Workstation, robot scheduling method and device for workstation

Abstract

The embodiment of the present application provides a workstation, a robot scheduling method and device for the workstation. The workstation includes: 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 the first direction of the operating station, and the second picking station is located in the 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 a preset distance threshold. The pause caused by rotating in place is avoided, the operating efficiency of the robot is improved, and the distance between the operating station and the two picking stations is relatively short, so that the workstation structure conforms to ergonomic design, avoiding the operator from bending over or stretching his arms at the operating station.

Description

Technical Field

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

[0002] In the manual picking scenario, it is usually necessary to set up a special workstation so that operators can perform picking work at the workstation. The setting method of the workstation will affect the efficiency of the operator in completing the picking task. Therefore, how to set up the workstation structure 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 apparatus for the workstation, so as to improve the efficiency of picking tasks by rationally configuring the workstation structure. The specific technical solution is as follows:

[0004] An embodiment of the present application provides a workstation, comprising: an operating station, a first lane, and a second lane, wherein a turning amplitude at any point in the first lane and the second lane is less than a preset amplitude threshold;

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

[0006] 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 the angle between the first direction and the second direction is less than a preset angle threshold;

[0007] 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.

[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 a 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 curved.

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

[0011] Each of the queuing parking spaces is arranged in the first queuing area and / or the second queuing area;

[0012] 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.

[0013] An embodiment of the present application further provides a robot scheduling method for a workstation, wherein 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 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;

[0014] The method comprises:

[0015] 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;

[0016] 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.

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

[0018] Obtain the number of robots already in the first lane as a first number; and obtain the number of robots already in the second lane as a 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, the first lane is determined as the target lane.

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

[0022] Determine, between the first lane and the second lane, a lane whose entrance is closer to the target robot as a candidate lane;

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

[0024] If the third number is greater than the first preset number threshold, the alternative lane is used as the target lane; if the third number is not greater than the first preset number threshold, the candidate lane is used 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.

[0025] 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, 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;

[0026] The controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane comprises:

[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] The controlling the target robot to drive away from the workstation along the target lane includes:

[0029] The target robot is controlled to drive along the target lane and into the third lane via an exit of the target lane.

[0030] In a possible embodiment, the workstation further includes queuing parking spaces set in a first queuing area and queuing parking spaces set 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;

[0031] 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 includes:

[0032] 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;

[0033] The method further comprises:

[0034] 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 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;

[0035] 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.

[0036] The embodiment of the present application further provides a robot scheduling device for a workstation, wherein 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 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;

[0037] The device comprises:

[0038] an entry module, configured 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 located in the target lane;

[0039] The departure module is configured to control the target robot to depart from the workstation along the target lane in response to completion of 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 present in the first lane as a first number; and acquire the number of robots already present in the second lane as a second number;

[0042] A target lane determination module is 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.

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

[0044] a candidate lane determination module, configured to determine, between the first lane and the second lane, a lane whose entrance is closer to the target robot as a 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 determination module configured to determine, if the third number is greater than a first preset number threshold, whether the candidate lane is a target lane; and, if the third number is not greater than the first preset number threshold, determine, if the candidate lane is a target lane, where the candidate lane is the lane between the first lane and the second lane that is not a 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, 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;

[0048] The controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane comprises:

[0049] 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;

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

[0051] The target robot is controlled to drive along the target lane and into the third lane via an exit of the target lane.

[0052] In a possible embodiment, the workstation further includes queuing parking spaces set in a first queuing area and queuing parking spaces set 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;

[0053] 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 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 the material to be sorted to move along the third lane to the entrance of the target lane;

[0055] The device further comprises:

[0056] 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;

[0057] The second movement module is configured to control the target robot to move from the queued 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.

[0058] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described workstation robot scheduling methods.

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

[0060] Embodiments of the present application provide a workstation and a robot scheduling method and device for the workstation. Because the turning amplitude at any point in a first lane or a second lane is less than a preset amplitude threshold, the first lane or the second lane can be considered a smooth curve. Therefore, the robot moves along an arc when operating in the first lane or the second lane. Furthermore, a first picking bay is provided in the first lane, and a second picking bay is provided in the second lane. Therefore, the robot can move to the first picking bay or the second picking bay by moving along an arc. The robot moves forward while turning. Therefore, in embodiments of the present application, the robot does not need to waste time waiting for turning to complete during operation. This reduces the time required for the robot to move along an arc and the time required for rotating in place before moving. Consequently, the robot can move to the first picking bay or the second picking bay in a more natural and smooth manner, reducing unnecessary pauses and adjustment time caused by rotating in place. This reduces the time required for the robot to operate, improves the robot's operating efficiency, and further reduces the time required to complete a picking task, thereby improving the efficiency of the picking task. Furthermore, the robot's arc-shaped motion reduces the impact of sharp turns and accelerations, minimizing wear on the robot's mechanical components, extending its service life and reducing maintenance costs. Arc-shaped rotation also reduces the robot's energy consumption, significantly lowering operating costs during extended missions and contributing to sustainable development goals.

[0061] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, a first picking station is provided in the first lane and a second picking station is provided in the second lane. Therefore, the normal of the first picking station and the normal of the second picking station have an intersection, and the angle between the normal of the first picking station and the normal of the second picking station is small. By setting an operating station at this intersection, the first picking station in the workstation is located in the first direction of the operating station, and the second picking station is located in the second direction of the operating station. The angle between the first direction and the second direction is less than the preset angle threshold, that is, the angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided in the embodiment of the present application can enable the operator to switch between the first direction and the second direction at the operating station by only turning a small angle (or even without turning), that is, the operator only needs to turn a small angle (or even without turning) at the operating station to turn from the first picking position to the second picking position, or from the second picking position to the first picking position, so that the user can perform picking tasks on the robot located at the first picking position and the robot located at the second picking position at the same time, so that the workstation structure provided in the embodiment of the present application is more ergonomically designed in the scenario of manual picking, thereby reducing the labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided in the embodiment of the present application, when the robot operates along the first lane or the second lane, the distance between the boundary of the robot and the operating station is the distance between the boundary of the first lane or the second lane close to the operating station and the operating 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 operating station and the operating station, so there is no need to reserve a safe distance between the operating station and the robot due to the turning of the robot during operation, and collisions between the robot and the operator can be avoided during operation, thereby improving safety.

[0062] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

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

[0065] Figure 2aA schematic diagram of a workstation structure 1 provided in an embodiment of the present application;

[0066] Figure 2b Another structural diagram of the workstation structure 1 provided in an embodiment of the present application;

[0067] Figure 2c A schematic diagram of another structure of the workstation structure 1 provided in an embodiment of the present application;

[0068] Figure 3a A schematic diagram of a workstation structure 2 provided in an embodiment of the present application;

[0069] Figure 3b Another structural diagram of the workstation structure 2 provided in an embodiment of the present application;

[0070] Figure 3c A schematic diagram of another structure of the workstation structure 2 provided in an embodiment of the present application;

[0071] Figure 4a A schematic diagram of a workstation structure 3 provided in an embodiment of the present application;

[0072] Figure 4b Another structural diagram of the workstation structure 3 provided in an embodiment of the present application;

[0073] Figure 4c This is another structural diagram of the workstation structure 3 provided in an embodiment of the present application;

[0074] Figure 5a A schematic diagram of a workstation structure 4 provided in an embodiment of the present application;

[0075] Figure 5b Another structural diagram of the workstation structure 4 provided in an embodiment of the present application;

[0076] Figure 5c A schematic diagram of another structure of the workstation structure 4 provided in an embodiment of the present application;

[0077] Figure 6a A schematic flow chart of a robot scheduling method for a workstation provided in an embodiment of the present application;

[0078] Figure 6b A schematic structural diagram of a target robot provided in an embodiment of the present application;

[0079] Figure 6c A schematic diagram of another structure of a workstation provided in an embodiment of the present application;

[0080] Figure 6d A schematic diagram of another structure of a workstation provided in an embodiment of the present application;

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

[0082] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0083] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

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

[0085] In manual picking scenarios, a picking station is usually set up in front of the picking operator. This station includes an entry channel, an exit channel, and a picking position. The robot carries a container loaded with the goods to be picked from the entry channel toward the operator until it reaches a fixed position. At the fixed position, it rotates in place toward the operator and then moves straight to the picking position in front of the operator, allowing the operator to 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 away from the operator and then moves straight out of the station through the exit channel.

[0086] The workstation can be structured as follows Figure 1 As shown, in Figure 1 During the manual picking process of the workstation structure shown, the robot needs to rotate 90° to the right at the first fixed point 10 so that the robot's orientation at the first fixed point 10 is adjusted from a vertical upward direction to a horizontal right direction, so that the robot can move horizontally to the right from the first fixed point 10 to the first picking position 12. Alternatively, the robot needs to rotate 90° to the left at the second fixed point 11 so that the robot's orientation at the second fixed point 11 is adjusted from a vertical upward direction to a horizontal left direction, so that the robot can move horizontally to the left from the second fixed point 11 to the second picking position 13.

