Position display method and device, sorting robot and storage medium

Abstract

The embodiment of the invention provides a position display method and device, a sorting robot and a storage medium. The method comprises the following steps: acquiring a picking task which is being executed by a picking robot, and determining to-be-picked articles according to the picking task; wherein the sorting robot comprises at least one container for bearing the to-be-sorted articles, the sorting robot moves among a plurality of goods shelves of a warehouse to convey the articles, each goods shelf comprises a plurality of goods storage grids used for storing different articles, and the to-be-sorted articles are articles needing to be manually sorted; determining the robot position of the picking robot between the goods shelves and the lattice opening position of the goods storage lattice opening where the to-be-picked goods are located; and on a preset display interface of the sorting robot, the relative position relation between the grid position and the robot position is displayed. According to the technical scheme, the storage positions of the articles can be visually displayed, and the article sorting efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to computer application technology, and more particularly to a position display method, device, picking robot, and storage medium. Background Art

[0002] In the logistics and warehousing sector, the use of picking robots has effectively improved warehouse management efficiency, reduced labor costs, and enhanced the safety of picking operations. Furthermore, picking robots offer excellent scalability and can be customized and adjusted to meet the needs of warehouses of varying sizes and requirements. Therefore, the coordinated use of picking robots and manual labor is a key development direction in modern logistics and warehousing.

[0003] Generally, a variety of items are stored in a warehouse. The placement of items in the warehouse is often manually set, and there is basically no fixed pattern to follow. In related technologies, when a picking robot performs a picking task, it is controlled to move to a point near the item, and then stop, waiting for manual picking. However, there may be multiple shelves around the stop position of the picking robot, and it may be difficult for the picker to quickly locate the location of the item to be picked. In particular, for pickers who are not familiar with the placement of items, they may need to check the surrounding shelves one by one to find the item to be picked, resulting in low picking efficiency. Summary of the Invention

[0004] The present disclosure provides a location display method, device, picking robot and storage medium to more intuitively display the storage location of items and improve item picking efficiency.

[0005] In a first aspect, an embodiment of the present disclosure provides a location display method, the method comprising:

[0006] Obtaining a picking task currently being performed by a picking robot, and determining items to be picked based on the picking task; wherein the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in a warehouse to transport the items, the shelves including multiple cargo storage compartments for storing different items, and the items to be picked are items that require manual picking;

[0007] Determining the robot position of the picking robot between the shelves and the compartment position of the cargo storage compartment where the item to be picked is located;

[0008] The relative positional relationship between the slot position and the robot position is displayed on a preset display interface of the picking robot.

[0009] In a second aspect, an embodiment of the present disclosure further provides a position display device, the device comprising:

[0010] An item determination module is configured to obtain a picking task currently being performed by a picking robot and determine items to be picked based on the picking task; wherein the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in a warehouse to transport the items, wherein the shelves include multiple cargo storage compartments for storing different items, and the items to be picked are items that require manual picking;

[0011] A position determination module, configured to determine the robot position of the picking robot between the shelves and the position of the cargo storage compartment where the item to be picked is located;

[0012] A position display module is used to display the relative position relationship between the grid position and the robot position on a preset display interface of the picking robot.

[0013] In a third aspect, an embodiment of the present disclosure further provides a picking robot, the picking robot comprising:

[0014] one or more processors;

[0015] a storage device for storing one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the position display method as described in any one of the embodiments of the present disclosure.

[0017] In a fourth aspect, an embodiment of the present disclosure further provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute the position display method as described in any one of the embodiments of the present disclosure.

