Abnormality processing method, apparatus, device, and readable storage medium

Abstract

The application discloses an abnormality processing method, device and equipment and a readable storage medium. The method comprises the following steps: obtaining a to-be-processed order, and determining a hit carrier and a first taking and placing module corresponding to the to-be-processed order from a storage system; then, at least one taking and placing task is generated based on the hit carrier and the first taking and placing module, and the at least one taking and placing task is executed; then, if abnormal information is received when a first taking and placing task in the at least one taking and placing task is executed, the execution of the first taking and placing task is suspended; finally, a target task corresponding to the abnormal information is determined, and the target task is executed. In this way, in the case that an abnormality occurs in the execution of a taking and placing task at a workstation, the current taking and placing task can be suspended and the target task can be executed, so that the on-site work can continue and will not be blocked due to the abnormality, and thus the work efficiency of the storage system can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent warehousing, and in particular to an exception processing method, device, equipment and readable storage medium. BACKGROUND

[0002] In a warehousing logistics system, a robot can carry a shelf to a work station, and the work station takes or puts a target object (such as a box or goods) from the shelf or a certain fixed position through a mechanical arm, a gripper or a suction cup, and a conveying belt or roller.

[0003] However, when the work station performs a taking or putting operation on the target object, an exception may occur, for example, when the work station puts the target object into a hitting placement position on the shelf, a box may fail to be put. Generally, the warehousing system locks the exception position where the box fails to be taken or put, and waits for manual intervention to solve the problem. Since the manual intervention method needs to be processed after a long time, this method may affect the work efficiency of the warehousing system. SUMMARY

[0004] The present application provides an exception processing method, device, equipment and readable storage medium, which can prevent the work from being blocked due to an exception, and improve the work efficiency of the warehousing system.

[0005] Specifically, the embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide an exception processing method, and the method comprises:

[0007] Obtaining a to-be-processed order, and determining a hitting carrier and a first taking or putting module corresponding to the to-be-processed order from a warehousing system;

[0008] Generating at least one taking or putting task based on the hitting carrier and the first taking or putting module, and executing the at least one taking or putting task;

[0009] If an exception information is received when a first taking or putting task in the at least one taking or putting task is executed, the execution of the first taking or putting task is paused;

[0010] Determining a target task corresponding to the exception information, and executing the target task.

[0011] In some embodiments, the determining of the target task corresponding to the exception information and the executing of the target task comprise:

[0012] If the abnormal information is a first abnormal type, the first pick-and-place module is controlled to re-hit a new placement position from a plurality of idle placement positions on the hit carrier, and the target object is placed into the new placement position; wherein the first abnormal type refers to a case where the workstation fails to place the target object into the hit placement position on the hit carrier.

[0013] In some embodiments, the determination of the target task corresponding to the abnormal information comprises:

[0014] If the abnormal information is a second abnormal type or a third abnormal type, the first pick-and-place module is controlled to perform a second pick-and-place task; wherein the second pick-and-place task is a next pick-and-place task of the first pick-and-place task; the second abnormal type refers to a case where the workstation performs an abnormal picking action during the pick-and-place task, and the third abnormal type refers to a case where the workstation performs an abnormal picking identification during the pick-and-place task.

[0015] In some embodiments, the method further comprises:

[0016] If the abnormal information is the second abnormal type, when the pick-and-place tasks corresponding to the hit carrier are all completed, the first handling device is controlled to handle the hit carrier to a second pick-and-place module for re-queuing, and the second pick-and-place module is controlled to perform the first pick-and-place task on the hit carrier again.

[0017] In some embodiments, the method further comprises:

[0018] If the abnormal information is the third abnormal type, when the pick-and-place tasks corresponding to the hit carrier are all completed, the type of the docking point of the first pick-and-place module is determined;

[0019] When the type of the docking point of the first pick-and-place module is a single docking point, the second handling device is controlled to handle the hit carrier to a third workstation for re-queuing, and the third workstation is controlled to perform the first pick-and-place task on the hit carrier again; wherein the third workstation is any workstation in the warehouse system except the first pick-and-place module;

[0020] When the type of the docking point of the first pick-and-place module is a double docking point, the second handling device is controlled to handle the hit carrier from a first docking point of the first pick-and-place module to a second docking point of the first pick-and-place module for re-queuing, and the first pick-and-place module is controlled to perform the first pick-and-place task on the hit carrier again.

[0021] In some embodiments, the method further comprises:

[0022] If the number of exceptions of the second exception type is greater than or equal to the threshold of the first exception, then the first pick-up and put-down task is cancelled.

[0023] In some embodiments, the method includes:

[0024] If the number of consecutive abnormalities of the second abnormal type is greater than or equal to the second threshold, then the first abnormality prompt information is output.

[0025] In some embodiments, the method further includes:

[0026] If the number of exceptions of the third exception type is greater than or equal to the third number threshold, then the exception information is recorded, and the current workstation is controlled to no longer hit the placement position corresponding to the first pick-and-place task.

[0027] In some embodiments, the method further includes:

[0028] If the exception type is the first exception type, or if the number of consecutive exceptions of the exception information being the third exception type is greater than or equal to the fourth number threshold and the workstations that output the exception information are different, then the placement position corresponding to the first pick-and-place task is locked.

[0029] In some embodiments, the method further includes:

[0030] If an abnormal notification is received from the fourth workstation, the abnormal handling task corresponding to the abnormal notification is determined and executed; wherein, the abnormal notification is generated when the hit duration of the fourth workstation's hit placement bit is greater than or equal to a preset duration threshold.

[0031] In some embodiments, the method further includes:

[0032] Determine a first number of available placement spaces on multiple vehicles in the warehousing system;

[0033] Determine the second quantity of the target items to be received into the warehousing system;

[0034] Based on the first quantity and the second quantity, an early warning message is output.

[0035] In some embodiments, outputting warning information based on the first quantity and the second quantity includes:

[0036] Determine the quantity difference between the first quantity and the second quantity;

[0037] If the difference in quantity is less than a preset quantity threshold, the warning information is output.

[0038] In some embodiments, the method further includes:

[0039] If the first quantity is less than the second quantity, output a second error message and / or stop the data entry task.

[0040] Secondly, embodiments of this application provide an exception handling apparatus, including:

[0041] The acquisition module is used to acquire orders to be processed.

[0042] The processing module is used to determine the hit vehicle and the first pick-and-place module corresponding to the order to be processed from the warehousing system;

[0043] The generation module is used to generate at least one retrieval and placement task based on the hit vehicle and the first retrieval and placement module;

[0044] The processing module is further configured to execute the at least one pick-up and place task; to suspend the execution of the first pick-up and place task if an abnormal message is received during the execution of the first pick-up and place task; and to determine the target task corresponding to the abnormal message and execute the target task.

[0045] Thirdly, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the method in any implementation of the first aspect.

[0046] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions for causing the computer to perform the method in any of the implementations of the first aspect.

[0047] Fifthly, embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the method in any of the aforementioned implementations of the first aspect.

[0048] In a sixth aspect, embodiments of this application also provide a computer program that, when executed by a processor, implements the method in any of the implementations of the first aspect.

[0049] This embodiment provides an anomaly handling method comprising: first, acquiring an order to be processed, and determining the corresponding hit vehicle and first pick-and-place module from the warehousing system; then, generating at least one pick-and-place task based on the hit vehicle and the first pick-and-place module, and executing the at least one pick-and-place task; next, if an anomaly is received while executing the first pick-and-place task among the at least one pick-and-place task, then pausing the execution of the first pick-and-place task; finally, determining the target task corresponding to the anomaly and executing the target task. Thus, in the event of an anomaly during the execution of a pick-and-place task at the workstation, the current pick-and-place task and the target task can be paused, allowing on-site operations to continue without disruption due to the anomaly, thereby improving the efficiency of the warehousing system. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1A A schematic diagram of a warehousing system provided in an embodiment of this application;

[0052] Figure 1A This is a schematic diagram of the structure of a moving device provided in an embodiment of this application;

[0053] Figure 2A A schematic diagram of another warehousing system provided in the embodiments of this application;

[0054] Figure 2A This application provides a schematic diagram of the structure of a workstation according to an embodiment of the present application;

[0055] Figure 3 A flowchart illustrating an exception handling method provided in an embodiment of this application;

[0056] Figure 4 This is a schematic diagram of another workstation structure provided in an embodiment of this application;

[0057] Figure 5 A flowchart illustrating another exception handling method provided in an embodiment of this application;

[0058] Figure 6 A flowchart illustrating another exception handling method provided in an embodiment of this application;

[0059] Figure 7 A flowchart illustrating another exception handling method provided in an embodiment of this application;

[0060] Figure 8 A flowchart illustrating another exception handling method provided in an embodiment of this application;

[0061] Figure 9 This is a schematic diagram of the structure of an exception handling device provided in an embodiment of this application;

[0062] Figure 10 This application provides a schematic diagram of the internal structure of a robot.

