transport task that requires cross-region transport, the control device may select multiple aerial transport robots to cooperate in performing the transport task. Specifically:

[0203] The control device can determine each aerial transport robot corresponding to each partition that the transport task is to cross as the target robot for performing the transport task, and plan the transport path of the target robot in each partition in each partition that the transport task is to cross. When instructing each aerial transport robot to perform the above-mentioned transport task, it can instruct the target robot in the partition where the starting point is located to move the target material to the edge storage column of the partition or the adjacent partition, and instruct the target robot in the partition where the end point is located to move the target material from the edge storage column to the end point.

[0204] Continuing with the above partition example, assuming that the starting point of the transport task is located at the 9th storage column and the end point is located at the 15th storage column, then the partitions that the transport task needs to cross are the first partition and the second partition, and the aerial transport robots in each partition to be crossed are aerial transport robot 1 and aerial transport robot 2.

[0205] The control device can determine both the aerial carrying robot 1 and the aerial carrying robot 2 as the target robots to perform the carrying task, and then plan the carrying path from the 9th storage column to the 10th (or 11th) storage column for the aerial carrying robot 1, and plan the carrying path from the 10th (or 11th) storage column to the 15th storage column for the aerial carrying robot 2.

[0206] When instructing each aerial handling robot to perform a handling task, you can first instruct the aerial handling robot 1 to move the target material from the starting point to the edge storage column of the current partition, that is, the 10th storage column (or move it to the edge storage column of the adjacent partition, that is, the 11th storage column), and then instruct the aerial handling robot 2 to move the target material from the 10th storage column (or the 11th storage column) to the end point.

[0207] Of course, if the number of partitions that the handling task needs to cross is greater than 2, then the control device can instruct the target robot in the partition where the starting point is located and the target robot in the partition where the end point is located to carry materials, and can also instruct the target robot in the middle partition to carry materials. That is, the control device instructs the target robot in the partition where the starting point is located to carry the material from the starting point to the second edge column of the partition or the first edge storage column of the first adjacent partition, and the target robot in the first adjacent partition to carry the material from the second edge column or the first edge storage column to the second edge storage column of the partition or the first edge storage column of the second adjacent partition... and instructs the target robot in the partition where the end point is located to move the target material from the second edge column of the Nth adjacent partition or the first edge storage column of the partition to the end point.

[0208] Regarding the avoidance method between multiple aerial handling robots hung on storage shelves on different sides of the aisle:

[0209] like Fig. 9 As shown, Fig. 9 Based on Figure 2 A schematic diagram of another aerial handling robot hanging method of the illustrated embodiment; the aerial handling robot 3 and the aerial handling robot 4 in the tunnel can be hung on storage shelves on different sides of the tunnel, that is, the aerial handling robot 3 is hung on the storage shelf 1, and the aerial handling robot 4 is hung on the storage shelf 2. The aerial handling robot 3 can pick up and place materials on the storage shelf 1 through its own picking and placing device, and the aerial handling robot 4 can pick up and place materials on the storage shelf 2 through its own picking and placing device.

[0210] There are mainly two types of blocking situations between multiple aerial handling robots hung on storage shelves on different sides of the aisle. The first is that the starting points or end points of the two aerial handling robots are located in the opposite storage rows and storage columns on their respective storage shelves. The second is that there will be interference in the movement space of the two aerial handling robots when they intersect.

[0211] For the first blocking situation, in order to increase the overall storage capacity of the warehouse, the width of the aisle will be compressed as much as possible when setting the width of the aisle, for example, the width of the aisle is set to be smaller than the sum of the widths of the two aerial handling robots. In this case, for two aerial handling robots hung on storage shelves on different sides of the aisle, if the two aerial handling robots are located in opposite positions on two storage shelves, the two aerial handling robots may collide.

[0212] Therefore, for two aerial handling robots mounted on storage shelves on different sides of the lane, they cannot reach the positions of two storage shelves at the same time. For example, for aerial handling robot 3 mounted on storage shelf 1 and aerial handling robot 4 mounted on storage shelf 2, when aerial handling robot 3 reaches the position of storage shelf 1 at row N and column M, aerial handling robot 4 cannot reach the position of storage shelf 2 at row N and column M, otherwise a collision will occur.

[0213] In order to avoid the above collision, Fig.10 As shown, Fig.10 Based on Fig. 9 A schematic diagram of a specific flow chart of a robot avoidance method in the embodiment shown; before the control device executes the above step S204, step S1001 may be executed:

[0214] S1001, based on the task execution information of the current transport task and the task execution information of other transport tasks being executed, determine whether there is a second adjacent task whose starting point or end point is located in the storage row and storage column opposite to the starting point or end point of the current transport task on the respective storage shelves.