[0018] The technical solution of the embodiment of the present disclosure first obtains the picking task that the picking robot is performing, determines the items to be picked according to the picking task, and can accurately determine that the picking robot needs to move between multiple shelves in the warehouse and transport the items to be picked. Then, by determining the robot position of the picking robot between the shelves and the grid position of the cargo storage grid where the items to be picked are located, the relative position relationship between the grid position and the robot position can be obtained. Finally, the relative position relationship between the grid position and the robot position is displayed on the preset display interface of the picking robot, which solves the technical problems of difficulty in finding items for pickers and low picking efficiency, and realizes the intuitive display of the storage location of the items, so that the pickers can understand the storage location of the items of the picking robot in a timely, convenient and intuitive manner, and can quickly locate the storage location of the items to be picked, thereby improving the efficiency of item picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 A schematic diagram of a flow chart of a location display method provided by an embodiment of the present disclosure;

[0021] Figure 2 A scene diagram of item picking applicable to the location display method provided in an embodiment of the present disclosure;

[0022] Figure 3 A schematic diagram of a preset display interface of the picking robot applicable to the position display method provided in an embodiment of the present disclosure;

[0023] Figure 4 A flowchart of another location display method provided by an embodiment of the present disclosure;

[0024] Figure 5 A flowchart of another location display method provided by an embodiment of the present disclosure;

[0025] Figure 6 A schematic structural diagram of a position display device provided by an embodiment of the present disclosure;

[0026] Figure 7 A schematic structural diagram of a picking robot provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0028] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0029] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0030] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0031] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0032] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0033] It is understandable that before using the technical solutions disclosed in the various embodiments of this disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0034] For example, in response to a user's active request, a prompt message is sent to the user to clearly inform the user that the operation requested will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operations of the disclosed technical solution based on the prompt message.

[0035] As an optional but non-limiting implementation, in response to receiving a user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0036] It is understandable that the above notification and user authorization process are merely illustrative and do not limit the implementation of the present disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0037] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) must comply with the requirements of relevant laws, regulations and relevant provisions.

[0038] Figure 1 This is a flow chart of a position display method provided in an embodiment of the present disclosure. The embodiment of the present disclosure is applicable to the situation of picking items located on shelves in a warehouse. The method can be executed by a position display device, which can be implemented in the form of software and / or hardware. Optionally, it can be implemented by an electronic device set on or integrated into a picking robot. The electronic device can be an external control terminal or a robot control processing chip, etc.

[0039] like Figure 1 As shown, the method of this embodiment may specifically include:

[0040] S110. Obtain the picking task that the picking robot is executing, and determine the items to be picked based on the picking task; wherein, the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in the warehouse to transport items, and the shelves include multiple cargo storage compartments for storing different items respectively, and the items to be picked are items that need to be picked manually.

[0041] Among them, the picking task can be understood as a process of first obtaining the items to be picked corresponding to the picking order from the cargo storage grid on the warehouse shelf according to the requirements of one or more picking orders, then placing them in a designated container, and transporting them to the target location. The item information in the picking order may include but is not limited to the item identification and item quantity of the items to be picked, that is, the picking task may include the item identification and item quantity of the items to be picked. Among them, the item identification can be used to distinguish different items. The item identification may include the name of the item. In addition, the item identification may also include information such as the item category. The number of items may be one or more, and the specific number may be determined according to the picking task. Optionally, the shelf may be a grid shelf. In the embodiment of the present disclosure, obtaining the picking task of the picking robot may include: determining the picking order assigned to the picking robot, and obtaining the picking task of the picking robot according to the picking order.

[0042] In the disclosed embodiments, there are various ways to obtain the picking task for the picking robot based on the picking order, which are not specifically limited herein. For example, if the number of picking orders is one, the item information in the picking order can be determined; and then, based on the item information, the picking task for the picking robot can be obtained. For example, the item identifiers in the picking order may include a first item and a second item, where the item quantity of the first item is 5 and the item quantity of the second item is 1. In this case, the picking task may be to pick 5 pieces of the first item and 1 piece of the second item.

[0043] When there are multiple picking orders, the item information in each picking order can be statistically processed; thus, the picking task of the picking robot can be obtained based on the statistical item information, thereby achieving unified picking processing for the items in multiple picking orders and improving the processing speed of the picking orders. For example, the picking orders may include a first order and a second order, wherein the item information in the first order may include 5 first items and 3 second items, and the item information in the second order includes 3 first items and 1 third item. Then, the statistical item information includes 8 first items, 3 second items, and 1 third item. It can be seen that the picking task in this case can be 1 first item, 3 second items, and 1 third item.