[0063] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, and to make the above-mentioned objectives, features and advantages of the embodiments of this application more apparent and understandable, the technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0065] In a warehousing and logistics system, robots can move shelves to workstations, where they can use the forks or suction cups of robotic arms, along with conveyor belts or rollers, to remove target items (such as bins or goods) from the shelves or a fixed location, or place them into the designated positions on the shelves.

[0066] However, anomalies may occur when the workstation performs pick-up / place-down operations on the target item. For example, when the workstation places the target item into the correct placement location on the shelf, the placement may fail. Typically, the warehouse system will lock the location where the pick-up / place-down operation failed and wait for manual intervention. Since manual intervention takes a considerable amount of time, this method may affect the efficiency of the warehouse system.

[0067] Based on this, this application provides an exception handling method. In this method, if an exception occurs while the pick-and-place module is performing a pick-and-place task, the current pick-and-place task is paused, the exception type is determined, and then a target task is determined and executed based on the exception type. Thus, when an exception occurs while the pick-and-place module is performing a pick-and-place task, the current pick-and-place task can be paused while the target task is executed, allowing on-site operations to continue without being interrupted by the exception, thereby improving the efficiency of the warehousing system.

[0068] Figure 1A This is a schematic diagram of a warehousing system provided for some embodiments of this application. For example... Figure 1A As shown, the warehousing system 100 includes multiple carriers 10, multiple transfer devices 20, and a control device.Figure 1A (Not shown in the image).

[0069] In some embodiments, the carrier 10 may include multiple cargo positions (also referred to as placement positions). These placement positions can be used to place target objects, which may be containers, bins, goods, or the original packaging of goods. This application does not limit this; the following embodiments use containers as an example for illustrative purposes.

[0070] For example, the placement position can be a rectangular prism-shaped storage space, and multiple placement positions on the carrier 10 can be neatly arranged along the length, width, and height directions of the carrier 10. The container can be a product specifically designed for the carrier 10, a regular cargo box (also called a material box), or cargo packaging (also called an original box); this embodiment does not limit the specific type of container used.

[0071] In some embodiments, the carrier 10 can be a shelf, a turnover cart, a cage cart, etc. For example, the carrier 10 can be a movable shelf or a fixed shelf. The shelf includes at least one partition that divides the carrier 10 into at least two layers. Each partition of the carrier 10 has at least one placement position, and each placement position can accommodate at least one container. The container placed in each placement position can be a box or a pallet; this application embodiment does not limit this. It should be noted that the carrier 10 includes, but is not limited to, partitioned shelves, container shelves, picking shelves, movable shelves, etc. The carrier 10 provided in this application embodiment can refer to any carrier used for placing containers.

[0072] In some embodiments, the carrier 10 can be a high-density storage rack or a low-density storage rack. When the carrier 10 is a high-density storage rack, the gaps between containers are smaller.

[0073] In some embodiments, the carrier 10 can be a single-sided carrier, a double-sided carrier, or a four-sided carrier (i.e., containers can be taken from four sides). This application embodiment does not limit this; however, it uses a double-sided carrier as an example for illustrative purposes. For instance, when the carrier 10 is a double-sided shelf, partitions can be provided between multiple placement positions along the vertical direction; each side of the carrier 10 can have 30 placement positions, for a total of 60 placement positions on both sides. This application embodiment does not limit the type of carrier 10 or the number of placement positions included; this is merely an illustrative example.

[0074] In some embodiments, multiple vehicles 10 may be arranged in rows and columns in the storage area of ​​the storage system 100. The area between two adjacent rows or columns of vehicles may be referred to as an aisle, in which the transfer equipment 20 can move.

[0075] In some embodiments, the transfer device 20 is provided with a pick-and-place device. Figure 1A (Not shown in the image), when the transfer device 20 moves to the target carrier, the transfer device 20 can perform pick-and-place operations on the target carrier 10 through the pick-and-place device to remove the container from the carrier 10 or place the container into the target placement position on the carrier 10. The transfer device 20 can also be called a cargo robot.

[0076] like Figure 1B As shown, the moving equipment 20 includes a mobile chassis 21, a gantry 22, and a pick-and-place device 23. The mobile chassis 21 may be equipped with wheels that rotate under the drive of a motor, thereby moving the mobile chassis 21. The gantry 22 may be mounted on the mobile chassis 21. For example, the gantry 22 may be fixedly connected to the mobile chassis 21, or it may be detachably connected via bolts, screws, or other connecting components. The mobile chassis 21 can move the gantry 22 together with it. The pick-and-place device 23 may be mounted on the gantry 22 and can be raised and lowered along the gantry 22, thereby adjusting the height position of the pick-and-place device 23 on the gantry 22 to perform container retrieval operations from storage positions at different heights on the carrier.

[0077] In some examples, the transfer device 20 may also include a rotating device 24, which may be connected to the pick-and-place device 23. When the rotating device 24 rotates, it can drive the pick-and-place device 23 to rotate relative to the gantry 22. For example, the rotating device 24 can rotate the pick-and-place device 23 from one side of the gantry 22 to the other side of the gantry 22 to allow the inlet / outlet direction of the items (containers or goods) to be picked up or returned by the gantry 23.

[0078] In some examples, the transfer device 20 may also include a buffer device 25, which may be mounted on the gantry 22; when the inlet and outlet of the pick-and-place device 23 faces the gantry 22, the inlet and outlet of the pick-and-place device 23 may be opposite to the buffer device 25, so that the retrieved container is placed on the buffer device 25, or the container placed on the buffer device 25 is removed and returned to the carrier.

[0079] For example, multiple buffer devices 25 can be provided, and these buffer devices 25 can be arranged side by side in the vertical direction on the gantry 22. Each buffer device 25 can hold a container, thereby improving the handling capacity of the transfer equipment 20 and increasing the efficiency of container handling.

[0080] In some examples, such as Figure 1B As shown, the transfer device 20 can remove the container 101 from the carrier 10 using the pick-and-place device 23 and place it on any available buffer device 25; or, the transfer device 20 can also use the pick-and-place device 23 to move the container placed on the buffer device 25 to an available placement position on the carrier 10.

[0081] For example, a control device may be coupled to the transfer device 20 for controlling the operation of the transfer device 20. For instance, the control device may control the transfer device 20 to move and perform pick-up and drop operations on containers on a carrier.

[0082] In some examples, the control device and the moving device 20 are communicatively connected for data communication. For example, the control device can communicate with the moving device 20 via a local area network (LAN), wireless local area network (WLAN), or other networks.

[0083] In some examples, the control device can be a server or a terminal device, or a device deployed with a Warehouse Management System (WMS) and a Robot Management System (RMS). The terminal device can include at least one of a personal computer, laptop computer, smartphone, tablet computer, and portable wearable device; the server can include a standalone server or a server cluster consisting of multiple servers, and this application embodiment does not limit this.

[0084] Figure 2A This is a schematic diagram of another warehousing system provided for some embodiments of this application. For example... Figure 2A As shown, the warehousing system 200 includes multiple carriers 10, at least one workstation 30, multiple handling devices 40, and a control device ( Figure 2A (Not shown in the image).

[0085] In some embodiments, the number of workstations 30 in the warehousing system 200 may be one or more. Each workstation 30 may be provided with a corresponding vehicle docking area, which includes one or more docking positions for parking vehicles 10.

[0086] In some embodiments, the vehicle docking area of ​​workstation 30 may include an operation area and a queuing area. Both the operation area and the queuing area are used to dock vehicles 10. The operation area is used to dock vehicles that are currently performing an operation (e.g., a pick-up or drop-off operation) at workstation 30, while the queuing area is used to dock at least one vehicle that has been selected by workstation 30 but has not yet performed an operation. That is, vehicles docked in the operation area are performing operations at workstation 30, while vehicles docked in the queuing area are waiting for workstation 30 to perform operations.

[0087] Figure 2B This is a schematic diagram of the structure of a workstation provided for some embodiments of this application. For example... Figure 2BAs shown, the workstation 30 includes a support frame 31, a guiding mechanism 32, and a pick-and-place device 33.

[0088] In some embodiments, a guide mechanism 32 is disposed to a support frame 31. The guide mechanism 32 is movable laterally and vertically relative to the support frame 31. A pick-and-place device 33 is disposed to the guide mechanism 32 so that the pick-and-place device 33 is movable laterally and / or vertically relative to the support frame 31.

