Workstation and robot scheduling method and device of workstation

Abstract

The embodiment of the invention provides a workstation and a robot scheduling method and device of the workstation. The work station comprises an operation station, a first lane and a second lane, and the steering amplitude of any point in the first lane and the second lane is smaller than a preset amplitude threshold value; a first picking vehicle space is arranged in the first lane, and a second picking vehicle space is arranged in the second lane; the first picking vehicle position is located in the first direction of the operation station, the second picking vehicle position is located in the second direction of the operation station, and the included angle between the first direction and the second direction is smaller than a preset angle threshold value; the distance between the first picking vehicle position and the operation station is smaller than a preset distance threshold value, and the distance between the second picking vehicle position and the operation station is smaller than the preset distance threshold value. According to the working station, pause caused by in-situ rotation is avoided, the running efficiency of the robot is improved, the distances between the operation station and the two picking stations are short, the structure of the working station conforms to the ergonomic design, and an operator is prevented from bending down or stretching arms at the operation station.

Description

Technical Field

[0001] The present application relates to the technical field of industrial engineering, and particularly to a workstation, a robot scheduling method and device for the workstation. Background Art

[0002] In the scenario of manual picking, it is usually necessary to set up a dedicated workstation so that operators can perform picking work at the workstation. The setting method of the workstation will affect the efficiency of the operator to complete the picking task. Therefore, how to set the structure of the workstation to improve the efficiency of completing the picking task has become an urgent problem to be solved. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a workstation, a robot scheduling method and device for the workstation, so as to improve the efficiency of completing the picking task by reasonably setting the structure of the workstation. The specific technical solutions are as follows:

[0004] The embodiments of the present application provide a workstation, which includes: an operation station, a first lane and a second lane, and the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold;

[0005] A first picking vehicle position is set in the first lane, and a second picking vehicle position is set in the second lane;

[0006] The first picking vehicle position is in the first direction of the operation station, the second picking vehicle position is in the second direction of the operation station, and the included angle between the first direction and the second direction is less than a preset angle threshold;

[0007] The distance between the first picking vehicle position and the operation station is less than a preset distance threshold, and the distance between the second picking vehicle position and the operation station is less than the preset distance threshold.

[0008] In a possible embodiment, the first lane and the second lane are arranged on the same side of a third lane, and the third lane is the lane leading to the workstation;

[0009] The entrance and exit of the first lane are connected to the third lane, the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are in a curve shape.

[0010] In a possible embodiment, the workstation further includes at least one queuing vehicle position;

[0011] Each of the queuing vehicle positions is set in a first queuing area and / or a second queuing area;

[0012] Wherein, the first queuing area is the area surrounded by the first lane and the third lane, and the second queuing area is the area surrounded by the second lane and the third lane.

[0013] The embodiment of the present application also provides a robot scheduling method for a workstation. The workstation includes: an operation station, a first lane, and a second lane, where the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold; a first picking truck position is set in the first lane, and a second picking truck position is set in the second lane; the first picking truck position is located in the first direction of the operation station, the second picking truck position is located in the second direction of the operation station, and the included angle between the first direction and the second direction is less than a preset angle threshold; the distance between the first picking truck position and the operation station is less than a preset distance threshold, and the distance between the second picking truck position and the operation station is less than the preset distance threshold;

[0014] The method includes:

[0015] Controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane and move to the target picking truck position, where the target lane is the first lane or the second lane, and the target picking truck position is the picking truck position set in the target lane;

[0016] In response to completing the sorting of the materials to be sorted, controlling the target robot to drive away from the workstation along the target lane.

[0017] In a possible embodiment, the method further includes:

[0018] Obtaining the number of robots already existing in the first lane as the first number; and obtaining the number of robots already existing in the second lane as the second number;

[0019] If the first number is greater than the second number, determining the second lane as the target lane;

[0020] If the second number is greater than the first number, determining the first lane as the target lane.

[0021] In a possible embodiment, the method further includes:

[0022] Determining the lane closer to the target robot between the entrance and the target robot in the first lane and the second lane as the candidate lane;

[0023] Obtaining the number of robots already existing in the candidate lane as the third number;

[0024] If the third number is greater than the first preset number threshold, use the alternative lane as the target lane; if the third number is not greater than the first preset number threshold, use the candidate lane as the target lane, where the alternative lane is the lane among the first lane and the second lane that is not the candidate lane.

[0025] In a possible embodiment, the first lane and the second lane are arranged on the same side of the third lane, and the third lane is the lane leading to the workstation; the entrances and exits of the first lane are connected to the third lane, the entrances and exits of the second lane are connected to the third lane, and the first lane and the second lane are curved;

[0026] Controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane includes:

[0027] Controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane;

[0028] Controlling the target robot to drive away from the workstation along the target lane includes:

[0029] Controlling the target robot to drive into the third lane via the exit of the target lane along the target lane.

[0030] In a possible embodiment, the workstation further includes queuing parking spaces arranged in the first queuing area and queuing parking spaces arranged in the second queuing area, where the first queuing area is the area surrounded by the first lane and the third lane, and the second queuing area is the area surrounded by the second lane and the third lane;

[0031] Controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane includes:

[0032] If the number of robots already existing in the target lane is less than the second preset number threshold, control the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane;

[0033] The method further includes:

[0034] If the number of robots already existing in the target lane is not less than the second preset number threshold, control the target robot loaded with the materials to be sorted to move along the third lane to the queuing parking space in the target queuing area, where the target queuing area is the first queuing area when the target lane is the first lane, and the second queuing area when the target lane is the second lane;

[0035] In response to the number of robots already existing in the target lane being less than a second preset number threshold, control the target robot to move from the queuing parking space where it is located to the entrance of the target lane.

[0036] An embodiment of the present application further provides a robot scheduling device for a workstation. The workstation includes: an operation station, a first lane, and a second lane, where the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold; a first picking truck parking space is arranged in the first lane, and a second picking truck parking space is arranged in the second lane; the first picking truck parking space is located in a first direction of the operation station, the second picking truck parking space is located in a second direction of the operation station, and the included angle between the first direction and the second direction is less than a preset angle threshold; the distance between the first picking truck parking space and the operation station is less than a preset distance threshold, and the distance between the second picking truck parking space and the operation station is less than the preset distance threshold;

[0037] The device includes:

[0038] An entry module, configured to control a target robot loaded with materials to be sorted to enter the workstation along a target lane and move to a target picking truck parking space, where the target lane is the first lane or the second lane, and the target picking truck parking space is a picking truck parking space arranged in the target lane;

[0039] An exit module, configured to control the target robot to drive out of the workstation along the target lane in response to the completion of the sorting of the materials to be sorted.

[0040] In a possible embodiment, the device further includes:

[0041] A number acquisition module, configured to acquire the number of robots already existing in the first lane as a first number; and acquire the number of robots already existing in the second lane as a second number;

[0042] A target lane determination module, configured to determine the second lane as the target lane if the first number is greater than the second number; and determine the first lane as the target lane if the second number is greater than the first number.

[0043] In a possible embodiment, the device further includes:

[0044] A candidate lane determination module, configured to determine, in the first lane and the second lane, the lane with an entrance closer to the target robot as the candidate lane;

[0045] A candidate number acquisition module, configured to acquire the number of robots already existing in the candidate lane as a third number;

[0046] A number judgment module, configured to use the alternative lane as the target lane if the third number is greater than a first preset number threshold; and use the candidate lane as the target lane if the third number is not greater than the first preset number threshold, where the alternative lane is the lane among the first lane and the second lane that is not the candidate lane.

[0047] In a possible embodiment, the first lane and the second lane are arranged on the same side of a third lane, and the third lane is a lane leading to the workstation; the entrance and exit of the first lane are connected to the third lane, the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are curved;

[0048] Controlling the target robot loaded with materials to be sorted to enter the workstation along the target lane includes:

[0049] Controlling the target robot loaded with materials to be sorted to move along the third lane to the entrance of the target lane, and enter the workstation along the target lane from the entrance of the target lane;

[0050] Controlling the target robot to drive away from the workstation along the target lane includes:

[0051] Controlling the target robot to drive into the third lane via the exit of the target lane along the target lane.

[0052] In a possible embodiment, the workstation further includes queuing parking spaces arranged in a first queuing area and queuing parking spaces arranged in a second queuing area, where the first queuing area is an area surrounded by the first lane and the third lane, and the second queuing area is an area surrounded by the second lane and the third lane;

[0053] Controlling the target robot loaded with materials to be sorted to move along the third lane to the entrance of the target lane includes:

[0054] If the number of robots already existing in the target lane is less than a second preset number threshold, controlling the target robot loaded with materials to be sorted to move along the third lane to the entrance of the target lane;

[0055] The device further includes:

[0056] The first motion module is configured to control the target robot loaded with the materials to be sorted to move along the third lane to the queuing parking space in the target queuing area if the number of robots already existing in the target lane is not less than the second preset number threshold, where the target queuing area is the first queuing area when the target lane is the first lane and the second queuing area when the target lane is the second lane;

[0057] The second motion module is configured to control the target robot to move from the queuing parking space where it is located to the entrance of the target lane in response to the number of robots already existing in the target lane being less than the second preset number threshold.

[0058] The embodiment of the present application further provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the robot scheduling method of any of the above workstations.

[0059] Beneficial effects of the embodiment of the present application:

[0060] For a workstation, a robot scheduling method and device of the workstation provided by the embodiment of the present application, since the steering amplitude at any point in the first lane and the second lane is less than the preset amplitude threshold, the first lane or the second lane can be regarded as a smooth curve. Therefore, the robot runs along an arc when running in the first lane or the second lane. And there is a first picking parking space in the first lane and a second picking parking space in the second lane. Therefore, the robot can run to the first picking parking space or the second picking parking space by running along an arc. When the robot runs along an arc, it turns while moving forward. Therefore, in the embodiment of the present application, the robot does not need to spend time waiting for the turning to be completed during the running process, so that the running time required for the robot to run along an arc is less than the running time required for the running mode of rotating in place and then running. Therefore, the robot can run to the first picking parking space or the second picking parking space in a more natural and smooth way of running along an arc, reducing the unnecessary pauses and adjustment time brought by rotating in place, thereby reducing the time consumed by the robot during running, improving the running efficiency of the robot, and further reducing the time required to complete the picking task and improving the efficiency of realizing the picking task. Moreover, the way of the robot running along an arc can also reduce the impact force brought by the sharp turning and acceleration of the robot, so that the mechanical parts of the robot are less worn, prolong the service life of the robot, and reduce the maintenance cost caused by the wear of the mechanical parts. The way of arc rotation can also reduce the energy consumption of the robot. When performing long-term tasks, the running cost of the robot can be greatly reduced, and the sustainable development goal can be achieved.

[0061] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, and a first picking truck position is set in the first lane and a second picking truck position is set in the second lane, the normal directions of the first picking truck position and the second picking truck position intersect, and the included angle between the normal direction of the first picking truck position and the normal direction of the second picking truck position is small. By setting an operation station at this intersection, the first picking truck position in the workstation is located in the first direction of the operation station, and the second picking truck position is located in the second direction of the operation station. The included angle between the first direction and the second direction is less than a preset angle threshold, that is, the included angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided by the embodiments of the present application enables the operator to switch between the first direction and the second direction with only a small rotation angle (or even without rotation) at the operation station. That is, the operator only needs to rotate a small angle (or even without rotation) at the operation station to rotate from the first picking truck position to the second picking truck position, or from the second picking truck position to the first picking truck position, which is convenient for the user to simultaneously perform picking tasks on the robot located at the first picking truck position and the robot located at the second picking truck position. The workstation structure provided by the embodiments of the present application is more ergonomic in the scenario of manual picking, thereby reducing the working labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided by the embodiments of the present application, when the robot runs along the first lane or the second lane, the distance between the boundary of the robot and the operation station is the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station. The turning of the robot during the running process will not affect the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station. Therefore, there is no need to reserve a safety distance between the operation station and the robot due to the turning of the robot during the running process, and the situation of collision between the running robot and the operator can be avoided, improving safety.