[0044] If there are multiple picking orders, a current pending order among the multiple picking orders can be determined; and then, based on the item information in the current pending order, a picking task for the picking robot can be obtained. Optionally, determining the current pending order among the multiple picking orders can include randomly selecting a picking order from the multiple picking orders as the current pending order; or, determining a sequential order for the picking orders; and determining the current pending order among the multiple picking orders based on the sequential order.

[0045] In the embodiment of the present disclosure, determining the items to be picked according to the picking task may include: determining a picking order corresponding to the picking task. Thus, the items to be picked may be determined based on the item information in the picking order, such as the item identifier.

[0046] In the disclosed embodiment, the picking robot may include one or more containers for carrying items to be picked. As an optional implementation in the disclosed embodiment, when the picking robot includes one container, the container may be used to carry all items to be picked in the picking task.

[0047] As another optional implementation of the embodiment of the present disclosure, when the picking robot includes multiple containers, a picking order corresponding to the container can be pre-assigned to each container so that the container carries the items to be picked in the picking order corresponding to it. Optionally, the method of assigning picking orders to each container can be specifically to determine an idle container, where the idle container can be understood as a container to which no picking order is assigned; and then randomly assign picking orders to the idle containers. This process can improve the picking efficiency of items and the processing efficiency of picking orders. It should be noted that the number of picking orders assigned to different containers can be the same or different.

[0048] As another optional implementation of the embodiment of the present disclosure, in the case where the picking robot includes a plurality of the containers, a corresponding item list can be set in advance for each container, wherein the item list includes items that the container can carry. Then, each container can be used to carry items in the item list corresponding to the container. It should be noted that the item lists corresponding to different containers may be the same or different. In addition, the categories of items in different item lists may be the same or different. It should also be noted that, in the case where the picking robot includes a plurality of containers, the item carrying capacity of different containers may be the same or different.

[0049] S120: Determine the robot position of the picking robot between the shelves and the compartment position of the cargo storage compartment where the item to be picked is located.

[0050] The robot position can be understood as the location where the picking robot stops between shelves. The slot position can be understood as the location of a slot on a shelf for storing items. The slot position can be used to accurately determine the slot where an item is located. For example, the slot position can be the slot located in the third column of the fifth shelf.

[0051] In the disclosed embodiments, there are multiple ways to determine the robot position of the picking robot between shelves. For example, a camera installed in the warehouse may be used to capture images of the picking robot between shelves, and the captured images may be analyzed and processed to determine the robot position of the picking robot between shelves. Alternatively, an obstacle detection device may be installed between shelves, and the robot position of the picking robot between shelves may be determined using the obstacle detection device. Alternatively, a positioning device may be installed in the picking robot, and the robot position of the picking robot between shelves may be determined using the position information of the positioning device.

[0052] In the embodiment of the present disclosure, there are multiple ways to determine the grid position of the cargo storage grid where the item to be picked is located. As an optional implementation method in the embodiment of the present disclosure, the first item storage information of the warehouse is obtained, wherein the first item storage information includes all items in the warehouse and the grid position of the cargo storage grid where each item is located. The grid position of the cargo storage grid where the item to be picked is located can be determined based on the first item storage information. It can be understood that the first item storage information can be understood as the storage information of items in the warehouse. This technical solution can accurately locate the grid position of the item to be picked on the shelf in the warehouse based on the item storage information obtained from the warehouse.

[0053] As another optional implementation in the embodiment of the present disclosure, the correspondence between the shelves and items in the warehouse is obtained to determine the shelf where the item to be picked is located; the second item storage information of the shelf is obtained, wherein the second item storage information includes the compartment position of the cargo storage compartment of the item stored on the shelf. Thus, the compartment of the shelf, i.e., the cargo storage compartment, can be determined based on the second item storage information, and the compartment position of the cargo storage compartment can be obtained. It can be understood that the second item storage information can be understood as the storage information of items on the shelves in the warehouse. This technical solution, first, preliminarily determines the shelf where the item to be picked is located, and then, based on the item storage information of the shelf, the compartment position of the item to be picked on the shelf can be located more quickly and conveniently.