[0089] In some embodiments, the pick-and-place device 33 is coupled to a control device. When the handling equipment 40, under the control of the control device, moves the carrier 10 to the operating area of ​​the workstation 30, the pick-and-place device 33 moves laterally (e.g., in the L direction) and / or vertically (e.g., in the H direction) to reach the position corresponding to the placement position 15 in the carrier 10, thereby picking up or placing the container at the placement position 15.

[0090] For example, the guiding mechanism 32 may include a lateral moving device 34, a moving rod 35, and a vertical moving device 36. The lateral moving device 34 is disposed to the support frame 31 and coupled to a control device. The lateral moving device 34 is laterally movable relative to the support frame 31. The moving rod 35 extends vertically and is disposed to the lateral moving device 34, thereby allowing the moving rod 35 to move laterally relative to the support frame 31. The vertical moving device 36 is disposed to the moving rod 35 and coupled to the control device. The vertical moving device 36 is vertically movable relative to the moving rod 35. A pick-and-place device 33 is disposed to the vertical moving device 36, thereby allowing the pick-and-place device 33 to move vertically relative to the moving rod 35. Therefore, the pick-and-place device 33 can move laterally and / or vertically on the support frame 31.

[0091] In some embodiments, the workstation 30 may not be equipped with a support frame 31. When the workstation 30 is not equipped with a support frame 31, the pick-and-place device 33 can move laterally and / or vertically via the guide mechanism 32.

[0092] For example, when the workstation 30 is not equipped with the support frame 31, the workstation 30 may include at least one guide mechanism 32 and a pick-and-place device 33. The pick-and-place device 33 is disposed on the guide mechanism 32, and the pick-and-place device 33 can move laterally and / or vertically through the guide mechanism 32.

[0093] In some embodiments, the lateral moving device 34 is coupled to the moving rod 35 and configured to drive the moving rod 35 to move laterally; the moving rod 35 extends in a vertical direction, and the pick-and-place device 33 is disposed on the moving rod 35 so that the moving rod 35 drives the pick-and-place device 33 to move laterally; the vertical moving device 36 is coupled to the pick-and-place device 33 and configured to drive the pick-and-place device 33 to move vertically relative to the moving rod 35.

[0094] In some embodiments, the lateral moving device 34 can be disposed on the moving rod 35 or on the pick-and-place device 33; the vertical moving device 36 can be disposed on the moving rod 35. For example, the lateral moving device 34 and the vertical moving device 36 can be two drive motors. This application embodiment does not limit the specific positions of the lateral moving device 34 and the vertical moving device 36, as long as the lateral moving device 34 can drive the moving rod 35 to move laterally, and the vertical moving device 36 can drive the pick-and-place device 33 to move vertically relative to the moving rod 35.

[0095] In some embodiments, the guiding mechanism 32 may be a robotic arm (such as an automated robotic arm), and the pick-and-place device 33 may be connected to the robotic arm. The pick-and-place device 33 may move laterally and / or vertically via the robotic arm (for example, the robotic arm may move laterally and / or vertically with the pick-and-place device 33). The robotic arm may be fixed to the ground or a guide rail. The robotic arm may be permanently fixed to the ground or a guide rail, or it may be temporarily fixed to the ground or a guide rail. This embodiment of the application does not limit this.

[0096] In some embodiments, the pick-and-place device 33 may include a pick-and-place component that can move along the depth direction.

[0097] In some embodiments, when the pick-and-place device 33 reaches the position corresponding to the placement position 15 by lateral and / or vertical movement, the pick-and-place member can be controlled to extend along the depth direction, i.e., the pick-and-place member can extend to the placement position 15 along the direction toward the carrier, to pick up or place the container from the placement position 15. For example, as Figure 2A As shown, when the pick-and-place device 33 reaches the position corresponding to the placement position, the pick-and-place component (not shown in 2) can move along the depth direction (such as the Z direction) to the placement position 15 to pick up the container placed on the placement position 15.

[0098] Exemplarily, the pick-and-place component can be a claw, a gripping fork, or a suction cup connected to the pick-and-place device 33. When the pick-and-place component is a claw, it can pick up and place the container from the placement position of the carrier 10 by gripping; when the pick-and-place component is a gripping fork, it can pick up and place the container from the placement position of the carrier 10 by holding; when the pick-and-place component is a suction cup, it can pick up and place the container from the placement position of the carrier 10 by suction. This application embodiment does not limit the specific structure of the pick-and-place device 33. It should be noted that this application embodiment can be exemplarily described using a suction cup as an example.

[0099] In some embodiments, the handling equipment 40 may be referred to as an automated handling equipment or a vehicle handling equipment, and is used to handle the vehicle 10. For example, the handling equipment 40 can handle the vehicle 10 in the shelving area to the vehicle docking area corresponding to the workstation 30.

[0100] For example, the handling device 40 can be a handling robot, such as an Automated Guided Vehicle (AGV). For instance, the handling robot can move under the carrier 10 and then lift the carrier 10 off the ground, thereby carrying the carrier 10 to move.

[0101] In some embodiments, the handling device 40 can move the carrier 10 to the queuing area corresponding to the workstation 30. When the operating area of ​​the workstation 30 is free, the carrier 10 is then moved from the queuing area to the operating area so that the workstation 30 can perform a picking operation on the carrier 10. For example, the workstation 30 can remove the container from the carrier 10 parked in the operating area, or place the container on the placement position of the carrier 10.

[0102] It should be noted that the transport equipment that moves the vehicle 10 from the storage area to the queuing area corresponding to the workstation 30 can be the same transport equipment or different transport equipment that moves the vehicle 10 from the queuing area to the operation area.

[0103] For example, the control device can be coupled to the handling equipment 40 and the workstation 30 respectively, and is used to control the operation of the handling equipment 40 and the workstation 30. For example, the control device can control the handling equipment 40 to move and handle the carrier 10, or it can control the workstation 30 to perform pick-up and put-down operations on the carrier 10 parked in the operating area.

[0104] In some embodiments, the control device is configured to determine a target vehicle (e.g., a vehicle to be inspected) and a target placement location (e.g., a placement location to be inspected) on the target vehicle based on a task to be performed (e.g., an inspection task), generate a handling instruction based on the target vehicle, and generate a pick-and-place instruction based on the target placement location. The handling equipment is configured to transport the target vehicle to a workstation according to the handling instruction; the pick-and-place device at the workstation is configured to move to the pick-and-place box position corresponding to the target placement location before the target vehicle arrives at the workstation according to the pick-and-place instruction; and when the target vehicle arrives at the workstation, move from the pick-and-place box position to the target placement location and retrieve the target object from the target placement location, or place the target object at the target placement location.

[0105] It should be noted that, Figure 2A The vehicles and control devices in the warehousing system shown are Figure 1A The vehicles and control devices in the warehousing system shown are similar and will not be described in detail here.

[0106] The pick-and-place module in this embodiment can be a moving device 20, a workstation 30, or a pick-and-place device. The pick-and-place module in this embodiment can be any structure capable of performing pick-and-place operations; this embodiment does not limit its implementation.

[0107] For example, the pick-and-place device can be positioned in a tunnel between two adjacent rows or columns of carriers, and space can be provided between the pick-and-place device and the ground for the transport device 40 to move. In the scenario where the pick-and-place module is a pick-and-place device, the pick-and-place device is coupled to a control device, which is configured to determine the target carrier (e.g., the carrier to be inspected) and the target placement position on the target carrier (e.g., the placement position to be inspected) based on the task to be performed (e.g., an inspection task), and generate a pick-and-place command based on the target placement position. The pick-and-place device is configured to move to the target placement position according to the pick-and-place command and retrieve the target object from the target placement position, or place the target object in the target placement position. While the control device controls the pick-and-place device to move horizontally or vertically in the corresponding tunnel to perform the task to be performed, the transport device 40 can move along the tunnel below the pick-and-place device.

[0108] The following is in conjunction with the appendix Figure 3 The present application describes the exception handling method provided in its embodiments. It should be noted that the inspection method provided in the embodiments of this application utilizes, as shown in... Figure 2A The warehouse system 200 shown is implemented, for example, through the control device in the warehouse system 200. In this embodiment of the application, the pick-and-place module is taken as workstation 30 for illustrative purposes.

[0109] Figure 3 This is a flowchart illustrating an exception handling method provided in an embodiment of this application, as shown below. Figure 3 As shown, in some embodiments, the exception handling method provided in this application includes S301-S304.

[0110] S301. Obtain the order to be processed and determine the corresponding vehicle and first pick-up / placement module from the warehousing system.

[0111] In some embodiments, the control device receives an order to be processed and, based on the received order, determines the matching vehicle from a plurality of vehicles in the warehousing system, and determines the first pick-and-place module for dispatching the order from a plurality of pick-and-place modules in the warehousing system. The matching vehicle is a vehicle used to store the goods required for the order to be processed, and the first pick-and-place module is a pick-and-place module used to perform pick-and-place operations based on the goods matched in the order to be processed.