[0062] Of course, implementing any product or method of the present application does not necessarily require achieving all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0064] Figure 1 It is a schematic structural diagram of a workstation in the prior art;

[0065] Figure 2aA structural schematic diagram of Workstation Structure 1 provided by an embodiment of this application;

[0066] Figure 2b Another structural schematic diagram of Workstation Structure 1 provided by an embodiment of this application;

[0067] Figure 2c Yet another structural schematic diagram of Workstation Structure 1 provided by an embodiment of this application;

[0068] Figure 3a A structural schematic diagram of Workstation Structure 2 provided by an embodiment of this application;

[0069] Figure 3b Another structural schematic diagram of Workstation Structure 2 provided by an embodiment of this application;

[0070] Figure 3c Yet another structural schematic diagram of Workstation Structure 2 provided by an embodiment of this application;

[0071] Figure 4a A structural schematic diagram of Workstation Structure 3 provided by an embodiment of this application;

[0072] Figure 4b Another structural schematic diagram of Workstation Structure 3 provided by an embodiment of this application;

[0073] Figure 4c Yet another structural schematic diagram of Workstation Structure 3 provided by an embodiment of this application;

[0074] Figure 5a A structural schematic diagram of Workstation Structure 4 provided by an embodiment of this application;

[0075] Figure 5b Another structural schematic diagram of Workstation Structure 4 provided by an embodiment of this application;

[0076] Figure 5c Yet another structural schematic diagram of Workstation Structure 4 provided by an embodiment of this application;

[0077] Figure 6a A flowchart of the robot scheduling method for the workstation provided by an embodiment of this application;

[0078] Figure 6b A structural schematic diagram of the target robot provided by an embodiment of this application;

[0079] Figure 6c Another structural schematic diagram of the workstation structure provided by an embodiment of this application;

[0080] Figure 6d Still another structural schematic diagram of the workstation structure provided by an embodiment of this application;

[0081] Figure 7 A structural schematic diagram of a robot scheduling device for a workstation provided in an embodiment of the present application;

[0082] Figure 8 A structural schematic diagram of an electronic device provided in an embodiment of the present application. Specific embodiments

[0083] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0084] To more clearly illustrate the workstation provided in the present application, the following will take the scenario of manual picking as an example to exemplarily illustrate the possible application scenarios of the workstation provided in the present application. It can be understood that the scenario of manual picking in the following examples is only a possible application scenario of the workstation provided in the present application. In other possible embodiments, the workstation provided in the present application can be applied to other possible application scenarios, and the following examples do not impose any restrictions on this.

[0085] In the scenario of manual picking, a picking workstation is usually set in front of the picking operator. The workstation includes an incoming vehicle channel, an outgoing vehicle channel, and a picking position. The robot carries a container loaded with the goods to be picked and runs from the incoming vehicle channel towards the operator until it reaches a fixed point. At the fixed point, it rotates in place towards the direction close to the operator, and after the in-place rotation is completed, it goes straight to the picking position in front of the operator, so that the operator can pick the goods in the container carried by the robot at the picking position. After the operator completes the picking, the robot rotates in place at the picking position towards the direction away from the operator, and after the in-place rotation is completed, it goes straight out of the workstation from the outgoing vehicle channel.

[0086] The structure of the workstation can be as Figure 1 shown. During the above-mentioned manual picking process in the Figure 1 shown workstation structure, the robot needs to rotate 90° to the right in place at the first fixed point 10, so that the orientation of the robot at the first fixed point 10 is adjusted from the vertically upward direction to the horizontally rightward direction, so that the robot can run from the first fixed point 10 along the horizontally rightward direction to the first picking position 12. Or, the robot needs to rotate 90° to the left in place at the second fixed point 11, so that the orientation of the robot at the second fixed point 11 is adjusted from the vertically upward direction to the horizontally leftward direction, so that the robot can run from the second fixed point 11 along the horizontally leftward direction to the second picking position 13.

[0087] Moreover, the robot needs to rotate 90° to the right in place at the first picking position 12 so that the orientation of the robot at the first picking position 12 is adjusted from the horizontal right direction to the vertical downward direction, enabling the robot to drive away from the workstation vertically downward from the first picking position 12. Alternatively, the robot needs to rotate 90° to the left in place at the second picking position 13 so that the orientation of the robot at the second picking position 13 is adjusted from the horizontal left direction to the vertical downward direction, enabling the robot to drive away from the workstation vertically downward from the second picking position 13.

[0088] At Figure 1 In the workstation structure shown, the angle of in-place rotation of the robot is 90°. In other possible workstation structures, the angle of in-place rotation of the robot may be other angles than 90°, such as 30°, 60°, etc. It can be understood that during the operation of the robot using the in-place rotation steering method, regardless of the angle of in-place rotation, it is necessary to wait for the in-place rotation to complete before moving forward, which makes the time required for the robot to operate longer, reduces the operating efficiency of the robot, and further makes the time required for the robot to complete the picking task longer, reducing the efficiency of realizing the picking task.

[0089] Moreover, it can be understood that the in-place rotation steering method of the robot will cause more wear and tear on the mechanical components of the robot, resulting in a reduction in the service life of the robot, so that it is necessary to frequently maintain the mechanical devices of the robot, increasing the maintenance cost of the robot.

[0090] In addition, referring to Figure 1 , since during the 90° in-place rotation of the robot at the first picking position 12 or the second picking position 13, the length of the robot in the vertical direction after rotation is greater than the length of the robot in the vertical direction before rotation, therefore, the 90° in-place rotation of the robot at the first picking position 12 or the second picking position 13 will reduce the distance between the boundary of the robot and the operator, so that a certain safety distance needs to be reserved between the operator and the workstation to avoid accidental situations such as collisions between the robot and the operator during the 90° in-place rotation of the robot. Since the in-place rotation steering method requires a certain safety distance to be reserved between the operator and the workstation, it is necessary for the operator to stretch the arm very far to pick the materials in the container loaded by the robot at the picking position, reducing the operation convenience of the operator.

[0091] The above problems are all caused by the turning method of the robot rotating in place, and the fact that the robot can only turn by rotating in place when turning at the workstation is caused by the limitation of the workstation structure. Based on this, in order to improve the efficiency of realizing the picking task by reasonably setting the workstation structure, reduce the wear of mechanical components during the operation of the robot, thereby improve the service life of the robot, reduce the maintenance cost of the robot, and improve the operation convenience of the operator in the manual picking scenario, this application provides a workstation. To facilitate the understanding of the workstation provided by this application, the workstation provided by this application will be described below with reference to the specific schematic diagram of the workstation structure.

[0092] Workstation Structure One:

[0093] Figure 2a This is the first schematic diagram of the structure of the workstation provided by the embodiment of this application. Refer to Figure 2a , the workstation includes: an operation station 20, a first lane 30, and a second lane 31, wherein, the turning amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold. Figure 2a In, the dashed line 400 and the dashed line 401 are the two boundaries of the first lane 30 in the first workstation structure, and the dashed line 500 and the dashed line 501 are the two boundaries of the second lane 31 in the first workstation structure.

[0094] A first picking vehicle position 40 is set in the first lane 30, and a second picking vehicle position 41 is set in the second lane 31; the first picking vehicle position 40 is located at the lower left of the operation station 20, and the second picking vehicle position 41 is located at the lower right of the operation station 20. The included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking vehicle position 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking vehicle position 41 and the operation station 20 is less than a preset distance threshold. The schematic diagrams of the workstation structure provided in this application are all top views of the workstation. The orientations such as lower left and lower right described in this application refer to the lower left and lower right in the top view of the workstation.

[0095] In this application, the steering amplitude at a certain point in the lane refers to the angle that the robot needs to rotate when running from this point to the next point in the lane. Specifically, assuming that the width of the lane is ignored and the lane is regarded as a curve, the steering amplitude at a certain point in the lane can be obtained by calculating the tangent at this point in the lane. Correspondingly, the steering amplitude at any point in the lane being less than the preset amplitude threshold means that the included angle between the first tangent at this point when the robot runs from the starting point to the ending point of the lane and the second tangent at this point when the robot runs from the ending point to the starting point of the lane is less than the preset angle threshold. The smaller the included angle between the first tangent and the second tangent at this point, the smaller the steering amplitude at this point in the lane. The preset angle threshold can be set to 1°, 3°, 5°, etc. In Figure 2a In the illustrated embodiment, the first tangent and the second tangent at any point in the first lane 30 and the second lane 31 are equal.

[0096] In Figure 2a In the illustrated workstation structure, the running mode of the robot in the workstation is as follows: The robot enters the first lane 30 from the entrance 301 of the first lane 30, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are picked by manual labor or a robotic arm. After picking, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30.

[0097] Alternatively, the running mode of the robot in the workstation is as follows: The robot enters the second lane 31 from the entrance 311 of the second lane 31, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are picked by manual labor or a robotic arm. After picking, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31.

[0098] Selecting this embodiment, on the one hand, since the steering amplitude at any point in the first lane and the second lane is less than the preset amplitude threshold, therefore, the first lane or the second lane can be regarded as a smooth curve, and the robot runs along an arc when running in the first lane or the second lane. And there is a first picking truck position in the first lane and a second picking truck position in the second lane. Therefore, the robot can run to the first picking truck position or the second picking truck position by running along an arc. It can be understood that in Figure 1In the workstation structure shown, the robot needs to wait for the in-place rotation to complete before moving forward during operation. However, in the embodiment of the present application, the robot turns while moving forward during the arc-shaped movement. Therefore, in the embodiment of the present application, the robot does not need to spend time waiting for the turning to complete during operation, which makes the running time required for the robot to move along the arc less than the running time required after in-place rotation and then moving. Therefore, the robot can move to the first picking truck position or the second picking truck position in a more natural and smooth arc-shaped movement manner, reducing the unnecessary pauses and adjustment time caused by in-place rotation, thereby reducing the time consumed by the robot during operation, improving the running efficiency of the robot, further reducing the time required to complete the picking task, and improving the efficiency of realizing the picking task.

[0099] Moreover, the arc-shaped movement mode of the robot can also reduce the impact force caused by the sharp turning and acceleration of the robot, resulting in less wear of the mechanical components of the robot, extending the service life of the robot, and reducing the maintenance cost caused by the wear of the mechanical components. The arc-shaped rotation mode can also reduce the energy consumption of the robot. When performing long-term tasks, it can greatly reduce the running cost of the robot and achieve the sustainable development goal.

[0100] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, and a first picking truck position is set in the first lane and a second picking truck position is set in the second lane, the normal directions of the first picking truck position and the second picking truck position intersect, and the included angle between the normal direction of the first picking truck position and the normal direction of the second picking truck position is small. By setting the operation station at this intersection point, the first picking truck position in the workstation is located in the first direction of the operation station, and the second picking truck position is located in the second direction of the operation station. The included angle between the first direction and the second direction is less than the preset angle threshold, that is, the included angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided by the embodiments of the present application enables the operator to switch between the first direction and the second direction with only a small rotation angle (or even without rotation) at the operation station. That is, the operator can rotate from the first picking truck position to the second picking truck position or from the second picking truck position to the first picking truck position with only a small rotation angle (or even without rotation) at the operation station, which is convenient for the user to simultaneously perform picking tasks on the robot located at the first picking truck position and the robot located at the second picking truck position. The workstation structure provided by the embodiments of the present application is more ergonomic in the scenario of manual picking, thereby reducing the working labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided by the embodiments of the present application, when the robot runs along the first lane or the second lane, the distance between the boundary of the robot and the operation station is the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station. The turning of the robot during the running process will not affect the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station. Therefore, there is no need to reserve a safety distance between the operation station and the robot due to the turning of the robot during the running process, and the situation of collision between the robot and the operator during the running of the robot can be avoided, improving safety.

[0101] It can be understood that the workstation is generally set at a fixed position in the warehouse for storing materials. Generally, there are many fixed lanes for the operator or the robot to run in the warehouse. If the workstation is set in the fixed lane, it will cause the operator or the robot to be unable to pass normally on the fixed lane, thus affecting the use of the fixed lane. Based on this, in order to make the setting of the workstation not affect the original use of the fixed lane, in a possible embodiment, Figure 2a the positional relationship between the workstation structure shown in Figure 2b can be as shown in

[0102] See Figure 2b, the third lane 32 is the passage that the robot needs to pass through when going to the workstation. The third lane 32 can also be used by the robot to go to other positions in the warehouse other than the workstation. The third lane 32 is the aforementioned fixed lane.

[0103] The first lane 30 and the second lane 31 are arranged above the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32, and the entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0104] Exemplarily, assume that the robot needs to load materials at point A, and after completing the picking of the loaded materials, the picked materials are transported to point B through the third lane. Then, a workstation can be set up above the third lane that the robot needs to pass through during operation Figure 2b in the manner shown.

[0105] In Figure 2b the shown workstation structure, the operation mode of the robot in the workstation is as follows: The robot enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0106] Alternatively, the operation mode of the robot in the workstation is as follows: The robot enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0107] In this embodiment, since the entrances and exits of the first lane are connected to the third lane, and the entrances and exits of the second lane are connected to the third lane, and the first lane and the second lane are curved, the robot can enter the first or second passage and then enter the workstation through the entrance of the first or second lane connected to the third lane, and leave the workstation through the exit of the first or second lane connected to the third lane, and run on the third lane. Moreover, since the first lane and the second lane are arranged above the third lane, the arrangements of the first lane and the second lane do not occupy the position of the third lane, so that the setting of the workstation does not hinder the normal operation of the operator or the robot on the third lane, and thus the setting of the workstation does not affect the original use of the third lane.

[0108] It can be understood that the number of robots that the first lane 30 and the second lane 31 can accommodate is limited. Therefore, when the number of robots performing the picking task is large, the robots need to queue outside the first lane 30 or the second lane 31 to ensure the normal progress of the picking task. Based on this, in a possible embodiment, referring to Figure 2b , the robots can queue on the third lane 32.

[0109] In another possible embodiment, referring to Figure 2a and Figure 2b the workstation structure shown, since the first lane 30 is a curved lane and the third lane 32 is a straight lane, there are relatively many idle areas between the curved first lane 30 and the straight third lane 32. Similarly, there are also relatively many idle areas between the second lane 31 and the third lane 32. Based on this, in order to improve the space utilization rate, in a possible embodiment, Figure 2b the space station structure shown can also be as Figure 2c shown.