[0054] S130. Displaying the relative positional relationship between the slot position and the robot position on a preset display interface of the picking robot.

[0055] Among them, the preset display interface can be understood as a display interface pre-set on the picking robot, which can be used to display the relative position relationship between the grid position and the robot position. In addition, the preset display interface can also be used to display information about items currently being picked, information about items to be picked, information about unpicked items, and information about picked items. In an embodiment of the present invention, the interface style of the pre-display interface (such as interface size, interface shape, etc.) can be set according to actual needs, and it is not specifically limited here. In the embodiment of the present disclosure, the relative position relationship can be the position relationship of the grid position relative to the robot position with the robot position as the reference position; or, it can be the position relationship of the robot position relative to the grid position with the grid position as the reference position.

[0056] Specifically, after determining the robot position of the picking robot between the shelves and the compartment position of the cargo storage compartment where the item to be picked is located, a relative positional relationship between the compartment position and the robot position can be obtained based on the compartment position and the robot position. After obtaining the positional relationship, the positional relationship can be displayed on a preset display interface of the picking robot.

[0057] In the embodiment of the present disclosure, the relative position relationship may include the orientation information of the grid position relative to the robot position; the display of the relative position relationship between the grid position and the robot position may include: determining the orientation information of the grid position relative to the robot position based on the robot position and the grid position; and displaying orientation prompt information corresponding to the orientation information on the preset display interface of the picking robot.

[0058] Wherein, the orientation information may be the orientation information of the grid position relative to the robot position with the robot position as the reference position. Optionally, the orientation prompt information may include orientation prompt text and / or orientation prompt pattern. Exemplarily, the orientation prompt text may be the position of the grid position on the fifth layer and sixth column of the shelf to the left of the robot position. The orientation prompt pattern may be used to indicate the orientation of the grid position relative to the robot position. Optionally, the orientation prompt pattern may include an orientation indication arrow. Wherein, the orientation indication arrow in the orientation prompt pattern may be a single orientation indication arrow; or, it may be a plurality of continuous orientation indication arrows. The pattern style of the orientation prompt pattern may be set according to actual needs, and is not specifically limited here. The display style of the orientation indication arrow (such as color, size, etc.) may be set according to actual needs, and is not specifically limited here. See Figure 2 and Figure 3 The picking robot 20 moves between multiple shelves in the warehouse to pick items. During the item picking process, a position indicating arrow 24 between a grid position 22 and a robot position 23 is displayed on a preset display interface 21 of the picking robot 20.

[0059] In the embodiment of the present disclosure, determining the orientation information of the grid opening position relative to the robot position based on the robot position and the grid opening position may include: planning the motion path information from the robot position to the grid opening position based on the robot position and the grid opening position; and then determining the orientation information of the grid opening position relative to the robot position based on the motion path information.

[0060] The technical solution of the embodiment of the present disclosure first obtains the picking task that the picking robot is performing, determines the items to be picked according to the picking task, and can accurately determine that the picking robot needs to move between multiple shelves in the warehouse and transport the items to be picked. Then, by determining the robot position of the picking robot between the shelves and the grid position of the cargo storage grid where the items to be picked are located, the relative position relationship between the grid position and the robot position can be obtained. Finally, the relative position relationship between the grid position and the robot position is displayed on the preset display interface of the picking robot, which solves the technical problems of difficulty in finding items for pickers and low picking efficiency, and realizes the intuitive display of the storage location of the items, so that the pickers can understand the storage location of the items of the picking robot in a timely, convenient and intuitive manner, and can quickly locate the storage location of the items to be picked, thereby improving the efficiency of item picking.

[0061] Figure 4 A flow chart of another position display method provided by an embodiment of the present disclosure. The technical solution of this embodiment is based on the above embodiment, and further refines the display of the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot. Optionally, the display of the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot includes: displaying a picking area layout diagram on the preset display interface of the picking robot, wherein the picking area layout diagram includes warehouse layout information at the grid position and the robot position, and the warehouse layout information includes at least the layout information of the shelves, the cargo storage grids on the shelves, and the aisles between multiple shelves in the warehouse; displaying the robot identification of the picking robot on the picking area layout diagram according to the robot position; and highlighting the cargo storage grids on the picking area layout diagram according to the grid position. For specific implementation methods, please refer to the description of this embodiment. Among them, technical features that are the same or similar to those of the above embodiments are not repeated here.