[0112] S302. Generate at least one pick-up and drop task based on the hit vehicle and the first pick-up and drop module, and execute at least one pick-up and drop task.

[0113] In some embodiments, the control device generates at least one pick-up / placement task based on the hit vehicle and the first pick-up / placement module, and executes at least one pick-up / placement task. When executing a pick-up / placement task, the control device controls a transport device to move the hit vehicle to a workstation, and controls the workstation to perform pick-up / placement operations on the hit vehicle. The pick-up / placement operation includes a box-retrieving operation and a box-placing operation. The box-placing operation includes the pick-up / placement module placing the target object into a target location (e.g., the hit placement position or buffer position on the hit vehicle); the box-retrieving operation includes removing the target object from the target location (e.g., the hit placement position or buffer position on the hit vehicle).

[0114] For example, in a scenario where the pick-and-place module is a workstation, the box placement operation includes the workstation placing the target object into the hit placement position on the hit vehicle through the box pick-and-place device, or placing the target object on the buffer position; the box retrieval operation includes removing the target object from the hit placement position on the hit vehicle, or picking up the target object from the buffer position.

[0115] In some embodiments, after the control device generates at least one pick-up and place task, it can send the at least one pick-up and place task to the workstation. The workstation then performs a pick-up and place operation on the hit vehicle based on the received pick-up and place task. Since each execution of a pick-up and place task constitutes one pick-up and place operation on the hit vehicle, the workstation's pick-up and place operation on the hit vehicle can also be referred to as the workstation executing a pick-up and place task on the hit vehicle.

[0116] In some embodiments, after generating at least one pick-and-place task, the control device generates a handling instruction based on each pick-and-place task and sends the handling instruction to the handling equipment in the warehousing system to control the handling equipment to move the hit carrier from its current position to the operating area corresponding to the first pick-and-place module. Upon receiving the handling instruction, the handling equipment can move from its starting position to the current position of the hit carrier and move the hit carrier from its current position to the docking point in the operating area corresponding to the target workstation.

[0117] In some embodiments, the number of pick-up and place-up tasks can be one or more. When there are multiple pick-up and place-up tasks, the control device and the first pick-up and place-up module can execute multiple pick-up and place-up tasks in the order in which they are generated.

[0118] For example, multiple pick-up and place tasks can correspond to one hit vehicle or multiple hit vehicles. When multiple pick-up and place tasks correspond to multiple hit vehicles, the control device can control the transport equipment to transport all the hit vehicles to the vehicle docking area corresponding to the first pick-up and place module, so that when the first pick-up and place module performs pick-up and place operations on the hit vehicles located in the operation area corresponding to the first pick-up and place module, the other hit vehicles are docked in the queuing area. The control device can also control the transport equipment to transport the multiple hit vehicles according to the execution order and execution status of the multiple pick-up and place tasks, so that when the first pick-up and place module completes or is about to complete the pick-up and place operation on the current hit vehicle according to the multiple pick-up and place tasks, the next hit vehicle is transported to the vehicle docking area corresponding to the first pick-up and place module. This application embodiment does not limit this.

[0119] S303. If an exception is received during the execution of the first pick-up / place task in at least one pick-up / place task, then the execution of the first pick-up / place task shall be suspended.

[0120] In some embodiments, the first pick-up and drop-off task is the pick-up and drop-off task currently being executed by the first pick-up and drop-off module.

[0121] For example, the control device controls the first pick-and-place module to perform the first pick-and-place task. If an abnormality occurs during the execution of the first pick-and-place task by the first pick-and-place module, an abnormality message is generated and sent to the control device. After receiving the abnormality message sent by the first pick-and-place module, the control device will suspend the execution of the first pick-and-place task and control the first pick-and-place module to also suspend the execution of the first pick-and-place task.

[0122] In some embodiments, the abnormal information may be detected by the control unit in the pick-and-place module when the pick-and-place module performs the first pick-and-place task, or it may be detected by the control device when the pick-and-place module performs the first pick-and-place task. This application embodiment does not limit this.

[0123] In some embodiments, the exception information may include an exception identification code. The exception identification code can be used to indicate the type of exception that occurred when the workstation performed the pick-and-place task. The exception type may include a placement exception, a pick-up action exception, and a pick-up identification exception. A placement exception can be referred to as the first exception type, a pick-up action exception as the second exception type, and a pick-up identification exception as the third exception type.

[0124] For example, different anomaly types can correspond to different anomaly identification codes. The same anomaly type (e.g., the first anomaly type, the second anomaly type, and the third anomaly type) can correspond to at least one anomaly identification code. Each anomaly identification code can correspond to an anomaly scenario. The same anomaly type can include one anomaly scenario. For example, a box placement anomaly (i.e., the first anomaly type) can include an anomaly scenario where the workstation gets stuck when placing the target object into the correct placement position on the hit vehicle. The same anomaly type can also include multiple anomaly scenarios. For example, a box retrieval action anomaly (i.e., the second anomaly type) can include anomalies such as failure to retrieve a box from the hit vehicle, failure to retrieve a box from the buffer position, insufficient suction cup vacuum when retrieving a box from the hit vehicle, and insufficient suction cup vacuum when retrieving a box from the buffer position. A box retrieval recognition anomaly (i.e., the third anomaly type) can include anomalies such as visual timeout during box retrieval, the hit vehicle being too far away during box retrieval, large deviation of the hit vehicle during box retrieval, and no target object in the correct placement position during box retrieval.

[0125] For example, if the first pick-and-place module fails to place a box, it can generate an exception identifier code based on the failure information and then generate exception information based on the exception identifier code, sending it to the control device. As another example, if the first pick-and-place module fails to retrieve a box, it generates an exception identifier code based on the failure information and then generates exception information based on the exception identifier code, sending it to the control device. The control device determines the exception type of the first pick-and-place module based on the exception identifier code in the received exception information.

[0126] S304. Determine the target task corresponding to the abnormal information and execute the target task.

[0127] In some embodiments, the target task is used to instruct the control device to handle any abnormalities that occur when the pick-and-place module performs a pick-and-place task, so that on-site operations can continue.

[0128] For example, different exception types can correspond to different target tasks, and the same exception type (e.g., the first exception type, the second exception type, and the third exception type) can correspond to the same target task.

[0129] like Figure 4 As shown, in some embodiments, S304 may include S401.

[0130] S401. If the abnormal information is of the first abnormal type, the first pick-and-place module is controlled to re-pick a new placement position from among the multiple empty placement positions on the hit vehicle and place the target object into the new placement position.

[0131] The first type of anomaly refers to a jammed box when the pick-and-place module places the target object into the correct placement position on the hit vehicle.

[0132] In some embodiments, when the pick-and-place module fails to perform a pick-and-place task on the target vehicle, it generates an exception message and sends it to the control device. Upon receiving the exception message from the pick-and-place module, the control device determines the exception type. If the control device determines the exception message to be of the first exception type, it means that the pick-and-place module jammed when placing the target object into the designated placement position on the target vehicle. In this case, the control device can control the pick-and-place module to re-target a new placement position from among the multiple available placement positions on the target vehicle. After targeting the new placement position, the control device can then re-execute the pick-and-place task to place the target object into the new placement position. Here, an available placement position refers to a placement position on the vehicle where no target object is placed and which is not locked.

[0133] For example, when the first pick-and-place module fails to execute the first pick-and-place task, it can generate an exception message and send it to the control device. After receiving the exception message sent by the first pick-and-place module, if the control device determines that the exception message is of the first exception type, it controls the first pick-and-place module to re-target, so as to target a new placement position from multiple available placement positions on the target vehicle corresponding to the first pick-and-place task, and execute the first pick-and-place task again based on the new placement position to place the target object into the new placement position and complete the first pick-and-place task.

[0134] It should be noted that if the abnormal information is of the first abnormal type, the control device controls the first pick-and-place module to re-hit a new placement position from the multiple available placement positions on the hit vehicle, and places the target object into the new placement position. That is, when the abnormal information is of the first abnormal type, the target task includes controlling the first pick-and-place module to re-hit a new placement position from the multiple available placement positions on the hit vehicle, and controlling the first pick-and-place module to place the target object into the new placement position.

[0135] Understandably, when the pick-and-place module jams while placing the target item into the designated slot on the loading vehicle, it's usually due to a problem with the selected slot (e.g., the edge of the slot is warped). Therefore, by selecting a new slot from among the available slots on the loading vehicle and re-executing the pick-and-place task, the target item can be successfully placed into the new slot, completing the task. This avoids interruptions to the pick-and-place module's operation due to slot jams, thus reducing the impact on subsequent operations and improving the efficiency of the warehousing system.