[0215] The control device can obtain the task execution information of the current handling task and the task execution information of other handling tasks being executed, and then determine, based on the acquired task execution information, whether there are any handling tasks among the other handling tasks being executed whose starting point or end point is located in storage rows and storage columns opposite to the starting point or end point of the current handling task on their respective storage shelves; if so, the handling task is determined as the second adjacent task.

[0216] Among them, the starting point or end point of the second adjacent task and the starting point or end point of the current handling task are located in the storage rows and storage columns on their respective storage shelves that are opposite to each other. The starting point of the current handling task and the starting point of the second adjacent task can be located in the storage rows and storage columns on their respective storage shelves that are opposite to each other, or the starting point of the current handling task and the end point of the second adjacent task are located in the storage rows and storage columns on their respective storage shelves that are opposite to each other, or the end point of the current handling task and the starting point of the second adjacent task are located in adjacent storage columns, or the end point of the current handling task and the end point of the second adjacent task are located in the storage rows and storage columns on their respective storage shelves. No specific limitation is made here.

[0217] by Fig.11a The top view of two storage racks in the same aisle is shown and Fig.11b As an example, let us assume that the starting point of the current handling task performed by the first target robot is bin 1 on storage shelf 1, and the end point of the handling task performed by the aerial handling robot 1 is bin 2 on storage shelf 2. Fig.11a and Fig.11b It can be seen from the top view and side view that bin 1 is in the 3rd storage row and 3rd storage column on storage shelf 1, and bin 2 is in the 3rd storage row and 3rd storage column on storage shelf 2. The two bins belong to two storage rows and storage columns that are located in opposite positions on the two storage shelves. Therefore, the aerial transfer robot 1 can be determined as the third target robot, and the transfer task performed by the aerial transfer robot 1 can be determined as the second adjacent task.

[0218] Correspondingly, such as Fig.10 As shown, when the control device executes the above step S204, it can be specifically implemented through steps S1002-S1003:

[0219] S1002, acquiring in real time the current position of the third target robot performing the second adjacent task.

[0220] If there is a second adjacent task, the control device may acquire the current position of the third target robot executing the second adjacent task in real time.

[0221] S1003, when the first target robot moves to the adjacent column of the storage column where the starting point or end point of the current handling task is located, and the third target robot moves to the storage column where the starting point or end point of the second adjacent task is located, and the picking and placing devices of the first target robot and the third target robot are located in the storage rows at the same height, it is predicted that the first target robot will collide with the third target robot.

[0222] The control device can monitor the positions of the first target robot and the third target robot in real time. When it is detected that the first target robot moves to the adjacent column of the storage column where the starting point or end point of the current handling task is located, and the third target robot moves to the storage column where the starting point or end point of the second adjacent task is located, and the picking and placing devices of the first target robot and the third target robot are located in the storage row at the same height, it is predicted that the first target robot will collide with the third target robot. At this time, in order to avoid collision, the control device can instruct the first target robot to wait for the third target robot to complete the operation at the starting point or end point of the second adjacent task and leave, and then continue to perform the current handling task.

[0223] Continuing with the above example, when the control device is monitoring the positions of the first target robot and the third target robot in real-time, if the first target robot moves to the adjacent column of the storage column where the starting point or end point of the current handling task is located (i.e., the first target robot moves to the second storage column), the third target robot moves to the storage column where the starting point or end point of the second adjacent task is located (i.e., the second target robot moves to the third storage column), and the picking and placing devices of the first target robot and the third target robot are located at the same height of the storage row (i.e., located in the third storage row), the control device can predict that the first target robot will collide with the third target robot.

[0224] Correspondingly, such as Fig.10 As shown, when the control device executes the above step S205, it can be specifically implemented through S1004:

[0225] S1004, instructing the first target robot to wait for the third target robot to complete the operation at the starting point or the end point of the second adjacent task and leave, and then continue to execute the current transport task.

[0226] When the control device predicts that the first target robot will collide with the third target robot, it will instruct the first target robot to wait until the third target robot completes the operation at the starting point or end point of the second adjacent task and leaves, and then continue to perform the current handling task.

[0227] Continuing with the above example, the control device can instruct the first target robot to wait for the third target robot to complete the operation at bin 2 and leave, and then continue to perform the current handling task, so as to reach bin 1.

[0228] For the second blocking situation, when two aerial handling robots move towards each other, the two aerial handling robots will intersect in a certain storage column. At this time, if the height ranges occupied by the two aerial handling robots are determined to overlap based on the height of the pick-and-place device itself and the height of the materials transported by the pick-and-place device, the two aerial handling robots will collide.

