Management method, device and equipment of storage carrying equipment and storage medium

Abstract

The embodiment of the invention provides a storage carrying equipment management method, device and equipment, and a storage medium, and relates to the field of intelligent warehousing, and the method comprises the steps that a first system obtains a first request message, the first request message is used for requesting to suspend the task distribution of target storage carrying equipment, and the first request message comprises the identification information of the target storage carrying equipment; and in response to the first request message, pausing task allocation to the target warehousing and carrying equipment. The first system pauses task allocation for the target warehousing and carrying equipment to which the user selects to pause task allocation through the first request message triggered by the user in the map display interface, so that task pause processing is performed on a single robot selected by the user without affecting the task progress of other robots, and the task allocation efficiency is improved. Therefore, the overall working efficiency of the warehousing system is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of intelligent warehousing technology, and in particular to a management method, device and equipment, and storage medium for warehousing and handling equipment. Background Art

[0002] In smart warehousing, when task allocation is suspended for a single robot, business tasks will no longer be allocated to all robots in the field, that is, all robots in the field will be controlled to no longer receive business tasks. Although this suspension method can solve the problem of suspending task allocation for a single robot, it will affect the progress of business task allocation for other robots, and then affect the normal task allocation in the warehousing system, resulting in a reduction in the task execution efficiency of the warehousing system. Summary of the invention

[0003] The embodiments of the present disclosure provide a management method, device, equipment, and storage medium for storage and handling equipment. The embodiments of the present disclosure disclose the following technical solutions:

[0004] A first aspect of an embodiment of the present disclosure provides a management method for warehousing and handling equipment, which is applied to a first system, including: obtaining a first request message, the first request message being used to request suspension of task allocation to a target warehousing and handling equipment, the first request message including identification information of the target warehousing and handling equipment; and suspending task allocation to the target warehousing and handling equipment in response to the first request message.

[0005] In some embodiments, the method also includes: determining the state of the target warehousing and handling equipment, the state includes an idle state, an abnormal state, and a task state, wherein the abnormal state includes a recoverable abnormal state and an unrecoverable abnormal state; determining a task list of the target warehousing and handling equipment, the task list includes a current task being executed and / or at least one preparatory task to be executed; after pausing the assignment of tasks to the target warehousing and handling equipment, determining to execute target processing on the preparatory task according to the state of the target warehousing and handling equipment and the task list.

[0006] In some embodiments, determining the status of the target storage and handling equipment includes: if no feedback is received from the target storage and handling equipment within a preset time period after a task is assigned to the target storage and handling equipment, determining that the target storage and handling equipment is in an abnormal state; or in response to receiving an abnormal message reported by the target storage and handling equipment, determining that the target storage and handling equipment is in an abnormal state.

[0007] In some embodiments, based on the status and task list of the target warehousing and handling equipment, determining the target processing for the preparatory task includes: when the target warehousing and handling equipment is in a recoverable abnormal state, determining that the target warehousing and handling equipment continues to execute the current task, and determining that the target warehousing and handling equipment cancels the execution of the preparatory task, wherein the target warehousing and handling equipment is in an idle state after executing the current task; and reallocating the warehousing and handling equipment to the preparatory task.

[0008] In some embodiments, based on the status and task list of the target warehousing and handling equipment, determining to execute target processing of the preparatory task includes: when the target warehousing and handling equipment is in an irreversible abnormal state, outputting a first prompt message through the map display interface of the first system, and the first prompt message is used to prompt the staff to repair the target warehousing and handling equipment; after determining that the target warehousing and handling equipment has been repaired, continuing to execute the preparatory task and resuming the task allocation to the target warehousing and handling equipment.

[0009] In some embodiments, determining to perform target processing on the preparatory task according to the state of the target storage and handling equipment and the task list includes: when the target storage and handling equipment is in the task state, determining that the target storage and handling equipment continues to perform the current task.

[0010] In some embodiments, the method further includes: when the target storage and handling equipment is not in an irrecoverable abnormal state, replanning a walking route for the target storage and handling equipment, the destination of the walking route is an idle area or a rest area; and sending the walking route to the target storage and handling equipment.

[0011] In some embodiments, obtaining the first request message includes: obtaining the first request message through the map display interface of the first system, wherein the map display interface displays all storage and handling equipment in the storage area, and the triggering method of the first request message includes at least one of the following: selecting the first area of ​​the map display interface, and the first storage and handling equipment completely included in the first area is the target storage and handling equipment; clicking on the second storage and handling equipment in the map display interface, and the second storage and handling equipment is the target storage and handling equipment; entering the code or type of the third storage and handling equipment in the query box of the map display interface, and the third storage and handling equipment is the target storage and handling equipment.

[0012] In some embodiments, the method further includes: adding a first mark to the target storage and handling equipment on a map display interface of the first system, wherein the first mark is used to indicate that the target storage and handling equipment has suspended task allocation.

[0013] In some embodiments, the method also includes: obtaining a second request message through the map display interface of the first system, the second request message being used to request the resumption of task allocation for the target warehousing and handling equipment, the second request message including identification information of the target warehousing and handling equipment; and resuming task allocation for the target warehousing and handling equipment in response to the second request message.

[0014] In some embodiments, the method further includes: in response to the second request message, canceling the first mark of the target storage and handling equipment, and / or adding a second mark to the target storage and handling equipment, the second mark being used to identify that the target storage and handling equipment has resumed task allocation.

[0015] In some embodiments, the location where the first mark and / or the second mark is added includes any of the following: on the icon of the target storage and handling equipment dynamically displayed in the map display interface; in the message prompt page of the target storage and handling equipment displayed in the map display interface.

[0016] In some embodiments, the map display interface of the first system includes a message prompt page for the target warehousing and handling equipment, and the message prompt page includes at least one of the following: a first button. When the first button is triggered, the task allocation of the target warehousing and handling equipment is suspended; a second button. When the second button is triggered, the task allocation of the target warehousing and handling equipment is resumed; a first mark is used to identify that the target warehousing and handling equipment has suspended task allocation; a second mark is used to identify that the target warehousing and handling equipment has resumed task allocation; an abnormality level is used to identify the abnormality level of the target warehousing and handling equipment; the map display interface also includes an abnormality panel, and the abnormality panel includes a first list. The first list displays the numbers of the warehousing and handling equipment that support the function of suspending task allocation.