[0110] Referring to Figure 2c , the workstation further includes two queuing parking spaces, which are: the first queuing parking space 60 and the second queuing parking space 61. The first queuing parking space 60 is arranged in the area surrounded by the first lane 30 and the third lane 32, and the second queuing parking space 61 is arranged in the area surrounded by the second lane 31 and the third lane 32.

[0111] In other possible embodiments, the workstation may also include only one queuing parking space, that is, the workstation includes only the first queuing parking space 60 or only the second queuing parking space 61.

[0112] In Figure 2cIn the shown workstation structure, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already existing in the first lane 30, the robot cannot directly enter the first lane 30. At this time, the robot can first enter the first queuing parking space 60 through the third lane 32. When one of the robots already existing in the first lane 30 drives out of the workstation, the robot at the first queuing parking space 60 enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, and runs along the first lane 30 to the first picking truck space 40. The materials loaded on the robot at the first picking truck space 40 are picked by manual or robotic arm. After picking, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0113] Alternatively, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already existing in the second lane 31, the robot cannot directly enter the second lane 31. At this time, the robot can first enter the second queuing parking space 61 through the third lane 32. When one of the robots already existing in the second lane 31 drives out of the workstation, the robot at the second queuing parking space 61 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking truck space 41. The materials loaded on the robot at the second picking truck space 41 are picked by manual or robotic arm. After picking, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0114] By selecting this embodiment, queuing parking spaces can be set in the first queuing area formed by the first lane and the third lane and / or the second queuing area formed by the second lane and the third lane, so that the area between the first lane or the second lane and the third lane can be fully utilized, improving the space utilization rate. At the same time, when there are a large number of robots in the first lane or the second lane, the setting of the queuing parking spaces can enable the robots that cannot enter the first lane or the second lane to wait at the queuing parking spaces, avoiding the situation that the robots that cannot enter the first lane or the second lane stagnate on the third lane, and thus avoiding congestion on the third lane.

[0115] Workstation structure two:

[0116] Figure 3a This is the second structural schematic diagram of the workstation provided by the embodiment of the present application. Refer to Figure 3a , the workstation includes: an operation station 20, a first lane 30, and a second lane 31, wherein the turning amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold.Figure 3a Among them, the dashed line 402 and the dashed line 403 are the two boundaries of the first lane 30 in the workstation structure II, and the dashed line 502 and the dashed line 503 are the two boundaries of the second lane 31 in the workstation structure II.

[0117] A first picking truck position 40 is set in the first lane 30, and a second picking truck position 41 is set in the second lane 31; the first picking truck position 40 is located at the lower left of the operation station 20, and the second picking truck position 41 is located at the lower right of the operation station 20. The included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking truck position 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking truck position 41 and the operation station 20 is less than a preset distance threshold.

[0118] In Figure 3a In the illustrated embodiment, the first tangential direction and the second tangential direction at any point in the first lane 30 and the second lane 31 are equal. Among them, the first tangential direction is the tangential direction at this point when the robot runs from the starting point of the lane to the end point of the lane, and the second tangential direction is the tangential direction at this point when the robot runs from the end point of the lane to the starting point of the lane.

[0119] In Figure 3a In the illustrated workstation structure, the running mode of the robot in the workstation is as follows: the robot enters the first lane 30 from the entrance 301 of the first lane 30, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are picked by manual or robotic arm. After picking, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30.

[0120] Or, the running mode of the robot in the workstation is as follows: the robot enters the second lane 31 from the entrance 311 of the second lane 31, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are picked by manual or robotic arm. After picking, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31.

[0121] Selecting this embodiment, on the one hand, since the turning amplitude at any point in the first lane and the second lane is less than the preset amplitude threshold, therefore, the first lane or the second lane can be regarded as a smooth curve, and the robot runs along an arc when running in the first lane or the second lane. And a first picking truck position is set in the first lane, and a second picking truck position is set in the second lane. Therefore, the robot can run to the first picking truck position or the second picking truck position by running along an arc. It can be understood that in Figure 1In the shown workstation structure, the robot needs to wait for the in-place rotation to complete before moving forward during operation. However, in the embodiment of the present application, the robot turns while moving forward during the arc-shaped movement. Therefore, in the embodiment of the present application, the robot does not need to spend time waiting for the turning to complete during operation, which makes the running time required for the robot to move along the arc less than the running time required after in-place rotation and then moving. Therefore, the robot can move to the first picking truck position or the second picking truck position in a more natural and smooth arc-shaped movement manner, reducing the unnecessary pauses and adjustment time caused by in-place rotation, thereby reducing the time consumed for the robot to run, improving the running efficiency of the robot, and further reducing the time required to complete the picking task and improving the efficiency of realizing the picking task.

[0122] Moreover, the arc-shaped movement mode of the robot can also reduce the impact force caused by the robot's sharp turning and acceleration, resulting in less wear of the mechanical components of the robot, extending the service life of the robot, and reducing the maintenance cost caused by the wear of the mechanical components. The arc-shaped rotation mode can also reduce the energy consumption of the robot. When performing long-term tasks, it can greatly reduce the running cost of the robot and achieve the sustainable development goal.

[0123] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, and a first picking truck position is set in the first lane and a second picking truck position is set in the second lane, the normal directions of the first picking truck position and the second picking truck position intersect, and the included angle between the normal direction of the first picking truck position and the normal direction of the second picking truck position is small. By setting the operation station at this intersection point, the first picking truck position in the workstation is located in the first direction of the operation station, and the second picking truck position is located in the second direction of the operation station. The included angle between the first direction and the second direction is less than the preset angle threshold, that is, the included angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided by the embodiments of the present application enables the operator to switch between the first direction and the second direction with only a small rotation angle (or even without rotation) at the operation station. That is, the operator can rotate from the first picking truck position to the second picking truck position or from the second picking truck position to the first picking truck position with only a small rotation angle (or even without rotation) at the operation station, which is convenient for the user to simultaneously perform picking tasks on the robot located at the first picking truck position and the robot located at the second picking truck position, making the workstation structure provided by the embodiments of the present application more ergonomic in the scenario of manual picking, thereby reducing the working labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided by the embodiments of the present application, when the robot runs along the first lane or the second lane, the distance between the boundary of the robot and the operation station is the distance between the boundary of the first lane or the second lane close to the operation station and the operation station. The turning of the robot during the running process will not affect the distance between the boundary of the first lane or the second lane close to the operation station and the operation station. Therefore, there is no need to reserve a safety distance between the operation station and the robot due to the turning of the robot during the running process, and the situation of collision between the running robot and the operator can be avoided, improving safety.

[0124] It can be understood that the workstation is generally set at a fixed position in the warehouse for storing materials. Generally, there are many fixed lanes for operators or robots to run in the warehouse. If the workstation is set in the fixed lane, it will cause the operator or the robot to be unable to pass normally on the fixed lane, thus affecting the use of the fixed lane. Based on this, in order to ensure that the setting of the workstation does not affect the original use of the fixed lane, in a possible embodiment, Figure 3a the positional relationship between the workstation structure shown in Figure 3b and the fixed lane and the shelf for storing materials can be as shown in

[0125] See Figure 3b, the third lane 32 is the passage that the robot needs to pass through when going to the workstation. The third lane 32 can also be used for the robot to go to other positions in the warehouse other than the workstation. The third lane 32 is the aforementioned fixed lane.

[0126] The first lane 30 and the second lane 31 are arranged above the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32, and the entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0127] Exemplarily, assume that the robot needs to load materials at point A, and after completing the picking of the loaded materials, run the picked materials to point B through the third lane. Then, a workstation can be set up above the third lane that the robot needs to pass through during operation Figure 3b in the manner shown.

[0128] In Figure 3b the workstation structure shown, the operation mode of the robot in the workstation is as follows: The robot enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0129] Alternatively, the operation mode of the robot in the workstation is as follows: The robot enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0130] Selecting this embodiment, since the entrances and exits of the first lane are connected to the third lane, the entrances and exits of the second lane are connected to the third lane, and the first lane and the second lane are curved, the robot can enter the first or second channel and then enter the workstation through the entrance of the first lane or the second lane connected to the third lane, and leave the workstation through the exit of the first lane or the second lane connected to the third lane, and run on the third lane. Moreover, since the first lane and the second lane are arranged above the third lane, the arrangements of the first lane and the second lane do not occupy the position of the third lane, so that the setting of the workstation does not hinder the normal operation of the operator or the robot on the third lane, thus the setting of the workstation does not affect the original use of the third lane.

[0131] It can be understood that the number of robots that the first lane 30 and the second lane 31 can accommodate is limited. Therefore, when the number of robots performing the picking task is large, the robots need to queue outside the first lane 30 or the second lane 31 to ensure the normal progress of the picking task. Based on this, in a possible embodiment, refer to Figure 3b , the robots can queue on the third lane 32.

[0132] In another possible embodiment, refer to Figure 3a and Figure 3b for the workstation structure shown. Since the first lane 30 is a curved lane and the third lane 32 is a straight lane, there are relatively many idle areas between the curved first lane 30 and the straight third lane 32. Similarly, there are also relatively many idle areas between the second lane 31 and the third lane 32. Based on this, in order to improve the space utilization rate, in a possible embodiment, Figure 3b the space station structure shown can also be as Figure 3c shown.

[0133] Refer to Figure 3c , the workstation also includes four queuing parking spaces, which are: the third queuing parking space 62, the fourth queuing parking space 63, the fifth queuing parking space 64, and the sixth queuing parking space 65. The third queuing parking space 62 and the fourth queuing parking space 63 are arranged in the area surrounded by the first lane 30 and the third lane 32, and the fifth queuing parking space 64 and the sixth queuing parking space 65 are arranged in the area surrounded by the second lane 31 and the third lane 32.

[0134] In other possible embodiments, the workstation may include only two queuing spaces, namely the third queuing space 62 and the fourth queuing space 63, or only the fifth queuing space 64 and the sixth queuing space 65, or only the third queuing space 62 and the fifth queuing space 64, or only the fourth queuing space 63 and the sixth queuing space 65.

[0135] In Figure 3c In the shown workstation structure, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already existing in the first lane 30, the robot cannot directly enter the first lane 30. At this time, the robot can first enter the fourth queuing space 63 through the third lane 32. When one of the robots already existing in the first lane 30 drives out of the workstation, the robot at the fourth queuing space 63 runs to the third queuing space 62. When one of the robots already existing in the first lane 30 drives out of the workstation, the robot at the third queuing space 62 enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, and runs along the first lane 30 to the first picking vehicle position 40. The materials loaded on the robot at the first picking vehicle position 40 are picked by manual or robotic arm. After picking, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0136] Alternatively, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already existing in the second lane 31, the robot cannot directly enter the second lane 31. At this time, the robot can first enter the sixth queuing space 65 through the third lane 32. When one of the robots already existing in the second lane 31 drives out of the workstation, the robot at the sixth queuing space 65 runs to the fifth queuing space 64. When one of the robots already existing in the second lane 31 drives out of the workstation, the robot at the fifth queuing space 64 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking vehicle position 41. The materials loaded on the robot at the second picking vehicle position 41 are picked by manual or robotic arm. After picking, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0137] By selecting this embodiment, queuing parking spaces can be set within the first queuing area surrounded by the first lane and the third lane and / or the second queuing area surrounded by the second lane and the third lane, so that the area between the first lane or the second lane and the third lane can be fully utilized, improving the space utilization rate. At the same time, when there are many robots in the first lane or the second lane, the setting of the queuing parking spaces enables the robots that cannot enter the first lane or the second lane to wait at the queuing parking spaces, avoiding the situation where the robots that cannot enter the first lane or the second lane stagnate on the third lane, and thus avoiding congestion on the third lane.

[0138] Workstation Structure Three:

[0139] Figure 4a This is the third structural schematic diagram of the workstation provided by the embodiment of the present application. Refer to Figure 4a , the workstation includes: an operation station 20, a first lane 30, and a second lane 31, wherein the steering amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold. Figure 4a In, the dashed line 404 and the dashed line 405 are the two boundaries of the first lane 30 in Workstation Structure Three, and the dashed line 504 and the dashed line 505 are the two boundaries of the second lane 31 in Workstation Structure Three.

[0140] A first picking truck parking space 40 is set in the first lane 30, and a second picking truck parking space 41 is set in the second lane 31; the first picking truck parking space 40 is located at the lower left of the operation station 20, the second picking truck parking space 41 is located at the lower right of the operation station 20, and the included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking truck parking space 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking truck parking space 41 and the operation station 20 is less than a preset distance threshold.

[0141] In Figure 4a In the shown embodiment, the first tangential direction and the second tangential direction at any point in the first lane 30 and the second lane 31 are equal. Among them, the first tangential direction is the tangential direction at this point when the robot runs from the starting point of the lane to the end point of the lane, and the second tangential direction is the tangential direction at this point when the robot runs from the end point of the lane to the starting point of the lane.