[0087] Furthermore, the robot needs to rotate 90° to the right at the first picking position 12 so that the robot's orientation at the first picking position 12 is adjusted from a horizontal rightward direction to a vertical downward direction, so that the robot can leave the workstation in the vertical downward direction from the first picking position 12. Alternatively, the robot needs to rotate 90° to the left at the second picking position 13 so that the robot's orientation at the second picking position 13 is adjusted from a horizontal leftward direction to a vertical downward direction, so that the robot can leave the workstation in the vertical downward direction from the second picking position 13.

[0088] exist Figure 1 In the illustrated workstation configuration, the robot's in-situ rotation angle is 90°. In other possible workstation configurations, the robot's in-situ rotation angle may be other than 90°, such as 30°, 60°, etc. It is understood that when the robot is operating in an in-situ rotation mode, regardless of the in-situ rotation angle, it must wait until the rotation is complete before moving forward. This increases the robot's operating time, reduces its operating efficiency, and consequently increases the time required for the robot to complete the picking task, reducing the efficiency of the task.

[0089] Furthermore, it is understandable that the robot's rotation in place will cause more wear on the robot's mechanical parts, resulting in a reduced service life of the robot, requiring frequent maintenance of the robot's mechanical components, and increasing the maintenance cost of the robot.

[0090] In addition, see Figure 1 Since the robot's vertical length after the 90° rotation at the first picking position 12 or the second picking position 13 is greater than its vertical length before the rotation, the robot's 90° rotation at the first picking position 12 or the second picking position 13 will reduce the distance between the robot's boundary and the operator, requiring a certain safety distance to be reserved between the operator and the workstation to avoid accidents such as collisions with the operator during the 90° rotation. Since the rotation at the spot requires a certain safety distance to be reserved between the operator and the workstation, the operator needs to stretch his arm very far to pick out the materials in the container loaded by the robot at the picking position, which reduces the operator's operational convenience.

[0091] The above problems are all caused by the robot's steering method of rotating in place, and the fact that the robot can only turn by rotating in place when turning at the workstation is due to the limitations of the workstation structure. Based on this, in order to improve the efficiency of picking tasks and reduce the wear of mechanical parts during the operation of the robot by reasonably setting the workstation structure, thereby increasing the service life of the robot, reducing the maintenance cost of the robot, and improving the convenience of operators in manual picking scenarios, this application provides a workstation. To facilitate understanding of the workstation provided by this application, the workstation provided by this application will be explained below in conjunction with a specific workstation structure diagram.

[0092] Workstation structure 1:

[0093] Figure 2a This is a schematic diagram of the first structure of the workstation provided in the embodiment of the present application. Figure 2a The workstation includes: an operating 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 figure, dotted line 400 and dotted line 401 are two boundaries of the first lane 30 in the workstation structure one, and dotted line 500 and dotted line 501 are two boundaries of the second lane 31 in the workstation structure one.

[0094] A first picking position 40 is provided in the first lane 30, and a second picking position 41 is provided in the second lane 31; the first picking position 40 is located at the lower left of the operating station 20, and the second picking position 41 is located at the lower right of the operating station 20, and the angle between the lower left of the operating station 20 and the lower right of the operating station 20 is 90°. The distance between the first picking position 40 and the operating station 20 is less than a preset distance threshold, and the distance between the second picking position 41 and the operating station 20 is less than a preset distance threshold. The structural schematic diagrams of the workstations provided in this application are all top views of the workstations, and the directions such as the lower left and lower right described in this application all refer to the directions such as 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 turn 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 of the point in the lane. Correspondingly, the steering amplitude at any point in the lane is less than the preset amplitude threshold value, which means that the angle between the first tangent of the point when the robot runs from the starting point of the lane to the end point of the lane and the second tangent of the point when the robot runs from the end point of the lane to the starting point of the lane is less than the preset angle threshold value. The smaller the angle between the first tangent and the second tangent at the point, the smaller the steering amplitude at the point in the lane. The preset angle threshold can be set to 1°, 3°, 5°, etc. Figure 2a 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.

[0096] exist Figure 2a In 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, runs along the first lane 30 to the first picking position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30.

[0097] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves the workstation from the exit 312 of the second lane 31.

[0098] In this embodiment, since the turning range at any point in the first lane and the second lane is less than the preset range threshold, 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. There is a first picking position in the first lane and a second picking position in the second lane, so the robot can run to the first picking position or the second picking position by running along an arc. It is understandable that Figure 1In the workstation structure shown, the robot needs to wait for the completion of the in-place rotation before moving forward during operation, while in the embodiment of the present application, the robot moves forward and turns at the same time during operation along the arc. Therefore, the robot in the embodiment of the present application does not need to spend time waiting for the turning to be completed during operation, so that the running time required for the robot to run along the arc is less than the running time required to run after rotating in place. Therefore, the robot can run to the first picking position or the second picking position in a more natural and smooth manner along the arc, reducing the unnecessary pauses and adjustment time caused by rotating in place, thereby reducing the time required for the robot to run, improving the robot's operating efficiency, and then reducing the time required to complete the picking task, and improving the efficiency of the picking task.

[0099] Furthermore, the robot's arc-shaped motion reduces the impact of sharp turns and accelerations, minimizing wear on the robot's mechanical components, extending its service life and reducing maintenance costs. Arc-shaped rotation also reduces the robot's energy consumption, significantly lowering operating costs during extended missions and contributing to sustainable development goals.

[0100] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, a first picking station is provided in the first lane and a second picking station is provided in the second lane. Therefore, the normal of the first picking station and the normal of the second picking station have an intersection, and the angle between the normal of the first picking station and the normal of the second picking station is small. By setting an operating station at this intersection, the first picking station in the workstation is located in the first direction of the operating station, and the second picking station is located in the second direction of the operating station. The angle between the first direction and the second direction is less than the preset angle threshold, that is, the angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided in the embodiment of the present application can enable the operator to switch between the first direction and the second direction at the operating station by only turning a small angle (or even without turning), that is, the operator only needs to turn a small angle (or even without turning) at the operating station to turn from the first picking position to the second picking position, or from the second picking position to the first picking position, so that the user can perform picking tasks on the robot located at the first picking position and the robot located at the second picking position at the same time, so that the workstation structure provided in the embodiment of the present application is more ergonomically designed in the scenario of manual picking, thereby reducing the labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided in the embodiment of the present application, when the robot operates along the first lane or the second lane, the distance between the boundary of the robot and the operating station is the distance between the boundary of the first lane or the second lane close to the operating station and the operating 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 operating station and the operating station, so there is no need to reserve a safe distance between the operating station and the robot due to the turning of the robot during operation, and collisions between the robot and the operator can be avoided during operation, thereby improving safety.

[0101] It is understandable that a workstation is generally set up at a fixed location in a warehouse where materials are stored. The warehouse is generally provided with many fixed lanes for operators or robots to operate. If a workstation is set up in a fixed lane, the operators or robots will no longer be able to pass through the fixed lane normally, 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 one possible embodiment, Figure 2a The positional relationship between the workstation structure shown in FIG and the fixed lanes and the shelves for storing materials can be as follows: Figure 2b shown.

[0102] See also Figure 2bThe third lane 32 is the passage that the robot needs to pass through when reaching the workstation. The third lane 32 can also be used for the robot to reach other locations in the warehouse besides 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. The first lane 30 and the second lane 31 are curved.

[0104] For example, if the robot needs to load materials from point A, and after picking the loaded materials, it runs the picked materials to point B through the third lane, then the upper side of the third lane that the robot needs to pass through during operation can be adjusted according to the following steps: Figure 2b Set up your workstation as shown.

[0105] exist Figure 2b In 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 position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0106] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0107] In this embodiment, since the entrance and exit of the first lane connect to the third lane, and the entrance and exit of the second lane connect to the third lane, and the first and second lanes are curved, the robot can enter the first or second passageway and the workstation through the entrance of the first or second lane connected to the third lane, and exit the workstation through the exit of the first or second lane connected to the third lane, and operate in the third lane. Furthermore, since the first and second lanes are located above the third lane, the first and second lanes do not occupy the space of the third lane, so the installation of the workstation does not hinder the normal operation of the operator or robot in the third lane, and thus the installation of the workstation does not affect the original use of the third lane.

[0108] 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 2b , the robots can queue up in the third lane 32.

[0109] In another possible embodiment, see Figure 2a as well as Figure 2b In the workstation structure shown, 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 also 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 one possible embodiment, Figure 2b The space station structure shown can also be Figure 2c shown.