[0017] In some embodiments, the method also includes: after triggering the target operation, maintaining a pause in allocating tasks to the target storage and handling equipment, wherein the target operation includes at least one of the following: waking up after the first system goes into sleep mode, waking up after the target storage and handling equipment goes into sleep mode, restarting the target storage and handling equipment after shutting down, and restarting the first system.

[0018] A second aspect of an embodiment of the present disclosure provides a management device for warehousing and handling equipment, including: an acquisition module, used to obtain a first request message, the first request message is used to request to suspend the assignment of tasks to a target warehousing and handling equipment, the first request message includes identification information of the target warehousing and handling equipment; a processing module, used to suspend the assignment of tasks to the target warehousing and handling equipment in response to the first request message.

[0019] A third aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor and a memory, the memory being used to store computer-executable instructions; and the processor being used to read instructions from the memory and execute the instructions to implement the method in any one of the implementation modes of the aforementioned first aspect.

[0020] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are configured to cause the computer to execute the method in any implementation manner in the aforementioned first aspect.

[0021] A fifth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method in any one of the implementation methods of the first aspect above.

[0022] The management method, device, equipment, and storage medium of storage and handling equipment provided by the embodiments of the present disclosure obtain a first request message, the first request message is used to request to suspend the assignment of tasks to the target storage and handling equipment, and the first request message includes the identification information of the target storage and handling equipment; in response to the first request message, the assignment of tasks to the target storage and handling equipment is suspended. This achieves the purpose of suspending the assignment of tasks to the target storage and handling equipment in the storage system, and avoids the suspension of the assignment of tasks affecting all handling equipment in the storage system and affecting the overall operation efficiency of the storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of a storage system provided by an embodiment of the present disclosure is shown;

[0024] Figure 2 A flowchart of a method for managing storage and handling equipment proposed in an embodiment of the present disclosure;

[0025] Figure 3 A method flow chart of a method for managing storage and handling equipment proposed in an embodiment of the present disclosure;

[0026] Figure 4A Schematic diagram of triggering the pause task allocation for the map display interface;

[0027] Figure 4B Schematic diagram for triggering recovery task allocation;

[0028] Figure 4C This is a schematic diagram of the map display interface;

[0029] Figure 5 A schematic diagram of the structure of a management device 500 for storage and handling equipment applied to a first system proposed in an embodiment of the present disclosure;

[0030] Figure 6 A schematic structural diagram of an electronic device 600 for implementing the above-mentioned storage and handling equipment management method is shown according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] Many specific details are described in the following description to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present disclosure, so the present disclosure is not limited by the specific implementation disclosed below.

[0032] The terms used in one or more embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present disclosure. The singular forms of "a", "said" and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0033] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0034] In the present disclosure, a path planning method is provided. The present disclosure also relates to a path planning device, a path planning system, a computing device, a computer program product, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0035] The following describes the solutions of the embodiments of the present disclosure in combination with examples.

[0036] Figure 1 This is a schematic diagram of a warehousing system provided by an embodiment of the present disclosure, the warehousing system includes a first system 101 and at least one warehousing and handling device 102. The first system may be an RMS robot management system.

[0037] The storage and handling equipment 102 may be an intelligent storage equipment in a storage system, such as an AGV automatic guided vehicle, a picking and handling equipment, that is, a robot.

[0038] In an embodiment of the present disclosure, the first system 101 in the warehousing system and the storage and handling equipment 102 can communicate with each other, the first system can obtain the current status of the storage and handling equipment, the first system 101 can control or manage the storage and handling equipment 102, the first system can assign handling tasks to the storage and handling equipment 102, or the first system can suspend assigning handling tasks to the storage and handling equipment.

[0039] In the embodiment of the present disclosure, the first system 101 may have the function of assigning tasks to storage and handling equipment or suspending the assigned tasks. For example, the first system may be deployed with a Robot Management System (RMS) or an Autonomous Mobile Robot (AMR) control system.

[0040] For example, the first system may be a terminal or a server. For example, when the first system is a terminal, the first system may include various personal computers, laptops, smart phones, tablet computers, and portable wearable devices. When the first system is a server, the first system may be an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present disclosure.

[0041] In the embodiment of the present disclosure, the storage and handling equipment may be equipment for handling shelves, such as picking and handling equipment (such as a picking robot) in a storage system.

[0042] In some embodiments, the warehouse handling equipment may be a robot used to carry shelves, for example, a lurking robot such as a P robot. The P robot is used to carry mobile shelves (also referred to as portable shelves). For example, the P robot can carry the mobile shelves to the picking area of ​​the workstation to queue according to the handling tasks sent by the server.

[0043] In some embodiments, the warehouse handling equipment may be a robot for handling boxes, such as an RS robot. The RS robot is used to handle boxes in the shelves. For example, the RS robot can handle boxes in the shelves to the picking area of ​​the workstation to queue according to the handling tasks sent by the server.

[0044] In some embodiments, different functional modules can be deployed on storage and handling equipment according to different types of robots, such as a communication module for communication, a power supply module for power supply, a camera module for identifying road conditions and identifying QR codes of cargo boxes / shelves / landmarks, a PNC module for planning and controlling maps, etc.

[0045] Figure 2 This is a flow chart of a management method for storage and handling equipment proposed in an embodiment of the present disclosure, which is applied to the first system in a storage system. Figure 2 As shown, the method comprises the following steps:

[0046] Step 201: Obtain a first request message.

[0047] In some embodiments, the first request message is used to request to suspend the assignment of tasks to the target storage and handling equipment, and the first request message includes identification information of the target storage and handling equipment.

[0048] In some embodiments, the first request message may be a task allocation suspension request message, and the name of the first request message is not limited.

[0049] For example, the RMS system receives a request message for pausing task assignment triggered by a map display interface, where the request message includes identification information of the robot.

[0050] In some embodiments, the first system obtains the first request message including: obtaining the first request message through the map display interface of the first system, wherein the map display interface displays all storage and handling equipment in the storage area, and the triggering method of the first request message includes at least one of the following: selecting the first area of ​​the map display interface, and the first storage and handling equipment completely included in the first area is the target storage and handling equipment; clicking on the second storage and handling equipment in the map display interface, and the second storage and handling equipment is the target storage and handling equipment; entering the code or type of the third storage and handling equipment in the query box of the map display interface, and the third storage and handling equipment is the target storage and handling equipment.

[0051] In some embodiments, the first request message may be triggered in the first system by obtaining identification information of the target storage and handling equipment through selection, clicking or input.