[0229] For example, the aerial handling robot 1 moves from the 1st storage column to the 7th storage column on the storage shelf 1, and the aerial handling robot 2 moves from the 7th storage column to the 1st storage column on the storage shelf 2 at the same speed. Then, when the aerial handling robot 1 moves to the 4th storage column on the storage shelf 1, the aerial handling robot 2 also moves to the 4th storage column on the storage shelf 2. At this time, the aerial handling robot 1 and the aerial handling robot 2 intersect in the 4th column.

[0230] On this basis, assuming that the height of the pick-up and place device of the aerial handling robot 1 is 1m, and the height of the material it carries is 0.5m, then the height range occupied by the aerial handling robot 1 is [1,1.5], and the height of the pick-up and place device of the aerial handling robot 2 is 1.3m, and the height of the material it carries is 0.3m, then the height range occupied by the aerial handling robot 2 is [1.3,1.6]. In this case, because the height ranges occupied by the aerial handling robots 1 and 2 overlap, the aerial handling robots 1 and 2 will collide.

[0231] In order to avoid the above collision, Fig.12 As shown, Fig.12 Based on Fig.10 A schematic diagram of a specific flow chart of a robot avoidance method in the embodiment shown; after the control device executes the above step S203, in addition to executing steps S1001-S1004, it can also execute steps S1201-S1203:

[0232] S1201, based on the task execution information of the current transport task and the task execution information of other transport tasks being executed, determine whether there is a fourth target robot that intersects with the first target robot during movement.

[0233] The control device can obtain the task execution information of the current handling task and the task execution information of other handling tasks being executed, and then determine whether there is an aerial handling robot among the moving aerial handling robots that intersects with the first target robot during the movement based on the acquired task execution information. If so, the aerial handling robot is determined as the fourth target robot.

[0234] Continuing with the above example of intersection, assuming that the first target robot is the aerial handling robot 1, then because the aerial handling robot 2 and the aerial handling robot 1 will intersect in the fourth storage column, the control device can determine the aerial handling robot 2 as the fourth target robot.

[0235] S1202, obtaining in real time the heights of the materials transported by the first target robot and the fourth target robot.

[0236] If the fourth target robot exists, the control device can obtain the heights of the materials transported by the first target robot and the fourth target robot in real time.

[0237] S1203, when the first target robot or the fourth target robot moves to the adjacent column of the intersecting storage columns, instruct the first target robot or the fourth target robot whose material is transported is higher to raise the height of its picking and placing device to a height where no collision occurs, and then continue to perform its corresponding transporting task.

[0238] The control device can monitor the current positions of the first target robot and the fourth target robot in real time. When it is detected that the first target robot or the fourth target robot moves to an adjacent column of the storage column that intersects, that is, when the first target robot and the fourth target robot are about to intersect, the control device can instruct the first target robot or the fourth target robot, which is carrying a higher material, to raise the height of its pick-and-place device to a height where no collision occurs, and then continue to perform its corresponding handling task.

[0239] Of course, the control device can also instruct the first target robot or the fourth target robot whose material is transported at a lower height to lower the height of its pick-and-place device to a height where no collision occurs, and then continue to perform its corresponding transport task. This is also possible.

[0240] Continuing with the above example, the control device can monitor the current positions of the aerial handling robot 1 and the aerial handling robot 2 in real time. When the aerial handling robot 1 reaches the adjacent column of the intersecting storage columns (i.e., the third storage column), or the aerial handling robot 2 reaches the adjacent column of the intersecting storage columns (i.e., the fifth storage column), the control device can instruct the aerial handling robot 2 to raise the height of its pick-and-place device to more than 1.5m before continuing to perform its corresponding handling task, or instruct the aerial handling robot 1 to lower the height of its pick-and-place device to more than 1.3m before continuing to perform its corresponding handling task.

[0241] Corresponding to the above-mentioned robot avoidance method applied to the control device, an embodiment of the present application also provides a robot avoidance method applied to an aerial handling robot. The following introduces a robot avoidance method applied to an aerial handling robot provided in an embodiment of the present application.

[0242] A robot avoidance method is applied to any aerial handling robot in a storage system; the storage system also includes: a control device and a plurality of storage shelves; a lane is set between two adjacent rows of storage shelves, and at least two aerial handling robots are set in the lane; the control device is connected to each aerial handling robot in communication, such as Fig.13 As shown, Fig.13 A flowchart of another robot avoidance method provided in an embodiment of the present application; the method may include:

[0243] S1301, receiving an instruction sent by a control device to execute a current transport task.

[0244] S1302: Execute the current transport task according to the transport path information.

[0245] The transport path information is determined based on the current transport task and the starting point and the end point of the target material of the currently executed transport task.