[0062] like Figure 4 As shown, the method of this embodiment may specifically include:

[0063] S210. Obtain the picking task that the picking robot is executing, and determine the items to be picked based on the picking task; wherein, the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in the warehouse to transport items, and the shelves include multiple cargo storage compartments for storing different items respectively, and the items to be picked are items that need to be picked manually.

[0064] S220: Determine the robot position of the picking robot between the shelves and the compartment position of the cargo storage compartment where the item to be picked is located.

[0065] S230. Display a picking area layout diagram on a preset display interface of the picking robot, wherein the picking area layout diagram includes warehouse layout information at the grid position and the robot position, and the warehouse layout information includes at least layout information of the shelves, the cargo storage grids on the shelves, and the aisles between multiple shelves in the warehouse.

[0066] Specifically, after determining the robot position of the picking robot between the shelves and the position of the compartment where the item to be picked is located, a picking area layout diagram can be obtained based on the robot position and the compartment position. After obtaining the picking area layout diagram, the picking area layout diagram can be displayed on a preset display interface of the picking robot.

[0067] In the embodiment of the present disclosure, displaying the picking area layout diagram on the preset display interface of the picking robot may include: when the size of the picking area layout diagram does not match the size of the preset display interface, for example, the size of the picking area layout diagram is larger than the size of the preset display interface, or the size of the picking area layout diagram is smaller than the size of the preset display interface, etc., the picking area layout diagram may be image processed according to the size of the preset display interface. The scaled picking area layout diagram is then displayed on the preset display interface of the picking robot. The image processing may include at least one of image reduction processing, image enlargement processing, and image cropping processing.

[0068] As an optional implementation in the embodiment of the present disclosure, before displaying the picking area layout diagram, the method may further include: obtaining a warehouse layout diagram of the warehouse where the picking robot is located, and using the warehouse layout diagram as the picking area layout diagram. The warehouse layout diagram may be a two-dimensional plan view of the warehouse layout, or a three-dimensional stereoscopic view of the warehouse layout, which is not specifically limited here. In this technical solution, the entire layout diagram of the warehouse is used as the picking area layout diagram, so that the warehouse layout situation can be reflected from the overall layout of the warehouse.

[0069] As another optional implementation of the disclosed embodiment, before displaying the picking area layout diagram, the following steps may be performed: determining a target picking area based on the slot position and / or the robot position; obtaining a warehouse layout diagram of the warehouse where the picking robot is located; and after determining the target picking area and the warehouse layout diagram, determining a partial layout diagram of the warehouse layout diagram corresponding to the target picking area. Thus, the partial layout diagram of the warehouse layout diagram corresponding to the target picking area may be used as the picking area layout diagram.

[0070] The target picking area can be understood as an area in the warehouse where the items to be picked need to be picked according to the grid position and / or the robot position. In the embodiment of the present disclosure, the target picking area determined according to the grid position and / or the robot position may include at least one of the following operations: an area of ​​a first preset size centered on the grid position in the warehouse may be determined as the target picking area; an area of ​​a second preset size centered on the robot position in the warehouse may be determined as the target picking area; a core area may be determined in the warehouse with the grid position and the robot position as boundary points, and the core area may be expanded to obtain the target picking area.

[0071] Among them, the first preset size can be understood as the preset size centered on the grid position in the warehouse, and its value can be set according to actual conditions, for example, 10 meters. The second preset size can be understood as the preset size centered on the robot position in the warehouse, and its value can be set according to actual conditions, for example, 8 meters. It should be noted that the first preset size and the second preset size can be the same or different, and they are not specifically limited here. The shape of the core area can be set according to actual needs, and its shape is not specifically limited here, for example, a triangle, rectangle, circle or irregular shape. That is, the shape of the target picking area can be set according to actual needs.

[0072] S240. Display the robot identification of the picking robot in the picking area layout diagram according to the robot position; and highlight the cargo storage compartment in the picking area layout diagram according to the compartment position.

