Scheduling method and equipment for robots in warehousing device, warehousing system and medium

Abstract

The invention discloses a scheduling method and equipment for robots in a storage device, a storage system and a medium, the storage device comprises a goods shelf, a first robot and a second robot, the goods shelf is installed on a bearing surface, the first robot is used for walking on the bearing surface, the second robot is used for walking on the goods shelf, and a horizontal track is arranged on the goods shelf; a plurality of bearing surface identification codes are arranged on the bearing surface, and the position of the horizontal track corresponds to the position of part of the bearing surface identification codes; the bearing surface identification code carries the position information of the bearing surface identification code; a first identification code information sequence obtained by scanning the bearing surface identification code in the process that the first robot moves on the bearing surface is obtained, and a second identification code information sequence obtained by scanning the bearing surface identification code in the process that the second robot moves on the horizontal track is obtained; and scheduling the first robot and the second robot according to the first identification code information sequence and the second identification code information sequence. Resource waste is avoided, and scheduling efficiency is improved.

Description

Technical Field

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

[0002] In the field of warehouse automation, robot groups consisting of ground robots and vertical robots usually use identification codes, posture sensors, photoelectric sensors, etc. to locate the position of the robots. For example, when deploying a warehouse automation system, identification codes are manually pasted on the robot's path, and the scanner on the robot scans the identification code information for positioning during the movement.

[0003] In some scenarios, ground robots and vertical robots need to be dispatched uniformly. However, due to factors such as limited construction accuracy and coordinate origin setting, the location information of ground robots and vertical robots needs to be checked and converted before dispatching, which wastes computing resources and affects dispatching efficiency. What's more serious is that when the storage scale gradually expands, the amount of computing involved and the labor cost of layout will also increase proportionally, which wastes computing resources and affects dispatching efficiency. Summary of the invention

[0004] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a scheduling method, device, storage system and medium for a robot in a storage device.

[0005] As a first aspect of the present application, a scheduling method for a robot in a storage device is provided, wherein the storage device comprises a shelf, a first robot and a second robot, wherein the shelf is mounted on a carrying surface, the first robot is used to walk on the carrying surface, and the second robot is used to walk on the shelf, a horizontal track is provided on the shelf, a plurality of carrying surface identification codes are provided on the carrying surface, the position of the horizontal track corresponds to the position of some of the carrying surface identification codes; the carrying surface identification code carries the position information of the carrying surface identification code itself, and the method comprises:

[0006] Acquire a first identification code information sequence and a second identification code information sequence; wherein the first identification code information sequence is obtained by scanning the bearing surface identification code on the bearing surface while the first robot moves on the bearing surface, and the second identification code information sequence is obtained by scanning the bearing surface identification code on the bearing surface while the second robot moves on the horizontal track;

[0007] The first robot and the second robot are scheduled according to the first identification code information sequence and the second identification code information sequence.

[0008] Optionally, scheduling the first robot and the second robot according to the first identification code information sequence and the second identification code information sequence includes:

[0009] Get target location information;

[0010] Determine a first route based on the first identification code information sequence and the target location information; and determine a second route based on the second identification code information sequence and the target location information;

[0011] The first travel route is sent to the first robot so that the first robot moves to a position corresponding to the target position information according to the first travel route; and the second travel route is sent to the second robot so that the second robot moves to a position corresponding to the target position information according to the second travel route.

[0012] Optionally, the second robot includes a vertically moving cargo lifting and accessing unit and a horizontally moving frame unit for carrying the vertically moving cargo lifting and accessing unit, and the second identification code information sequence is obtained by scanning the carrying surface identification code by a scanner arranged at the bottom of the horizontal moving frame unit when the horizontal moving frame unit moves on the horizontal track.

[0013] Optionally, the horizontal moving frame unit is provided with a vertical track, the shelf is further provided with a plurality of shelf identification codes corresponding to the cargo positions one by one, and the method further comprises:

[0014] Acquire a third identification code information sequence; wherein the third identification code information sequence is obtained by scanning the shelf identification code when the vertically moving cargo lifting and accessing unit moves on the vertical track of the horizontally moving frame unit, and the third identification code information includes shelf vertical position information and shelf horizontal position information;

[0015] The vertically moving cargo lifting and accessing unit is scheduled according to the third identification code information sequence.