[0052] In some embodiments, the first system has a map display interface, through which all storage and handling equipment in the storage area can be displayed, wherein the map display interface can dynamically display the icons of the storage and handling equipment; the map display interface can also display a message prompt page of the storage and handling equipment, which is used to display the status or mark of the storage and handling equipment. Further, the message prompt page includes buttons, marks, abnormality levels, etc., the buttons are used for users to trigger corresponding operations by clicking, the marks are used to identify the status of the storage and handling equipment, and the abnormality level is used to identify the abnormality level of the storage and handling equipment.

[0053] In some embodiments, the message prompt page of the target warehousing and handling equipment in the map display interface also includes an abnormality level, which is used to identify the abnormality level of the target warehousing and handling equipment; the map display interface also includes an abnormality panel, and the abnormality panel includes a first list, and the first list displays the numbers of the warehousing and handling equipment that supports the task allocation suspension function.

[0054] In some embodiments, the first system may display the abnormality level of the target storage and handling equipment to remind the user to handle the abnormal target handling equipment.

[0055] In some embodiments, the first system may display the serial numbers of storage and handling equipment that supports the pause task allocation function, so that the user can select the target storage and handling equipment according to the serial numbers in the first list.

[0056] For example, the robot IDs for which the "robot pause task allocation" function is enabled are displayed on the map display interface, that is, which robots support the pause task allocation function, and a pause task allocation button is added. When the button is clicked, task allocation can be paused for the robot.

[0057] For example, Figure 4A The map display interface shown is a schematic diagram of triggering task suspension allocation. The user can select an area in the map display interface to determine that the robot in the area is the target robot.

[0058] For example, Figure 4A The map display interface shown is a schematic diagram of triggering task suspension allocation. The user can click on the robot in the map display interface to determine that the robot is the target robot.

[0059] For example, Figure 4A The map display interface shown is a schematic diagram of triggering task pause allocation. The user can enter the robot code or type in the query box / search box to determine the robot with the code or type as the target robot.

[0060] In some embodiments, the first system may determine identification information of the storage and handling equipment that needs to execute the suspension task allocation by acquiring the first request message.

[0061] Step 202: In response to the first request message, suspend allocating tasks to the target storage and handling equipment.

[0062] In some embodiments, the map display interface of the first system includes a message prompt page for the target warehousing and handling equipment, and the message prompt page includes at least one of the following: a first button. When the first button is triggered, the task allocation of the target warehousing and handling equipment is suspended; a second button. When the second button is triggered, the task allocation of the target warehousing and handling equipment is resumed; a first mark is used to identify that the target warehousing and handling equipment has suspended task allocation; a second mark is used to identify that the target warehousing and handling equipment has resumed task allocation; an abnormality level is used to identify the abnormality level of the target warehousing and handling equipment; the map display interface also includes an abnormality panel, and the abnormality panel includes a first list. The first list displays the numbers of the warehousing and handling equipment that support the function of suspending task allocation.

[0063] In some embodiments, the first system can obtain the equipment identification information of the target warehousing and handling equipment for which task allocation needs to be suspended based on the target warehousing and handling equipment selected by the user through the map display interface, so that based on the identification information, when the user clicks the first button in the message prompt page corresponding to the target warehousing and handling equipment, the first system suspends task allocation for the target warehousing and handling equipment.

[0064] For example, Figure 4A As shown in the schematic diagram of the map display interface of suspending task allocation, when the user clicks on the suspend task allocation in the message prompt page corresponding to the robot with ID 5200034, the suspend task allocation to the robot with ID 5200034 is triggered.

[0065] In some embodiments, after suspending the assignment of tasks to the target storage equipment, the first system adds a first mark to the target storage and handling equipment on the map display interface of the first system, and the first mark is used to indicate that the assignment of tasks to the target storage and handling equipment has been suspended.

[0066] In some embodiments, the location where the first mark is added includes any one of the following: on an icon of the target warehousing and handling equipment dynamically displayed in the map display interface; in a message prompt page of the target warehousing and handling equipment displayed in the map display interface.

[0067] In some embodiments, after the first system determines the identification information of the target warehousing and handling equipment based on the first request message, when the user triggers the first button of the message prompt page corresponding to the target warehousing and handling equipment, the first system suspends the task allocation to the target warehousing and handling equipment, and displays it on the icon of the target warehousing and handling equipment in the form of color or dynamic float.

[0068] In some embodiments, after the first system determines the identification information of the target warehousing and handling equipment based on the first request message, when the user triggers the first button of the message prompt page corresponding to the target warehousing and handling equipment, the first system suspends the task allocation to the target warehousing and handling equipment, and adds a first mark in the message prompt page to indicate that the target warehousing and handling equipment has suspended the task allocation.

[0069] In some embodiments, adding the first mark to the target storage and handling equipment may be adding the time or abnormality level of the first request message for suspending task allocation.

[0070] For example, the RMS system performs a pause task allocation process on the target robot corresponding to the identification information, and marks the target robot to which the task allocation is paused on the map display interface.

[0071] In some embodiments, a second request message is obtained through the map display interface of the first system, the second request message is used to request the resumption of task allocation for the target warehousing and handling equipment, and the second request message includes identification information of the target warehousing and handling equipment; in response to the second request message, task allocation for the target warehousing and handling equipment is resumed.

[0072] In some embodiments, the map display interface of the first system includes a target storage and handling equipment message prompt page, and the message prompt page includes a second button. When the second button is triggered, the target storage and handling equipment is restored to task allocation.

[0073] In some embodiments, the user triggers the second button through the message prompt page of the target storage and handling equipment in the map display interface, so that the first system receives a request message for resuming task allocation for the target storage and handling equipment.

[0074] For example, Figure 4B As shown in the schematic diagram of triggering recovery task allocation, the user triggers the recovery task allocation to the target robot by clicking the recovery task allocation button on the message prompt page corresponding to the target robot.

[0075] For example, in response to a resume allocation request message for a target robot in a task allocation paused state, the RMS system resumes the task allocation of the target robot carried in the allocation request message.

[0076] In some embodiments, in response to the second request message, the first mark of the target storage and handling equipment is cancelled, and / or a second mark is added to the target storage and handling equipment, the second mark being used to identify that the target storage and handling equipment has resumed task allocation.

[0077] In some embodiments, when the first system obtains the second request message, it resumes the task allocation to the target storage and handling equipment in response to the second request message, and cancels the first mark of the target storage and handling equipment.