[0073] The specific display style of the robot identification can be set according to actual needs and is not specifically limited here. It can include at least one of a preset graphic, text, letters or numbers. The robot identification can be used to distinguish different picking robots. In the embodiment of the present disclosure, displaying the robot identification of the picking robot in the picking area layout diagram according to the robot position can include: determining the robot identification of the picking robot located at the robot position according to the robot position. After determining the robot identification, the robot identification can be displayed in the picking area layout diagram.

[0074] In an embodiment of the present disclosure, highlighting the cargo storage compartment in the picking area layout diagram according to the compartment position may include: determining the cargo storage compartment corresponding to the compartment position in the picking area layout diagram according to the compartment position. After determining the cargo storage compartment, the cargo storage compartment in the picking area layout diagram may be highlighted in a preset highlighting manner. Optionally, the preset highlighting manner may include a preset color and / or a preset ratio. It should be noted that the preset color can be set according to actual needs, and its color is not specifically limited here, for example, red, yellow, orange, etc. The preset ratio can be a ratio set based on the size of the cargo storage compartment in the picking area layout diagram, and its ratio is not specifically limited here, for example, 1:2, 1:1 or 3:2, etc.

[0075] As an optional implementation in the disclosed embodiments, highlighting the cargo storage compartment in the picking area layout diagram may include: when the picking area partial diagram is a two-dimensional picking area partial diagram, determining the cargo storage compartment in the two-dimensional picking area partial diagram that corresponds to the compartment position, and highlighting the cargo storage compartment in a preset color. Furthermore, a prompt indicating the compartment position may be displayed in text form at the highlighted position in the picking area partial diagram.

[0076] As another optional implementation in the disclosed embodiments, highlighting the cargo storage compartment in the picking area layout diagram may include: when the picking area partial diagram is a three-dimensional picking area partial diagram, determining a cargo storage compartment corresponding to the compartment position in the three-dimensional picking area partial diagram. After determining the cargo storage compartment, the cargo storage compartment may be displayed in a preset proportion and / or preset color in the three-dimensional picking area partial diagram, thereby intuitively displaying the storage location of the item.

[0077] Optionally, each of the storage compartments on the shelf may be marked with a compartment identifier. Furthermore, the compartment identifiers of the storage compartments may be displayed on a preset display interface of the picking robot. This arrangement facilitates the picker to verify that the found storage compartment is consistent with the indicated storage compartment. This technical solution is particularly suitable for situations where multiple storage compartments hold items of similar appearance, reducing the risk of picking errors due to the picker's misidentification of the location.

[0078] The technical solution of the disclosed embodiment is to first display a picking area layout diagram on the preset display interface of the picking robot, wherein the picking area layout diagram includes warehouse layout information at the grid position and the robot position, and the warehouse layout information at least includes layout information of the shelves, the cargo storage grids on the shelves, and the aisles between multiple shelves in the warehouse. This technical solution can provide effective guidance to pickers by providing a picking area layout diagram that intuitively and realistically displays the layout of the warehouse. Then, the robot identifier of the picking robot is displayed in the picking area layout diagram according to the robot position; and the cargo storage grid is highlighted in the picking area layout diagram according to the grid position, thereby achieving the intuitive display of the robot identifier and cargo storage grid of the picking robot in the picking area layout diagram, accurately locating the position of the picking robot in the warehouse and the position of the items to be picked on the shelves, and improving the efficiency of item picking.

[0079] Figure 5 A flow chart of another position display method provided by an embodiment of the present disclosure. The technical solution of this embodiment is based on the above-mentioned embodiment, and further refines the display of the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot. Optionally, the display of the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot includes: when the picking robot moves to the target picking point, or when the relative distance between the grid position and the robot position is less than or equal to a preset distance threshold, the relative position relationship between the grid position and the robot position is displayed on the preset display interface of the picking robot. For specific implementation methods, please refer to the description of this embodiment. Among them, the technical features that are the same or similar to those of the above-mentioned embodiments are not repeated here.