[0246] S1303, sending the current position to the control device in real time, so that the control device can predict in real time whether the aerial transport robot will collide with other aerial transport robots based on the current position of the aerial transport robot and the current positions of other aerial transport robots in the same lane as the aerial robot.

[0247] S1304, receiving a waiting instruction sent by the control device when predicting that the aerial handling robot will collide with other aerial handling robots.

[0248] S1305, waiting for other aerial transport robots to move out of a position where a collision may occur and then continuing to execute the current transport task.

[0249] In the solution provided by the embodiment of the present application, since the control device can predict in real time whether there will be a collision between the aerial handling robots according to the current positions of the aerial handling robots in the same lane, if the prediction result is yes, one of the aerial handling robots will be instructed to wait for the other aerial handling robots to move out of the position where the collision may occur before continuing to perform the handling task. Thus, collisions between the aerial handling robots can be avoided through real-time control of the aerial handling robots.

[0250] As an implementation method of the embodiment of the present application, each storage shelf includes a plurality of storage columns arranged in parallel, and among the aerial handling robots in the lane, there are at least two aerial handling robots hung on the storage shelves on different sides of the lane; the aerial handling robot includes: a gantry that moves horizontally along the storage shelf and a picking and placing device that can move up and down along the gantry, and the picking and placing device picks and places materials on the storage shelf where the aerial handling robot is located; the above method may also include:

[0251] The receiving control device sends a lifting height instruction when it determines that there is a fourth target robot that intersects with the aerial handling robot during movement; when moving to the adjacent column of the storage column where the intersection occurs, the height of the picking and placing device is raised to a height where no collision occurs, and the current handling task is continued.

[0252] Corresponding to the above-mentioned robot avoidance method, an embodiment of the present application also provides a warehousing system. The following is an introduction to a warehousing system provided by an embodiment of the present application.

[0253] A storage system, comprising: a control device, a plurality of storage shelves and at least two aerial handling robots; a lane is provided between two adjacent rows of storage shelves, and at least two aerial handling robots are provided in the lane; the control device is in communication connection with each aerial handling robot:

[0254] A control device, used to control the at least two aerial handling robots to implement the robot avoidance method applied to the control device as described in any of the above embodiments;

[0255] At least two aerial transport robots are used to receive instructions from a control device to execute a current transport task, execute the transport task, and send the current position to the control device in real time; and when receiving a waiting instruction, wait for other aerial transport robots to move out of a position where a collision may occur before continuing to execute the current transport task.

[0256] In the solution provided by the embodiment of the present application, since the control device can predict in real time whether there will be a collision between the aerial handling robots according to the current positions of the aerial handling robots in the same lane, if the prediction result is yes, one of the aerial handling robots will be instructed to wait for the other aerial handling robots to move out of the position where the collision may occur before continuing to perform the handling task. Thus, collisions between the aerial handling robots can be avoided through real-time control of the aerial handling robots.

[0257] As an implementation method of the present application, Fig.14 As shown, Fig.14 A schematic diagram of a warehousing system provided in an embodiment of the present application.

[0258] The storage shelf 1401 includes: a storage area 14011 and a buffer area 14012 located at the bottom of the storage area;

[0259] The storage system further includes: a ground handling robot 1402; the ground handling robot 1402 is used to move materials to be stored from outside the storage shelf to the buffer area 14012, or to move materials in the buffer area 14012 out of the storage shelf 1401;

[0260] The transport tasks of the aerial transport robot 1403 may include: moving materials from the buffer area 14012 to the storage area 14011, moving materials from the storage area 14011 to the buffer area 14012, and moving materials from the storage area 14011 between different locations.

[0261] Corresponding to the above-mentioned robot avoidance method applied to the control device, an embodiment of the present application also provides a robot avoidance device applied to the control device. The following introduces a robot avoidance device applied to the control device provided in an embodiment of the present application.

[0262] A robot avoidance device is applied to a control device in a storage system; the storage system also includes: a plurality of storage shelves and at least two aerial handling robots; a lane is set between two adjacent rows of storage shelves, and at least two aerial handling robots are set in the lane; the control device is connected to each aerial handling robot in communication, such as Fig.15 As shown, Fig.15 A schematic diagram of the structure of a robot avoidance device provided in an embodiment of the present application; the device may include:

[0263] The information acquisition module 1501 is used to acquire the task execution information of the current handling task to be executed, wherein the task execution information includes: the first target robot executing the current handling task and the handling path information of the target material to be handled, and the first target robot and the handling path information are determined based on the current handling task and the starting point and end point of the target material of the handling task currently being executed;

[0264] The first instruction module 1502 is used to instruct the first target robot to perform the current transport task according to the transport path information;

[0265] The position acquisition module 1503 is used to acquire the current position of each aerial transfer robot in the target lane where the first target robot is located in real time;

[0266] The collision prediction module 1504 is used to predict whether the first target robot will collide with other aerial handling robots in real time according to the current positions of the aerial handling robots;

[0267] The second instruction module 1505 is used to instruct the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur and then continue to perform the current transport task when the output result of the collision prediction module 1504 is yes.