[0078] For example, based on the identification information of the target robot, the target robot in the task pause allocation state is processed, and the task pause allocation mark is cancelled in the map display interface.

[0079] In some embodiments, after the first system resumes task allocation to the target storage and handling equipment in response to the second request message, a second mark is added to the target storage and handling equipment to indicate that task allocation has been resumed for the target storage and handling equipment.

[0080] For example, based on the identification information of the target robot, the target robot in the task pause allocation state is processed and switched to the task allocation state.

[0081] In some embodiments, the location where the first mark and / or the second mark is added includes any of the following: on the icon of the target storage and handling equipment dynamically displayed in the map display interface; in the message prompt page of the target storage and handling equipment displayed in the map display interface.

[0082] In some embodiments, the first mark and the second mark may be dynamically added to the icon of the target warehousing and handling equipment, or added to the message prompt page of the target warehousing and handling equipment.

[0083] In some embodiments, the first mark and the second mark can also be added to the message list of the target storage and handling equipment. For example, each storage and handling equipment has a corresponding message list in the first system. When it is selected to suspend task assignment, a message prompt of the suspended task assignment is added to its corresponding message list. When the task assignment is resumed, the message prompt of the suspended task assignment is cancelled in its corresponding message list, or a message prompt of resuming task assignment is added. The adding position of the first mark and the second mark is not limited by the present disclosure.

[0084] In some embodiments, after triggering the target operation, the first system remains suspended from allocating tasks to the target storage and handling equipment, wherein the target operation includes at least one of the following: waking up from sleep mode, waking up from sleep mode, restarting the target storage and handling equipment after shutdown, and restarting the first system.

[0085] In some embodiments, after being triggered to sleep and awakened, the first system may maintain the suspended assignment task for the target storage and handling equipment to which the suspended task assignment is applied.

[0086] In some embodiments, after the target storage and handling equipment wakes up from hibernation, the first system may keep suspending the assignment of tasks to the target storage and handling equipment.

[0087] In some embodiments, after the target storage and handling equipment is shut down and restarted, the first system may keep suspending the assignment of tasks to the target storage and handling equipment.

[0088] In some embodiments, after the first system is restarted, the suspended assignment task for the target storage and handling equipment to which the suspended task assignment is assigned may be maintained.

[0089] In some embodiments, when the first system needs to be restarted and recovered due to a system abnormality, or when a hardware failure requires manual restart and recovery, the suspended task allocation to the target storage and handling equipment that has been suspended can be maintained.

[0090] In some embodiments, the first system may maintain the suspended task allocation of the target storage and handling equipment after the system is restarted or awakened from sleep mode.

[0091] In some embodiments, after the first system executes the pause task allocation to the target storage and handling equipment, if the target storage and handling equipment is shut down and then restarted or awakened after hibernation, the first system can still maintain the pause task allocation to the target storage and handling equipment.

[0092] For example, after the RMS system executes the task suspension allocation processing on the target robot, the target robot before and after the system wakes up from sleep, the target robot is shut down and restarted, the system interface is restarted, etc., it still maintains the task suspension allocation state and no longer issues tasks.

[0093] In the above embodiment, the first system suspends or resumes task allocation for the target storage and handling equipment for which the user chooses to suspend task allocation through the first request message and the second request message triggered by the user in the map display interface, and can distinguish and mark them by adding or canceling marks to achieve task suspension processing for a single robot selected by the user without affecting the business task progress of other robots, thereby improving the overall work efficiency of the warehousing system.

[0094] Figure 3 A schematic diagram of a process for suspending the allocation of tasks for target storage and handling equipment provided by the present disclosure, based on Figure 2 The embodiment shown, as Figure 3 As shown, the following steps are included:

[0095] Step 301, determining the status of the target storage and handling equipment.

[0096] In some embodiments, the state includes an idle state, an abnormal state, and a task state, wherein the abnormal state includes a recoverable abnormal state and an unrecoverable abnormal state.

[0097] In some embodiments, the idle state may be that the target storage and handling equipment currently has no current tasks and no preparation tasks.

[0098] In some embodiments, the abnormal state may be a state in which the target storage and handling equipment cannot perform tasks normally.

[0099] In some embodiments, both recoverable and unrecoverable anomalies may include hardware failures, which may be lifting device anomalies, walking anomalies, firmware anomalies, network anomalies, etc. The difference between the two lies in the degree of manual intervention required.

[0100] In some embodiments, a recoverable exception means that the target storage and handling equipment can continue to move after such an exception occurs. In this case, the staff can wait outside the inventory area for it to walk to a checkpoint or maintenance point and then repair the exception, or the target storage and handling equipment can repair the exception by itself. For example, if an exception occurs in the fork, the robot can be moved to a maintenance point or checkpoint for the staff to repair the exception, or if an exception occurs in the picking box, the task of picking up the box can be completed by retrying.

[0101] In some embodiments, an irrecoverable exception refers to an exception that occurs in the target storage and handling equipment that will cause it to be unable to continue walking or moving, and staff are required to enter the inventory area to repair it, such as main control exception, front anti-collision bar triggering, rear anti-collision bar triggering, obstacle avoidance exception, subtask sending timeout, no path planning, drive motor failure, etc.

[0102] In some embodiments, recoverable exceptions can be repaired by themselves. Exceptions refer to certain exceptions that the robot can recover by itself or be instructed to recover by RMS, without the need for human intervention, such as the RS robot fork holding exception (the fork holding has an identification function, and the identification function exception can be recovered by the RS robot's retry); unrecoverable exceptions refer to exceptions that the robot must be repaired manually, such as the robot being unable to walk due to hardware failure.

[0103] In some embodiments, determining the status of the target storage and handling equipment includes: if no feedback is received from the target storage and handling equipment within a preset time period after a task is assigned to the target storage and handling equipment, determining that the target storage and handling equipment is in an abnormal state; or in response to receiving an abnormal message reported by the target storage and handling equipment, determining that the target storage and handling equipment is in an abnormal state.

[0104] In some embodiments, the first system can assign tasks to the target warehousing and handling equipment to determine the status of the target warehousing and handling equipment by whether feedback is received from the target warehousing and handling equipment. When no feedback is received from the target warehousing and handling equipment, it is determined to be an abnormal state, or when an abnormal message reported by the target warehousing and handling equipment is received, it is determined to be an abnormal state.

[0105] In some embodiments, the map display interface of the first system includes an exception panel, the exception panel includes a first list, and the first list displays the serial numbers of the storage and handling equipment that supports the pause task allocation function.