[0142] In Figure 4a In the shown workstation structure, the running mode of the robot in the workstation is: the robot enters the first lane 30 from the entrance 301 of the first lane 30, runs along the first lane 30 to the first picking truck parking space 40, and the materials loaded on the robot at the first picking truck parking space 40 are picked by manual or robotic arm. After picking, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30.

[0143] Alternatively, the robot operates in the workstation in the following manner: The robot enters the second lane 31 from the entrance 311 of the second lane 31, runs along the second lane 31 to the second picking vehicle position 41, and the materials loaded on the robot at the second picking vehicle position 41 are picked by manual labor or a robotic arm. After picking is completed, the robot continues to run along the second lane 31 until it drives out of the workstation from the exit 312 of the second lane 31.

[0144] Selecting this embodiment, on the one hand, since the turning amplitude at any point in the first lane and the second lane is less than the preset amplitude threshold, the first lane or the second lane can be regarded as a smooth curve. Therefore, when the robot runs in the first lane or the second lane, it runs along an arc. And there is a first picking vehicle position in the first lane and a second picking vehicle position in the second lane. Therefore, the robot can run to the first picking vehicle position or the second picking vehicle position by running along an arc. It can be understood that in the Figure 1 workstation structure shown, the robot needs to wait for the in-situ rotation to complete before moving forward during operation, while in the embodiment of the present application, the robot turns while moving forward during the arc running process. Therefore, in the embodiment of the present application, the robot does not need to spend time waiting for the turning to complete during operation, so that the running time required for the robot to run along the arc is less than the running time required after in-situ rotation and then running. Therefore, the robot can run to the first picking vehicle position or the second picking vehicle position in a more natural and smooth arc running manner, reducing the unnecessary pauses and adjustment times caused by in-situ rotation, thereby reducing the time consumed by the robot during operation, improving the running efficiency of the robot, and further reducing the time required to complete the picking task and improving the efficiency of achieving the picking task.

[0145] Moreover, the arc running mode of the robot can also reduce the impact force caused by the robot's sharp turning and acceleration, resulting in less wear of the mechanical components of the robot, extending the service life of the robot, and reducing the maintenance cost caused by the wear of the mechanical components. The arc rotation mode can also reduce the energy consumption of the robot. When performing long-term tasks, it can greatly reduce the running cost of the robot and achieve the goal of sustainable development.

[0146] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, and a first picking vehicle position is set in the first lane and a second picking vehicle position is set in the second lane, the normal directions of the first picking vehicle position and the second picking vehicle position intersect, and the included angle between the normal direction of the first picking vehicle position and the normal direction of the second picking vehicle position is small. By setting the operation station at this intersection, the first picking vehicle position in the workstation is located in the first direction of the operation station, and the second picking vehicle position is located in the second direction of the operation station. The included angle between the first direction and the second direction is less than a preset angle threshold, that is, the included angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided by the embodiments of the present application enables the operator to switch between the first direction and the second direction with only a small rotation angle (or even without rotation) at the operation station. That is, the operator can rotate from the first picking vehicle position to the second picking vehicle position or from the second picking vehicle position to the first picking vehicle position with only a small rotation angle (or even without rotation) at the operation station, facilitating the user to simultaneously perform picking tasks on the robot located at the first picking vehicle position and the robot located at the second picking vehicle position. The workstation structure provided by the embodiments of the present application is more ergonomic in the scenario of manual picking, thereby reducing the working labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided by the embodiments of the present application, when the robot runs along the first lane or the second lane, the distance between the boundary of the robot and the operation station is the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station. The steering of the robot during operation will not affect the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station. Therefore, there is no need to reserve a safety distance between the operation station and the robot due to the steering of the robot during operation, and the situation of collision between the robot and the operator during operation can be avoided, improving safety.

[0147] It can be understood that the workstation is generally set at a fixed position in a warehouse for storing materials. There are generally many fixed lanes for operators or robots to run in the warehouse. If the workstation is set in the fixed lane, it will prevent the operators or robots from passing normally on the fixed lane, thus affecting the use of the fixed lane. Based on this, in order to ensure that the setting of the workstation does not affect the original use of the fixed lane, in a possible embodiment, Figure 4a the positional relationship between the workstation structure shown in Figure 4b and the fixed lane and the shelf for storing materials can be as shown in

[0148] See Figure 4b, the third lane 32 is the passage that the robot needs to pass through when going to the workstation. The third lane 32 can also be used by the robot to go to other positions in the warehouse other than the workstation. The third lane 32 is the aforementioned fixed lane.

[0149] The first lane 30 and the second lane 31 are arranged above the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32, and the entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0150] Exemplarily, assuming that the robot needs to load materials at point A, and after completing the picking of the loaded materials, the picked materials are transported to point B through the third lane, then a workstation can be set up above the third lane that the robot needs to pass through during operation in the Figure 4b shown manner.

[0151] In Figure 4b the shown workstation structure, the operation mode of the robot in the workstation is: the robot enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0152] Alternatively, the operation mode of the robot in the workstation is: the robot enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0153] Selecting this embodiment, since the entrances and exits of the first lane are connected to the third lane, the entrances and exits of the second lane are connected to the third lane, and the first lane and the second lane are curved, the robot can enter the first channel or the second channel and enter the workstation through the entrance of the first lane or the second lane connected to the third lane, and leave the workstation through the exit of the first lane or the second lane connected to the third lane, and run on the third lane. Moreover, since the first lane and the second lane are arranged on the upper side of the third lane, the arrangements of the first lane and the second lane do not occupy the position of the third lane, so that the setting of the workstation does not hinder the normal operation of the operator or the robot on the third lane, thus the setting of the workstation does not affect the original use of the third lane.

[0154] It can be understood that the number of robots that the first lane 30 and the second lane 31 can accommodate is limited. Therefore, when the number of robots performing the picking task is large, the robots need to queue outside the first lane 30 or the second lane 31 to ensure the normal progress of the picking task. Based on this, in a possible embodiment, referring to Figure 4b , the robots can queue on the third lane 32.

[0155] In another possible embodiment, referring to Figure 4a and Figure 4b for the workstation structure shown, since the first lane 30 is a curved lane and the third lane 32 is a straight lane, there are relatively many idle areas between the curved first lane 30 and the straight third lane 32. Similarly, there are also relatively many idle areas between the second lane 31 and the third lane 32. Based on this, in order to improve the space utilization rate, in a possible embodiment, Figure 4b the space station structure shown can also be as Figure 4c shown.

[0156] Referring to Figure 4c , the workstation further includes two queuing parking spaces, which are respectively: the seventh queuing parking space 66 and the eighth queuing parking space 67. The seventh queuing parking space 66 is arranged in the area surrounded by the first lane 30 and the third lane 32, and the eighth queuing parking space 67 is arranged in the area surrounded by the second lane 31 and the third lane 32.

[0157] In other possible embodiments, the workstation may also include only one queuing parking space, that is, the workstation includes only the seventh queuing parking space 66 or only the eighth queuing parking space 67.

[0158] In Figure 4cIn the shown workstation structure, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already existing in the first lane 30, the robot cannot directly enter the first lane 30. At this time, the robot can first enter the seventh queuing parking space 66 through the third lane 32. When one of the robots already existing in the first lane 30 drives out of the workstation, the robot at the seventh queuing parking space 66 enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, and runs along the first lane 30 to the first picking truck space 40. The materials loaded on the robot at the first picking truck space 40 are picked by manual labor or a robotic arm. After the picking is completed, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0159] Alternatively, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already existing in the second lane 31, the robot cannot directly enter the second lane 31. At this time, the robot can first enter the eighth queuing parking space 67 through the third lane 32. When one of the robots already existing in the second lane 31 drives out of the workstation, the robot at the eighth queuing parking space 67 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking truck space 41. The materials loaded on the robot at the second picking truck space 41 are picked by manual labor or a robotic arm. After the picking is completed, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0160] By selecting this embodiment, queuing parking spaces can be set in the first queuing area surrounded by the first lane and the third lane and / or the second queuing area surrounded by the second lane and the third lane, so that the area between the first lane or the second lane and the third lane can be fully utilized, improving the space utilization rate. At the same time, when there are a large number of robots in the first lane or the second lane, the setting of the queuing parking spaces can enable the robots that cannot enter the first lane or the second lane to wait at the queuing parking spaces, avoiding the situation where the robots that cannot enter the first lane or the second lane stagnate on the third lane, and further avoiding causing congestion on the third lane.

[0161] Workstation Structure Four:

[0162] Figure 5a This is the schematic diagram of the fourth structure of the workstation provided by the embodiment of the present application. Refer to Figure 5a , the workstation includes: an operation station 20, a first lane 30, and a second lane 31, wherein the steering amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold.Figure 5a Among them, the dashed line 406 and the dashed line 407 are the two boundaries of the first lane 30 in the workstation structure four, and the dashed line 506 and the dashed line 507 are the two boundaries of the second lane 31 in the workstation structure four.

[0163] A first picking truck position 40 is arranged in the first lane 30, and a second picking truck position 41 is arranged in the second lane 31; the first picking truck position 40 is located at the lower left of the operation station 20, and the second picking truck position 41 is located at the lower right of the operation station 20. The included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking truck position 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking truck position 41 and the operation station 20 is less than a preset distance threshold.

[0164] In Figure 5a In the illustrated embodiment, the first tangential direction and the second tangential direction at any point in the first lane 30 and the second lane 31 are equal. Among them, the first tangential direction is the tangential direction at this point when the robot runs from the starting point of the lane to the end point of the lane, and the second tangential direction is the tangential direction at this point when the robot runs from the end point of the lane to the starting point of the lane.

[0165] In Figure 5a In the illustrated workstation structure, the running mode of the robot in the workstation is as follows: the robot enters the first lane 30 from the entrance 301 of the first lane 30, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are picked by manual or robotic arm. After picking, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30.

[0166] Or, the running mode of the robot in the workstation is as follows: the robot enters the second lane 31 from the entrance 311 of the second lane 31, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are picked by manual or robotic arm. After picking, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31.

[0167] Selecting this embodiment, on the one hand, since the turning amplitude at any point in the first lane and the second lane is less than the preset amplitude threshold, therefore, the first lane or the second lane can be regarded as a smooth curve, and the robot runs along an arc when running in the first lane or the second lane. And a first picking truck position is arranged in the first lane, and a second picking truck position is arranged in the second lane. Therefore, the robot can run to the first picking truck position or the second picking truck position by running along an arc. It can be understood that in Figure 1In the shown workstation structure, the robot needs to wait for the in-place rotation to complete before moving forward during operation. However, in the embodiments of the present application, the robot turns while moving forward during the arc-shaped operation. Therefore, in the embodiments of the present application, the robot does not need to spend time waiting for the turning to complete during operation, which makes the operation time required for the robot to move along the arc less than the operation time required after in-place rotation and then moving. Therefore, the robot can move to the first picking truck position or the second picking truck position in a more natural and smooth arc-shaped operation manner, reducing the unnecessary pauses and adjustment time brought by in-place rotation, thereby reducing the time consumed for the robot to operate, improving the operation efficiency of the robot, and further reducing the time required to complete the picking task and improving the efficiency of realizing the picking task.

[0168] Moreover, the arc-shaped operation mode of the robot can also reduce the impact force caused by the sharp turning and acceleration of the robot, resulting in less wear of the mechanical components of the robot, extending the service life of the robot, and reducing the maintenance cost caused by the wear of the mechanical components. The arc-shaped rotation mode can also reduce the energy consumption of the robot. When performing long-term tasks, it can greatly reduce the operation cost of the robot and achieve the sustainable development goal.

[0169] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, and a first picking vehicle position is set in the first lane and a second picking vehicle position is set in the second lane, the normal directions of the first picking vehicle position and the second picking vehicle position intersect, and the included angle between the normal direction of the first picking vehicle position and the normal direction of the second picking vehicle position is small. By setting the operation station at this intersection point, the first picking vehicle position in the workstation is located in the first direction of the operation station, and the second picking vehicle position is located in the second direction of the operation station. The included angle between the first direction and the second direction is less than the preset angle threshold, that is, the included angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided by the embodiments of the present application enables the operator to switch between the first direction and the second direction with only a small rotation angle (or even without rotation) at the operation station. That is, the operator can rotate from the first picking vehicle position to the second picking vehicle position or from the second picking vehicle position to the first picking vehicle position with only a small rotation angle (or even without rotation) at the operation station, facilitating the user to simultaneously perform picking tasks on the robot located at the first picking vehicle position and the robot located at the second picking vehicle position, making the workstation structure provided by the embodiments of the present application more ergonomic in the scenario of manual picking, thereby reducing the working labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided by the embodiments of the present application, when the robot runs along the first lane or the second lane, the distance between the boundary of the robot and the operation station is the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station. The turning of the robot during operation will not affect the distance between the boundary of the first lane or the second lane close to the operation station side and the operation station, so there is no need to reserve a safety distance between the operation station and the robot due to the turning of the robot during operation, and the situation of collision between the robot and the operator during operation can be avoided, improving safety.