[0136] based on Figure 4 ,like Figure 5 As shown, in some embodiments, executing the target task based on the exception information corresponding to the first pick-up and put-down task may further include S501.

[0137] S501. If the exception information is of the second exception type or the third exception type, then control the first pick-up and place module to execute the second pick-up and place task.

[0138] The second retrieval task is the next retrieval task after the first retrieval task. The second exception type refers to an abnormal retrieval action when the retrieval module performs the retrieval task, and the third exception type refers to an abnormal retrieval recognition when the retrieval module performs the retrieval task.

[0139] In some embodiments, when the pick-and-place module fails to perform a pick-and-place task on the hit vehicle, it generates an exception message and sends it to the control device. Upon receiving the exception message from the pick-and-place module, the control device determines the exception type. When the control device determines that the exception message sent by the pick-and-place module is a second or third exception type, it means that the pick-and-place module failed to perform the box retrieval action, or that the pick-and-place module failed to identify the box during retrieval. In this case, the control device can control the pick-and-place module to skip the currently executing pick-and-place task and execute the next one.

[0140] For example, when the first pick-up and place module fails to perform the first pick-up and place task on the hit vehicle, it will generate an exception message and send it to the control device. If the control device determines that the exception message sent by the first pick-up and place module is a second exception type or a third exception type, the control device will control the first pick-up and place module to skip the currently failed pick-up and place task (i.e., the first pick-up and place task) and execute the next pick-up and place task (i.e., the second pick-up and place task).

[0141] It should be noted that if the abnormal information is of the second or third abnormal type, the target task includes the control device controlling the first pick-up and place module to skip the currently failed pick-up and place task (i.e., the first pick-up and place task) and execute the next pick-up and place task (i.e., the second pick-up and place task).

[0142] It is understood that in this embodiment of the application, if an abnormality occurs in the box retrieval action or box retrieval identification when the retrieval module is performing a retrieval task, the retrieval task can be skipped and the next retrieval task can be executed. In this way, the operation of the retrieval module can be interrupted due to the box getting stuck when placing the box, thereby reducing the impact on subsequent hits and improving the working efficiency of the warehousing system.

[0143] In some embodiments, the exception handling method provided in this application may further include: if the exception information is a second exception type, then when all the pick-up and place tasks corresponding to the hit vehicle are completed, the first handling device is controlled to move the hit vehicle to the second pick-up and place module to be re-queued, and the second pick-up and place module is controlled to execute the first pick-up and place task on the hit vehicle again.

[0144] The second pick-and-place module can be any one of multiple pick-and-place modules in a multi-warehouse system. The second pick-and-place module and the first pick-and-place module can be the same module or different modules. That is, the pick-and-place module that is re-queued each time a vehicle is hit can be the same, partially the same, or different. This application does not limit this aspect.

[0145] For example, when the pick-and-place module fails to perform a pick-and-place task on the hit vehicle, the control device will receive an exception message corresponding to the failure. After receiving the exception message, the control device determines the exception type. If the control device determines that the exception message is the second exception type, it means that the pick-and-place module failed to perform the box retrieval action. At this time, the control device can control the pick-and-place module to skip the currently executing pick-and-place task and execute the next pick-and-place task (i.e., the second pick-and-place task). When all pick-and-place tasks corresponding to the hit vehicle have been completed, the control device controls the transport equipment to remove the hit vehicle from the current pick-and-place module. Afterwards, the control device can control the transport equipment to move the hit vehicle to the queuing area corresponding to the current pick-and-place module to re-queue, and when the hit vehicle is queued, control the current pick-and-place module to perform the first pick-and-place task on the hit vehicle again; alternatively, the control device can control the transport equipment to move the hit vehicle to the queuing area corresponding to another pick-and-place module to re-queue, and when the hit vehicle is queued, control the other pick-and-place module to perform the first pick-and-place task on the hit vehicle again.

[0146] For example, in a scenario where the pick-and-place module is a workstation, if workstation P1 fails to perform a pick-and-place task on carrier 1, the control device will receive the corresponding exception information. When the control device receives the exception information and determines that the exception information sent by workstation P1 is of the second exception type, the control device can control workstation P1 to skip the currently executing pick-and-place task and execute the next pick-and-place task (i.e., the second pick-and-place task) until all pick-and-place tasks corresponding to carrier 1 are completed. At this time, the control device can control the transport equipment to move carrier 1 from the operation area corresponding to workstation P1 to the queuing area corresponding to workstation P1 for re-queuing, and control workstation P1 to perform the first pick-and-place task on carrier 1 again when it is queued. Alternatively, the control device can control the transport equipment to move carrier 1 from the operation area corresponding to workstation P1 to the queuing area corresponding to workstation P2 for re-queuing, and control workstation P2 to perform the first pick-and-place task on carrier 1 again when it is queued.

[0147] In some embodiments, the control device may determine the second pick-up and place module based on the working status of the pick-up and place module, or it may determine the second pick-up and place module based on the queuing situation corresponding to the pick-up and place module. This application does not limit this aspect.

[0148] For example, the retrieval and placement module that is idle in the warehousing system can be identified as the second retrieval and placement module; or the retrieval and placement module with the shortest remaining working time (the one that releases the queue first) in the warehousing system can be identified as the second retrieval and placement module.

[0149] Understandably, when all pick-up and drop-off tasks corresponding to the hit vehicle have been completed, the hit vehicle can be re-queued to try to execute the pick-up and drop-off task again. This is an attempt to automatically handle the anomaly, quickly resume task execution, reduce manual intervention, and further improve the efficiency of the warehousing system.

[0150] It should be noted that the transport equipment for moving the hit vehicle to the first pick-up and place module, the transport equipment for moving the hit vehicle away from the first pick-up and place module, and the transport equipment for moving the hit vehicle to the second pick-up and place module for re-queueing can be the same, partially the same, or all different. This application does not limit this.

[0151] For example, in some scenarios, the transport device 1 can be controlled to transport the hit vehicle to the first pick-and-place module. Then, when it is necessary to move the hit vehicle away from the first pick-and-place module, the transport device 1 can be controlled to move the hit vehicle away from the first pick-and-place module and then move the hit vehicle to the second pick-and-place module. At this time, the transport device that moves the hit vehicle to the first pick-and-place module, the transport device that moves the hit vehicle away from the first pick-and-place module, and the transport device that moves the hit vehicle to the second pick-and-place module are all the same as the transport device 1. In other scenarios, transport device 1 can be controlled to move the hit vehicle to the first pick-up and place module. After transport device 1 moves the hit vehicle to the first pick-up and place module, it can be controlled to place the hit vehicle in the operating area of ​​the first pick-up and place module and then move away from the first pick-up and place module. Subsequently, when it is necessary to move the hit vehicle away from the first pick-up and place module, transport device 2 can be controlled to move the hit vehicle away from the first pick-up and place module and then move the hit vehicle to the second pick-up and place module. In this case, the first transport device that moves the hit vehicle to the first pick-up and place module is transport device 1, and the transport device that moves the hit vehicle away from the first pick-up and place module and the transport device that moves the hit vehicle to the second pick-up and place module are transport device 2; that is, transport device 1 and transport device 2 are two different transport devices.

[0152] The exception handling method provided in this application embodiment further includes: if the number of exceptions of the second exception type is greater than or equal to the first number threshold, then the first pick-up and put-down task is cancelled.

[0153] In some embodiments, a first count threshold is preset in the control device. The first count threshold is the upper limit of the number of times the pick-up and place module generates the second type of abnormal information when it performs the first pick-up and place task on the hit vehicle.

[0154] For example, when the pick-and-place module fails to execute the first pick-and-place task on the hit vehicle and the generated exception information is of the second exception type, the pick-and-place module can be controlled to execute the first pick-and-place task on the hit vehicle again when the hit vehicle is rearranged and the hit vehicle is reached. If the first pick-and-place task is executed successfully again, the subsequent work continues; for example, if all pick-and-place tasks corresponding to the hit vehicle have been completed, the handling equipment is controlled to move the hit vehicle away; if there are pick-and-place tasks to be executed among the pick-and-place tasks corresponding to the hit vehicle, the second pick-and-place module is controlled to execute the pending pick-and-place tasks on the hit vehicle. If the first pick-and-place task fails to be executed again, the control device determines, based on the exception information sent by the pick-and-place module, whether the number of exceptions of the second exception type generated by executing the first pick-and-place task on the hit vehicle has reached the first threshold. If the number of exceptions of the second type of exception information has not reached the first threshold, the hit vehicle is re-queued, and when the hit vehicle is queued again, the pick-up and place module is controlled to perform the first pick-up and place task for the hit vehicle for the third time; if the number of exceptions of the second type of exception information has not reached the first threshold, the first pick-up and place task is canceled.