[0110] See also Figure 2c The workstation also includes two queuing parking spaces, namely a first queuing parking space 60 and a second queuing parking space 61. The first queuing parking space 60 is set in the area surrounded by the first lane 30 and the third lane 32, and the second queuing parking space 61 is set 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] exist Figure 2cIn the illustrated workstation structure, the robots operate as follows: if a large number of robots are already in the first lane 30, the robots cannot directly enter the first lane 30. In this case, the robots can first enter the first queue parking space 60 via the third lane 32. If one of the robots already in the first lane 30 leaves the workstation, the robot in the first queue parking space 60 enters the first lane 30 from the entrance 301 of the first lane 30, which connects to the third lane 32, and runs along the first lane 30 to the first picking space 40. There, materials loaded on the robot in the first picking space 40 are picked manually or by a robotic arm. After picking is completed, the robot continues to operate along the first lane 30 until it leaves the workstation via the exit 302 of the first lane 30, which connects to the third lane 32.

[0113] Alternatively, the robots may operate in the workstation in the following manner: if a large number of robots are already in the second lane 31 and the robots cannot directly enter the second lane 31, the robots may first enter the second queue parking space 61 through the third lane 32. If one of the robots already in the second lane 31 leaves the workstation, the robot in the second queue parking space 61 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, and operates along the second lane 31 to the second picking space 41. There, materials loaded on the robot in the second picking space 41 are picked manually or by a robotic arm. After the picking is completed, the robot continues to operate along the second lane 31 until it leaves the workstation through the exit 312 of the second lane 31 connected to the third lane 32.

[0114] With this embodiment, queuing spaces can be set up within the first queuing area formed by the first and third lanes and / or the second queuing area formed by the second and third lanes. This allows the area between the first lane or the second and third lanes to be fully utilized, improving space utilization. Furthermore, if there are many robots in the first or second lane, the provision of queuing spaces allows robots that cannot enter the first or second lane to wait there, preventing them from being stuck in the third lane and thus preventing congestion in the third lane.

[0115] Workstation structure 2:

[0116] Figure 3a This is a schematic diagram of the second structure of the workstation provided in the embodiment of the present application. Figure 3a The workstation includes: an operating 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 In FIG. 4 , dotted lines 402 and 403 are two boundaries of the first lane 30 in the workstation structure 2, and dotted lines 502 and 503 are two boundaries of the second lane 31 in the workstation structure 2.

[0117] A first picking station 40 is provided in the first lane 30, and a second picking station 41 is provided in the second lane 31. The first picking station 40 is located to the lower left of the operating station 20, and the second picking station 41 is located to the lower right of the operating station 20. The angle between the lower left and lower right sides of the operating station 20 is 90°. The distance between the first picking station 40 and the operating station 20 is less than a preset distance threshold, and the distance between the second picking station 41 and the operating station 20 is less than the preset distance threshold.

[0118] exist Figure 3a In the illustrated embodiment, the first tangent direction and the second tangent direction at any point in the first lane 30 and the second lane 31 are equal. The first tangent direction is the tangent direction at that point when the robot moves from the lane start point to the lane end point, and the second tangent direction is the tangent direction at that point when the robot moves from the lane end point to the lane start point.

[0119] exist Figure 3a In 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, runs along the first lane 30 to the first picking position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30.

[0120] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves the workstation from the exit 312 of the second lane 31.

[0121] In this embodiment, since the turning range at any point in the first lane and the second lane is less than the preset range threshold, 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. There is a first picking position in the first lane and a second picking position in the second lane, so the robot can run to the first picking position or the second picking position by running along an arc. It is understandable that Figure 1In the workstation structure shown, the robot needs to wait for the completion of the in-place rotation before moving forward during operation, while in the embodiment of the present application, the robot moves forward and turns at the same time during operation along the arc. Therefore, the robot in the embodiment of the present application does not need to spend time waiting for the turning to be completed during operation, so that the running time required for the robot to run along the arc is less than the running time required to run after rotating in place. Therefore, the robot can run to the first picking position or the second picking position in a more natural and smooth manner along the arc, reducing the unnecessary pauses and adjustment time caused by rotating in place, thereby reducing the time required for the robot to run, improving the robot's operating efficiency, and then reducing the time required to complete the picking task, and improving the efficiency of the picking task.

[0122] Furthermore, the robot's arc-shaped motion reduces the impact of sharp turns and accelerations, minimizing wear on the robot's mechanical components, extending its service life and reducing maintenance costs. Arc-shaped rotation also reduces the robot's energy consumption, significantly lowering operating costs during extended missions and contributing to sustainable development goals.

[0123] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, a first picking station is provided in the first lane and a second picking station is provided in the second lane. Therefore, the normal of the first picking station and the normal of the second picking station have an intersection, and the angle between the normal of the first picking station and the normal of the second picking station is small. By setting an operating station at this intersection, the first picking station in the workstation is located in the first direction of the operating station, and the second picking station is located in the second direction of the operating station. The angle between the first direction and the second direction is less than the preset angle threshold, that is, the angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided in the embodiment of the present application can enable the operator to switch between the first direction and the second direction at the operating station by only turning a small angle (or even without turning), that is, the operator only needs to turn a small angle (or even without turning) at the operating station to turn from the first picking position to the second picking position, or from the second picking position to the first picking position, so that the user can perform picking tasks on the robot located at the first picking position and the robot located at the second picking position at the same time, so that the workstation structure provided in the embodiment of the present application is more ergonomically designed in the scenario of manual picking, thereby reducing the labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided in the embodiment of the present application, when the robot operates along the first lane or the second lane, the distance between the boundary of the robot and the operating station is the distance between the boundary of the first lane or the second lane close to the operating station and the operating 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 operating station and the operating station, so there is no need to reserve a safe distance between the operating station and the robot due to the turning of the robot during operation, and collisions between the robot and the operator can be avoided during operation, thereby improving safety.

[0124] It is understandable that a workstation is generally set up at a fixed location in a warehouse where materials are stored. The warehouse is generally provided with many fixed lanes for operators or robots to operate. If a workstation is set up in a fixed lane, the operators or robots will no longer be able to pass through the fixed lane normally, 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 one possible embodiment, Figure 3a The positional relationship between the workstation structure shown in FIG and the fixed lanes and the shelves for storing materials can be as follows: Figure 3b shown.

[0125] See also Figure 3bThe third lane 32 is the passage that the robot needs to pass through when reaching the workstation. The third lane 32 can also be used for the robot to reach other locations in the warehouse besides 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. The first lane 30 and the second lane 31 are curved.

[0127] For example, if the robot needs to load materials from point A, and after picking the loaded materials, it runs the picked materials to point B through the third lane, then the upper side of the third lane that the robot needs to pass through during operation can be adjusted according to the following steps: Figure 3b Set up your workstation as shown.

[0128] exist Figure 3b In 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 position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0129] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0130] In this embodiment, since the entrance and exit of the first lane connect to the third lane, and the entrance and exit of the second lane connect to the third lane, and the first and second lanes are curved, the robot can enter the first or second passageway and the workstation through the entrance of the first or second lane connected to the third lane, and exit the workstation through the exit of the first or second lane connected to the third lane, and operate in the third lane. Furthermore, since the first and second lanes are located above the third lane, the first and second lanes do not occupy the space of the third lane, so the installation of the workstation does not hinder the normal operation of the operator or robot in the third lane, and thus the installation of the workstation does not affect the original use of the third lane.

[0131] 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 3b , the robots can queue up in the third lane 32.

[0132] In another possible embodiment, see Figure 3a as well as Figure 3b In the workstation structure shown, 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 also 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 one possible embodiment, Figure 3b The space station structure shown can also be Figure 3c shown.

[0133] See also Figure 3c The workstation also includes four queuing parking spaces, namely: a third queuing parking space 62, a fourth queuing parking space 63, a fifth queuing parking space 64 and a sixth queuing parking space 65. The third queuing parking space 62 and the fourth queuing parking space 63 are set 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 set in the area surrounded by the second lane 31 and the third lane 32.

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

[0135] exist Figure 3c In the illustrated workstation structure, the robots operate as follows: if a large number of robots are already in the first lane 30, the robots cannot directly enter the first lane 30. In this case, the robots can first enter the fourth-queue parking space 63 via the third lane 32. If one of the robots already in the first lane 30 leaves the workstation, the robot in the fourth-queue parking space 63 moves to the third-queue parking space 62. If one of the robots already in the first lane 30 leaves the workstation, the robot in the third-queue parking space 62 enters the first lane 30 from the entrance 301 of the first lane 30, which connects to the third lane 32, and moves along the first lane 30 to the first picking space 40. A human or robotic arm picks the materials loaded on the robot in the first picking space 40. After picking is completed, the robot continues to operate along the first lane 30 until it leaves the workstation via the exit 302 of the first lane 30, which connects to the third lane 32.

[0136] Alternatively, the robots may operate in the workstation as follows: if a large number of robots are already in the second lane 31 and the robots cannot directly enter the second lane 31, they may first enter the sixth queue parking space 65 via the third lane 32. If one of the robots already in the second lane 31 leaves the workstation, the robot in the sixth queue parking space 65 moves to the fifth queue parking space 64. If one of the robots already in the second lane 31 leaves the workstation, the robot in the fifth queue parking space 64 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, and moves along the second lane 31 to the second picking space 41. There, the materials loaded by the robot in the second picking space 41 are picked manually or by a robotic arm. After the picking is completed, the robot continues to operate along the second lane 31 until it leaves the workstation via the exit 312 of the second lane 31 connected to the third lane 32.