[0268] Corresponding to the above-mentioned robot avoidance method applied to the aerial handling robot, an embodiment of the present application also provides a robot avoidance device applied to the aerial handling robot. The following is an introduction to a robot avoidance device applied to the aerial handling robot provided in an embodiment of the present application.

[0269] A robot avoidance device is applied to any aerial handling robot in a storage system; the storage system also includes: a control device and a plurality of storage shelves; a lane is set between two adjacent rows of storage shelves, and at least two aerial handling robots are set in the lane; the control device is connected to each aerial handling robot in communication, such as Fig.16 As shown, Fig.16 A schematic diagram of the structure of another robot avoidance device provided in an embodiment of the present application; the device may include:

[0270] The first instruction receiving module 1601 is used to receive an instruction sent by the control device to execute the current transport task;

[0271] A task execution module 1602, for executing the current transport task according to the transport path information, wherein the transport path information is determined based on the current transport task and the start point and end point of the target material of the transport task currently being executed;

[0272] The position sending module 1603 is used to send the current position to the control device in real time, so that the control device can predict whether the aerial handling robot will collide with other aerial handling robots in real time according to the current position of the aerial handling robot and the current positions of other aerial handling robots in the same lane as the aerial handling robot;

[0273] The second instruction receiving module 1604 is used to receive a waiting instruction sent by the control device when predicting that the aerial handling robot will collide with other aerial handling robots;

[0274] The task execution module 1602 is also used to wait for other aerial transport robots to move out of a position where a collision may occur before continuing to execute the current transport task.

[0275] The present application also provides a control device, such as Fig.17 As shown, Fig.17 A schematic diagram of a control device provided in an embodiment of the present application; the control device may include:

[0276] Memory 1701, used for storing computer programs;

[0277] The processor 1702 is used to implement the robot avoidance method applied to the control device described in any of the above embodiments when executing the program stored in the memory 1701.

[0278] The present application also provides an aerial transport robot, such as Fig.18 As shown, Fig.18 A schematic diagram of the structure of an aerial handling robot provided in an embodiment of the present application, the aerial handling robot may include:

[0279] Memory 1801, used for storing computer programs;

[0280] The processor 1802 is used to implement the robot avoidance method applied to the aerial handling robot described in any of the above embodiments when executing the program stored in the memory 1801.

[0281] In addition, the control device / aerial handling robot may further include a communication bus and / or a communication interface, and the processor, the communication interface, and the memory communicate with each other via the communication bus.

[0282] The communication bus mentioned in the above control device / aerial handling robot can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0283] The communication interface is used for communication between the above-mentioned control device / aerial handling robot and other devices.

[0284] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0285] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0286] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the robot avoidance method applied to the control device described in any of the above embodiments is implemented, or the robot avoidance method applied to the aerial handling robot described in any of the above embodiments is implemented.

[0287] In another embodiment provided in the present application, a computer program product comprising instructions is also provided. When the computer is run on a computer, the computer executes the robot avoidance method applied to the control device described in any of the above embodiments, or implements the robot avoidance method applied to the aerial handling robot described in any of the above embodiments.

[0288] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0289] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0290] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device, control device, aerial handling robot, computer-readable storage medium and computer program embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0291] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A robot avoidance method, characterized in that: A control device applied to a storage system; the storage system further comprises: a plurality of storage shelves and at least two aerial handling robots; a lane is arranged between two adjacent rows of storage shelves, and the at least two aerial handling robots are arranged in the lane; the control device is in communication connection with each aerial handling robot, and the method comprises: Acquire task execution information of a current handling task to be executed, wherein the task execution information includes: a first target robot that executes the current handling task and handling path information of a target material to be handled, wherein the first target robot and the handling path information are determined based on the current handling task and a starting point and an end point of a target material of the handling task currently being executed; Instructing the first target robot to perform the current transport task according to the transport path information; Acquire in real time the current position of each aerial handling robot in the target lane where the first target robot is located; Predicting in real time, based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots; When the prediction result is yes, the first target robot is instructed to wait for other aerial transport robots to move out of a position where a collision may occur before continuing to perform the current transport task.

2. The method according to claim 1, characterized in that The task execution information of the transport task is determined through the following steps: Each time a new transport task is obtained, based on the starting point and end point corresponding to the new transport task and the transport path information of the currently being executed transport task, the target robot that executes the new transport task is determined and the transport path of the target robot is planned on the principle of the shortest transport path and no collision between the aerial robots during the transport process.