[0155] In some embodiments, the threshold for the first count can be set as needed, and the specific value of the threshold for the first count is not limited in the embodiments of this application.

[0156] For example, the first threshold can be set to 2. That is, when the pick-and-place module fails to execute the first pick-and-place task on the hit vehicle and the generated exception information is of the second exception type, the pick-and-place module can be controlled to execute the first pick-and-place task on the hit vehicle again when the hit vehicle is rearranged and the hit vehicle is reached. If the first pick-and-place task is executed successfully again, the subsequent work continues; for example, if all pick-and-place tasks corresponding to the hit vehicle have been completed, the handling equipment is controlled to move the hit vehicle away; if there are pick-and-place tasks to be executed in the pick-and-place tasks corresponding to the hit vehicle, the second pick-and-place module is controlled to execute the pick-and-place tasks to be executed on the hit vehicle. If the first pick-and-place task fails to be executed again, the first pick-and-place task is deleted from the pick-and-place tasks corresponding to the pick-and-place module, and the pick-and-place module is controlled to execute other pick-and-place tasks to be executed.

[0157] The exception handling method provided in this application embodiment further includes: if the number of consecutive exceptions of the second exception type is greater than or equal to the second number threshold, then outputting the first exception prompt information.

[0158] In some embodiments, a second threshold is preset in the control device. The second threshold is the upper limit of the number of times the pick-up and place module continuously generates the second type of abnormal information when it performs the first pick-up and place task on the hit vehicle.

[0159] For example, if the control device continuously receives abnormal information of the second abnormal type, it determines the number of times it has continuously received abnormal information of the second abnormal type. When the number of times it has continuously received abnormal information of the second abnormal type is greater than or equal to the second threshold, it outputs a first abnormality prompt message. The first abnormality prompt message is used to prompt staff to handle the issue manually.

[0160] In some embodiments, the threshold for the second count can be set as needed, and the specific value of the threshold for the second count is not limited in the embodiments of this application.

[0161] For example, the second threshold can be set to 3. When the pick-up and place module fails to perform the first pick-up and place task on the hit vehicle and the generated exception information is of the second exception type, the hit vehicle can be re-queued. When the hit vehicle is re-queued and the hit vehicle is reached, the pick-up and place module is controlled to perform the first pick-up and place task on the hit vehicle again. If the first pick-up and place task fails again and the generated exception information is also of the second exception type, the hit vehicle is re-queued again. When the hit vehicle is re-queued and the hit vehicle is reached, the pick-up and place module is controlled to perform the first pick-up and place task on the hit vehicle a third time. If the first pick-up and place task fails a third time and the generated exception information is also of the second exception type, the control device outputs a first exception prompt message.

[0162] It should be noted that if multiple instances of the second type of exception information are generated during the execution of the first pick-up and drop-off task, it means that the exception cannot be automatically recovered. Therefore, the first exception prompt information needs to be output to prompt the staff to handle it manually.

[0163] When a box retrieval recognition error occurs during the retrieval and placement task performed by the retrieval and placement module, it is usually due to a problem with the device (e.g., the retrieval and placement module) or the position of the hit vehicle (e.g., the distance between the hit vehicle and the retrieval and placement module exceeds the retrieval distance of the retrieval and placement module), or due to a problem with the current lighting (e.g., glare). In this case, moving the hit vehicle to another position and performing the retrieval and placement task again will have a higher probability of success.

[0164] like Figure 6 As shown, in some embodiments, the exception handling method provided in this application may further include S601-S603.

[0165] S601. If the abnormal information is of the third abnormal type, then when the pick-up and drop-off tasks corresponding to the hit vehicle are all completed, determine the docking point type of the first pick-up and drop-off module.

[0166] S602. When the docking point type of the first pick-up and place module is a single docking point, control the second handling equipment to move the hit vehicle to the third pick-up and place module to re-queue, and control the third pick-up and place module to perform the first pick-up and place task on the hit vehicle again.

[0167] The third pick-and-place module is any pick-and-place module in the warehousing system other than the first pick-and-place module; that is, the third pick-and-place module is a different pick-and-place module from the first pick-and-place module.

[0168] S603. When the docking point type of the first pick-up and place module is a dual docking point, control the second handling device to move the hit vehicle from the first docking point of the first pick-up and place module to the second docking point of the first pick-up and place module to re-queue, and control the first pick-up and place module to perform the first pick-up and place task on the hit vehicle again.

[0169] In some embodiments, the docking point types of the pick-up and drop-off module include single docking point and double docking point.

[0170] For example, in a scenario where the pick-up and drop-off module is a workstation, the docking point of the operation area corresponding to the workstation can be set to one, meaning the workstation can be a single docking point. When the workstation is a single docking point, multiple hit vehicles docked in the vehicle docking area corresponding to the workstation will be arranged in a row to wait for the workstation to perform the pick-up and drop-off task. The docking point of the operation area corresponding to the workstation can also be set to two (e.g., a first docking point and a second docking point), meaning the workstation is a dual docking point. When the workstation is a dual docking point, multiple hit vehicles docked in the vehicle docking area corresponding to the workstation will be arranged in two rows to wait for the workstation to perform the pick-up and drop-off task.

[0171] For example, if the workstation's corresponding operating area has only one docking point, then when the control device receives an anomaly of the third anomaly type, the control device can control the transport equipment to move the hit vehicle from the current workstation to another workstation for re-queueing. If the workstation's corresponding operating area has two docking points, then when the control device receives an anomaly of the third anomaly type, the control device can control the transport equipment to move the hit vehicle from the current queue (i.e., the first docking point) of the current workstation to another queue (i.e., the second docking point) of the current workstation for re-queueing.

[0172] It should be noted that when the abnormal information is of the third type, the method by which the control device controls the transport vehicle to re-queue and, when the hit vehicle is reached, controls the corresponding pick-and-place module to perform the first pick-and-place task on the hit vehicle again is similar to the method by which the control device controls the transport vehicle to re-queue and, when the abnormal information is of the second type, controls the corresponding pick-and-place module to perform the first pick-and-place task on the hit vehicle again. This application embodiment will not elaborate further on this.

[0173] Understandably, when all pick-up and drop-off tasks corresponding to the hit vehicle have been completed, the hit vehicle can be re-queued to try to execute the pick-up and drop-off task again. This is an attempt to automatically handle the anomaly, quickly resume task execution, reduce manual intervention, and further improve the efficiency of the warehousing system.

[0174] The exception handling method provided in this application embodiment further includes: if the number of exceptions of the third exception type is greater than or equal to the third number threshold, then the exception information is recorded, and the current pick-and-place module is controlled to no longer hit the placement position corresponding to the first pick-and-place task.

[0175] In some embodiments, a third-count threshold is preset in the control device. This third-count threshold is the upper limit on the number of times the pick-up and place module generates a third type of exception information when performing the first pick-up and place task on the hit vehicle. The third-count threshold can be set according to requirements; this embodiment does not limit the specific value of the third-count threshold. The third-count threshold can be set to 3.

[0176] It should be noted that this process is similar to the steps described above, which involve the control device determining the number of times the received abnormal information is of the second abnormal type and canceling the first pick-up and put-down task when the number of times the abnormal information is of the second abnormal type is greater than or equal to the first threshold. To avoid repetition, this process will not be described again here.

[0177] The exception handling method provided in this application embodiment further includes: if the number of consecutive exceptions of the third exception type is greater than or equal to the fourth number threshold and the pick-up and put-down modules that output exception information are different, or if the exception type is the first exception type, then the placement position corresponding to the first pick-up and put-down task is locked.

[0178] In some embodiments, a fourth threshold number is preset in the control device. This fourth threshold number is the upper limit of the number of times the pick-up and place module generates fourth type of exception information when performing the first pick-up and place task on the hit vehicle. The fourth threshold number can be set according to requirements, and the specific value of the fourth threshold number is not limited in this embodiment.

[0179] For example, if the exception type is the first exception type, to prevent the pick-and-place module from hitting the placement position corresponding to the first pick-and-place task when performing subsequent pick-and-place tasks, thus causing a box placement exception (i.e., the first exception type), the placement position corresponding to the first pick-and-place task can be locked. If the number of consecutive exceptions of the third exception type is greater than or equal to the fourth number threshold and the pick-and-place modules that output the exception information are different, it means that the box retrieval recognition exception (i.e., the third exception type) may not be caused by a problem with the device or the position of the hit vehicle, or a problem with the lighting. Therefore, the placement position corresponding to the first pick-and-place task is locked to prevent the pick-and-place module from hitting the placement position corresponding to the first pick-and-place task when performing subsequent pick-and-place tasks, thus causing a box retrieval recognition exception.