[0106] For example, Figure 4C The diagram of the map display interface shown in the figure has a new function in the exception panel in the upper left corner: synchronously display the robot ID of the robot with the "Robot Pause Task Assignment" function enabled; display the exception: "Robot cannot be linked"; click the positioning button to locate the target robot for the paused task assignment.

[0107] Step 302, determining a task list of target storage and handling equipment.

[0108] In some embodiments, the task list includes a current task being executed and / or at least one preliminary task to be executed.

[0109] In some embodiments, determining the task list of the target storage and handling equipment may be determining the current tasks being performed by the target storage and handling equipment and the preparatory tasks to be performed. Among them, the current tasks being performed may be empty, and the preparatory tasks to be performed may also be empty. In other words, the present disclosure does not limit the number of tasks.

[0110] In some embodiments, the current task being executed refers to the robot picking up and placing, such as the fork-holding robot (RS robot) picking up and placing cargo boxes, or lifting and placing, such as the lurking robot (P robot) lifting shelves. If the robot is on the way to the target shelf, it does not belong to the current task being executed. At this time, the task of picking up and placing cargo boxes or lifting and placing shelves is a preparatory task. In other words, if the robot is on the way, the task of picking up and placing cargo boxes or lifting and placing shelves can be recycled. But if it is being executed, it cannot be recycled.

[0111] For example, the RMS system determines a task list of the target robot to which task assignment is suspended, that is, the tasks being executed and the preparatory tasks.

[0112] By way of example, a preparatory task may be a task that has been assigned but not yet executed.

[0113] Step 303, after suspending the assignment of tasks to the target storage and handling equipment, determine to perform target processing on the preparatory tasks according to the status and task list of the target storage and handling equipment.

[0114] In some embodiments, based on the status and task list of the target warehousing and handling equipment, determining the target processing for the preparatory task includes: when the target warehousing and handling equipment is in a recoverable abnormal state, determining that the target warehousing and handling equipment continues to execute the current task, and determining that the target warehousing and handling equipment cancels the execution of the preparatory task, wherein the target warehousing and handling equipment is in an idle state after executing the current task; and reallocating the warehousing and handling equipment to the preparatory task.

[0115] In some embodiments, the repair time of recoverable exceptions is not fixed. During the self-repair process, repeated retries may be required to repair the system. During the manual repair process, the preparatory task cannot be continued due to the need to walk to an inspection or maintenance point. The preparatory task needs to be recovered and reallocated to the storage and handling equipment.

[0116] In some embodiments, when the target warehousing and handling equipment is in a recoverable abnormal state, that is, the failure of the target warehousing and handling equipment can be recovered by retrying or system instructions without human intervention, the first system determines that the target warehousing and handling equipment continues to execute the current task and cancels the execution of the preparatory task.

[0117] In some embodiments, when the target storage and handling equipment is in a recoverable abnormal state, that is, the fault of the target storage and handling equipment can be moved to a checkpoint or maintenance point outside the inventory area, and the staff can repair the abnormality, the first system determines that the target storage and handling equipment continues to perform the current task and cancels the execution of the preparatory task. For example, if the robot has a fork holding abnormality, the robot can move to a maintenance point or checkpoint after completing the current task, and the staff can repair the abnormality, cancel the execution of the assigned but unexecuted tasks, and assign them to other robots for execution.

[0118] In some embodiments, after the target storage and handling equipment completes the current task, it is in an idle state, that is, a state with no task to execute, and its preparatory task can be reallocated to the storage and handling equipment by the first system for execution.

[0119] For example, the RMS system determines the current state of the target robot, and when the current state is a recoverable exception, after executing the current recoverable exception task, the assigned but unexecuted tasks of the target robot are recycled, and task allocation to the target robot is suspended.

[0120] In some embodiments, based on the status and task list of the target warehousing and handling equipment, determining to execute target processing of the preparatory task includes: when the target warehousing and handling equipment is in an irreversible abnormal state, outputting a first prompt message through the map display interface of the first system, and the first prompt message is used to prompt the staff to repair the target warehousing and handling equipment; after determining that the target warehousing and handling equipment has been repaired, continuing to execute the preparatory task and resuming the task allocation to the target warehousing and handling equipment.

[0121] In some embodiments, if the status of the target warehousing and handling equipment is an irrecoverable abnormal state, the current task being executed is in an irrecoverable abnormal state and requires manual intervention for recovery. The first system then outputs a first prompt message on the map display interface to prompt the staff to repair the abnormality. After the repair is completed, the assigned but unexecuted tasks are continued to be executed, and the task allocation to the target warehousing and handling equipment is restored.

[0122] In some embodiments, if an unrecoverable exception occurs in the target storage and handling equipment, it means that the target storage and handling equipment cannot be moved, and staff are required to enter the inventory area to inspect and repair the target storage and handling equipment to repair the exception. After the staff completes the repair, since the target storage and handling equipment is still in the inventory area, the assigned but unexecuted tasks can continue to be executed without the need to recycle these tasks.

[0123] For example, after determining the current state of the target robot, the RMS system outputs a prompt message for repairing the unrecoverable abnormality when the current state is an unrecoverable abnormality, and after manually repairing the unrecoverable abnormality, no new tasks are assigned to the robot, but the assigned but unexecuted tasks are continued, and new tasks can be assigned autonomously. Furthermore, by resending the request message for suspending task allocation in the map display interface, the RMS system re-receives the request message for suspending task allocation, and performs task suspension allocation processing on the target robot.

[0124] In some embodiments, determining to perform target processing on the preparatory task according to the state of the target storage and handling equipment and the task list includes: when the target storage and handling equipment is in the task state, determining that the target storage and handling equipment continues to perform the current task.

[0125] In some embodiments, when the target storage and handling equipment is in a task state, the first system can continue to execute the current task and can continue to execute the assigned but unexecuted tasks without recycling these tasks while suspending the task allocation processing for the target storage and handling equipment.

[0126] For example, after the RMS system determines the state of the robot, for the robot in the task state, after all the assigned tasks are completed, the task assignment to the target robot is suspended. Among them, all the assigned tasks include the current task and the assigned but unexecuted tasks, that is, the current task and the preparatory tasks.

[0127] In some embodiments, when the target storage and handling equipment is not in an irrecoverable abnormal state, a walking route is replanned for the target storage and handling equipment, and the destination of the walking route is an idle area or a rest area; the walking route is sent to the target storage and handling equipment.