3. The method according to claim 2, characterized in that The method of determining a target robot to perform the new transport task and planning a transport path for the target robot based on the principle of the shortest transport path and no collision between the aerial robots during the transport process includes: Selecting the aerial robot closest to the starting point of the new transport task as the target robot for executing the new transport task; Based on the path planning algorithm and the transport path information of the currently executed transport task, a transport path with the shortest path and no overlap with the transport path of the currently executed transport task is planned for the target robot.

4. The method according to claim 1, characterized in that: Each storage shelf includes a plurality of storage columns arranged in parallel; among the aerial handling robots in the target lane, there are at least two first aerial handling robots hung on the storage shelves on the same side of the lane; The at least two first aerial handling robots are capable of picking up and placing materials on the storage shelves on both sides of the lane; The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes: In real time, judging, based on the current positions and transport paths of the aerial transport robots, whether there is an intersection robot that will intersect with the first target robot during the movement of the first target robot; If the intersection robot exists, it is predicted that the first target robot will collide with other aerial handling robots.

5. The method according to claim 4, characterized in that Before instructing the first target robot to wait for other aerial handling robots to move out of a position where a collision may occur and then continue to perform the current handling task, the method further includes: According to the current positions and transport paths of the first target robot and the intersection robot, predicting the waiting time of the first target robot to avoid collision with the intersection robot; In the case where the duration is greater than the preset duration, based on the current position of the first target robot, the end point corresponding to the current transport task and the transport path information of the currently executed transport task, the transport path is re-planned for the first target robot on the principle of the shortest transport path and no collision between the aerial robots during the transport process, and the first target robot is instructed to continue to execute the current transport task according to the re-planned transport path; When the time length is not greater than the preset time length, the step of instructing the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur and then continue to perform the current transport task is executed.

6. The method according to claim 1, characterized in that Each storage shelf includes a plurality of storage columns arranged in parallel; among the aerial handling robots in the target lane, there are at least two first aerial handling robots hung on the storage shelves on the same side of the lane; The at least two first aerial handling robots are capable of picking up and placing materials on the storage shelves on both sides of the lane; Before predicting in real time based on the current positions of the respective aerial handling robots whether the first target robot will collide with other aerial handling robots, the method further includes: Based on the task execution information of the current transport task and the task execution information of other transport tasks being executed, determining whether there is a first adjacent task whose start point or end point is located in an adjacent storage column to the start point or end point of the current transport task; The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes: In the case where the first adjacent task exists, obtaining in real time a current position of a second target robot that performs the first adjacent task; When the first target robot moves to an adjacent column of the storage column where the starting point or end point of the current handling task is located, and the second target robot moves to the storage column where the starting point or end point of the first adjacent task is located, it is predicted that the first target robot will collide with the second target robot.

7. The method according to claim 6, characterized in that When the prediction result is yes, instructing the first target robot to wait for other aerial handling robots to move out of a position where a collision may occur and then continue to perform the current handling task, comprising: In the case where it is predicted that the first target robot will collide with the second target robot, the first target robot is instructed to wait for the second target robot to complete an operation at the starting point or end point of the first adjacent task and leave before continuing to perform the current transport task.

8. The method according to claim 2, characterized in that: Each storage shelf is pre-set with multiple partitions, each partition includes multiple storage columns arranged in parallel, and each partition corresponds to an aerial handling robot; In the case where the starting point and the end point of the transport task are located in the same partition, determining a target robot to perform the new transport task and planning a transport path for the target robot include: Determine the aerial transport robot corresponding to the target partition where the starting point and the end point of the new transport task are located as the target robot for executing the new transport task, and plan the transport path of the target robot in the target partition; The real-time acquisition of the current position of each aerial transport robot in the target lane where the first target robot is located includes: Real-time acquisition of the current position of neighboring robots located in adjacent partitions in the target lane where the first target robot is located; The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes: According to the current positions and transport path information of the first target robot and the neighboring robot, determining whether the first target robot and the neighboring robot will arrive at the edge storage column where two partitions are connected at the same time; When the prediction result is yes, instructing the first target robot to wait for other aerial handling robots to move out of a position where a collision may occur and then continue to perform the current handling task, comprising: When the prediction result is yes, the first target robot is instructed to wait for the neighboring robot to move out of the edge storage column and then continue to perform the current transport task.