[0170] It can be understood that the workstation is generally set at a fixed position in the warehouse for storing materials. Generally, there are many fixed lanes for operators or robots to run in the warehouse. If the workstation is set in the fixed lane, it will cause the operator or the robot to be unable to pass normally on the fixed lane, thus affecting the use of the fixed lane. Based on this, in order to ensure that the setting of the workstation does not affect the original use of the fixed lane, in a possible embodiment, Figure 5a the positional relationship between the workstation structure shown and the fixed lane and the shelf for storing materials can be as Figure 5b shown.

[0171] See Figure 5b, the third lane 32 is the passage that the robot needs to pass through when going to the workstation. The third lane 32 can also be used for the robot to go to other positions in the warehouse other than the workstation. The third lane 32 is the aforementioned fixed lane.

[0172] The first lane 30 and the second lane 31 are arranged above the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32, and the entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0173] Exemplarily, assuming that the robot needs to load materials at point A, and after completing the picking of the loaded materials, the picked materials are transported to point B through the third lane, then the workstations can be set up above the third lane that the robot needs to pass through during operation according to Figure 5b the manner shown.

[0174] In Figure 5b the workstation structure shown, the operation mode of the robot in the workstation is as follows: The robot enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0175] Or, the operation mode of the robot in the workstation is as follows: The robot enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are picked by manual or robotic arm. After the picking is completed, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0176] In this embodiment, since the entrance and exit of the first lane are connected to the third lane, the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are curved, the robot can enter the first channel or the second channel to enter the workstation through the entrance of the first lane or the second lane connected to the third lane, and leave the workstation through the exit of the first lane or the second lane connected to the third lane, and run on the third lane. In addition, since the first lane and the second lane are set on the upper side of the third lane, the setting of the first lane and the second lane will not occupy the position of the third lane, so that the setting of the workstation does not hinder the normal operation of the operator or the robot on the third lane, so that the setting of the workstation does not affect the original use of the third lane.

[0177] It is understandable that the number of robots that can be accommodated in the first lane 30 and the second lane 31 is limited. Therefore, when there are a large number of robots performing the picking task, the robots need to queue outside the first lane 30 or the second lane 31 to ensure the normal progress of the picking task. Based on this, in a possible embodiment, see Figure 5b , the robots can queue up in the third lane 32.

[0178] In another possible embodiment, see Figure 5a as well as Figure 5b In the workstation structure shown in the figure, since the first lane 30 is a curved lane and the third lane 32 is a straight lane, there is a lot of free space between the curved first lane 30 and the straight third lane 32. Similarly, there is a lot of free space between the second lane 31 and the third lane 32. Based on this, in order to improve space utilization, in a possible embodiment, Figure 5b The space station structure shown can also be Figure 5c shown.

[0179] See also Figure 5c The workstation also includes two queuing parking spaces, which are a ninth queuing parking space 68 and a tenth queuing parking space 69. The ninth queuing parking space 68 is arranged in an area surrounded by the first lane 30 and the third lane 32, and the tenth queuing parking space 69 is arranged in an area surrounded by the second lane 31 and the third lane 32.

[0180] In other possible embodiments, the workstation may also include only one queuing parking space, that is, the workstation includes only the ninth queuing parking space 68 or only the tenth queuing parking space 69 .

[0181] exist Figure 5cIn the workstation structure shown, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already in the first lane 30, the robot cannot directly enter the first lane 30. At this time, the robot can first enter the ninth queuing parking space 68 through the third lane 32. When one of the robots already in the first lane 30 drives out of the workstation, the robot at the ninth queuing parking space 68 enters the first lane 30 from the entrance 301 of the first lane 30 connected to the third lane 32, and runs along the first lane 30 to the first picking vehicle position 40. The materials loaded on the robot at the first picking vehicle position 40 are picked by manual or robotic arm. After picking, the robot continues to run along the first lane 30 until the robot drives out of the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0182] Alternatively, the operation mode of the robot in the workstation is as follows: when there are a large number of robots already in the second lane 31, the robot cannot directly enter the second lane 31. At this time, the robot can first enter the tenth queuing parking space 69 through the third lane 32. When one of the robots already in the second lane 31 drives out of the workstation, the robot at the tenth queuing parking space 69 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, runs along the second lane 31 to the second picking vehicle position 41. The materials loaded on the robot at the second picking vehicle position 41 are picked by manual or robotic arm. After picking, the robot continues to run along the second lane 31 until the robot drives out of the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0183] By selecting this embodiment, queuing parking spaces can be set in the first queuing area surrounded by the first lane and the third lane and / or the second queuing area surrounded by the second lane and the third lane, so that the area between the first lane or the second lane and the third lane can be fully utilized, improving the space utilization rate. At the same time, when there are a large number of robots in the first lane or the second lane, the setting of the queuing parking spaces can enable the robots that cannot enter the first lane or the second lane to wait at the queuing parking spaces, avoiding the situation where the robots that cannot enter the first lane or the second lane stagnate on the third lane, and thus avoiding congestion on the third lane.

[0184] It can be understood that the workstation structure in the above embodiment is only a possible example of the workstation structure provided by this application. Without loss of generality, the workstation provided by this application includes: an operation station, a first lane, and a second lane, and the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold;

[0185] A first picking truck parking space is set in the first lane, and a second picking truck parking space is set in the second lane;

[0186] The first picking truck parking space is located in the first direction of the operation station, the second picking truck parking space is located in the second direction of the operation station, and the included angle between the first direction and the second direction is less than a preset angle threshold;

[0187] The distance between the first picking truck parking space and the operation station is less than a preset distance threshold, and the distance between the second picking truck parking space and the operation station is less than a preset distance threshold.

[0188] In a possible embodiment, the first lane and the second lane are arranged on the same side of the third lane, and the third lane is the lane leading to the workstation;

[0189] The entrance and exit of the first lane are connected to the third lane, the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are curved.

[0190] In a possible embodiment, the workstation further includes at least one queuing parking space;

[0191] Each queuing parking space is arranged in the first queuing area and / or the second queuing area;

[0192] Wherein, the first queuing area is the area surrounded by the first lane and the third lane, and the second queuing area is the area surrounded by the second lane and the third lane.

[0193] Corresponding to the foregoing workstation, the embodiment of the present application further provides a robot scheduling method for a workstation. To facilitate understanding of a robot scheduling method for a workstation provided by the present application, the robot scheduling method for a workstation provided by the present application will be exemplarily described below in combination with the embodiment of the foregoing workstation.

[0194] Corresponding to the foregoing workstation structure one, the robot scheduling method one for the workstation provided by the present application is as follows:

[0195] Refer to Figure 2a The workstation structure shown, the workstation includes: an operation station 20, a first lane 30, and a second lane 31, wherein the steering amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold. Figure 2aAmong them, the dashed line 400 and the dashed line 401 are the two boundaries of the first lane 30 in the workstation structure one, and the dashed line 500 and the dashed line 501 are the two boundaries of the second lane 31 in the workstation structure one. A first picking truck position 40 is set in the first lane 30, and a second picking truck position 41 is set in the second lane 31; the first picking truck position 40 is located at the lower left of the operation station 20, and the second picking truck position 41 is located at the lower right of the operation station 20. The included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking truck position 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking truck position 41 and the operation station 20 is less than a preset distance threshold.

[0196] See Figure 6a , the first method for robot scheduling in the workstation includes:

[0197] S601, control the target robot loaded with the materials to be sorted to enter the workstation along the target lane and move to the target picking truck position.

[0198] Among them, the target lane is the first lane or the second lane, and the target picking truck position is the picking truck position set in the target lane.

[0199] S602, in response to completing the sorting of the materials to be sorted, control the target robot to drive away from the workstation along the target lane.

[0200] In S601 - S602, the target robot can be any robot that can implement the workstation robot scheduling method provided in this application. For example, a latent bin robot, an AMR (autonomous mobile robots), a forklift robot, etc. Among them, the structure of the latent bin robot can be as Figure 6b shown, including a lifting tabletop and a moving chassis.

[0201] The execution subject of the workstation robot scheduling method provided in this application can be a robot scheduling system. In this embodiment, it is the robot scheduling system that controls the operation of the target robot. Then, in the actual scenario, ground markings for identifying the first lane 30 and the second lane 31 can be set, or ground markings for identifying the first lane 30 and the second lane 31 can not be set.

[0202] The execution subject of the workstation robot scheduling method provided by this application can also be a processor built into the target robot. In this embodiment, the operation of the target robot is navigated by the processor built into the target robot, and the navigation method of the target robot can include any one of navigation methods such as two-dimensional code, SLAM, texture navigation, etc. And in this embodiment, ground markings for identifying the first lane 30 and the second lane 31 can be set in the actual scenario, so that the target robot can determine its own running direction by scanning the ground markings. Or, in the actual scenario, ground markings for identifying the first lane 30 and the second lane 31 may not be set, and the positions of the first lane 30 and the second lane 31 are stored in the memory built into the target robot, so that the processor built into the target robot can determine its own running direction according to the positions of the first lane 30 and the second lane 31 stored in the memory.

[0203] The target robot can directly load the materials to be sorted, or can also load the materials to be sorted by loading a container containing the materials to be sorted.

[0204] Assume that the target lane is the first lane 30 and the target picking truck position is the first picking truck position 40. Then, after loading the materials to be sorted, the target robot enters the workstation along the first lane 30 and moves to the first picking truck position 40. The materials to be sorted loaded on the target robot at the first picking truck position 40 are sorted by manual or robotic arm. After sorting is completed, the target robot drives away from the workstation along the first lane 30.

[0205] Among them, sorting the materials to be sorted can refer to one or more of sorting tasks such as 2B outbound picking, 2C outbound picking, inventory management, and minor replenishment.

[0206] Specifically, 2B outbound picking means: placing a cage car or a pallet behind the workstation, and picking the materials needed in the materials to be sorted into large containers such as the cage car or the pallet placed behind the workstation. 2C outbound picking means: placing a sorting wall behind the workstation, and placing the materials with the same SKU (Stock Keeping Unit) in the materials to be sorted in different compartments of the sorting wall, and each compartment corresponds to a different order. Inventory management means: sorting the materials to be sorted loaded on the target robot at the first picking truck position 40 into the container loaded on the target robot at the second picking truck position 41. Minor replenishment: The materials to be sorted are materials that need to be replenished. Place the materials to be sorted loaded on the target robot at the first picking truck position 40 into the empty container loaded on the target robot at the second picking truck position 41 to complete the replenishment.

[0207] Assume that the target lane is the second lane 31 and the target picking vehicle position is the second picking vehicle position 41. After loading the materials to be sorted, the target robot enters the workstation along the second lane 31 and moves to the second picking vehicle position 41. The materials to be sorted loaded on the target robot at the second picking vehicle position 41 are sorted manually or by a robotic arm. After sorting is completed, the target robot drives away from the workstation along the second lane 31.

[0208] It can be understood that the robot scheduling method for the workstation provided in this application depends on the determination of the target lane. The method for determining the target lane provided in this application will be described exemplarily below.

[0209] Method 1:

[0210] Obtain the number of robots already existing in the first lane as the first number; and obtain the number of robots already existing in the second lane as the second number. If the first number is greater than the second number, determine the second lane as the target lane; if the second number is greater than the first number, determine the first lane as the target lane.

[0211] Exemplarily, assume that the number of robots already existing in the first lane is 3, that is, the first number is 3, and the number of robots already existing in the second lane is 4, that is, the second number is 4. Then the second number is greater than the first number, and the first lane is taken as the target lane. Assume that the first number is 4 and the second number is 3. Then the first number is greater than the second number, and the second lane is taken as the target lane.

[0212] If the first number is equal to the second number, either of the first lane and the second lane can be taken as the target lane, or the lane with an entrance closer to the target robot among the first lane and the second lane can be taken as the target lane.

[0213] By selecting this embodiment, the lane with a smaller number of existing robots can be selected as the target lane from the first lane and the second lane, so that after the target robot enters the workstation, it only needs to wait for a smaller number of robots to leave the target picking vehicle position in the target lane, and then the target robot can run to the target picking vehicle position, reducing the waiting time required for the target robot to run to the target picking vehicle position, reducing the waiting time required for sorting the materials to be sorted loaded on the target robot, and improving the efficiency of sorting the materials to be sorted loaded on the target robot.

[0214] Method 2:

[0215] Determine the lane in which the entrance is closer to the target robot between the first lane and the second lane as the candidate lane; obtain the number of robots already existing in the candidate lane as the third number; if the third number is greater than the first preset number threshold, use the alternative lane as the target lane; if the third number is not greater than the first preset number threshold, use the candidate lane as the target lane, where the alternative lane is the lane among the first lane and the second lane that is not the candidate lane.

[0216] The first preset number threshold can be set according to user requirements or actual experience, and the first preset number threshold should be less than the maximum number of robots that can be accommodated in the candidate lane. For example, assume that the maximum number of robots that can be accommodated in the candidate lane is 6, then the first preset number threshold can be set to 3, 4, 5, etc.

[0217] Exemplarily, assume that the distance between the entrance of the first lane and the target robot is less than the distance between the entrance of the second lane and the target robot, then the candidate lane is the first lane. Assume that the number of robots already existing in the first lane is 2, that is, the third number is 2, and assume that the first preset number threshold is 3, then the third number is not greater than the first preset number threshold, and the first lane is used as the target lane.