[0080] like Figure 5 As shown, the method of this embodiment may specifically include:

[0081] S310. Obtain the picking task that the picking robot is executing, and determine the items to be picked based on the picking task; wherein, the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in the warehouse to transport items. The shelves include multiple cargo storage compartments for storing different items respectively, and the items to be picked are items that need to be picked manually.

[0082] S320: Determine the robot position of the picking robot between the shelves and the compartment position of the cargo storage compartment where the item to be picked is located.

[0083] S330. When the picking robot moves to the target picking point, or when the relative distance between the grid position and the robot position is less than or equal to a preset distance threshold, the relative position relationship between the grid position and the robot position is displayed on the preset display interface of the picking robot.

[0084] The target picking point can be understood as the location in the warehouse where the items to be picked need to be picked, that is, the location where the picking robot stops. The preset distance threshold can be understood as a threshold set in advance for the distance between the grid position and the robot position, and its value is not specifically limited here, for example, 8 meters, 5 meters or 3 meters, etc. By adopting this technical solution, the preset display interface of the picking robot can display the relative position relationship between the grid position and the robot position in a more intelligent and personalized manner, thereby effectively guiding the picker to accurately locate the items to be picked and improving the picking efficiency.

[0085] As an optional implementation in the embodiment of the present disclosure, when the picking robot moves to the target picking point, the relative position relationship between the grid position and the robot position can be displayed on the preset display interface of the picking robot. Specifically, determine the picking point that the picking robot needs to reach, that is, the target picking point. Obtain the position data of the picking robot. When the picking robot stays at the position data for a preset time, and the position data is the target picking point, it can be determined that the picking robot moves to the target picking point. Then, at this time, the relative position relationship between the grid position and the robot position can be displayed on the preset display interface of the picking robot. In an embodiment of the present invention, a method for determining the target picking point of the picking robot may include: obtaining the motion path information of the picking robot in the warehouse; thereby, the target picking point of the picking robot can be determined based on the grid position, the robot position and the motion path information.

[0086] As another optional implementation in the disclosed embodiments, when the relative distance between the slot position and the robot position is less than or equal to a preset distance threshold, the relative positional relationship between the slot position and the robot position can be displayed on a preset display interface of the picking robot. Specifically, while the picking robot is moving along a preset path and at a preset speed, the robot position of the picking robot is acquired in real time. The relative distance between the slot position and the robot position can thereby be calculated based on the robot position and the slot position. After obtaining the relative distance, the relative distance can be compared with a preset distance threshold. When the relative distance between the slot position and the robot position is less than or equal to the preset distance threshold, the relative positional relationship between the slot position and the robot position can be determined based on the slot position and the robot position. Furthermore, the relative positional relationship can be displayed on the preset display interface of the picking robot. It is understood that when the relative distance between the slot position and the robot position is greater than the preset distance threshold, the preset display interface of the picking robot may not display the relative positional relationship between the slot position and the robot position.

[0087] The technical solution of the disclosed embodiment is to display the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot when the picking robot moves to the target picking point, or when the relative distance between the grid position and the robot position is less than or equal to a preset distance threshold, thereby realizing a more intelligent and personalized display of the relative position relationship on the preset display interface of the picking robot.

[0088] Figure 6 This is a structural diagram of a position display device provided by an embodiment of the present disclosure, such as Figure 6 As shown, the device includes: an item determination module 410, a position determination module 420 and a position display module 430.

[0089] Among them, the item determination module 410 is used to obtain the picking task that the picking robot is performing, and determine the items to be picked according to the picking task; wherein, the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in the warehouse to transport items, and the shelves include multiple cargo storage grids for storing different items respectively, and the items to be picked are items that need to be picked manually; the position determination module 420 is used to determine the robot position of the picking robot between the shelves and the grid position of the cargo storage grid where the item to be picked is located; the position display module 430 is used to display the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot.