[0128] In some embodiments, when the target storage and handling equipment is not in an irrecoverable abnormal state, that is, the target storage and handling equipment is in any of the task state, the recoverable abnormal state, and the idle state, the first system can re-plan the walking route for the target storage and handling equipment after executing the pause task allocation of the target storage and handling equipment, so that the target storage and handling equipment can go to the idle area or rest area to avoid interfering with the walking of other storage and handling equipment.

[0129] In some embodiments, the idle area or rest area may be an area outside the inventory area, such as an inspection point or maintenance point where staff inspect or repair storage equipment.

[0130] In some embodiments, when the target storage and handling equipment is not in an irrecoverable abnormal state, it may be in a recoverable abnormal state, indicating that the target storage and handling equipment needs to be moved to an inspection point or maintenance point outside the inventory area for staff to repair the abnormality. The first system needs to re-plan the walking path for the target storage and handling equipment after executing the pause task allocation, so that the target storage and handling equipment can be repaired at the inspection point or maintenance point to avoid interfering with the normal movement of other storage and handling equipment.

[0131] In some embodiments, when the target storage and handling equipment is not in an irrecoverable abnormal state, it may be in an idle state, and the first system may re-plan a walking path for it so that it walks to an idle area or a rest area.

[0132] In some embodiments, when the target storage and handling equipment is not in an irrecoverable abnormal state, it may be in a task state, which means that after the first system executes the pause task allocation of the target storage and handling equipment, the target storage and handling equipment will be in an idle state after completing the current task. The first system needs to re-plan the walking path for it so that it can walk to the idle area or rest area.

[0133] For example, the RMS system suspends task allocation processing for the target robot, and after determining whether the target robot is a non-faulty robot, replans a walking path for the target robot within a preset time period so that the target robot can go to idle areas, rest areas, and the like.

[0134] In the above embodiment, after receiving the first request message and performing task suspension allocation processing on the target storage and handling equipment, the first system can determine whether to continue to execute the current task and the preparatory task, or recycle the preparatory task, or manually repair the fault of the target storage and handling equipment, re-plan the route, etc., according to the status of the target storage and handling equipment, so as to avoid the target storage and handling equipment being suspended from task allocation and affecting the task execution of other storage and handling equipment.

[0135] The following is a specific implementation of a storage and handling equipment management method provided by the present disclosure, in which the execution subject is the RMS system. It includes the following steps:

[0136] 1. The RMS system receives a request message for pausing task assignment triggered by the map display interface, and the request message includes the robot's identification information. Figure 4AThe map display interface shown is a schematic diagram of triggering the suspension of task allocation. The staff selects the robot and clicks the suspend task allocation option.

[0137] 2. Perform task suspension allocation processing on the target robot corresponding to the identification information, and mark the target robot to which the task suspension allocation is applied on the map display interface.

[0138] Furthermore, the task suspension allocation process for the target robot also includes:

[0139] 2.1. Determine the current state of the target robot.

[0140] The current status includes: idle status, abnormal status (recoverable abnormality and unrecoverable abnormality), and task status.

[0141] Perform the following steps based on the current status:

[0142] 2.2. When the current state is a recoverable exception, after executing the task of the current recoverable exception, the assigned but unexecuted tasks of the target robot are recovered, and the task allocation to the target robot is suspended.

[0143] 2.3. When the current state is an unrecoverable exception, the prompt information for repairing the unrecoverable exception is output, and after the unrecoverable exception is manually repaired, the robot can continue to perform the original task and can autonomously continue to assign new tasks. Resend the request information for suspending task assignment in the map display interface, the RMS system re-receives the request information for suspending task assignment, and performs task suspension assignment processing on the target robot.

[0144] 2.4. When the current state is the task state, after all the assigned tasks are executed (the actual application includes two tasks, one current task and one preparatory task, but the number of tasks is not limited in this embodiment), the task allocation to the target robot is suspended.

[0145] 3. After suspending the task allocation for the target robot and determining whether the target robot is a normal robot, replan the walking path for the target robot within a preset time period so that the target robot can go to idle areas, rest areas, etc. to avoid hindering the walking of other robots.

[0146] 4. After the target robot is processed with task suspension allocation, it also includes: waking up after sleep, the target robot is shut down and restarted, or the target robot before and after the RMS interface is restarted, the target robot still maintains the task suspension allocation state and no longer issues tasks.

[0147] 5. In response to the resume allocation request information of the target robot in the task suspension allocation state, the RMS system resumes the task allocation of the target robot. Figure 4B As shown in the schematic diagram of triggering recovery task allocation, the staff can trigger the recovery allocation request for the target robot by selecting the target robot and clicking the option of recovery task allocation.

[0148] Based on the identification information of the target robot, the target robot in the task suspension allocation state is processed and switched to the task allocation state. In addition, the mark of the target robot in the task suspension allocation is cancelled in the map display interface.

[0149] 6. In the map display interface, the task allocation status and paused task allocation status based on the target robot are displayed in real time. Furthermore, in the map display interface, a message prompt is added - New paused task allocation exception:

[0150] 6.1. Display the robot message "Robot suspends task allocation" on the message prompt page:

[0151] The time is the time of the request information of the suspended task allocation triggered in the map display interface;

[0152] Abnormal level;

[0153] Solution: Select the robot in the map monitoring and click "Restore task allocation" in the right sidebar.

[0154] 6.2, such as Figure 4C The diagram of the map display interface shown in the figure has a new function in the exception panel in the upper left corner: synchronously display the robot ID of the robot with the "Robot Pause Task Assignment" function enabled; display the exception: "Robot cannot be linked"; click the positioning button to locate the target robot for the paused task assignment.

[0155] In summary, the beneficial effect of the embodiments of the present disclosure is that the task allocation to a single target robot can be achieved by the user triggering the pause task allocation button in the map display interface without affecting the task allocation and execution of other robots.

[0156] Figure 5 A schematic diagram of a storage and handling equipment management device 500 proposed in an embodiment of the present disclosure is applied to a first system, such as Figure 5 As shown, the device comprises:

[0157] The acquisition module 501 is used to acquire a first request message, where the first request message is used to request to suspend the assignment of tasks to the target storage and handling equipment, and the first request message includes identification information of the target storage and handling equipment.

[0158] The processing module 502 is used to suspend the assignment of tasks to the target storage and handling equipment in response to the first request message.