[0218] Assume that the third number is 4, and assume that the first preset number threshold is 3, then the third number is greater than the first preset number threshold, and the lane among the first lane and the second lane that is not the candidate lane, that is, the second lane, is used as the target lane.

[0219] By selecting this embodiment, it is possible to judge whether the number of robots already existing in the candidate lane with a closer distance between the entrance and the target robot is large by judging whether the third number is greater than the first preset number threshold. When the third number is greater than the first preset number threshold, that is, when the number of robots already existing in the candidate lane is large, use the alternative lane among the first lane and the second lane that is not the candidate lane as the target lane. When the third number is not greater than the first preset number threshold, that is, when the number of robots already existing in the candidate lane is small, use the candidate lane as the target lane. Through the above method of determining the target lane, after the target robot enters the workstation, it only needs to wait for a smaller number of robots to leave the target picking vehicle position in the target lane, and then the target robot can run to the target picking vehicle position, reducing the waiting time required for the target robot to run to the target picking vehicle position, reducing the waiting time required for sorting the to-be-sorted materials loaded on the target robot, and improving the efficiency of sorting the to-be-sorted materials loaded on the target robot.

[0220] See Figure 2bIn the shown workstation structure, the third lane 32 is the passage that the robot needs to pass through when approaching the workstation. The first lane 30 and the second lane 31 are arranged on the same side of the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32, and the entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0221] Corresponding to Figure 2b In the shown workstation structure, the robot scheduling method for the workstation provided in this application includes: controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; in response to completing the sorting of the materials to be sorted, controlling the target robot to drive into the third lane along the target lane via the exit of the target lane.

[0222] Assume that the target lane is the first lane 30. After the target robot is loaded with the materials to be sorted, it moves along the third lane 32 to the entrance 301 of the first lane 30, enters the first lane 30 from the entrance 301 of the first lane 30, that is, enters the workstation, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are sorted by manual or robotic arm. After the sorting is completed, the target robot continues to run along the first lane 30, drives out of the workstation via the exit 302 of the first lane 30, and drives into the third lane 32.

[0223] Assume that the target lane is the second lane 31. After the target robot is loaded with the materials to be sorted, it moves along the third lane 32 to the entrance 311 of the second lane 31, enters the second lane 31 from the entrance 311 of the second lane 31, that is, enters the workstation, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are sorted by manual or robotic arm. After the sorting is completed, the target robot continues to run along the second lane 31, drives out of the workstation via the exit 312 of the second lane 31, and drives into the third lane 32.

[0224] Refer to Figure 2c In the shown workstation structure, the workstation also includes two queuing positions, which are respectively: the first queuing position 60 and the second queuing position 61. The first queuing position 60 is arranged in the area surrounded by the first lane 30 and the third lane 32, and the second queuing position 61 is arranged in the area surrounded by the second lane 31 and the third lane 32.

[0225] Corresponding to Figure 2cFor the workstation structure shown, the robot scheduling method of the workstation provided in this application includes: if the number of robots already existing in the target lane is less than the second preset number threshold, controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; if the number of robots already existing in the target lane is not less than the second preset number threshold, controlling the target robot loaded with the materials to be sorted to move along the third lane to the queuing parking space in the target queuing area, where the target queuing area is the first queuing area when the target lane is the first lane and the second queuing area when the target lane is the second lane; in response to the number of robots already existing in the target lane being less than the second preset number threshold, controlling the target robot to move from the queuing parking space where it is located to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; in response to the sorting of the materials to be sorted being completed, controlling the target robot to drive into the third lane via the exit of the target lane along the target lane.

[0226] The second preset number threshold can be set according to user requirements or actual experience, and the second preset number threshold can be set as the number of robots that can exist in the target lane. For example, assuming that the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; assuming that the number of robots that can exist in the candidate lane is 4, the second preset number threshold can be set to 4.

[0227] By judging whether the number of robots already existing in the target lane is less than the second preset number threshold, it can be judged whether the target robot can enter the target lane. If the number of robots already existing in the target lane is less than the second preset number threshold, the target robot can enter the target lane. As Figure 6c shown, the position framed by the dotted box is the position where there is no robot in the first lane, and the target robot can directly move along the third lane to the entrance of the target lane, and enter the workstation along the target lane from the entrance of the target lane.

[0228] If the number of robots already existing in the target lane is not less than the second preset number threshold, the target robot cannot enter the target lane. At this time, the target robot can first move along the third lane to the queuing parking space in the target queuing area to wait, and when the number of robots already existing in the target lane is less than the second preset number threshold, move along the third lane to the entrance of the target lane, and enter the workstation along the target lane from the entrance of the target lane. As Figure 6d shown, the target robot cannot enter the first lane or the second lane, so the target robot needs to first run to the queuing parking space in the first queuing area or the queuing parking space in the second queuing area to wait.

[0229] Corresponding toFigure 2c For the workstation structure shown, if the target lane is the first lane 30, the queuing parking spaces in the target queuing area refer to the first queuing parking spaces 60 in the first queuing area; if the target lane is the second lane 31, the queuing parking spaces in the target queuing area refer to the second queuing parking spaces 61 in the second queuing area.

[0230] Corresponding to the aforementioned workstation structure two, the robot scheduling method two of the workstation provided in this application is as follows:

[0231] See Figure 3a For the workstation structure shown, the workstation includes: an operation station 20, a first lane 30, and a second lane 31. Among them, the turning amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold. Figure 3a In [the figure], the dashed lines 402 and 403 are the two boundaries of the first lane 30 in the workstation structure two, and the dashed lines 502 and 503 are the two boundaries of the second lane 31 in the workstation structure two. A first picking truck parking space 40 is set in the first lane 30, and a second picking truck parking space 41 is set in the second lane 31; the first picking truck parking space 40 is located at the lower left of the operation station 20, the second picking truck parking space 41 is located at the lower right of the operation station 20, and the included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking truck parking space 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking truck parking space 41 and the operation station 20 is less than a preset distance threshold.

[0232] The robot scheduling method two of the workstation includes: controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane and move to the target picking truck parking space. Among them, the target lane is the first lane or the second lane, and the target picking truck parking space is the picking truck parking space set in the target lane. In response to completing the sorting of the materials to be sorted, control the target robot to drive away from the workstation along the target lane.

[0233] In the robot scheduling method two of the workstation, the type of the target robot, the execution subject of the robot scheduling method of the workstation provided in this application, and the determination method of the target lane are the same as those in the robot scheduling method one of the workstation, so they will not be elaborated here.

[0234] In the robot scheduling method two of the workstation, assuming that the target lane is the first lane 30 and the target picking truck parking space is the first picking truck parking space 40, after the target robot loads the materials to be sorted, it enters the workstation along the first lane 30 and moves to the first picking truck parking space 40. The materials to be sorted loaded on the target robot at the first picking truck parking space 40 are sorted by manual or robotic arm. After the sorting is completed, the target robot drives away from the workstation along the first lane 30.

[0235] Assume that the target lane is the second lane 31 and the target picking vehicle position is the second picking vehicle position 41. After the target robot loads the materials to be sorted, it enters the workstation along the second lane 31 and moves to the second picking vehicle position 41. The materials to be sorted loaded on the target robot at the second picking vehicle position 41 are sorted by manual labor or a robotic arm. After the sorting is completed, the target robot drives away from the workstation along the second lane 31.

[0236] See Figure 3b For the workstation structure shown, the third lane 32 is the passage that the robot needs to pass through when approaching the workstation. The first lane 30 and the second lane 31 are arranged above the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32. The entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0237] Corresponding to Figure 3b For the workstation structure shown, the robot scheduling method for the workstation provided in this application includes: controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; in response to the completion of the sorting of the materials to be sorted, controlling the target robot to drive into the third lane via the exit of the target lane along the target lane.

[0238] Assume that the target lane is the first lane 30. After the target robot loads the materials to be sorted, it moves along the third lane 32 to the entrance 301 of the first lane 30, enters the first lane 30 from the entrance 301 of the first lane 30, that is, enters the workstation, runs along the first lane 30 to the first picking vehicle position 40, and the materials loaded on the robot at the first picking vehicle position 40 are sorted by manual labor or a robotic arm. After the sorting is completed, the target robot continues to run along the first lane 30, drives away from the workstation via the exit 302 of the first lane 30, and drives into the third lane 32.

[0239] Assume that the target lane is the second lane 31. After the target robot loads the materials to be sorted, it moves along the third lane 32 to the entrance 311 of the second lane 31, enters the second lane 31 from the entrance 311 of the second lane 31, that is, enters the workstation, runs along the second lane 31 to the second picking vehicle position 41, and the materials loaded on the robot at the second picking vehicle position 41 are sorted by manual labor or a robotic arm. After the sorting is completed, the target robot continues to run along the second lane 31, drives away from the workstation via the exit 312 of the second lane 31, and drives into the third lane 32.

[0240] See Figure 3cThe workstation structure shown also includes four queuing bays, namely: the third queuing bay 62, the fourth queuing bay 63, the fifth queuing bay 64, and the sixth queuing bay 65. The third queuing bay 62 and the fourth queuing bay 63 are arranged in the area surrounded by the first lane 30 and the third lane 32, and the fifth queuing bay 64 and the sixth queuing bay 65 are arranged in the area surrounded by the second lane 31 and the third lane 32.

[0241] Corresponding to Figure 3c For the workstation structure shown, the robot scheduling method for the workstation provided in this application includes: if the number of robots already existing in the target lane is less than the second preset number threshold, controlling the target robot loaded with the material to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; if the number of robots already existing in the target lane is not less than the second preset number threshold, controlling the target robot loaded with the material to be sorted to move along the third lane to the queuing bay in the target queuing area, where the target queuing area is the first queuing area when the target lane is the first lane and the second queuing area when the target lane is the second lane; in response to the number of robots already existing in the target lane being less than the second preset number threshold, controlling the target robot to move from the queuing bay where it is located to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; in response to the completion of the sorting of the material to be sorted, controlling the target robot to drive into the third lane via the exit of the target lane along the target lane.

[0242] The second preset number threshold can be set according to user requirements or actual experience, and the second preset number threshold can be set as the number of robots that can exist in the target lane. For example, assuming that the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; assuming that the number of robots that can exist in the candidate lane is 4, the second preset number threshold can be set to 4.

[0243] By judging whether the number of robots already existing in the target lane is less than the second preset number threshold, it can be judged whether the target robot can enter the target lane. If the number of robots already existing in the target lane is less than the second preset number threshold, the target robot can enter the target lane.

[0244] If the number of robots already present in the target lane is not less than the second preset number threshold, the target robot is not allowed to enter the target lane. At this time, the target robot can first move along the third lane to the queuing parking space in the target queuing area to wait, and when the number of robots already present in the target lane is less than the second preset number threshold, move along the third lane to the entrance of the target lane and enter the workstation along the target lane from the entrance of the target lane.

[0245] Corresponding to Figure 3c For the workstation structure shown, if the target lane is the first lane 30, the queuing parking spaces in the target queuing area refer to the third queuing parking space 62 or the fourth queuing parking space 63 in the first queuing area. Specifically, when there is a robot at the third queuing parking space 62, the queuing parking spaces in the target queuing area refer to the fourth queuing parking space 63 in the first queuing area; when there is no robot at the third queuing parking space 62, the queuing parking spaces in the target queuing area refer to the third queuing parking space 62 in the first queuing area.

[0246] If the target lane is the second lane 31, the queuing parking spaces in the target queuing area refer to the fifth queuing parking space 64 or the sixth queuing parking space 65 in the second queuing area. Specifically, when there is a robot at the fifth queuing parking space 64, the queuing parking spaces in the target queuing area refer to the sixth queuing parking space 65 in the first queuing area; when there is no robot at the fifth queuing parking space 64, the queuing parking spaces in the target queuing area refer to the fifth queuing parking space 64 in the first queuing area.

[0247] Corresponding to the foregoing workstation structure three, the robot scheduling method three of the workstation provided in this application is as follows:

[0248] See Figure 4a For the workstation structure shown, the workstation includes: an operation station 20, a first lane 30, and a second lane 31, wherein the steering amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold. Figure 4a In it, the dashed lines 404 and 405 are the two boundaries of the first lane 30 in the workstation structure three, and the dashed lines 504 and 505 are the two boundaries of the second lane 31 in the workstation structure three. A first picking vehicle parking space 40 is provided in the first lane 30, and a second picking vehicle parking space 41 is provided in the second lane 31; the first picking vehicle parking space 40 is located at the lower left of the operation station 20, the second picking vehicle parking space 41 is located at the lower right of the operation station 20, and the included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking vehicle parking space 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking vehicle parking space 41 and the operation station 20 is less than a preset distance threshold.

[0249] The third method for robot scheduling in the workstation includes: controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane and move to the target sorting truck position. Here, the target lane is the first lane or the second lane, and the target sorting truck position is the sorting truck position set in the target lane. In response to completing the sorting of the materials to be sorted, control the target robot to drive away from the workstation along the target lane.

[0250] In the third method for robot scheduling in the workstation, the type of the target robot, the execution entity of the workstation robot scheduling method provided in this application, and the determination method of the target lane are the same as those in the first method for robot scheduling in the workstation, so they will not be elaborated here.