[0180] It should be noted that this process is similar to the steps of the control device described above, which determines the number of times the received abnormal information is of the second abnormal type and outputs the first abnormal prompt information when the number of consecutive abnormal information of the second abnormal type is greater than or equal to the second threshold. To avoid repetition, it will not be described again here.

[0181] The exception handling method provided in this application embodiment further includes: if an exception notification message is received from the fourth pick-up and put-down module, then the exception handling task corresponding to the exception notification message is determined and the exception handling task is executed.

[0182] Among them, the abnormal notification information is generated when the hit duration of the fourth pick-and-place module hitting the placement position is greater than or equal to the preset duration threshold.

[0183] In some embodiments, for any one of the multiple pick-and-place modules in the fourth pick-and-place module multi-warehouse system, a preset time threshold is the upper limit of the hit time used by the pick-and-place module when it hits the placement position. The control device is preset with a preset time threshold, which can be set according to needs. The specific value of the preset time threshold is not limited in the embodiments of this application.

[0184] For example, in a scenario where the pick-and-place module is a workstation, after the workstation retrieves the target item from the picking carrier using the pick-and-place device, the worker can pick the target item. After the target item is picked, the workstation needs to hit a placement position on the picking carrier to place the picked target item. If the hit time of the workstation hitting the placement position is greater than or equal to a preset time threshold, the control device will receive an exception notification. After receiving the exception notification, the control device can determine and execute the exception handling task based on the exception notification. The exception notification is used to inform the control device that there are no available placement positions on multiple carriers in the storage system, or that the number of available placement positions is too small to meet the demand. Different exception notifications may correspond to the same or different exception handling tasks.

[0185] For example, in a scenario where picking and receiving occur simultaneously, as picking progresses, multiple available placement positions are created on various carriers in the warehousing system due to the removal and picking of target items. However, as goods are received, these goods occupy available placement positions on multiple carriers. Thus, after the target item is picked, there will be a shortage of available placement positions. If the control device receives an anomaly notification and determines that the anomaly is caused by the simultaneous occurrence of picking and receiving, the anomaly handling task can be determined to stop multiple workstations in the warehousing system from executing receiving tasks. This prevents the receiving goods from occupying available placement positions on the carriers, and as the picking and placing tasks continue, the number of available placement positions on each carrier increases, shortening the time it takes for a workstation to find a suitable placement position.

[0186] For example, in scenarios where there are a large number of locked placement positions, if the control device receives an abnormality notification and determines that the abnormality is caused by too many placement positions being locked, then the abnormality handling task can be determined to output a prompt message to remind the staff to handle the locked placement positions and thus release the available placement positions.

[0187] Understandably, this can prevent work interruptions caused by multiple vehicles in the warehousing system not having available placement spaces or having too few available placement spaces to meet demand, thus improving the efficiency of the warehousing system.

[0188] In scenarios where picking and warehousing occur simultaneously, to prevent the pick-and-place module from failing to find an available placement location when returning the picked item to the carrier as goods are being stored, such as... Figure 7 As shown, in some embodiments, the exception handling method provided in this application further includes: S701-S703.

[0189] S701. Determine the first number of available placement spaces on multiple vehicles in the storage system.

[0190] S702. Determine the second quantity of the target items to be received in the warehousing system.

[0191] S703: Based on the first and second quantities, output early warning information.

[0192] In some embodiments, the control device determines a first number of available placement spaces on multiple carriers in the warehousing system and a second number of target items to be received in the warehousing system. Then, based on the relationship between the first and second numbers, it determines whether the available placement spaces on the multiple carriers in the warehousing system can meet the picking requirements. If the available placement spaces on the multiple carriers in the warehousing system cannot meet the picking requirements, an early warning message is output; if the available placement spaces on the multiple carriers in the warehousing system can meet the requirements, no early warning message is output.

[0193] like Figure 8 As shown, in some embodiments, S703 may include S7031-S7032.

[0194] S7031. Determine the quantity difference between the first quantity and the second quantity;

[0195] S7032. When the quantity difference is less than the preset quantity threshold, output a warning message.

[0196] The control device is pre-set with a preset quantity threshold, which is the lower limit of the total number of available placement positions on multiple carriers in the storage system when the pick-and-place module can normally hit the placement position to perform the pick-and-place task. The preset quantity threshold can be set according to requirements, and this embodiment does not limit the specific value of the preset quantity threshold.

[0197] In some embodiments, the control device subtracts a first quantity from a second quantity to obtain the quantity difference between the first and second quantities. If the quantity difference between the first and second quantities is less than a preset quantity threshold, it means that the total number of available placement spaces on multiple carriers in the storage system may not be sufficient to meet subsequent work requirements. In this case, the control device outputs a warning message. The warning message indicates the total number of available placement spaces on multiple carriers in the storage system.

[0198] In some embodiments, the exception handling method provided in this application further includes: outputting a second exception prompt message when the first quantity is less than the second quantity, and / or stopping the execution of the data entry task.

[0199] In some embodiments, if the first quantity is less than the second quantity, it means that the quantity of the target items to be received exceeds the total number of available placement spaces on multiple carriers in the warehousing system. In this case, the control device outputs a second abnormality message and / or stops executing the receiving task. The second abnormality message indicates that the quantity of the target items to be received exceeds the total number of available placement spaces on multiple carriers in the warehousing system. The receiving task is generated by the control device based on the target items to be received.

[0200] It is understood that by determining the size relationship and quantity difference between the first quantity and the second quantity, the embodiments of this application can monitor and provide early warning of the total number of available placement positions on multiple vehicles in the warehousing system, thereby avoiding work interruption due to insufficient total number of available placement positions on multiple vehicles in the warehousing system, which can improve the work efficiency of the warehousing system.

[0201] Based on the same inventive concept, this application also provides an exception handling apparatus for implementing the exception handling method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more exception handling apparatus embodiments provided below can be found in the limitations of the exception handling method above, and will not be repeated here. Specifically, Figure 9 This is a schematic diagram of the structure of an exception handling device according to an embodiment of this application. Figure 9 As shown, the anomaly handling device includes:

[0202] Module 910 is used to retrieve orders to be processed.

[0203] Processing module 920 is used to determine the hit vehicle and the first pick-and-place module corresponding to the order to be processed from the warehousing system;

[0204] Generation module 930 is used to generate at least one pick-up and place task based on the hit vehicle and the first pick-up and place module;

[0205] The processing module 920 is further configured to execute the at least one pick-up and place task; to suspend the execution of the first pick-up and place task if an abnormal message is received during the execution of the first pick-up and place task; and to determine the target task corresponding to the abnormal message and execute the target task.

[0206] In some embodiments, the processing module 920 is further configured to, if the abnormal information is a first abnormal type, control the first pick-and-place module to re-hit a new placement position from among the multiple vacant placement positions on the hit vehicle, and place the target object into the new placement position; wherein, the first abnormal type refers to a jammed box when the workstation places the target object into the hit placement position on the hit vehicle.

[0207] In some embodiments, the processing module 920 is further configured to control the first pick-up and place module to execute the second pick-up and place task if the abnormal information is a second abnormal type or a third abnormal type; wherein, the second pick-up and place task is the next pick-up and place task of the first pick-up and place task; the second abnormal type refers to an abnormal box-picking action when the workstation executes the pick-up and place task, and the third abnormal type refers to an abnormal box-picking identification when the workstation executes the pick-up and place task.

[0208] In some embodiments, the processing module 920 is further configured to, if the abnormal information is the second abnormal type, control the first handling device to move the hit vehicle to the second handling module to re-queue when all the pick-up and place tasks corresponding to the hit vehicle have been completed, and control the second handling module to execute the first pick-up and place task on the hit vehicle again.

[0209] In some embodiments, the processing module 920 is further configured to: if the abnormal information is the third abnormal type, determine the docking point type of the first pick-up and place module when all the pick-up and place tasks corresponding to the hit vehicle have been completed; if the docking point type of the first pick-up and place module is a single docking point, control the second handling device to move the hit vehicle to the third workstation for re-queueing, and control the third workstation to execute the first pick-up and place task on the hit vehicle again; wherein, the third workstation is any workstation in the warehousing system other than the first pick-up and place module; if the docking point type of the first pick-up and place module is a double docking point, control the second handling device to move the hit vehicle from the first docking point of the first pick-up and place module to the second docking point of the first pick-up and place module for re-queueing, and control the first pick-up and place module to execute the first pick-up and place task on the hit vehicle again.