[0159] In some embodiments, the processing module is also used to determine the status of the target warehousing and handling equipment, which status includes an idle status, an abnormal status, and a task status, wherein the abnormal status includes a recoverable abnormal status and an irrecoverable abnormal status; determine the task list of the target warehousing and handling equipment, which task list includes the current task being executed and / or at least one preparatory task to be executed; after pausing the assignment of tasks to the target warehousing and handling equipment, determine to execute target processing on the preparatory task based on the status and task list of the target warehousing and handling equipment.

[0160] In some embodiments, the processing module is also used to determine that the target storage and handling equipment is in an abnormal state if no feedback is received from the target storage and handling equipment within a preset time period after assigning a task to the target storage and handling equipment; or to determine that the target storage and handling equipment is in an abnormal state in response to receiving an abnormal message reported by the target storage and handling equipment.

[0161] In some embodiments, the processing module is also used to determine that the target storage and handling equipment continues to perform the current task and determines that the target storage and handling equipment cancels the execution of the preparatory task when the target storage and handling equipment is in a recoverable abnormal state, wherein the target storage and handling equipment is in an idle state after completing the current task; and reallocate the storage and handling equipment to the preparatory task.

[0162] In some embodiments, the processing module is also used to output a first prompt message through the map display interface of the first system when the target storage and handling equipment is in an irreversible abnormal state. The first prompt message is used to prompt the staff to repair the target storage and handling equipment; after determining that the target storage and handling equipment has been repaired, continue to execute the preparatory tasks and restore the task allocation to the target storage and handling equipment.

[0163] In some embodiments, the processing module is further used to determine that the target storage and handling equipment continues to perform the current task when the target storage and handling equipment is in a task state.

[0164] In some embodiments, the processing module is also used to re-plan the walking route for the target storage and handling equipment when the target storage and handling equipment is not in an irrecoverable abnormal state, and the destination of the walking route is an idle area or a rest area; and send the walking route to the target storage and handling equipment.

[0165] In some embodiments, the acquisition module is also used to obtain a first request message through the map display interface of the first system, wherein the map display interface displays all storage and handling equipment in the storage area, and the triggering method of the first request message includes at least one of the following: selecting the first area of ​​the map display interface, and the first storage and handling equipment completely included in the first area is the target storage and handling equipment; clicking on the second storage and handling equipment in the map display interface, and the second storage and handling equipment is the target storage and handling equipment; entering the code or type of the third storage and handling equipment in the query box of the map display interface, and the third storage and handling equipment is the target storage and handling equipment.

[0166] In some embodiments, the processing module is further used to add a first mark to the target storage and handling equipment on the map display interface of the first system, and the first mark is used to indicate that the target storage and handling equipment has suspended task allocation.

[0167] In some embodiments, the acquisition module is also used to acquire a second request message through the map display interface of the first system, the second request message is used to request the resumption of task allocation for the target warehousing and handling equipment, the second request message includes the identification information of the target warehousing and handling equipment; the processing module is also used to respond to the second request message and resume task allocation for the target warehousing and handling equipment.

[0168] In some embodiments, the processing module is also used to cancel the first mark of the target storage and handling equipment in response to the second request message, and / or add a second mark to the target storage and handling equipment, wherein the second mark is used to identify that the target storage and handling equipment has resumed task allocation.

[0169] In some embodiments, the location where the first mark and / or the second mark is added includes any of the following: on the icon of the target storage and handling equipment dynamically displayed in the map display interface; in the message prompt page of the target storage and handling equipment displayed in the map display interface.

[0170] In some embodiments, the map display interface of the first system includes a message prompt page for the target warehousing and handling equipment, and the message prompt page includes at least one of the following: a first button. When the first button is triggered, the task allocation of the target warehousing and handling equipment is suspended; a second button. When the second button is triggered, the task allocation of the target warehousing and handling equipment is resumed; a first mark is used to identify that the target warehousing and handling equipment has suspended task allocation; a second mark is used to identify that the target warehousing and handling equipment has resumed task allocation; an abnormality level is used to identify the abnormality level of the target warehousing and handling equipment; the map display interface also includes an abnormality panel, and the abnormality panel includes a first list. The first list displays the numbers of the warehousing and handling equipment that support the function of suspending task allocation.

[0171] In some embodiments, the processing module is also used to keep pausing the assignment of tasks to the target storage and handling equipment after triggering the target operation, wherein the target operation includes at least one of the following: waking up after the first system goes into sleep mode, waking up after the target storage and handling equipment goes into sleep mode, restarting the target storage and handling equipment after shutting down, and restarting the first system.

[0172] In summary, the storage and handling equipment management device proposed in the present disclosure can suspend task allocation to the target storage and handling equipment according to the identification information of the target storage and handling equipment indicated by the user, and can recycle the preparatory tasks according to the current status and task list of the target storage and handling equipment, and determine the execution mode of the current task, and resume the task allocation of the target storage and handling equipment after the user triggers the resumption of task allocation. The purpose of suspending and resuming task allocation for the target storage and handling equipment is achieved, avoiding affecting the normal task execution of other storage and handling equipment in the storage system, and further improving the work efficiency of the storage system.

[0173] Figure 6 6 is a schematic diagram of a structure of an electronic device 600 for implementing the above-mentioned storage and handling equipment management method according to an exemplary embodiment. The components of the electronic device 600 include but are not limited to a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and the database 650 is used to store data.

[0174] The electronic device 600 also includes an access device 640, which enables the electronic device 600 to communicate via one or more networks 660. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 640 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0175] In one embodiment of the present disclosure, the above components of the electronic device 600 and Figure 6 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 6 The electronic device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.

[0176] The electronic device 600 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The electronic device 600 may also be a mobile or stationary server.

[0177] Among them, when the processor 620 executes the computer instructions, the steps of the management method of the storage and handling equipment are implemented.

[0178] The above is a schematic scheme of an electronic device of this embodiment. It should be noted that the technical scheme of the electronic device and the technical scheme of the management method of the above-mentioned storage and handling equipment belong to the same concept, and the details not described in detail in the technical scheme of the electronic device can be referred to the description of the technical scheme of the management method of the above-mentioned storage and handling equipment.

[0179] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the management method of storage and handling equipment described in the above embodiments of the present disclosure.

[0180] The embodiments of the present disclosure further provide a computer program product, including a computer program, which, when executed by a processor, executes the method for managing storage and handling equipment described in the above embodiments of the present disclosure.