[0016] Optionally, the first robot is an automatic guided vehicle (AGV) intelligent handling robot.

[0017] As a second aspect of the present application, an electronic device is provided, the electronic device comprising:

[0018] one or more processors;

[0019] A memory having one or more computer programs stored thereon, wherein when the one or more computer programs are executed by the one or more processors, the one or more processors implement the robot scheduling method in the storage device provided in the first aspect of the present application.

[0020] As a third aspect of the present application, a storage system is provided, the storage system comprising a storage device and the electronic device provided in the second aspect of the present application, characterized in that the storage device comprises a shelf, a first robot and a second robot, the shelf is provided with a horizontal track, a bearing surface on which the shelf is located is provided with a plurality of rows and columns of bearing surface identification codes, and the position of the horizontal track corresponds to the position of part of the bearing surface identification codes;

[0021] The carrying surface identification code is used to obtain a first identification code information sequence when the first robot moves on the carrying surface, and is used to obtain a second identification code information sequence when the second robot moves on the horizontal track. The first identification code information sequence and the second identification code information sequence both include carrying surface position information. The first identification code information sequence and the second identification code information sequence are used to schedule the first robot and the second robot.

[0022] Optionally, the second robot includes a vertically moving cargo lifting and retrieval unit and a horizontally moving frame unit for carrying the vertically moving cargo lifting and retrieval unit, and the carrying surface identification code is used for obtaining the second identification code information sequence by a barcode scanner arranged at the bottom of the horizontal moving frame unit when the horizontal moving frame unit moves on the horizontal track.

[0023] Optionally, a vertical track is provided on the horizontal moving frame unit, and a plurality of shelf identification codes corresponding to the cargo locations are also provided on the shelf. The shelf identification codes are used to obtain a third identification code information sequence when the vertically moving cargo lifting and accessing unit moves on the vertical track of the horizontally moving frame unit. The third identification code information sequence is used to schedule the vertically moving cargo lifting and accessing unit.

[0024] As a fourth aspect of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for scheduling a robot in a storage device provided in the first aspect of the present application is implemented.

[0025] In the scheduling method of a robot in a storage device provided in an embodiment of the present application, the storage device includes a shelf, a first robot and a second robot, the shelf is installed on a carrying surface, the first robot is used to walk on the carrying surface, and the second robot is used to walk on the shelf, a horizontal track is provided on the shelf, and a plurality of carrying surface identification codes are provided on the carrying surface, the position of the horizontal track corresponds to the position of some of the carrying surface identification codes; the carrying surface identification code carries the position information of the carrying surface identification code itself; a first identification code information sequence and a second identification code information sequence are obtained; wherein, the first identification code information sequence is obtained by scanning the carrying surface identification code on the carrying surface during the movement of the first robot on the carrying surface, and the second identification code information sequence is obtained by scanning the carrying surface identification code on the carrying surface during the movement of the second robot on the horizontal track; the first robot and the second robot are scheduled according to the first identification code information sequence and the second identification code information sequence. By using the same bearing surface identification code system to locate the positions of the first robot and the second robot relative to the bearing surface, there is no need to check and convert the first identification code information and the second identification code information, and the first robot and the second robot can be directly and accurately dispatched uniformly, effectively avoiding the waste of computing resources and improving the dispatching efficiency. In addition, when deploying the warehouse automation system, there is no need to manually paste two sets of identification codes for respectively locating the positions of the first robot and the second robot relative to the bearing surface, which reduces the cost and difficulty of manual deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present application is further described below in conjunction with the accompanying drawings:

[0027] Figure 1 This is a schematic diagram of a ground robot walking provided by an embodiment of the present application;

[0028] Figure 2 It is a schematic diagram of an implementation of a method for scheduling a robot in a storage device provided in an embodiment of the present application;