[0251] In the third method for robot scheduling in the workstation, assume that the target lane is the first lane 30 and the target sorting truck position is the first sorting truck position 40. Then, after loading the materials to be sorted, the target robot enters the workstation along the first lane 30 and moves to the first sorting truck position 40. The materials to be sorted loaded on the target robot at the first sorting truck position 40 are sorted manually or by a robotic arm. After the sorting is completed, the target robot drives away from the workstation along the first lane 30.

[0252] Assume that the target lane is the second lane 31 and the target sorting truck position is the second sorting truck position 41. Then, after loading the materials to be sorted, the target robot enters the workstation along the second lane 31 and moves to the second sorting truck position 41. The materials to be sorted loaded on the target robot at the second sorting truck position 41 are sorted manually or by a robotic arm. After the sorting is completed, the target robot drives away from the workstation along the second lane 31.

[0253] See Figure 4b For the workstation structure shown, the third lane 32 is the passage that the robot needs to pass through when entering the workstation. The first lane 30 and the second lane 31 are arranged on the upper side of the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32, and the entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0254] Corresponding to Figure 4b For the workstation structure shown, the workstation robot scheduling method provided in this application includes: controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane and enter the workstation along the target lane from the entrance of the target lane; in response to completing the sorting of the materials to be sorted, control the target robot to drive into the third lane through the exit of the target lane along the target lane.

[0255] Assume that the target lane is the first lane 30. After loading the materials to be sorted, the target robot moves along the third lane 32 to the entrance 301 of the first lane 30, enters the first lane 30 from the entrance 301 of the first lane 30, that is, enters the workstation, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are sorted manually or by a robotic arm. After sorting is completed, the target robot continues to run along the first lane 30, leaves the workstation through the exit 302 of the first lane 30, and enters the third lane 32.

[0256] Assume that the target lane is the second lane 31. After loading the materials to be sorted, the target robot moves along the third lane 32 to the entrance 311 of the second lane 31, enters the second lane 31 from the entrance 311 of the second lane 31, that is, enters the workstation, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are sorted manually or by a robotic arm. After sorting is completed, the target robot continues to run along the second lane 31, leaves the workstation through the exit 312 of the second lane 31, and enters the third lane 32.

[0257] See Figure 4c For the workstation structure shown, the workstation further includes two queuing truck positions, which are: the seventh queuing truck position 66 and the eighth queuing truck position 67. The seventh queuing truck position 66 is set in the area surrounded by the first lane 30 and the third lane 32, and the eighth queuing truck position 67 is set in the area surrounded by the second lane 31 and the third lane 32.

[0258] Corresponding to Figure 4c For the workstation structure shown, the robot scheduling method of the workstation provided in this application includes: if the number of robots already existing in the target lane is less than the second preset number threshold, control the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and enter the workstation from the entrance of the target lane along the target lane; if the number of robots already existing in the target lane is not less than the second preset number threshold, control the target robot loaded with the materials to be sorted to move along the third lane to the queuing truck position in the target queuing area, where the target queuing area is the first queuing area when the target lane is the first lane and the second queuing area when the target lane is the second lane; in response to the number of robots already existing in the target lane being less than the second preset number threshold, control the target robot to move from the queuing truck position where it is located to the entrance of the target lane, and enter the workstation from the entrance of the target lane along the target lane; in response to the completion of sorting the materials to be sorted, control the target robot to drive into the third lane through the exit of the target lane along the target lane.

[0259] The second preset number threshold can be set according to user requirements or actual experience, and the second preset number threshold can be set to the number of robots that can exist in the target lane. For example, assuming that the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; assuming that the number of robots that can exist in the candidate lane is 4, the second preset number threshold can be set to 4.

[0260] By judging whether the number of robots already existing in the target lane is less than the second preset number threshold, it can be determined whether the target robot can enter the target lane. If the number of robots already existing in the target lane is less than the second preset number threshold, the target robot can enter the target lane.

[0261] If the number of robots already existing in the target lane is not less than the second preset number threshold, the target robot cannot enter the target lane. At this time, the target robot can first move along the third lane to the queuing parking space in the target queuing area to wait, and when the number of robots already existing in the target lane is less than the second preset number threshold, move along the third lane to the entrance of the target lane and enter the workstation along the target lane from the entrance of the target lane.

[0262] Corresponding to Figure 4c the workstation structure shown, if the target lane is the first lane 30, the queuing parking space in the target queuing area refers to the seventh queuing parking space 66 in the first queuing area; if the target lane is the second lane 31, the queuing parking space in the target queuing area refers to the eighth queuing parking space 67 in the second queuing area.

[0263] Corresponding to the foregoing workstation structure four, the robot scheduling method four of the workstation provided in the present application is as follows:

[0264] Referring to Figure 5a the workstation structure shown, the workstation includes: an operation station 20, a first lane 30, and a second lane 31, wherein the steering amplitude at any point in the first lane 30 and the second lane 31 is less than a preset amplitude threshold. Figure 5a In it, the dotted line 406 and the dotted line 407 are the two boundaries of the first lane 30 in the workstation structure four, and the dotted line 506 and the dotted line 507 are the two boundaries of the second lane 31 in the workstation structure four. A first picking truck parking space 40 is provided in the first lane 30, and a second picking truck parking space 41 is provided in the second lane 31; the first picking truck parking space 40 is located at the lower left of the operation station 20, the second picking truck parking space 41 is located at the lower right of the operation station 20, and the included angle between the lower left of the operation station 20 and the lower right of the operation station 20 is 90°. The distance between the first picking truck parking space 40 and the operation station 20 is less than a preset distance threshold, and the distance between the second picking truck parking space 41 and the operation station 20 is less than a preset distance threshold.

[0265] Corresponding to Figure 5a For the workstation structure shown, the fourth method for robot scheduling in the workstation includes: controlling the target robot loaded with the material to be sorted to enter the workstation along the target lane and move to the target picking truck position. Wherein, the target lane is the first lane or the second lane, and the target picking truck position is the picking truck position set in the target lane. In response to completing the sorting of the material to be sorted, control the target robot to drive away from the workstation along the target lane.

[0266] In the fourth method for robot scheduling in the workstation, the type of the target robot, the execution subject of the workstation robot scheduling method provided in this application, and the determination method of the target lane are the same as those in the first method for robot scheduling in the workstation, so they will not be elaborated here.

[0267] In the fourth method for robot scheduling in the workstation, assuming that the target lane is the first lane 30 and the target picking truck position is the first picking truck position 40, after the target robot loads the material to be sorted, it enters the workstation along the first lane 30 and moves to the first picking truck position 40. The material to be sorted loaded on the target robot at the first picking truck position 40 is sorted manually or by a robotic arm. After the sorting is completed, the target robot drives away from the workstation along the first lane 30.

[0268] Assuming that the target lane is the second lane 31 and the target picking truck position is the second picking truck position 41, after the target robot loads the material to be sorted, it enters the workstation along the second lane 31 and moves to the second picking truck position 41. The material to be sorted loaded on the target robot at the second picking truck position 41 is sorted manually or by a robotic arm. After the sorting is completed, the target robot drives away from the workstation along the second lane 31.

[0269] See Figure 5b For the workstation structure shown, the third lane 32 is the passage that the robot needs to pass through when going to the workstation. The first lane 30 and the second lane 31 are arranged on the upper side of the third lane 32. The entrance 301 and the exit 302 of the first lane 30 are connected to the third lane 32, and the entrance 311 and the exit 312 of the second lane 31 are connected to the third lane 32, and the first lane 30 and the second lane 31 are curved.

[0270] Corresponding to Figure 5b For the workstation structure shown, the robot scheduling method for the workstation provided in this application includes: controlling the target robot loaded with the material to be sorted to move along the third lane to the entrance of the target lane and enter the workstation along the target lane from the entrance of the target lane; in response to completing the sorting of the material to be sorted, control the target robot to drive into the third lane along the target lane via the exit of the target lane.

[0271] Assume that the target lane is the first lane 30. After loading the materials to be sorted, the target robot moves along the third lane 32 to the entrance 301 of the first lane 30, enters the first lane 30 from the entrance 301 of the first lane 30, that is, enters the workstation, runs along the first lane 30 to the first picking truck position 40, and the materials loaded on the robot at the first picking truck position 40 are sorted by manual or robotic arm. After sorting is completed, the target robot continues to run along the first lane 30, leaves the workstation through the exit 302 of the first lane 30, and enters the third lane 32.

[0272] Assume that the target lane is the second lane 31. After loading the materials to be sorted, the target robot moves along the third lane 32 to the entrance 311 of the second lane 31, enters the second lane 31 from the entrance 311 of the second lane 31, that is, enters the workstation, runs along the second lane 31 to the second picking truck position 41, and the materials loaded on the robot at the second picking truck position 41 are sorted by manual or robotic arm. After sorting is completed, the target robot continues to run along the second lane 31, leaves the workstation through the exit 312 of the second lane 31, and enters the third lane 32.

[0273] See Figure 5c In the shown workstation structure, the workstation further includes two queuing truck positions, which are respectively: the ninth queuing truck position 68 and the tenth queuing truck position 69. The ninth queuing truck position 68 is set in the area surrounded by the first lane 30 and the third lane 32, and the tenth queuing truck position 69 is set in the area surrounded by the second lane 31 and the third lane 32.

[0274] Corresponding to Figure 5c In the shown workstation structure, the robot scheduling method of the workstation provided by the present application includes: if the number of robots already existing in the target lane is less than the second preset number threshold, controlling the target robot loaded with materials to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation from the entrance of the target lane along the target lane; if the number of robots already existing in the target lane is not less than the second preset number threshold, controlling the target robot loaded with materials to be sorted to move along the third lane to the queuing truck position in the target queuing area, where the target queuing area is the first queuing area when the target lane is the first lane and the second queuing area when the target lane is the second lane; in response to the number of robots already existing in the target lane being less than the second preset number threshold, controlling the target robot to move from the queuing truck position where it is located to the entrance of the target lane, and entering the workstation from the entrance of the target lane along the target lane; in response to the completion of sorting the materials to be sorted, controlling the target robot to drive into the third lane through the exit of the target lane along the target lane.

[0275] The second preset number threshold can be set according to user requirements or actual experience, and the second preset number threshold can be set as the number of robots that can exist in the target lane. For example, assuming that the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; assuming that the number of robots that can exist in the candidate lane is 4, the second preset number threshold can be set to 4.

[0276] By judging whether the number of robots already existing in the target lane is less than the second preset number threshold, it can be determined whether the target robot can enter the target lane. If the number of robots already existing in the target lane is less than the second preset number threshold, the target robot can enter the target lane.

[0277] If the number of robots already existing in the target lane is not less than the second preset number threshold, the target robot cannot enter the target lane. At this time, the target robot can first move along the third lane to the queuing parking space in the target queuing area and wait. When the number of robots already existing in the target lane is less than the second preset number threshold, it moves along the third lane to the entrance of the target lane and enters the workstation along the target lane from the entrance of the target lane.

[0278] Corresponding to Figure 5c For the workstation structure shown, if the target lane is the first lane 30, the queuing parking space in the target queuing area refers to the ninth queuing parking space 68 in the first queuing area. If the target lane is the second lane 31, the queuing parking space in the target queuing area refers to the tenth queuing parking space 69 in the second queuing area.

[0279] It can be understood that the above embodiments are only possible examples of the robot scheduling method for the workstation provided by the present application. Without loss of generality, in a robot scheduling method for a workstation provided by the present application, the workstation includes: an operation station, a first lane and a second lane, and the steering amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold; a first picking truck parking space is arranged in the first lane, and a second picking truck parking space is arranged in the second lane; the first picking truck parking space is located in the first direction of the operation station, the second picking truck parking space is located in the second direction of the operation station, and the included angle between the first direction and the second direction is less than a preset angle threshold; the distance between the first picking truck parking space and the operation station is less than a preset distance threshold, and the distance between the second picking truck parking space and the operation station is less than a preset distance threshold;

[0280] The method includes:

[0281] Controlling a target robot loaded with materials to be sorted to enter the workstation along the target lane and move to the target picking truck parking space, where the target lane is the first lane or the second lane, and the target picking truck parking space is the picking truck parking space arranged in the target lane;

[0282] In response to completing the sorting of the materials to be sorted, control the target robot to drive away from the workstation along the target lane.

[0283] In one possible embodiment, the method further includes:

[0284] Obtain the number of robots already existing in the first lane as the first number; and obtain the number of robots already existing in the second lane as the second number;

[0285] If the first number is greater than the second number, determine the second lane as the target lane;

[0286] If the second number is greater than the first number, determine the first lane as the target lane.

[0287] In one possible embodiment, the method further includes:

[0288] Determine the lane with an entrance closer to the target robot among the first lane and the second lane as the candidate lane;

[0289] Obtain the number of robots already existing in the candidate lane as the third number;

[0290] If the third number is greater than the first preset number threshold, use the alternative lane as the target lane; if the third number is not greater than the first preset number threshold, use the candidate lane as the target lane, where the alternative lane is the lane among the first lane and the second lane that is not the candidate lane.