[0137] With this embodiment, queuing spaces can be set up within the first queuing area formed by the first and third lanes and / or the second queuing area formed by the second and third lanes. This allows the area between the first lane or the second and third lanes to be fully utilized, improving space utilization. Furthermore, if there are many robots in the first or second lane, the provision of queuing spaces allows robots that cannot enter the first or second lane to wait there, preventing them from being stuck in the third lane and thus preventing congestion in the third lane.

[0138] Workstation structure three:

[0139] Figure 4a This is a schematic diagram of the third structure of the workstation provided in the embodiment of the present application. Figure 4a The workstation includes: an operating 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 4a In FIG. 4 , dotted lines 404 and 405 are two boundaries of the first lane 30 in the workstation structure three, and dotted lines 504 and 505 are two boundaries of the second lane 31 in the workstation structure three.

[0140] A first picking station 40 is provided in the first lane 30, and a second picking station 41 is provided in the second lane 31. The first picking station 40 is located to the lower left of the operating station 20, and the second picking station 41 is located to the lower right of the operating station 20. The angle between the lower left and lower right sides of the operating station 20 is 90°. The distance between the first picking station 40 and the operating station 20 is less than a preset distance threshold, and the distance between the second picking station 41 and the operating station 20 is less than the preset distance threshold.

[0141] exist Figure 4a In the illustrated embodiment, the first tangent direction and the second tangent direction at any point in the first lane 30 and the second lane 31 are equal. The first tangent direction is the tangent direction at that point when the robot moves from the lane start point to the lane end point, and the second tangent direction is the tangent direction at that point when the robot moves from the lane end point to the lane start point.

[0142] exist Figure 4a In 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, runs along the first lane 30 to the first picking position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30.

[0143] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves the workstation from the exit 312 of the second lane 31.

[0144] In this embodiment, since the turning range at any point in the first lane and the second lane is less than the preset range threshold, 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. There is a first picking position in the first lane and a second picking position in the second lane, so the robot can run to the first picking position or the second picking position by running along an arc. It is understandable that Figure 1 In the workstation structure shown, the robot needs to wait for the completion of the in-place rotation before moving forward during operation, while in the embodiment of the present application, the robot moves forward and turns at the same time during operation along the arc. Therefore, the robot in the embodiment of the present application does not need to spend time waiting for the turning to be completed during operation, so that the running time required for the robot to run along the arc is less than the running time required to run after rotating in place. Therefore, the robot can run to the first picking position or the second picking position in a more natural and smooth manner along the arc, reducing the unnecessary pauses and adjustment time caused by rotating in place, thereby reducing the time required for the robot to run, improving the robot's operating efficiency, and then reducing the time required to complete the picking task, and improving the efficiency of the picking task.

[0145] Furthermore, the robot's arc-shaped motion reduces the impact of sharp turns and accelerations, minimizing wear on the robot's mechanical components, extending its service life and reducing maintenance costs. Arc-shaped rotation also reduces the robot's energy consumption, significantly lowering operating costs during extended missions and contributing to sustainable development goals.

[0146] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, a first picking station is provided in the first lane and a second picking station is provided in the second lane. Therefore, the normal of the first picking station and the normal of the second picking station have an intersection, and the angle between the normal of the first picking station and the normal of the second picking station is small. By setting an operating station at this intersection, the first picking station in the workstation is located in the first direction of the operating station, and the second picking station is located in the second direction of the operating station. The angle between the first direction and the second direction is less than the preset angle threshold, that is, the angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided in the embodiment of the present application can enable the operator to switch between the first direction and the second direction at the operating station by only turning a small angle (or even without turning), that is, the operator only needs to turn a small angle (or even without turning) at the operating station to turn from the first picking position to the second picking position, or from the second picking position to the first picking position, so that the user can perform picking tasks on the robot located at the first picking position and the robot located at the second picking position at the same time, so that the workstation structure provided in the embodiment of the present application is more ergonomically designed in the scenario of manual picking, thereby reducing the labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided in the embodiment of the present application, when the robot operates along the first lane or the second lane, the distance between the boundary of the robot and the operating station is the distance between the boundary of the first lane or the second lane close to the operating station and the operating 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 operating station and the operating station, so there is no need to reserve a safe distance between the operating station and the robot due to the turning of the robot during operation, and collisions between the robot and the operator can be avoided during operation, thereby improving safety.

[0147] It is understandable that a workstation is generally set up at a fixed location in a warehouse where materials are stored. The warehouse is generally provided with many fixed lanes for operators or robots to operate. If a workstation is set up in a fixed lane, the operators or robots will no longer be able to pass through the fixed lane normally, 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 one possible embodiment, Figure 4a The positional relationship between the workstation structure shown in FIG and the fixed lanes and the shelves for storing materials can be as follows: Figure 4b shown.

[0148] See also Figure 4bThe third lane 32 is the passage that the robot needs to pass through when reaching the workstation. The third lane 32 can also be used for the robot to reach other locations in the warehouse besides 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. The first lane 30 and the second lane 31 are curved.

[0150] For example, if the robot needs to load materials from point A, and after picking the loaded materials, it runs the picked materials to point B through the third lane, then the upper side of the third lane that the robot needs to pass through during operation can be adjusted according to the following steps: Figure 4b Set up your workstation as shown.

[0151] exist Figure 4b In 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 position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0152] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves the workstation from the exit 312 of the second lane 31 connected to the third lane 32.

[0153] In this embodiment, since the entrance and exit of the first lane connect to the third lane, and the entrance and exit of the second lane connect to the third lane, and the first and second lanes are curved, the robot can enter the first or second passageway and the workstation through the entrance of the first or second lane connected to the third lane, and exit the workstation through the exit of the first or second lane connected to the third lane, and operate in the third lane. Furthermore, since the first and second lanes are located above the third lane, the first and second lanes do not occupy the space of the third lane, so the installation of the workstation does not hinder the normal operation of the operator or robot in the third lane, and thus the installation of the workstation does not affect the original use of the third lane.

[0154] 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 4b , the robots can queue up in the third lane 32.

[0155] In another possible embodiment, see Figure 4a as well as Figure 4b In the workstation structure shown, 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 also 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 one possible embodiment, Figure 4b The space station structure shown can also be Figure 4c shown.

[0156] See also Figure 4c The workstation also includes two queuing parking spaces, namely the seventh queuing parking space 66 and the eighth queuing parking space 67. The seventh queuing parking space 66 is set in the area surrounded by the first lane 30 and the third lane 32, and the eighth queuing parking space 67 is set 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] exist Figure 4cIn the illustrated workstation structure, the robots operate as follows: if a large number of robots are already in the first lane 30, the robots cannot directly enter the first lane 30. In this case, the robots can first enter the seventh queue parking space 66 through the third lane 32. If one of the robots already in the first lane 30 leaves the workstation, the robot in the seventh queue 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 space 40. Materials loaded on the robot in the first picking space 40 are picked manually or by a robotic arm. After picking is completed, the robot continues to operate along the first lane 30 until it leaves the workstation through the exit 302 of the first lane 30 connected to the third lane 32.

[0159] Alternatively, the robots may operate in the workstation as follows: if a large number of robots are already in the second lane 31 and the robots cannot directly enter the second lane 31, the robots may first enter the eighth queue parking space 67 via the third lane 32. If one of the robots already in the second lane 31 leaves the workstation, the robot in the eighth queue parking space 67 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, and operates along the second lane 31 to the second picking space 41. There, the materials loaded on the robot in the second picking space 41 are picked manually or by a robotic arm. After the picking is completed, the robot continues to operate along the second lane 31 until it leaves the workstation via the exit 312 of the second lane 31 connected to the third lane 32.

[0160] With this embodiment, queuing spaces can be set up within the first queuing area formed by the first and third lanes and / or the second queuing area formed by the second and third lanes. This allows the area between the first lane or the second and third lanes to be fully utilized, improving space utilization. Furthermore, if there are many robots in the first or second lane, the provision of queuing spaces allows robots that cannot enter the first or second lane to wait there, preventing them from being stuck in the third lane and thus preventing congestion in the third lane.

[0161] Workstation structure four:

[0162] Figure 5a This is a fourth structural diagram of a workstation provided in an embodiment of the present application. Figure 5a The workstation includes: an operating 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 5a In the figure, dotted lines 406 and 407 are two boundaries of the first lane 30 in the workstation structure four, and dotted lines 506 and 507 are two boundaries of the second lane 31 in the workstation structure four.

[0163] A first picking station 40 is provided in the first lane 30, and a second picking station 41 is provided in the second lane 31. The first picking station 40 is located to the lower left of the operating station 20, and the second picking station 41 is located to the lower right of the operating station 20. The angle between the lower left and lower right sides of the operating station 20 is 90°. The distance between the first picking station 40 and the operating station 20 is less than a preset distance threshold, and the distance between the second picking station 41 and the operating station 20 is less than the preset distance threshold.