[0210] In some embodiments, the processing module 920 is further configured to cancel the first pick-up and put-down task if the number of times the abnormal information is of the second abnormal type is greater than or equal to the first threshold; and to output a first abnormal prompt message if the number of times the abnormal information is of the second abnormal type is greater than or equal to the second threshold.

[0211] In some embodiments, the processing module 920 is further configured to record the abnormal information if the number of abnormalities of the third abnormal type is greater than or equal to the third number threshold, and control the current workstation to no longer hit the placement position corresponding to the first pick-and-place task.

[0212] In some embodiments, the processing module 920 is further configured to lock the placement position corresponding to the first pick-and-place task if the number of consecutive exceptions of the third exception type is greater than or equal to the fourth number threshold and the workstations that output the exception information are different, or if the exception type is the first exception type.

[0213] In some embodiments, the processing module 920 is further configured to, if it receives an abnormal notification message sent by the fourth workstation, determine the abnormal handling task corresponding to the abnormal notification message and execute the abnormal handling task; wherein the abnormal notification message is generated when the hit duration of the hit placement position of the fourth workstation is greater than or equal to a preset duration threshold.

[0214] In some embodiments, the processing module 920 is further configured to determine a first number of available placement spaces on multiple carriers in the warehousing system; determine a second number of target items to be stored in the warehousing system; and output early warning information based on the first number and the second number.

[0215] In some embodiments, the processing module 920 is further configured to determine the quantity difference between the first quantity and the second quantity; and output the warning information if the quantity difference is less than a preset quantity threshold.

[0216] In some embodiments, the processing module 920 is further configured to output a second error message and / or stop executing the data entry task if the first quantity is less than the second quantity.

[0217] For specific limitations on the anomaly handling device and the beneficial effects it can achieve, please refer to the limitations on the anomaly handling method mentioned above, which will not be repeated here.

[0218] like Figure 10 The diagram shown illustrates the internal structure of a robot according to this embodiment. The robot includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The communication interface allows for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements an exception handling method. The robot's display screen can be a liquid crystal display (LCD) or an electronic ink display (EIM). The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the robot's shell, or an external keyboard, touchpad, or mouse.

[0219] like Figure 11The diagram shown is a schematic representation of the internal structure of an electronic device provided in this embodiment. This electronic device can be a server. It includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores height parameters and 3D map data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements an exception handling method.

[0220] Those skilled in the art will understand that Figure 10 and Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the robots and electronic devices to which the present application is applied. Specific robots and electronic devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0221] In a specific implementation, this application provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it implements the steps of the method in any of the above embodiments.

[0222] In a specific implementation, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0223] In a specific implementation, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0224] In a specific implementation, this application provides a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0225] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include blockchain-based distributed databases, etc., but are not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on first-order calculations, etc., and are not limited thereto.

[0226] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0227] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An exception handling method, characterized in that, The method includes: Obtain pending orders and determine the corresponding hit vehicle and first pick-and-place module from the warehousing system; At least one pick-up and place task is generated based on the hit vehicle and the first pick-up and place module, and the at least one pick-up and place task is executed; wherein, the pick-up and place task is used to control the handling equipment to transport the hit vehicle to the workstation, and control the workstation to perform pick-up and place operations on the hit vehicle, the pick-up and place operations include box retrieval operation and box placement operation; If an exception is received during the execution of the first pick-up and place task in the at least one pick-up and place task, the execution of the first pick-up and place task shall be suspended. Determine the target task corresponding to the abnormal information and execute the target task; The step of determining the target task corresponding to the abnormal information and executing the target task includes: If the abnormal information is of the first abnormal type, the first pick-and-place module is controlled to re-pick a new placement position from among the multiple empty placement positions on the hit vehicle and place the target object into the new placement position; wherein, the first abnormal type refers to the box getting stuck when the pick-and-place module places the target object into the hit placement position on the hit vehicle. If the abnormal information is of the second abnormal type or the third abnormal type, then the first pick-up and place module is controlled to execute the second pick-up and place task; wherein, the second pick-up and place task is the next pick-up and place task after the first pick-up and place task; the second abnormal type refers to the abnormal box retrieval action when the pick-up and place module executes the pick-up and place task, and the third abnormal type refers to the abnormal box retrieval identification when the pick-up and place module executes the pick-up and place task.

2. The method according to claim 1, characterized in that, The method further includes: If the abnormal information is the second abnormal type, then when all the pick-up and place tasks corresponding to the hit vehicle are completed, the first handling device is controlled to move the hit vehicle to the second pick-up and place module to be re-queued, and the second pick-up and place module is controlled to execute the first pick-up and place task on the hit vehicle again.

3. The method according to claim 1, characterized in that, The method further includes: If the abnormal information is the third abnormal type, then when all the pick-up and drop-off tasks corresponding to the hit vehicle are completed, the docking point type of the first pick-up and drop-off module is determined. When the docking point type of the first pick-and-place module is a single docking point, the second handling equipment is controlled to move the hit vehicle to the third pick-and-place module to re-queue, and the third pick-and-place module is controlled to perform the first pick-and-place task on the hit vehicle again; wherein, the third pick-and-place module is any pick-and-place module in the warehousing system other than the first pick-and-place module; When the docking point type of the first pick-up and place module is a dual docking point, the second handling device is controlled to move the hit vehicle from the first docking point of the first pick-up and place module to the second docking point of the first pick-up and place module to re-queue, and the first pick-up and place module is controlled to perform the first pick-up and place task on the hit vehicle again.

4. The method according to claim 1 or 2, characterized in that, The method further includes: If the number of exceptions of the second type is greater than or equal to the threshold of the first exception, then the first pick-up and put-down task is cancelled. If the number of consecutive abnormalities of the second abnormal type is greater than or equal to the second threshold, then the first abnormality prompt information is output.

5. The method according to claim 1 or 3, characterized in that, The method further includes: If the number of exceptions of the third exception type is greater than or equal to the third number threshold, then the exception information is recorded, and the current pick-and-place module is controlled to no longer hit the placement position corresponding to the first pick-and-place task.

6. The method according to claim 1 or 3, characterized in that, The method further includes: If the number of consecutive exceptions of the third exception type is greater than or equal to the fourth number threshold and the pick-up and put-down modules that output the exception information are different, or if the exception type is the first exception type, then the placement position corresponding to the first pick-up and put-down task is locked.

7. The method according to claim 1, characterized in that, The method further includes: If an abnormal notification is received from the fourth pick-and-place module, the abnormal handling task corresponding to the abnormal notification is determined and executed; wherein, the abnormal notification is generated when the hit duration of the fourth pick-and-place module hitting the placement position is greater than or equal to a preset duration threshold.

8. The method according to claim 1, characterized in that, The method further includes: Determine a first number of available placement spaces on multiple vehicles in the warehousing system; Determine the second quantity of the target items to be received into the warehousing system; Based on the first quantity and the second quantity, an early warning message is output.

9. The method according to claim 8, characterized in that, The step of outputting early warning information based on the first quantity and the second quantity includes: Determine the quantity difference between the first quantity and the second quantity; If the difference in quantity is less than a preset quantity threshold, the warning information is output.

10. The method according to claim 8 or 9, characterized in that, The method further includes: If the first quantity is less than the second quantity, output a second error message and / or stop the data entry task.

11. An anomaly handling device, characterized in that, include: The acquisition module is used to acquire orders to be processed. The processing module is used to determine the hit vehicle and the first pick-and-place module corresponding to the order to be processed from the warehousing system; A generation module is used to generate at least one pick-up and place task based on the hit vehicle and the first pick-up and place module; wherein, the pick-up and place task is used to control the handling equipment to transport the hit vehicle to the workstation, and control the workstation to perform pick-up and place operations on the hit vehicle, the pick-up and place operations include a box pick-up operation and a box placement operation; The processing module is further configured to execute the at least one pick-up and place task; to suspend the execution of the first pick-up and place task if an abnormal message is received during the execution of the first pick-up and place task; and to determine the target task corresponding to the abnormal message and execute the target task. The processing module is also used for: If the abnormal information is of the first abnormal type, the first pick-and-place module is controlled to re-hit a new placement position from among the multiple empty placement positions on the hit vehicle and place the target object into the new placement position; wherein, the first abnormal type refers to the workstation jamming when placing the target object into the hit placement position on the hit vehicle. If the abnormal information is of the second abnormal type or the third abnormal type, the first pick-up and place module is controlled to execute the second pick-up and place task; wherein, the second pick-up and place task is the next pick-up and place task after the first pick-up and place task; the second abnormal type refers to the abnormal box retrieval action when the workstation executes the pick-up and place task, and the third abnormal type refers to the abnormal box retrieval identification when the workstation executes the pick-up and place task.

12. An electronic device, characterized in that, The method includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 10.

14. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 10.

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