9. The method according to claim 2, characterized in that: Each storage shelf is pre-set with multiple partitions, each partition includes multiple storage columns arranged in parallel, and each aerial handling robot can pick up and place materials across the partitions; In the case where the starting point and the end point of the transport task are located in different partitions, determining a target robot to perform the new transport task and planning a transport path for the target robot include: Based on the starting point and end point of the handling task, the total avoidance distance corresponding to each aerial handling robot in the entire storage shelf is calculated, and the aerial handling robot with the shortest corresponding total avoidance distance is determined as the target robot to perform the handling task, and the handling path of the target robot is planned in each partition that the handling task needs to cross; wherein the total avoidance distance is the sum of the distances that other aerial handling robots need to move in order to avoid collision with one aerial handling robot when the aerial handling robot performs the handling task.

10. The method according to claim 2, characterized in that Each storage shelf is pre-set with multiple partitions, each partition includes multiple storage columns arranged in parallel, and each aerial handling robot can pick up and place materials from the storage columns at the edge of the adjacent partition; In the case where the starting point and the end point of the transport task are located in different partitions, determining a target robot for executing the new transport task and planning a transport path for the target robot include: Determine each aerial transport robot corresponding to each partition that the transport task is to cross as a target robot for executing the transport task, and plan a transport path for the target robot in each partition that the transport task is to cross respectively; The instructing the first target robot to perform the current transport task according to the transport path information includes: The target robot in the partition where the starting point is located is instructed to move the target material to the edge storage column of the partition or the adjacent partition; and the target robot in the partition where the end point is located is instructed to move the target material from the edge storage column to the end point.

11. The method according to claim 1, characterized in that: Each storage shelf includes a plurality of storage columns arranged in parallel, and each storage column includes a plurality of storage rows; each of the aerial handling robots in the target lane includes at least two second aerial handling robots hung on storage shelves on different sides of the lane; The at least two second aerial handling robots include: a gantry that moves horizontally along the storage shelf and a cargo-picking and placing device that can move up and down along the gantry, and the cargo-picking and placing device picks and places materials on the storage shelf where the device is located; Before predicting in real time based on the current positions of the respective aerial handling robots whether the first target robot will collide with other aerial handling robots, the method further includes: Based on the task execution information of the current transport task and the task execution information of other transport tasks being executed, determining whether there is a second adjacent task whose starting point or end point is located in a storage row or storage column opposite to the starting point or end point of the current transport task on the respective storage shelves; The predicting, in real time based on the current positions of the respective aerial handling robots, whether the first target robot will collide with other aerial handling robots includes: In the case where the second adjacent task exists, acquiring in real time a current position of a third target robot that performs the second adjacent task; When the first target robot moves to an adjacent column of the storage column where the starting point or end point of the current handling task is located, and the third target robot moves to the storage column where the starting point or end point of the second adjacent task is located, and the picking and placing devices of the first target robot and the third target robot are located in storage rows at the same height, it is predicted that the first target robot will collide with the third target robot.

12. The method according to claim 11, characterized in that When the prediction result is yes, instructing the first target robot to wait for other aerial handling robots to move out of a position where a collision may occur and then continue to perform the current handling task, comprising: In the case where it is predicted that the first target robot will collide with the third target robot, the first target robot is instructed to wait for the third target robot to complete the operation at the starting point or end point of the second adjacent task and leave before continuing to perform the current transport task.

13. The method according to claim 11, characterized in that Before predicting in real time based on the current positions of the respective aerial handling robots whether the first target robot will collide with other aerial handling robots, the method further includes: Based on the task execution information of the current transport task and the transport path information in the task execution information of other transport tasks being executed, determining whether there is a fourth target robot that intersects with the first target robot during movement; The method further comprises: In the case where the fourth target robot exists, obtaining in real time the heights of the materials carried by the first target robot and the fourth target robot; When the first target robot or the fourth target robot moves to an adjacent column of the intersecting storage columns, the first target robot or the fourth target robot whose material is transported is instructed to raise the height of its picking and placing device to a height where no collision occurs, and then continue to perform its corresponding transporting task.

14. The method according to any one of claims 1 to 13, characterized in that: The step of obtaining the task execution information of the current transport task to be executed includes: Based on the execution order of each transport task to be executed, task information of the transport task with the highest execution order is obtained, wherein the execution order is determined based on the priority of the transport task and the distance between the starting point and the end point corresponding to the transport task.

15. A robot avoidance method, characterized in that: The invention is applied to any aerial handling robot in a storage system; the storage system further comprises: a control device and a plurality of storage shelves; a lane is arranged between two adjacent rows of storage shelves, and the at least two aerial handling robots are arranged in the lane; the control device is in communication connection with each aerial handling robot, and the method comprises: Receiving an instruction sent by the control device to execute the current handling task; Executing the current transport task according to transport path information, wherein the transport path information is determined based on the current transport task and a start point and an end point of a target material of the transport task currently being executed; Sending the current position to the control device in real time, so that the control device can predict in real time whether the aerial handling robot will collide with other aerial handling robots in the same lane as the aerial robot based on the current position of the aerial handling robot and the current positions of other aerial handling robots in the same lane as the aerial robot; receiving a waiting instruction sent by the control device when predicting that the aerial handling robot will collide with the other aerial handling robots; Wait for the other aerial transport robots to move out of a position where a collision may occur before continuing to execute the current transport task.