[0291] In one possible embodiment, the first lane and the second lane are arranged on the same side of the third lane, and the third lane is the lane leading to the workstation; the entrance and exit of the first lane are connected to the third lane, the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are curved;

[0292] Controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane includes:

[0293] Control the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and enter the workstation along the target lane from the entrance of the target lane;

[0294] Controlling the target robot to drive away from the workstation along the target lane includes:

[0295] Control the target robot to drive into the third lane via the exit of the target lane along the target lane.

[0296] In a possible embodiment, the workstation further includes queuing parking spaces provided in the first queuing area and queuing parking spaces provided in the second queuing area, where the first queuing area is the area surrounded by the first lane and the third lane, and the second queuing area is the area surrounded by the second lane and the third lane;

[0297] Controlling the target robot loaded with the material to be sorted to move along the third lane to the entrance of the target lane includes:

[0298] If the number of robots already existing in the target lane is less than the second preset number threshold, controlling the target robot loaded with the material to be sorted to move along the third lane to the entrance of the target lane;

[0299] The method further includes:

[0300] If the number of robots already existing in the target lane is not less than the second preset number threshold, controlling the target robot loaded with the material to be sorted to move along the third lane to the queuing parking space in the target queuing area, where the target queuing area is the first queuing area when the target lane is the first lane, and the second queuing area when the target lane is the second lane;

[0301] In response to the number of robots already existing in the target lane being less than the second preset number threshold, controlling the target robot to move from the queuing parking space where it is located to the entrance of the target lane.

[0302] Corresponding to the robot scheduling method of the foregoing workstation, an embodiment of the present application further provides a robot scheduling device for a workstation. The workstation includes: an operation station, a first lane, and a second lane, where the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold; a first picking truck parking space is provided in the first lane, and a second picking truck parking space is provided in the second lane; the first picking truck parking space is located in the first direction of the operation station, the second picking truck parking space is located in the second direction of the operation station, and the included angle between the first direction and the second direction is less than a preset angle threshold; the distance between the first picking truck parking space and the operation station is less than a preset distance threshold, and the distance between the second picking truck parking space and the operation station is less than a preset distance threshold;

[0303] See Figure 7 The device includes:

[0304] An entry module 701, configured to control a target robot loaded with the material to be sorted to enter the workstation along the target lane and move to the target picking truck parking space, where the target lane is the first lane or the second lane, and the target picking truck parking space is the picking truck parking space provided in the target lane;

[0305] An exit module 702, configured to control the target robot to drive away from the workstation along the target lane in response to the completion of the sorting of the material to be sorted.

[0306] In a possible embodiment, the device further includes:

[0307] A number acquisition module, configured to acquire the number of robots already existing in the first lane as the first number; and acquire the number of robots already existing in the second lane as the second number;

[0308] A target lane determination module, configured to determine the second lane as the target lane if the first number is greater than the second number; and determine the first lane as the target lane if the second number is greater than the first number.

[0309] In a possible embodiment, the device further includes:

[0310] A candidate lane determination module, configured to determine, in the first lane and the second lane, the lane with an entrance closer to the target robot as the candidate lane;

[0311] A candidate number acquisition module, configured to acquire the number of robots already existing in the candidate lane as the third number;

[0312] A number judgment module, configured to use the alternative lane as the target lane if the third number is greater than the first preset number threshold; and use the candidate lane as the target lane if the third number is not greater than the first preset number threshold, where the alternative lane is the lane among the first lane and the second lane that is not the candidate lane.

[0313] In a possible embodiment, the first lane and the second lane are arranged on the same side of the third lane, and the third lane is the lane leading to the workstation; the entrance and the exit of the first lane are connected to the third lane, the entrance and the exit of the second lane are connected to the third lane, and the first lane and the second lane are curved;

[0314] Controlling the target robot loaded with the material to be sorted to enter the workstation along the target lane includes:

[0315] Controlling the target robot loaded with the material to be sorted to move along the third lane to the entrance of the target lane, and enter the workstation along the target lane from the entrance of the target lane;

[0316] Controlling the target robot to drive away from the workstation along the target lane includes:

[0317] Controlling the target robot to drive into the third lane via the exit of the target lane along the target lane.

[0318] In a possible embodiment, the workstation further includes queuing parking spaces arranged in the first queuing area and queuing parking spaces arranged in the second queuing area, where the first queuing area is the area surrounded by the first lane and the third lane, and the second queuing area is the area surrounded by the second lane and the third lane;

[0319] Controlling the target robot loaded with materials to be sorted to move along the third lane to the entrance of the target lane, including:

[0320] If the number of robots already existing in the target lane is less than the second preset number threshold, controlling the target robot loaded with materials to be sorted to move along the third lane to the entrance of the target lane;

[0321] The device further includes:

[0322] A first motion module, configured to, if the number of robots already existing in the target lane is not less than the second preset number threshold, control the target robot loaded with materials to be sorted to move along the third lane to the queuing parking space in the target queuing area, where the target queuing area is the first queuing area when the target lane is the first lane and the second queuing area when the target lane is the second lane;

[0323] A second motion module, configured to, in response to the number of robots already existing in the target lane being less than the second preset number threshold, control the target robot to move from the queuing parking space where it is located to the entrance of the target lane.

[0324] An embodiment of the present application further provides an electronic device, as Figure 8 shown, including:

[0325] A memory 801, configured to store a computer program;

[0326] A processor 802, configured to, when executing the program stored on the memory 801, implement the following steps:

[0327] Controlling the target robot loaded with materials to be sorted to enter the workstation along the target lane and move to the target picking truck parking space, where the target lane is the first lane or the second lane, and the target picking truck parking space is the picking truck parking space set in the target lane;

[0328] In response to completing the sorting of the materials to be sorted, controlling the target robot to drive away from the workstation along the target lane.

[0329] And the above electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 complete communication with each other through the communication bus.

[0330] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience in representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0331] The communication interface is used for communication between the above electronic device and other devices.

[0332] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0333] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0334] In another embodiment provided by this application, a computer-readable storage medium is also provided. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the robot scheduling method of any of the above workstations are implemented.

[0335] In another embodiment provided by this application, a computer program product containing instructions is also provided. When it runs on a computer, it causes the computer to execute the robot scheduling method of any of the above workstations in the embodiment.

[0336] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a solid-state disk (SSD), etc.

[0337] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0338] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, electronic device, computer-readable storage medium, and computer program product containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0339] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A workstation, characterized in that: The workstation comprises: an operating station, a first lane and a second lane, wherein the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold; A first picking position is provided in the first lane, and a second picking position is provided in the second lane; The first picking station is located in a first direction of the operating station, the second picking station is located in a second direction of the operating station, and an angle between the first direction and the second direction is less than a preset angle threshold; The distance between the first picking station and the operating station is less than a preset distance threshold, and the distance between the second picking station and the operating station is less than the preset distance threshold.

2. The workstation according to claim 1, characterized in that The first lane and the second lane are arranged on the same side of a third lane, and the third lane is a lane leading to the workstation; The entrance and exit of the first lane are connected to the third lane, the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are curved.

3. The workstation according to claim 2, characterized in that The workstation also includes at least one queuing parking space; Each of the queuing parking spaces is arranged in the first queuing area and / or the second queuing area; The first queuing area is an area surrounded by the first lane and the third lane, and the second queuing area is an area surrounded by the second lane and the third lane.

4. A robot scheduling method for a workstation, characterized in that: The workstation comprises: an operating station, a first lane and a second lane, the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold; a first picking station is provided in the first lane, and a second picking station is provided in the second lane; the first picking station is located in a first direction of the operating station, and the second picking station is located in a second direction of the operating station, and the angle between the first direction and the second direction is less than a preset angle threshold; the distance between the first picking station and the operating station is less than a preset distance threshold, and the distance between the second picking station and the operating station is less than the preset distance threshold; The method comprises: Controlling a target robot loaded with materials to be sorted to enter the workstation along a target lane and move to a target picking location, wherein the target lane is the first lane or the second lane, and the target picking location is a picking location set in the target lane; In response to completing the sorting of the to-be-sorted materials, the target robot is controlled to drive away from the workstation along the target lane.

5. The method according to claim 4, characterized in that The method further comprises: Obtain the number of robots already existing in the first lane as a first number; and obtain the number of robots already existing in the second lane as a second number; If the first number is greater than the second number, determining the second lane as the target lane; If the second number is greater than the first number, the first lane is determined as a target lane.

6. The method according to claim 4, characterized in that The method further comprises: Determine, between the first lane and the second lane, a lane whose entrance is closer to the target robot as a candidate lane; Obtaining the number of robots already existing in the candidate lane as a third number; If the third number is greater than the first preset number threshold, the alternative lane is taken as the target lane; if the third number is not greater than the first preset number threshold, the candidate lane is taken as the target lane, wherein the alternative lane is the lane between the first lane and the second lane that is not the candidate lane.

7. The method according to claim 4, characterized in that The first lane and the second lane are arranged on the same side of the third lane, and the third lane is a lane leading to the workstation; the entrance and exit of the first lane are connected to the third lane, and the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are curved; The controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane comprises: Controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; The controlling the target robot to drive away from the workstation along the target lane comprises: The target robot is controlled to drive along the target lane and enter the third lane via an exit of the target lane.

8. The method according to claim 7, characterized in that The workstation further includes a queuing parking space arranged in a first queuing area and a queuing parking space arranged in a second queuing area, wherein the first queuing area is an area surrounded by the first lane and the third lane, and the second queuing area is an area surrounded by the second lane and the third lane; The controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane comprises: If the number of robots already existing in the target lane is less than a second preset number threshold, controlling the target robot loaded with the material to be sorted to move along the third lane to the entrance of the target lane; The method further comprises: If the number of robots already existing in the target lane is not less than the second preset number threshold, the target robot loaded with the materials to be sorted is controlled to move along the third lane to a queuing parking space in a target queuing area, wherein the target queuing area is the first queuing area when the target lane is the first lane, and is the second queuing area when the target lane is the second lane; In response to the number of robots already existing in the target lane being less than a second preset number threshold, the target robot is controlled to move from the queue parking space where it is located to the entrance of the target lane.

9. A robot scheduling device for a workstation, characterized in that: The workstation comprises: an operating station, a first lane and a second lane, the turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold; a first picking station is provided in the first lane, and a second picking station is provided in the second lane; the first picking station is located in a first direction of the operating station, and the second picking station is located in a second direction of the operating station, and the angle between the first direction and the second direction is less than a preset angle threshold; the distance between the first picking station and the operating station is less than a preset distance threshold, and the distance between the second picking station and the operating station is less than the preset distance threshold; The device comprises: An entry module, used to control the target robot loaded with materials to be sorted to enter the workstation along a target lane and move to a target picking location, wherein the target lane is the first lane or the second lane, and the target picking location is a picking location set in the target lane; The departure module is used to control the target robot to leave the workstation along the target lane in response to completing the sorting of the to-be-sorted materials.

10. The device according to claim 9, characterized in that The device also includes: A number acquisition module, used to acquire the number of robots already existing in the first lane as a first number; and acquire the number of robots already existing in the second lane as a second number; a target lane determination module, configured to determine the second lane as the target lane if the first number is greater than the second number; and to determine the first lane as the target lane if the second number is greater than the first number; and / or, The device also includes: A candidate lane determination module, configured to determine a lane whose entrance is closer to the target robot among the first lane and the second lane as a candidate lane; A candidate number acquisition module, used to acquire the number of robots already existing in the candidate lane as a third number; a number judgment module, configured to use the candidate lane as the target lane if the third number is greater than a first preset number threshold; and use the candidate lane as the target lane if the third number is not greater than the first preset number threshold, wherein the candidate lane is a lane that is not the candidate lane between the first lane and the second lane; and / or, The first lane and the second lane are arranged on the same side of the third lane, and the third lane is a lane leading to the workstation; the entrance and exit of the first lane are connected to the third lane, and the entrance and exit of the second lane are connected to the third lane, and the first lane and the second lane are curved; The controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane comprises: Controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane, and entering the workstation along the target lane from the entrance of the target lane; The controlling the target robot to drive away from the workstation along the target lane comprises: Controlling the target robot to drive along the target lane and enter the third lane via the exit of the target lane; and / or, The workstation further includes a queuing parking space arranged in a first queuing area and a queuing parking space arranged in a second queuing area, wherein the first queuing area is an area surrounded by the first lane and the third lane, and the second queuing area is an area surrounded by the second lane and the third lane; The controlling the target robot loaded with the materials to be sorted to move along the third lane to the entrance of the target lane comprises: If the number of robots already existing in the target lane is less than a second preset number threshold, controlling the target robot loaded with the material to be sorted to move along the third lane to the entrance of the target lane; The device also includes: a first movement module, configured to control the target robot loaded with materials to be sorted to move along the third lane to a queuing parking space in a target queuing area if the number of robots already existing in the target lane is not less than the second preset number threshold, wherein the target queuing area is the first queuing area when the target lane is the first lane, and is the second queuing area when the target lane is the second lane; The second movement module is used to control the target robot to move from the queue parking space to the entrance of the target lane in response to the number of robots already existing in the target lane being less than a second preset number threshold.

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