[0164] exist Figure 5a In the illustrated embodiment, the first tangent direction and the second tangent direction at any point in the first lane 30 and the second lane 31 are equal. The first tangent direction is the tangent direction at that point when the robot moves from the lane start point to the lane end point, and the second tangent direction is the tangent direction at that point when the robot moves from the lane end point to the lane start point.

[0165] exist Figure 5a In 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, runs along the first lane 30 to the first picking position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30.

[0166] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves the workstation from the exit 312 of the second lane 31.

[0167] In this embodiment, since the turning range at any point in the first lane and the second lane is less than the preset range threshold, 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. There is a first picking position in the first lane and a second picking position in the second lane, so the robot can run to the first picking position or the second picking position by running along an arc. It is understandable that Figure 1In the workstation structure shown, the robot needs to wait for the completion of the in-place rotation before moving forward during operation, while in the embodiment of the present application, the robot moves forward and turns at the same time during operation along the arc. Therefore, the robot in the embodiment of the present application does not need to spend time waiting for the turning to be completed during operation, so that the running time required for the robot to run along the arc is less than the running time required to run after rotating in place. Therefore, the robot can run to the first picking position or the second picking position in a more natural and smooth manner along the arc, reducing the unnecessary pauses and adjustment time caused by rotating in place, thereby reducing the time required for the robot to run, improving the robot's operating efficiency, and then reducing the time required to complete the picking task, and improving the efficiency of the picking task.

[0168] Furthermore, the robot's arc-shaped motion reduces the impact of sharp turns and accelerations, minimizing wear on the robot's mechanical components, extending its service life and reducing maintenance costs. Arc-shaped rotation also reduces the robot's energy consumption, significantly lowering operating costs during extended missions and contributing to sustainable development goals.

[0169] On the other hand, since the first lane or the second lane can be regarded as a smooth curve, a first picking station is provided in the first lane and a second picking station is provided in the second lane. Therefore, the normal of the first picking station and the normal of the second picking station have an intersection, and the angle between the normal of the first picking station and the normal of the second picking station is small. By setting an operating station at this intersection, the first picking station in the workstation is located in the first direction of the operating station, and the second picking station is located in the second direction of the operating station. The angle between the first direction and the second direction is less than the preset angle threshold, that is, the angle between the first direction and the second direction is small. Therefore, in the scenario of manual picking, the workstation structure provided in the embodiment of the present application can enable the operator to switch between the first direction and the second direction at the operating station by only turning a small angle (or even without turning), that is, the operator only needs to turn a small angle (or even without turning) at the operating station to turn from the first picking position to the second picking position, or from the second picking position to the first picking position, so that the user can perform picking tasks on the robot located at the first picking position and the robot located at the second picking position at the same time, so that the workstation structure provided in the embodiment of the present application is more ergonomically designed in the scenario of manual picking, thereby reducing the labor intensity of the operator and improving the convenience of the operator. Moreover, in the workstation structure provided in the embodiment of the present application, when the robot operates along the first lane or the second lane, the distance between the boundary of the robot and the operating station is the distance between the boundary of the first lane or the second lane close to the operating station and the operating 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 operating station and the operating station, so there is no need to reserve a safe distance between the operating station and the robot due to the turning of the robot during operation, and collisions between the robot and the operator can be avoided during operation, thereby improving safety.

[0170] It is understandable that a workstation is generally set up at a fixed location in a warehouse where materials are stored. The warehouse is generally provided with many fixed lanes for operators or robots to operate. If a workstation is set up in a fixed lane, the operators or robots will no longer be able to pass through the fixed lane normally, 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 one possible embodiment, Figure 5a The positional relationship between the workstation structure shown in FIG and the fixed lanes and the shelves for storing materials can be as follows: Figure 5b shown.

[0171] See also Figure 5bThe third lane 32 is the passage that the robot needs to pass through when reaching the workstation. The third lane 32 can also be used for the robot to reach other locations in the warehouse besides 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. The first lane 30 and the second lane 31 are curved.

[0173] For example, if the robot needs to load materials from point A, and after picking the loaded materials, it runs the picked materials to point B through the third lane, then the upper side of the third lane that the robot needs to pass through during operation can be adjusted according to the following steps: Figure 5b Set up your workstation as shown.

[0174] exist Figure 5b In 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 position 40, and the materials loaded on the robot at the first picking position 40 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the first lane 30 until the robot leaves the workstation from the exit 302 of the first lane 30 connected to the third lane 32.

[0175] Alternatively, the robot operates in the workstation 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 position 41, and the materials loaded on the robot at the second picking position 41 are picked by humans or robotic arms. After the picking is completed, the robot continues to run along the second lane 31 until the robot leaves 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 connect to the third lane, and the entrance and exit of the second lane connect to the third lane, and the first and second lanes are curved, the robot can enter the first or second passageway and the workstation through the entrance of the first or second lane connected to the third lane, and exit the workstation through the exit of the first or second lane connected to the third lane, and operate in the third lane. Furthermore, since the first and second lanes are located above the third lane, the first and second lanes do not occupy the space of the third lane, so the installation of the workstation does not hinder the normal operation of the operator or robot in the third lane, and thus the installation 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, 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 also 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 one 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, namely, the ninth queuing parking space 68 and the tenth queuing parking space 69. The ninth queuing parking space 68 is located in the area surrounded by the first lane 30 and the third lane 32, and the tenth queuing parking space 69 is located in the 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 illustrated workstation structure, the robots operate as follows: if a large number of robots are already in the first lane 30, the robots cannot directly enter the first lane 30. In this case, the robots can first enter the ninth queue parking space 68 through the third lane 32. If one of the robots already in the first lane 30 leaves the workstation, the robot in the ninth queue 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 space 40. Materials loaded on the robot in the first picking space 40 are picked manually or by a robotic arm. After picking is completed, the robot continues to operate along the first lane 30 until it leaves the workstation through the exit 302 of the first lane 30 connected to the third lane 32.

[0182] Alternatively, the robots may operate in the workstation as follows: if a large number of robots are already in the second lane 31 and the robots cannot directly enter the second lane 31, the robots may first enter the tenth queue parking space 69 via the third lane 32. If one of the robots already in the second lane 31 leaves the workstation, the robot in the tenth queue parking space 69 enters the second lane 31 from the entrance 311 of the second lane 31 connected to the third lane 32, and operates along the second lane 31 to the second picking space 41. There, the materials loaded on the robot in the second picking space 41 are picked manually or by a robotic arm. After the picking is completed, the robot continues to operate along the second lane 31 until it leaves the workstation via the exit 312 of the second lane 31 connected to the third lane 32.

[0183] With this embodiment, queuing spaces can be set up within the first queuing area formed by the first and third lanes and / or the second queuing area formed by the second and third lanes. This allows the area between the first lane or the second and third lanes to be fully utilized, improving space utilization. Furthermore, if there are many robots in the first or second lane, the provision of queuing spaces allows robots that cannot enter the first or second lane to wait there, preventing them from being stuck in the third lane and thus preventing congestion in the third lane.

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

[0185] A first picking position is provided in the first lane, and a second picking position is provided in the second lane;

[0186] 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 the angle between the first direction and the second direction is less than a preset angle threshold;

[0187] 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.

[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 a 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 set in the first queuing area and / or the second queuing area;

[0192] Among them, 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 aforementioned workstation, an embodiment of the present application also provides a robot scheduling method for a workstation. To facilitate understanding of the 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 aforementioned workstation.

[0194] Corresponding to the aforementioned workstation structure 1, the robot scheduling method 1 of the workstation provided by this application is as follows:

[0195] See also Figure 2a The workstation structure shown includes: an operating 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 2aIn the figure, dashed lines 400 and 401 represent the boundaries of the first lane 30 in workstation structure 1, and dashed lines 500 and 501 represent the boundaries of the second lane 31 in workstation structure 1. A first picking bay 40 is provided in the first lane 30, and a second picking bay 41 is provided in the second lane 31. The first picking bay 40 is located to the lower left of the operator station 20, and the second picking bay 41 is located to the lower right of the operator station 20. The angle between the lower left and lower right sides of the operator station 20 is 90°. The distance between the first picking bay 40 and the operator station 20 is less than a preset distance threshold, and the distance between the second picking bay 41 and the operator station 20 is less than a preset distance threshold.

[0196] See also Figure 6a , the robot scheduling method of the workstation includes:

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

[0198] The target lane is the first lane or the second lane, and the target picking space is the picking space located in the target lane.

[0199] S602 : 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.

[0200] In S601-S602, the target robot can be any robot that can implement the workstation robot scheduling method provided by this application. For example, a lurking container robot, an AMR (autonomous mobile robots), a forklift robot, etc. The structure of the lurking container robot can be as follows: Figure 6b As shown, it includes two parts: lifting platform and sports chassis.

[0201] The workstation robot scheduling method provided herein may be executed by a robot scheduling system. In this embodiment, the robot scheduling system controls the operation of the target robot. In the actual scenario, ground markings for identifying the first lane 30 and the second lane 31 may or may not be provided.