[0181] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0182] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0183] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0184] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0185] The preferred embodiments of the present disclosure disclosed above are only used to help explain the present disclosure. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present disclosure. The present disclosure selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present disclosure, so that those skilled in the art can well understand and use the present disclosure. The present disclosure is limited only by the claims and their full scope and equivalents.

Claims

1. A management method for storage and handling equipment, characterized in that: The method is performed by a first system, and includes: Obtaining a first request message, where the first request message is used to request to suspend the assignment of tasks to the target storage and handling equipment, and the first request message includes identification information of the target storage and handling equipment; In response to the first request message, allocating tasks to the target storage and handling equipment is suspended.

2. The method according to claim 1, characterized in that The method further comprises: Determine the state of the target storage and handling equipment, the state includes an idle state, an abnormal state, and a task state, wherein the abnormal state includes a recoverable abnormal state and an unrecoverable abnormal state; Determine a task list of the target storage and handling equipment, wherein the task list includes a current task being executed and / or at least one preparatory task to be executed; After suspending the assignment of tasks to the target storage and handling equipment, determining to perform target processing on the preparatory tasks according to the status of the target storage and handling equipment and the task list.

3. The method according to claim 2, characterized in that Determining the state of the target storage and handling equipment includes: If no feedback is received from the target storage and handling equipment within a preset time period after the task is assigned to the target storage and handling equipment, it is determined that the target storage and handling equipment is in the abnormal state; or In response to receiving the abnormality message reported by the target storage and handling equipment, it is determined that the target storage and handling equipment is in the abnormal state.

4. The method according to claim 2 or 3, characterized in that: The determining, according to the state of the target storage and handling equipment and the task list, to perform target processing on the preparatory task comprises: In the case where the target storage and handling equipment is in the recoverable abnormal state, determining that the target storage and handling equipment continues to perform the current task, and determining that the target storage and handling equipment cancels the performance of the preliminary task, wherein the target storage and handling equipment is in the idle state after performing the current task; Reallocate storage and handling equipment to the preparatory tasks.

5. The method according to claim 2 or 3, characterized in that: The determining, according to the state of the target storage and handling equipment and the task list, to perform target processing on the preparatory task comprises: When the target storage and handling equipment is in the irreversible abnormal state, a first prompt message is output through the map display interface of the first system, where the first prompt message is used to prompt the staff to repair the target storage and handling equipment; After determining that the target storage and handling equipment has been repaired, continue to execute the preparatory task and resume task allocation to the target storage and handling equipment.

6. The method according to claim 2, characterized in that The determining, according to the state of the target storage and handling equipment and the task list, to perform target processing on the preparatory task comprises: When the target storage and handling equipment is in the task state, it is determined that the target storage and handling equipment continues to perform the current task.

7. The method according to any one of claims 2, 3 and 6, characterized in that: The method further comprises: When the target storage and handling equipment is not in the irrecoverable abnormal state, replanning a walking route for the target storage and handling equipment, wherein the destination of the walking route is an idle area or a rest area; The travel route is sent to the target storage and handling equipment.

8. The method according to any one of claims 1 to 3 and 6, characterized in that: The obtaining of the first request message comprises: The first request message is obtained through a map display interface of the first system, wherein the map display interface displays all storage and handling equipment in the storage area, and the triggering method of the first request message includes at least one of the following: Select a first area of ​​the map display interface, and the first storage and handling equipment completely included in the first area is the target storage and handling equipment; Click on the second storage and handling equipment in the map display interface, where the second storage and handling equipment is the target storage and handling equipment; The code or type of a third storage and handling equipment is input in the query box of the map display interface, and the third storage and handling equipment is the target storage and handling equipment.

9. The method according to any one of claims 1 to 3 and 6, characterized in that: The method further comprises: On the map display interface of the first system, a first mark is added to the target storage and handling equipment, where the first mark is used to indicate that the target storage and handling equipment has suspended task allocation.

10. The method according to any one of claims 1 to 3 and 6, characterized in that: The method further comprises: Obtaining, through the map display interface of the first system, a second request message, wherein the second request message is used to request the resumption of task allocation for the target storage and handling equipment, and the second request message includes identification information of the target storage and handling equipment; In response to the second request message, task allocation to the target storage and handling equipment is resumed.

11. The method according to claim 10, characterized in that The method further comprises: In response to the second request message, the first mark of the target storage and handling equipment is cancelled, and / or a second mark is added to the target storage and handling equipment, wherein the second mark is used to identify that the target storage and handling equipment has resumed task allocation.

12. The method according to claim 11, characterized in that The adding position of the first mark and / or the second mark includes any one of the following: On the icon of the target storage and handling equipment dynamically displayed in the map display interface; The message prompt page of the target storage and handling equipment is displayed in the map display interface.

13. The method according to any one of claims 1 to 3 and 6, characterized in that: The map display interface of the first system includes a message prompt page of the target storage and handling equipment, and the message prompt page includes at least one of the following: A first button, when the first button is triggered, the target storage and handling equipment is suspended from task allocation; A second button, when the second button is triggered, the target storage and handling equipment is restored to task allocation; A first mark, used to indicate that the target storage and handling equipment has suspended task allocation; A second mark is used to indicate that the target storage and handling equipment has resumed task allocation; Abnormality level, used to identify the abnormality level of the target storage and handling equipment; The map display interface also includes an exception panel, which includes a first list, and the first list displays the serial numbers of storage and handling equipment that supports the task allocation suspension function.

14. The method according to any one of claims 1 to 3 and 6, characterized in that: The method further comprises: After the target operation is triggered, the assignment of tasks to the target storage and handling equipment is kept suspended. The target operation includes at least one of the following: waking up the first system after hibernation, waking up the target storage and handling equipment after hibernation, restarting the target storage and handling equipment after shutdown, and restarting the first system.

15. A management device for storage and handling equipment, characterized in that: include: An acquisition module, used for acquiring a first request message, wherein the first request message is used for requesting to suspend the assignment of tasks to a target storage and handling equipment, and the first request message includes identification information of the target storage and handling equipment; The processing module is used to suspend the assignment of tasks to the target storage and handling equipment in response to the first request message.

16. An electronic device comprising: A processor and a memory, wherein the memory is used to store computer executable instructions; The processor is configured to read the instruction from the memory and execute the instruction to implement the method according to any one of claims 1 to 14.

17. A computer-readable storage medium, wherein: The storage medium stores computer program instructions, and when a computer reads the instructions, the method according to any one of claims 1 to 14 is executed.

18. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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