[0029] Figure 3a It is a top view of an implementation method of setting shelf and load-bearing surface identification codes provided in an embodiment of the present application;

[0030] Figure 3b is a schematic diagram of an implementation method of the second robot scanning the identification code of the bearing surface provided in the embodiment of the present application;

[0031] Figure 4 is a schematic diagram of an implementation method of scheduling the first robot and the second robot provided in an embodiment of the present application;

[0032] Figure 5 is a schematic diagram of another implementation of the method for scheduling a robot in a storage device provided in an embodiment of the present application;

[0033] Figure 6 is a schematic diagram of an implementation of an electronic device provided in an embodiment of the present application;

[0034] Figure 7 It is a schematic diagram of a computer-readable medium provided in an embodiment of the present application.

[0035] Description of Reference Numerals

[0036] 101: Processor 102: Memory

[0037] 103: I / O interface 104: bus

[0038] 200: Second robot 201: Horizontally movable frame unit

[0039] 202: Vertical cargo lifting and access unit 203: Barcode scanner DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments based on the embodiments are intended to be used to explain the present application and cannot be understood as limiting the present application.

[0041] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present application. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0042] In the field of warehouse automation, robot groups consisting of ground robots and vertical robots usually use identification codes, posture sensors, photoelectric sensors and other components to locate the position of the robots. For example, Figure 1As shown, the ground robot (represented by a circular frame in the figure) mainly walks on the ground (the arrow in the figure indicates its walking direction, and the dotted line indicates its walking trajectory). When walking, the scanner set at the bottom scans the identification code set in a grid-like grid on the ground (represented by a square frame in the figure), obtains the identification code information (which may include position information, direction offset, angle offset, etc.) and feeds it back to the robot control program, so that the robot control program can obtain the relative position information of the robot and the angle information relative to the specified heading, etc. The vertical robot mainly walks on the vertical facade of the shelf. When walking, the scanner carried by the robot scans the identification code set on the cargo position of the shelf beam, obtains the identification code information (mainly including position information) and feeds it back to the robot control program, so that the robot control program can obtain the relative position information of the robot.

[0043] However, the applicant of this application found that because the identification code system used by the ground robot is independent of the identification code system used by the vertical robot, the identification code information scanned by the ground robot and the identification code information scanned by the vertical robot must be checked, converted, and other operations before data processing can be performed synchronously, thereby realizing the collaborative operation of the ground robot and the vertical robot, resulting in a waste of computing resources and affecting scheduling efficiency. In addition, because the identification code system used by the ground robot is independent of the identification code system used by the vertical robot, and the identification code is manually pasted on the robot's path when the warehouse automation system is deployed, there are disadvantages such as extremely high labor costs for deployment, low precision of manual construction, and low accuracy of the origin position.

[0044] In view of this, the applicant of this application proposes that by unifying the identification code system used by ground robots and the identification code system used by vertical robots, it is possible to effectively avoid wasting computing resources, improve scheduling efficiency, and reduce labor costs.

[0045] As a first aspect of the present application, a method for dispatching a robot in a storage device is provided, wherein the storage device comprises a shelf, a first robot and a second robot, wherein the shelf is mounted on a carrying surface, the first robot is used to walk on the carrying surface, and the second robot is used to walk on the shelf, a horizontal track is provided on the shelf, a plurality of carrying surface identification codes are provided on the carrying surface, and the position of the horizontal track corresponds to the position of some of the carrying surface identification codes; wherein the carrying surface identification code carries the position information of the carrying surface identification code itself, such as Figure 2 As shown, the method may include:

[0046] In step S110, a first identification code information sequence and a second identification code information sequence are obtained; wherein the first identification code information sequence is obtained by scanning the bearing surface identification code on the bearing surface while the first robot moves on the bearing surface, and the second identification code information sequence is obtained by scanning the bearing surface identification code on the bearing surface while the second robot moves on the horizontal track;

[0047] In step S120, the first robot and the second robot are scheduled according to the first identification code information sequence and the second identification code information sequence.