16. The method according to claim 15, characterized in that Each storage shelf includes a plurality of storage columns arranged in parallel, and among each aerial handling robot in the lane, there are at least two aerial handling robots hung on storage shelves on different sides of the lane; The aerial handling robot comprises: a gantry that moves horizontally along the storage shelf and a cargo picking and placing device that can move up and down along the gantry, the cargo picking and placing device picking and placing materials on the storage shelf where the aerial handling robot is located; The method further comprises: receiving a lifting height instruction sent by the control device when determining that there is a fourth target robot that intersects with the aerial handling robot during movement; When moving to an adjacent row of the storage row where the intersection occurs, the height of the pick-and-place device is raised to a height where no collision occurs, and then the current transport task is continued.

17. A storage system, characterized in that: The storage system comprises: a control device, a plurality of storage shelves and at least two aerial handling robots; a lane is arranged between two adjacent rows of storage shelves, and the at least two aerial handling robots are arranged in the lane; the control device is in communication connection with each aerial handling robot: The control device is used to control the at least two aerial handling robots to implement the method described in any one of claims 1 to 14; The at least two aerial transport robots are used to receive instructions sent by the control device to execute the current transport task, execute the transport task, and send the current position to the control device in real time; and when receiving a waiting instruction, wait for other aerial transport robots to move out of the position where a collision may occur before continuing to execute the current transport task.

18. The system according to claim 17, characterized in that The storage shelf comprises: a storage area and a buffer area located at the bottom layer of the storage area; The storage system further includes: a ground handling robot; the ground handling robot is used to move the materials to be stored from the outside of the storage shelf to the buffer area, or to move the materials in the buffer area out of the storage shelf; The transport task includes: moving materials from the buffer area to the storage area, moving materials from the storage area to the buffer area, and moving materials from the storage area between different locations.

19. A robot avoidance device, characterized in that: A control device applied to a storage system; the storage system further comprises: a plurality of storage shelves and at least two aerial handling robots; a lane is arranged between two adjacent rows of storage shelves, and the at least two aerial handling robots are arranged in the lane; the control device is connected to each aerial handling robot in communication, and the device comprises: An information acquisition module, used to acquire task execution information of a current handling task to be executed, wherein the task execution information includes: a first target robot that executes the current handling task and handling path information of a target material to be handled, wherein the first target robot and the handling path information are determined based on the current handling task and a starting point and an end point of a target material of the handling task currently being executed; A first instruction module, used to instruct the first target robot to perform the current transport task according to the transport path information; A position acquisition module, used for acquiring in real time the current position of each aerial handling robot in the target lane where the first target robot is located; A collision prediction module, used to predict in real time whether the first target robot will collide with other aerial handling robots according to the current positions of the aerial handling robots; The second instruction module is used to instruct the first target robot to wait for other aerial transport robots to move out of a position where a collision may occur and then continue to perform the current transport task when the output result of the collision prediction module is yes.

20. A robot avoidance device, characterized in that: Any aerial handling robot used in a storage system; the storage system further comprises: a control device and a plurality of storage shelves; a lane is arranged between two adjacent rows of storage shelves, and the at least two aerial handling robots are arranged in the lane; the control device is connected to each aerial handling robot in communication, and the device comprises: A first instruction receiving module, used to receive an instruction sent by the control device to execute a current transport task; A task execution module, configured to execute the current transport task according to transport path information, wherein the transport path information is determined based on the current transport task and the start point and end point of the target material of the transport task currently being executed; A position sending module, used for sending the current position to the control device in real time, so that the control device can predict in real time whether the aerial handling robot will collide with other aerial handling robots in the same lane as the aerial robot based on the current position of the aerial handling robot and the current positions of other aerial handling robots in the same lane as the aerial robot; A second instruction receiving module, configured to receive a waiting instruction sent by the control device when predicting that the aerial handling robot will collide with the other aerial handling robots; The task execution module is also used to wait for the other aerial transport robots to move out of a position where a collision may occur before continuing to execute the current transport task.

21. A control device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any method described in claims 1-14 when executing a program stored in a memory.

22. An aerial handling robot, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 15-16 when executing a program stored in a memory.

23. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1 to 14 or the method described in any one of claims 15 to 16 is implemented.

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