[0202] The execution subject of the workstation robot scheduling method provided in the present application can also be a processor built into the target robot. In this embodiment, the target robot's operation is navigated by the processor built into the target robot, and the navigation method of the target robot can include any navigation method such as QR code, SLAM, texture navigation, etc. In this embodiment, ground markings for identifying the first lane 30 and the second lane 31 can be set in the actual scene, so that the target robot can determine its own running direction by scanning the ground markings. Alternatively, ground markings for identifying the first lane 30 and the second lane 31 can be not set in the actual scene, 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 based on the positions of the first lane 30 and the second lane 31 stored in the memory.

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

[0204] Assuming that the target lane is the first lane 30 and the target picking location is the first picking location 40, after the target robot is loaded with the materials to be sorted, it enters the workstation along the first lane 30 and moves to the first picking location 40. The materials to be sorted loaded on the target robot located at the first picking location 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.

[0205] Among them, sorting of materials to be sorted may refer to one or more sorting tasks such as 2B outbound picking, 2C outbound picking, tallying, small-scale replenishment, etc.

[0206] Specifically, 2B outbound picking refers to: placing a cage truck or pallet behind the workstation, and picking the materials to be sorted that need to be used into large containers such as cage trucks or pallets placed behind the workstation. 2C outbound picking refers to: placing a distribution wall behind the workstation, and placing materials with the same SKU (Stock Keeping Unit) among the materials to be sorted in different grids of the distribution wall, with each grid corresponding to a different order. Sorting refers to: transferring the materials to be sorted loaded by the target robot located at the first picking position 40 to the containers loaded by the target robot located at the second picking position 41. Small amount of replenishment: The materials to be sorted are materials that need to be replenished. The materials to be sorted loaded by the target robot located at the first picking position 40 are placed in the empty containers loaded by the target robot located at the second picking position 41 to complete the replenishment.

[0207] Assuming that the target lane is the second lane 31 and the target picking location is the second picking location 41, after the target robot is loaded with the materials to be sorted, it enters the workstation along the second lane 31 and moves to the second picking location 41. The materials to be sorted loaded on the target robot located at the second picking location 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.

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

[0209] Method 1:

[0210] The number of robots already in the first lane is obtained as a first number; and the number of robots already in the second lane is obtained as a second number. If the first number is greater than the second number, the second lane is determined as the target lane; if the second number is greater than the first number, the first lane is determined as the target lane.

[0211] For example, assuming the number of robots already in the first lane is 3 (i.e., the first number is 3), and the number of robots already in the second lane is 4 (i.e., the second number is 4), then the second number is greater than the first number, and the first lane is selected as the target lane. Assuming 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 selected as the target lane.

[0212] If the first number is equal to the second number, any one of the first lane and the second lane can be used as the target lane, or the lane whose entrance is closer to the target robot can be used as the target lane.

[0213] By selecting this embodiment, a lane with fewer existing robots can be selected from the first lane and the second lane as the target 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 location in the target lane before the target robot can run to the target picking location, thereby reducing the waiting time required for the target robot to run to the target picking location, reducing the waiting time required for sorting the materials to be sorted loaded by the target robot, and improving the efficiency of sorting the materials to be sorted loaded by the target robot.

[0214] Method 2:

[0215] A lane whose entrance is closer to the target robot is determined between the first lane and the second lane as a candidate lane; the number of robots already existing in the candidate lane is obtained as a third number; if the third number is greater than a first preset number threshold, the alternative lane is used as the target lane; if the third number is not greater than the first preset number threshold, the candidate lane is used as the target lane, wherein the alternative lane is a lane that is not a candidate lane between the first lane and the second lane.

[0216] The first preset number threshold can be set based on user needs or actual experience. The first preset number threshold should be smaller than the maximum number of robots that can be accommodated in the candidate lane. For example, if the maximum number of robots that can be accommodated in the candidate lane is 6, the first preset number threshold can be set to 3, 4, 5, and so on.

[0217] For example, assuming the distance between the entrance to the first lane and the target robot is less than the distance between the entrance to the second lane and the target robot, the candidate lane is the first lane. Assuming the number of robots already in the first lane is 2, i.e., the third number is 2, and assuming the first preset number threshold is 3, if the third number is not greater than the first preset number threshold, the first lane is selected as the target lane.

[0218] Assuming that the third number is 4 and assuming that the first preset number threshold is 3, the third number is greater than the first preset number threshold, and the lane that is not a candidate lane between the first lane and the second lane, that is, the second lane, is used as the target lane.

[0219] By selecting this embodiment, it is possible to determine whether the number of robots already present in the candidate lane closer to the entrance and the target robot is relatively large by determining whether the third number is greater than the first preset number threshold. If the third number is greater than the first preset number threshold, that is, if the number of robots already present in the candidate lane is relatively large, then the alternative lane that is not a candidate lane among the first and second lanes is selected as the target lane. If the third number is not greater than the first preset number threshold, that is, if the number of robots already present in the candidate lane is relatively small, then the candidate lane is selected as the target lane. By using the above-mentioned target lane determination method, after entering the workstation, the target robot only needs to wait for a relatively small number of robots to leave the target picking location in the target lane before the target robot can move to the target picking location, thereby reducing the waiting time required for the target robot to move to the target picking location, reducing the waiting time required for sorting the materials to be sorted loaded by the target robot, and improving the efficiency of completing the sorting of the materials to be sorted loaded by the target robot.

[0220] See also Figure 2bIn the workstation structure shown, the third lane 32 is the passageway that the robot must pass through to reach the workstation. The first lane 30 and the second lane 31 are located on the same side of the third lane 32. The entrance 301 and exit 302 of the first lane 30 connect to the third lane 32, while the entrance 311 and exit 312 of the second lane 31 connect to the third lane 32. The first lane 30 and the second lane 31 are curved.

[0221] Corresponding to Figure 2b The workstation structure shown in the present application includes: 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 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 along the target lane into the third lane via the exit of the target lane.

[0222] Assuming 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, and runs along the first lane 30 to the first picking position 40. The materials loaded on the robot at the first picking position 40 are sorted manually or by a robotic arm. After the 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.

[0223] Assuming 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, and runs along the second lane 31 to the second picking position 41. The materials loaded on the robot at the second picking position 41 are sorted manually or by a robotic arm. After the 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.

[0224] See also Figure 2c The workstation structure shown in the figure also includes two queuing parking spaces, namely: a first queuing parking space 60 and a second queuing parking space 61. The first queuing parking space 60 is set in the area surrounded by the first lane 30 and the third lane 32, and the second queuing parking space 61 is set in the area surrounded by the second lane 31 and the third lane 32.

[0225] Corresponding to Figure 2cThe workstation structure shown in the present application includes the following steps: if the number of robots already existing in the target lane is less than a second preset number threshold, the target robot loaded with materials to be sorted is controlled 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; 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 materials to be sorted is controlled to move along the third lane to the queuing parking space in the target queuing area, wherein 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, the target robot is controlled to move from the queuing parking space 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, the target robot is controlled to drive into the third lane along the target lane via the exit of the target lane.

[0226] The second preset number threshold can be set based on user needs or actual experience. The second preset number threshold can be set to the number of robots that can exist in the target lane. For example, if the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; if 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. Figure 6c As shown, the position framed by the dotted line is the position where there is no robot in the first lane. The target robot can move directly 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 in the target lane is not less than the second preset number threshold, the target robot cannot enter the target lane. In this case, the target robot can move along the third lane to the queue parking space in the target queue area to wait, and wait until the number of robots already in the target lane is less than the second preset number threshold, then 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. Figure 6d As shown, if the target robot cannot enter the first lane or the second lane, the target robot needs to first run to the queue parking space in the first queue area or the queue parking space in the second queue area to wait.

[0229] Corresponding to Figure 2c In the workstation structure shown, if the target lane is the first lane 30, the queue parking space in the target queue area refers to the first queue parking space 60 in the first queue area; if the target lane is the second lane 31, the queue parking space in the target queue area refers to the second queue parking space 61 in the second queue area.

[0230] Corresponding to the aforementioned workstation structure 2, the robot scheduling method 2 of the workstation provided by this application is as follows:

[0231] See also Figure 3a The workstation structure shown includes: an operating 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 In the figure, dashed lines 402 and 403 represent the boundaries of the first lane 30 in workstation structure 2, and dashed lines 502 and 503 represent the boundaries of the second lane 31 in workstation structure 2. A first picking bay 40 is provided in the first lane 30, and a second picking bay 41 is provided in the second lane 31. The first picking bay 40 is located to the lower left of the operator station 20, and the second picking bay 41 is located to the lower right of the operator station 20. The angle between the lower left and lower right sides of the operator station 20 is 90°. The distance between the first picking bay 40 and the operator station 20 is less than a preset distance threshold, and the distance between the second picking bay 41 and the operator station 20 is less than a preset distance threshold.

[0232] A second robot scheduling method for a workstation includes 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. The target lane is either the first lane or the second lane, and the target picking location is a picking location located within the target lane. Upon completing sorting of the materials to be sorted, the target robot is controlled to exit the workstation along the target lane.