[0048] Among them, the embodiment of the present application does not specifically limit the identification code. For example, the identification code may include a two-dimensional code (including a Chinese Xin code, a DM code), a bar code, etc., as long as the identification code carries its own location information. The embodiment of the present application does not specifically limit the bearing surface on which the shelf is installed. For example, the bearing surface may include the ground, a table, etc. The embodiment of the present application does not specifically limit the location information. For example, the location information may be represented by latitude and longitude information, coordinate information, or even number information, as long as the same representation method is used to determine the location of all the bearing surface identification codes and the reference point and scale are the same.

[0049] The embodiments of the present application do not specifically limit the first robot and the second robot. Any robot that can walk on a load-bearing surface with shelves installed can be used as the first robot to implement the robot scheduling method in the storage device provided by the embodiments of the present application, and any robot that can walk on a shelf can be used as the second robot to implement the robot scheduling method in the storage device provided by the embodiments of the present application. Furthermore, it is not excluded that the first robot and the second robot can also have the ability to walk on the shelf and the ability to walk on the load-bearing surface with shelves installed, respectively.

[0050] like Figure 3a As shown, it is a top view of an implementation method of setting shelf and load-bearing surface identification codes provided in an embodiment of the present application, in which the shelf is represented by a grid including multiple rows and columns (each square represents a cargo location), and multiple load-bearing surface identification codes are set on the load-bearing surface on which the shelf is installed, and the position of the horizontal track of the shelf corresponds to the position of some load-bearing surface identification codes.

[0051] When the first robot walks on the load-bearing surface on which the shelf is installed, and when the second robot walks on the horizontal track of the shelf, the first robot and the second robot can scan the load-bearing surface identification code on the load-bearing surface to obtain their own identification code information respectively. In other words, the first robot obtains its own position relative to the load-bearing surface, and the second robot obtains its own position relative to the load-bearing surface. The reference identification code system is essentially the same. Assuming that the position relative to the load-bearing surface is represented by coordinate information (X coordinate, Y coordinate), the first robot and the second robot use the same set of coordinate systems to determine their own X coordinates and Y coordinates respectively.

[0052] Therefore, there is no need to check or convert the first identification code information and the second identification code information, and the first robot and the second robot can be directly and accurately dispatched uniformly. In addition, when deploying the warehouse automation system, there is no need to manually paste two sets of identification codes separately to locate the positions of the first robot and the second robot relative to the carrying surface.

[0053] In the scheduling method of a robot in a storage device provided in an embodiment of the present application, the storage device includes a shelf, a first robot and a second robot, the shelf is installed on a carrying surface, the first robot is used to walk on the carrying surface, and the second robot is used to walk on the shelf, a horizontal track is provided on the shelf, and a plurality of carrying surface identification codes are provided on the carrying surface, the position of the horizontal track corresponds to the position of some of the carrying surface identification codes; the carrying surface identification code carries the position information of the carrying surface identification code itself; a first identification code information sequence and a second identification code information sequence are obtained; wherein, the first identification code information sequence is obtained by scanning the carrying surface identification code on the carrying surface during the movement of the first robot on the carrying surface, and the second identification code information sequence is obtained by scanning the carrying surface identification code on the carrying surface during the movement of the second robot on the horizontal track; the first robot and the second robot are scheduled according to the first identification code information sequence and the second identification code information sequence. By using the same bearing surface identification code system to locate the positions of the first robot and the second robot relative to the bearing surface, there is no need to check and convert the first identification code information and the second identification code information, and the first robot and the second robot can be directly and accurately dispatched uniformly, effectively avoiding the waste of computing resources and improving the dispatching efficiency. In addition, when deploying the warehouse automation system, there is no need to manually paste two sets of identification codes for respectively locating the positions of the first robot and the second robot relative to the bearing surface, which reduces the cost and difficulty of manual deployment.

[0054] Under certain specific working conditions, the first robot and the second robot need to be dispatched to the same absolute position. In this case, there is no need to check or convert the first identification code information and the second identification code information, but the calculation can be performed directly based on the first identification code information and the second identification code information. Accordingly, in some embodiments, the first robot and the second robot are dispatched based on the first identification code information sequence and the second identification code information sequence (i.e., step S130), such as Figure 4 As shown, it may include:

[0055] In step S210, target location information is obtained;

[0056] In step S220, a first route is determined according to the first identification code information sequence and the target location information; and a second route is determined according to the second identification code information sequence and the target location information;

[0057] In step S230, the first route is sent to the first robot so that the first robot moves to a position corresponding to the target position information along the first route; and the second route is sent to the second robot so that the second robot moves to a position corresponding to the target position information along the second route.

[0058] The target position information indicates the position to which the first robot and the second robot need to be dispatched.

[0059] After the first robot and the second robot are dispatched to the target position, the first robot and the second robot can perform operations such as handing over, taking out, and placing the goods, which is related to the specific working conditions and is not specifically limited in the embodiments of the present application.

[0060] For example, as a possible working condition, the first robot can hand over the goods to the second robot, and the second robot carries the goods and walks on the horizontal track of the shelf, and finally places the goods on the cargo position.

[0061] Correspondingly, in some embodiments, the second robot includes a vertically moving cargo lifting and retrieval unit and a horizontally moving frame unit for carrying the vertically moving cargo lifting and retrieval unit, and the second identification code information sequence is obtained by scanning the carrying surface identification code by a scanner arranged at the bottom of the horizontal moving frame unit when the horizontal moving frame unit moves on the horizontal track.

[0062] like Figure 3bAs shown, it is a schematic diagram of an implementation method of the second robot scanning the bearing surface identification code provided in an embodiment of the present application. The second robot 200 may include a horizontally moving frame unit 201 and a vertically moving cargo lifting and accessing unit 202. A barcode scanner 203 is arranged at the bottom of the horizontally moving frame unit 201. When the horizontally moving frame unit 201 carries the vertically moving cargo lifting and accessing unit 202 and moves on the horizontal track of the shelf, the barcode scanner 203 scans the bearing surface identification code on the bearing surface to obtain a second identification code information sequence.

[0063] In some embodiments, the horizontal moving frame unit is provided with a vertical track, and the shelf is also provided with a plurality of shelf identification codes corresponding to the cargo positions one by one, such as Figure 5 As shown, the method may also include:

[0064] In step S310, a third identification code information sequence is obtained; wherein the third identification code information sequence is obtained by scanning the shelf identification code when the vertically moving cargo lifting and accessing unit moves on the vertical track of the horizontally moving frame unit, and the third identification code information includes shelf vertical position information and shelf horizontal position information;

[0065] In step S320, the vertically moving cargo lifting and accessing unit is scheduled according to the third identification code information sequence.

[0066] Among them, the third identification code information is different from the first identification code information and the second identification code information. The first identification code information and the second identification code information are essentially the position information of the bearing surface identification code itself obtained by scanning the bearing surface identification code, and the third identification code information includes the vertical position information of the shelf and the horizontal position information of the shelf, which is essentially the position information of the cargo location itself obtained by scanning the shelf identification code.

[0067] It can be understood that the bearing surface identification code carries the horizontal position information on the bearing surface (for example, including the X-axis coordinate and the Y-axis coordinate), and the shelf identification code carries the shelf vertical position information (or height position information) on the shelf facade perpendicular to the bearing surface and the shelf horizontal position information on the shelf horizontal plane. In other words, both the first robot and the second robot obtain the horizontal position information of the bearing surface in the horizontal coordinate system through the bearing surface identification code, and the second robot also obtains the shelf vertical position information (or height position information) in the vertical coordinate system of the shelf and the shelf horizontal position information in the horizontal coordinate system of the shelf through the shelf identification code. And it should be noted that compared with the horizontal coordinate system of the bearing surface and the horizontal coordinate system of the shelf, the three elements of the coordinate system (i.e., the origin, positive direction, and unit length) can be the same or different.