[0233] In the second robot scheduling method for the workstation, the type of target robot, the execution subject of the workstation robot scheduling method provided in this application, and the method of determining the target lane are the same as those in the first robot scheduling method for the workstation, so they will not be repeated here.

[0234] In the second robot scheduling method of the workstation, assuming that the target lane is the first lane 30 and the target picking location is the first picking location 40, the target robot enters the workstation along the first lane 30 after loading the materials to be sorted and moves to the first picking location 40. The materials to be sorted loaded on the target robot located at the first picking location 40 are sorted manually or by a robotic arm. After the sorting is completed, the target robot leaves the workstation along the first lane 30.

[0235] Assuming that the target lane is the second lane 31 and the target picking location is the second picking location 41, after the target robot is loaded with the materials to be sorted, it enters the workstation along the second lane 31 and moves to the second picking location 41. The materials to be sorted loaded on the target robot located at the second picking location 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.

[0236] See also Figure 3b In the workstation structure shown, the third lane 32 is the passageway that the robot must pass through to reach the workstation. The first lane 30 and the second lane 31 are located above the third lane 32. The entrance 301 and exit 302 of the first lane 30 connect to the third lane 32, while the entrance 311 and exit 312 of the second lane 31 connect to the third lane 32. The first lane 30 and the second lane 31 are curved.

[0237] Corresponding to Figure 3b The workstation structure shown in the present application includes: 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 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 along the target lane into the third lane via the exit of the target lane.

[0238] Assuming 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, and runs along the first lane 30 to the first picking position 40. The materials loaded on the robot at the first picking position 40 are sorted manually or by a robotic arm. After the 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.

[0239] Assuming 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, and runs along the second lane 31 to the second picking position 41. The materials loaded on the robot at the second picking position 41 are sorted manually or by a robotic arm. After the 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.

[0240] See also Figure 3cThe workstation structure shown in the figure also includes four queue parking spaces, namely: the third queue parking space 62, the fourth queue parking space 63, the fifth queue parking space 64 and the sixth queue parking space 65. The third queue parking space 62 and the fourth queue parking space 63 are set in the area surrounded by the first lane 30 and the third lane 32, and the fifth queue parking space 64 and the sixth queue parking space 65 are set in the area surrounded by the second lane 31 and the third lane 32.

[0241] Corresponding to Figure 3c The workstation structure shown in the present application includes the following steps: if the number of robots already existing in the target lane is less than a second preset number threshold, the target robot loaded with materials to be sorted is controlled 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; 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 materials to be sorted is controlled to move along the third lane to the queuing parking space in the target queuing area, wherein 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, the target robot is controlled to move from the queuing parking space 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, the target robot is controlled to drive into the third lane along the target lane via the exit of the target lane.

[0242] The second preset number threshold can be set based on user needs or actual experience. The second preset number threshold can be set to the number of robots that can exist in the target lane. For example, if the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; if 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 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 move along the third lane to the queue parking space in the target queuing area to wait, and wait until the number of robots already existing in the target lane is less than the second preset number threshold, then 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 In the workstation structure shown, if the target lane is first lane 30, the target queuing area's queuing space is either third queue space 62 or fourth queue space 63 within the first queuing area. Specifically, if a robot is present at third queue space 62, the target queuing area's queuing space is fourth queue space 63 within the first queuing area. If no robot is present at third queue space 62, the target queuing area's queuing space is third queue space 62 within the first queuing area.

[0246] If the target lane is the second lane 31, the target queuing space is the fifth queuing space 64 or the sixth queuing space 65 in the second queuing area. Specifically, if a robot is present at the fifth queuing space 64, the target queuing space is the sixth queuing space 65 in the first queuing area. If no robot is present at the fifth queuing space 64, the target queuing space is the fifth queuing space 64 in the first queuing area.

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

[0248] See also Figure 4a The workstation structure shown includes: an operating 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 4a In the figure, dashed lines 404 and 405 represent the boundaries of the first lane 30 in workstation structure three, and dashed lines 504 and 505 represent the boundaries of the second lane 31 in workstation structure three. A first picking bay 40 is provided in the first lane 30, and a second picking bay 41 is provided in the second lane 31. The first picking bay 40 is located to the lower left of the operator station 20, and the second picking bay 41 is located to the lower right of the operator station 20. The angle between the lower left and lower right sides of the operator station 20 is 90°. The distance between the first picking bay 40 and the operator station 20 is less than a preset distance threshold, and the distance between the second picking bay 41 and the operator station 20 is less than a preset distance threshold.

[0249] A third robot scheduling method for a workstation includes 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. The target lane is either the first lane or the second lane, and the target picking location is a picking location located within the target lane. Upon completing sorting of the materials to be sorted, the target robot is controlled to exit the workstation along the target lane.

[0250] In the robot scheduling method three for the workstation, the type of target robot, the execution subject of the workstation robot scheduling method provided in this application, and the method of determining the target lane are the same as those in the robot scheduling method one for the workstation, so they will not be repeated here.

[0251] In the robot scheduling method three of the workstation, assuming that the target lane is the first lane 30 and the target picking location is the first picking location 40, the target robot enters the workstation along the first lane 30 after loading the materials to be sorted and moves to the first picking location 40. The materials to be sorted loaded on the target robot located at the first picking location 40 are sorted manually or by a robotic arm. After the sorting is completed, the target robot leaves the workstation along the first lane 30.

[0252] Assuming that the target lane is the second lane 31 and the target picking location is the second picking location 41, after the target robot is loaded with the materials to be sorted, it enters the workstation along the second lane 31 and moves to the second picking location 41. The materials to be sorted loaded on the target robot located at the second picking location 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 also Figure 4b In the workstation structure shown, the third lane 32 is the passageway that the robot must pass through to reach the workstation. The first lane 30 and the second lane 31 are located above the third lane 32. The entrance 301 and exit 302 of the first lane 30 connect to the third lane 32, while the entrance 311 and exit 312 of the second lane 31 connect to the third lane 32. The first lane 30 and the second lane 31 are curved.

[0254] Corresponding to Figure 4b The workstation structure shown in the present application includes: 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 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 along the target lane into the third lane via the exit of the target lane.

[0255] Assuming 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, and runs along the first lane 30 to the first picking position 40. The materials loaded on the robot at the first picking position 40 are sorted manually or by a robotic arm. After the 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] Assuming 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, and runs along the second lane 31 to the second picking position 41. The materials loaded on the robot at the second picking position 41 are sorted manually or by a robotic arm. After the 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 also Figure 4c The workstation structure shown in the figure also includes two queuing parking spaces, namely, the seventh queuing parking space 66 and the eighth queuing parking space 67. The seventh queuing parking space 66 is set in the area surrounded by the first lane 30 and the third lane 32, and the eighth queuing parking space 67 is set in the area surrounded by the second lane 31 and the third lane 32.

[0258] Corresponding to Figure 4c The workstation structure shown in the present application includes the following steps: if the number of robots already existing in the target lane is less than a second preset number threshold, the target robot loaded with materials to be sorted is controlled 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; 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 materials to be sorted is controlled to move along the third lane to the queuing parking space in the target queuing area, wherein 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, the target robot is controlled to move from the queuing parking space 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, the target robot is controlled to drive into the third lane along the target lane via the exit of the target lane.

[0259] The second preset number threshold can be set based on user needs or actual experience. The second preset number threshold can be set to the number of robots that can exist in the target lane. For example, if the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; if 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 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.

[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 move along the third lane to the queue parking space in the target queuing area to wait, and wait until the number of robots already existing in the target lane is less than the second preset number threshold, then 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 In the workstation structure shown, if the target lane is the first lane 30, the queue parking space in the target queue area refers to the seventh queue parking space 66 in the first queue area; if the target lane is the second lane 31, the queue parking space in the target queue area refers to the eighth queue parking space 67 in the second queue area.

[0263] Corresponding to the aforementioned workstation structure 4, the robot scheduling method 4 of the workstation provided by this application is as follows:

[0264] See also Figure 5a The workstation structure shown includes: an operating 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 5a In the figure, dashed lines 406 and 407 represent the boundaries of the first lane 30 in workstation structure 4, and dashed lines 506 and 507 represent the boundaries of the second lane 31 in workstation structure 4. A first picking bay 40 is provided in the first lane 30, and a second picking bay 41 is provided in the second lane 31. The first picking bay 40 is located to the lower left of the operator station 20, and the second picking bay 41 is located to the lower right of the operator station 20. The angle between the lower left and lower right sides of the operator station 20 is 90°. The distance between the first picking bay 40 and the operator station 20 is less than a preset distance threshold, and the distance between the second picking bay 41 and the operator station 20 is less than a preset distance threshold.

[0265] Corresponding to Figure 5a In the workstation structure shown, a fourth robot scheduling method for the workstation includes 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. The target lane is either the first lane or the second lane, and the target picking location is a picking location located in the target lane. Upon completing sorting of the materials to be sorted, the target robot is controlled to exit the workstation along the target lane.