[0068] In an embodiment of the present application, the vertically moving cargo lifting and accessing unit is scheduled according to the third identification code information sequence. Specifically, the vertically moving cargo lifting and accessing unit can be scheduled to take out the cargo from the target cargo location according to the third identification code information sequence, and it can also include scheduling the vertically moving cargo lifting and accessing unit to place the cargo at the target cargo location according to the third identification code information sequence. It depends on the specific working conditions, and the embodiment of the present application does not make any specific limitation on this.

[0069] As described above, the embodiment of the present application does not specifically limit the first robot and the second robot, and the first robot is capable of walking on the load-bearing surface on which the shelf is installed, and the second robot is capable of walking on the horizontal track of the shelf, depending on the specific working conditions. For example, the first robot may be an Automated Guided Vehicle (AGV) intelligent transport robot that automatically drives along a given route or pulls a cargo trolley to a specified location.

[0070] Correspondingly, in some embodiments, the first robot may be an AGV intelligent transport robot.

[0071] As a second aspect of the embodiments of the present application, an electronic device is provided, wherein: Figure 6 As shown, the electronic device includes:

[0072] One or more processors 101;

[0073] The memory 102 stores one or more computer programs. When the one or more computer programs are executed by the one or more processors 101, the one or more processors 101 implement the robot scheduling method in the storage device provided in the first aspect of the present application.

[0074] The electronic device may further include one or more I / O interfaces 103 connected between the processor 101 and the memory 102 and configured to implement information interaction between the processor 101 and the memory 102 .

[0075] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU), etc.; the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, and can realize information exchange between the processor and the memory, including but not limited to a data bus (Bus), etc.

[0076] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other via a bus 104 , and further connected to other components of the computing device.

[0077] As a third aspect of the present application, a storage system is provided, wherein the storage system comprises a storage device and the electronic device provided according to the second aspect of the present application, wherein the storage device comprises a shelf, a first robot and a second robot, the shelf is provided with a horizontal track, a bearing surface on which the shelf is located is provided with a plurality of rows and columns of bearing surface identification codes, and a position of the horizontal track corresponds to a position of a portion of the bearing surface identification codes;

[0078] The carrying surface identification code is used to obtain a first identification code information sequence when the first robot moves on the carrying surface, and is used to obtain a second identification code information sequence when the second robot moves on the horizontal track. The first identification code information sequence and the second identification code information sequence both include carrying surface position information. The first identification code information sequence and the second identification code information sequence are used to schedule the first robot and the second robot.

[0079] In some embodiments, the second robot includes a vertically moving cargo lifting and retrieval unit and a horizontally moving frame unit for carrying the vertically moving cargo lifting and retrieval unit, and the carrying surface identification code is used for obtaining the second identification code information sequence by a barcode scanner arranged at the bottom of the horizontal moving frame unit when the horizontal moving frame unit moves on the horizontal track.

[0080] In some embodiments, the horizontal moving frame unit is provided with a vertical track, and the shelf is also provided with a plurality of shelf identification codes corresponding to the cargo locations one by one, and the shelf identification code is used to obtain a third identification code information sequence when the vertically moving cargo lifting and accessing unit moves on the vertical track of the horizontal moving frame unit, and the third identification code information sequence is used to schedule the vertically moving cargo lifting and accessing unit.

[0081] As a fourth aspect of this application, Figure 7 As shown, a computer-readable medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the scheduling method for a robot in a storage device provided in the first aspect of the present application.

[0082] It can be understood by a person of ordinary skill in the art that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and the computer program can implement the method of any of the above-mentioned embodiments when executed. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the embodiments of the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0083] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A method for dispatching a robot in a storage device, the storage device comprising a shelf, a first robot and a second robot, the shelf being mounted on a carrying surface, the first robot being used to walk on the carrying surface, the second robot being used to walk on the shelf, the shelf being provided with a horizontal track, the carrying surface being provided with a plurality of carrying surface identification codes, the position of the horizontal track corresponding to the position of some of the carrying surface identification codes; characterized in that The bearing surface identification code carries the location information of the bearing surface identification code itself, and the method includes: Acquire a first identification code information sequence and a second identification code information sequence; wherein the first identification code information sequence is obtained by scanning the bearing surface identification code on the bearing surface while the first robot moves on the bearing surface, and the second identification code information sequence is obtained by scanning the bearing surface identification code on the bearing surface while the second robot moves on the horizontal track; The first robot and the second robot are scheduled according to the first identification code information sequence and the second identification code information sequence.

2. The method according to claim 1, characterized in that The step of scheduling the first robot and the second robot according to the first identification code information sequence and the second identification code information sequence includes: Get target location information; Determine a first route based on the first identification code information sequence and the target location information; and determine a second route based on the second identification code information sequence and the target location information; The first travel route is sent to the first robot so that the first robot moves to a position corresponding to the target position information according to the first travel route; and the second travel route is sent to the second robot so that the second robot moves to a position corresponding to the target position information according to the second travel route.

3. The method according to claim 1, characterized in that The second robot includes a vertically moving cargo lifting and accessing unit and a horizontally moving frame unit for carrying the vertically moving cargo lifting and accessing unit. The second identification code information sequence is obtained by scanning the carrying surface identification code by a scanner arranged at the bottom of the horizontal moving frame unit when the horizontal moving frame unit moves on the horizontal track.

4. The method according to claim 3, characterized in that The horizontal moving frame unit is provided with a vertical track, and the shelf is also provided with a plurality of shelf identification codes corresponding to the cargo positions one by one, and the method further includes: Acquire a third identification code information sequence; wherein the third identification code information sequence is obtained by scanning the shelf identification code when the vertically moving cargo lifting and accessing unit moves on the vertical track of the horizontally moving frame unit, and the third identification code information includes shelf vertical position information and shelf horizontal position information; The vertically moving cargo lifting and accessing unit is scheduled according to the third identification code information sequence.

5. The method according to any one of claims 1 to 4, characterized in that The first robot is an automatic guided vehicle (AGV) intelligent transport robot.

6. An electronic device, characterized in that: The electronic device comprises: one or more processors; A memory having one or more computer programs stored thereon, wherein when the one or more computer programs are executed by the one or more processors, the one or more processors implement the scheduling method for a robot in a storage device according to any one of claims 1-5.

7. A storage system, characterized in that: The storage system comprises a storage device and the electronic device according to claim 6, wherein the storage device comprises a shelf, a first robot and a second robot, the shelf is provided with a horizontal track, a bearing surface on which the shelf is located is provided with a plurality of rows and columns of bearing surface identification codes, and the position of the horizontal track corresponds to the position of part of the bearing surface identification codes; The carrying surface identification code is used to obtain a first identification code information sequence when the first robot moves on the carrying surface, and is used to obtain a second identification code information sequence when the second robot moves on the horizontal track. The first identification code information sequence and the second identification code information sequence both include carrying surface position information. The first identification code information sequence and the second identification code information sequence are used to schedule the first robot and the second robot.

8. The storage system according to claim 7, characterized in that: The second robot includes a vertically moving cargo lifting and retrieval unit and a horizontally moving frame unit for carrying the vertically moving cargo lifting and retrieval unit. The carrying surface identification code is used for obtaining the second identification code information sequence by a barcode scanner arranged at the bottom of the horizontally moving frame unit when the horizontally moving frame unit moves on the horizontal track.

9. The storage system according to claim 8, characterized in that: The horizontal moving frame unit is provided with a vertical track, and the shelf is also provided with a plurality of shelf identification codes corresponding to the cargo positions one by one. The shelf identification codes are used to obtain a third identification code information sequence when the vertically moving cargo lifting and accessing unit moves on the vertical track of the horizontally moving frame unit. The third identification code information sequence is used to schedule the vertically moving cargo lifting and accessing unit.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a method for scheduling a robot in a storage device according to any one of claims 1 to 5 is implemented.

Images