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

[0267] In the robot scheduling method four of the workstation, assuming that the target lane is the first lane 30 and the target picking location is the first picking location 40, the target robot enters the workstation along the first lane 30 after loading the materials to be sorted and moves to the first picking location 40. The materials to be sorted loaded on the target robot located at the first picking location 40 are sorted manually or by a robotic arm. After the sorting is completed, the target robot leaves the workstation along the first lane 30.

[0268] Assuming that the target lane is the second lane 31 and the target picking location is the second picking location 41, after the target robot is loaded with the materials to be sorted, it enters the workstation along the second lane 31 and moves to the second picking location 41. The materials to be sorted loaded on the target robot located at the second picking location 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.

[0269] See also Figure 5b In the workstation structure shown, the third lane 32 is the passageway that the robot must pass through to reach the workstation. The first lane 30 and the second lane 31 are located above the third lane 32. The entrance 301 and exit 302 of the first lane 30 connect to the third lane 32, while the entrance 311 and exit 312 of the second lane 31 connect to the third lane 32. The first lane 30 and the second lane 31 are curved.

[0270] Corresponding to Figure 5b The workstation structure shown in the present application includes: 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 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 along the target lane into the third lane via the exit of the target lane.

[0271] Assuming 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, and runs along the first lane 30 to the first picking position 40. The materials loaded on the robot at the first picking position 40 are sorted manually or by a robotic arm. After the 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] Assuming 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, and runs along the second lane 31 to the second picking position 41. The materials loaded on the robot at the second picking position 41 are sorted manually or by a robotic arm. After the 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 also Figure 5c The workstation structure shown in the workstation also includes two queue parking spaces, namely: the ninth queue parking space 68 and the tenth queue parking space 69. The ninth queue parking space 68 is set in the area surrounded by the first lane 30 and the third lane 32, and the tenth queue parking space 69 is set in the area surrounded by the second lane 31 and the third lane 32.

[0274] Corresponding to Figure 5c The workstation structure shown in the present application includes the following steps: if the number of robots already existing in the target lane is less than a second preset number threshold, the target robot loaded with materials to be sorted is controlled 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; 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 materials to be sorted is controlled to move along the third lane to the queuing parking space in the target queuing area, wherein 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, the target robot is controlled to move from the queuing parking space 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, the target robot is controlled to drive into the third lane along the target lane via the exit of the target lane.

[0275] The second preset number threshold can be set based on user needs or actual experience. The second preset number threshold can be set to the number of robots that can exist in the target lane. For example, if the number of robots that can exist in the candidate lane is 3, the second preset number threshold can be set to 3; if 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 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.

[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 move along the third lane to the queue parking space in the target queuing area to wait, and wait until the number of robots already existing in the target lane is less than the second preset number threshold, then 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.

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

[0279] It can be understood that the above embodiments are only possible examples of the robot scheduling method for a 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 operating 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; 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 a preset distance threshold;

[0280] Methods include:

[0281] Controlling a target robot loaded with materials to be sorted to enter a 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;

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

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

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

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

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

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

[0288] Determine the lane whose entrance is closer to the target robot in 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, the alternative lane is used as the target lane; if the third number is not greater than the first preset number threshold, the candidate lane is used as the target lane, where the alternative lane is the lane between the first lane and the second lane that is not a candidate lane.

[0291] 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 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;

[0292] Control the target robot loaded with materials to be sorted to enter the workstation along the target lane, including:

[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] Control the target robot to drive away from the workstation along the target lane, including:

[0295] The target robot is controlled to drive along the target lane and enter the third lane through the exit of the target lane.

[0296] 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, 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;

[0297] Controlling the target robot loaded with materials 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 a second preset number threshold, the target robot loaded with the material to be sorted is controlled to move along the third lane to the entrance of the target lane;

[0299] The method also includes:

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

[0301] 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.

[0302] Corresponding to the robot scheduling method of the aforementioned workstation, an embodiment of the present application further provides a robot scheduling device for a workstation, the workstation comprising: 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 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 a preset distance threshold;

[0303] See also Figure 7 , the device comprises:

[0304] An entry module 701 is used to control a target robot loaded with materials to be sorted to enter a 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 located in the target lane;

[0305] The departure module 702 is configured to control the target robot to leave the workstation along the target lane in response to completing the sorting of the materials to be sorted.

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

[0307] A number acquisition module is used to 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;

[0308] The target lane determination module is 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.

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

[0310] a candidate lane determination module, configured to determine, from the first lane and the second lane, a lane whose entrance is closer to the target robot as a candidate lane;

[0311] A candidate number acquisition module is used to obtain the number of robots already existing in the candidate lane as the third number;

[0312] The number determination module is configured to determine, if the third number is greater than a first preset number threshold, that the alternative lane is the target lane; and if the third number is not greater than the first preset number threshold, that the candidate lane is the target lane, wherein the alternative lane is the lane between the first lane and the second lane that is not a 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 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;

[0314] Control the target robot loaded with materials to be sorted to enter the workstation along the target lane, including:

[0315] 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;

[0316] Control the target robot to drive away from the workstation along the target lane, including:

[0317] The target robot is controlled to drive along the target lane and enter the third lane through the exit of the target lane.

[0318] 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, 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;

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

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

[0321] The device also includes:

[0322] a first movement module configured to control the target robot loaded with the material 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 a second preset number threshold, wherein the target queuing area is a first queuing area when the target lane is the first lane and a second queuing area when the target lane is the second lane;

[0323] The second movement module is configured to control the target robot to move from the queued 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.

[0324] The present application also provides an electronic device, such as Figure 8 Shown, including:

[0325] Memory 801, used for storing computer programs;

[0326] The processor 802 is configured to execute the program stored in the memory 801 by performing the following steps:

[0327] Controlling a target robot loaded with materials to be sorted to enter a 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;

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

[0329] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0330] The communication bus mentioned in the electronic device mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only 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 random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0333] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0334] In another embodiment provided by the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of the robot scheduling method for any of the above workstations are implemented.

[0335] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the robot scheduling method for any workstation in the above embodiments.

[0336] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented 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 can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or solid-state drive (SSD).

[0337] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0338] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, the embodiments of the apparatus, electronic device, computer-readable storage medium, and computer program product containing instructions are generally similar to the method embodiments, so their description is relatively simple. For relevant portions, reference can be made to the description of the method embodiments.

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

Claims

1. A workstation, characterized in that: The workstation includes: 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 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 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; 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.

2. A robot scheduling method for a workstation, characterized in that: The workstation includes: 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 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 first lane and the second lane are provided on the same side of a third lane, which 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 workstation also includes queuing parking spaces provided in a first queuing area and queuing parking spaces provided 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 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, controlling the target robot to drive away from the workstation along the target lane; The controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane comprises: If the number of robots already existing in the target lane is less than a second preset number threshold, the target robot loaded with the material to be sorted is controlled 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; The method further comprises: 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 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, controlling the target robot to move from the queue parking space to the entrance of the target lane, and then enter 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 includes: The target robot is controlled to drive along the target lane and into the third lane via an exit of the target lane.

3. The method according to claim 2, characterized in that The method further comprises: Obtain the number of robots already in the first lane as a first number; and obtain the number of robots already 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 the target lane.

4. The method according to claim 2, 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 used as the target lane; if the third number is not greater than the first preset number threshold, the candidate lane is used 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.

5. A robot scheduling device for a workstation, characterized in that: The workstation includes: 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 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 first lane and the second lane are provided on the same side of a third lane, which 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 workstation also includes queuing parking spaces provided in a first queuing area and queuing parking spaces provided 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 device comprises: an entry module, configured 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 located in the target lane; a departure module, configured to control the target robot to leave the workstation along the target lane in response to completion of sorting of the materials to be sorted; The controlling the target robot loaded with the materials to be sorted to enter the workstation along the target lane comprises: If the number of robots already existing in the target lane is less than a second preset number threshold, the target robot loaded with the material to be sorted is controlled 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; The device further comprises: 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; a second movement module, configured to control the target robot to move from the queue parking space 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 the number of robots already existing in the target lane being less than a second preset number threshold; The controlling the target robot to drive away from the workstation along the target lane includes: The target robot is controlled to drive along the target lane and into the third lane via an exit of the target lane.

6. The device according to claim 5, characterized in that The device further comprises: a number acquisition module, configured to acquire the number of robots already present in the first lane as a first number; and acquire the number of robots already present in the second lane as a second number; a target lane determining 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 further comprises: a candidate lane determination module, configured to determine, between the first lane and the second lane, a lane whose entrance is closer to the target robot as a candidate lane; a candidate number acquisition module, configured to acquire the number of robots already existing in the candidate lane as a third number; a number determination module configured to determine, if the third number is greater than a first preset number threshold, whether the candidate lane is a target lane; and, if the third number is not greater than the first preset number threshold, determine, if the candidate lane is a target lane, where the candidate lane is the lane between the first lane and the second lane that is not a candidate lane.

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