[0090] The technical solution of the embodiment of the present disclosure obtains the picking task being performed by the picking robot through the item determination module, determines the items to be picked based on the picking task, and can accurately determine that the picking robot needs to move between multiple shelves in the warehouse and transport the items to be picked; wherein, the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in the warehouse to transport the items, and the shelves include multiple cargo storage compartments for storing different items respectively, and the items to be picked are items that need to be picked manually; the position determination module determines the position of the picking robot on the shelf The relative position relationship between the grid position and the robot position can be obtained by measuring the robot position between the grid position and the grid position of the goods storage grid where the item to be picked is located; the relative position relationship between the grid position and the robot position is displayed on the preset display interface of the picking robot through the position display module, which solves the technical problems of difficulty in finding items for pickers and low picking efficiency, and realizes the intuitive display of the storage position of the items, so that the pickers can understand the storage position of the items of the picking robot in a timely, convenient and intuitive manner, and can quickly locate the storage position of the items to be picked, thereby improving the efficiency of item picking.

[0091] Based on the above optional technical solutions, optionally, the position display module 430 includes: a picking area layout display unit and a position display unit; wherein,

[0092] a picking area layout display unit, configured to display a picking area layout on a preset display interface of the picking robot, wherein the picking area layout includes warehouse layout information at the grid positions and the robot position, and the warehouse layout information includes at least layout information of the shelves, the cargo storage grids on the shelves, and the aisles between the multiple shelves in the warehouse;

[0093] A position display unit is used to display the robot identification of the picking robot in the picking area layout diagram according to the robot position; and to highlight the cargo storage compartment in the picking area layout diagram according to the compartment position.

[0094] On the basis of the above-mentioned optional technical solutions, optionally, the device also includes a first picking area layout diagram determination module, which is used to determine the target picking area according to the grid position and / or the robot position before displaying the picking area layout diagram; obtain the warehouse layout diagram of the warehouse where the picking robot is located, and use the local layout diagram corresponding to the target picking area in the warehouse layout diagram as the picking area layout diagram.

[0095] On the basis of the above-mentioned optional technical solutions, optionally, the target picking area is determined according to the grid position and / or the robot position, including at least one of the following operations: determining an area of ​​a first preset size centered on the grid position in the warehouse as the target picking area; determining an area of ​​a second preset size centered on the robot position in the warehouse as the target picking area; determining a core area in the warehouse with the grid position and the robot position as boundary points, and expanding the core area to obtain the target picking area.

[0096] Based on the above-mentioned optional technical solutions, optionally, the device also includes a second picking area layout map determination module, which is used to obtain the warehouse layout map of the warehouse where the picking robot is located before displaying the picking area layout map, and use the warehouse layout map as the picking area layout map.

[0097] Based on the above-mentioned optional technical solutions, optionally, the relative position relationship includes the orientation information of the grid position relative to the robot position; the position display module 430 is used to determine the orientation information of the grid position relative to the robot position based on the robot position and the grid position; and the orientation prompt information corresponding to the orientation information is displayed on the preset display interface of the picking robot.

[0098] On the basis of the above-mentioned optional technical solutions, optionally, the direction prompt information includes direction prompt text and / or direction prompt pattern, and the direction prompt pattern includes a direction indicating arrow.

[0099] Based on the above-mentioned optional technical solutions, the position display module 430 can be used to display the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot when the picking robot moves to the target picking point, or when the relative distance between the grid position and the robot position is less than or equal to the preset distance threshold.

[0100] The position display device provided in the embodiments of the present disclosure can execute the position display method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0101] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present disclosure.

[0102] Figure 7 This is a structural diagram of a picking robot provided by an embodiment of the present disclosure. Figure 7 , which shows a schematic structural diagram of a picking robot 500 suitable for implementing the embodiments of the present disclosure. The picking robot 500 may be integrated with electronic devices such as a terminal device and / or server that executes the status prompt method. The terminal devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The picking robot shown is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0103] like Figure 7 As shown, the picking robot 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. Various programs and data required for the operation of the picking robot 500 are also stored in the RAM 503. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0104] Typically, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the picking robot 500 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7The picking robot 500 is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0105] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0106] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0107] The picking robot provided in the embodiment of the present disclosure and the status prompt method provided in the above embodiment belong to the same inventive concept. For technical details not fully described in this embodiment, please refer to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0108] An embodiment of the present disclosure provides a computer storage medium having a computer program stored thereon. When the program is executed by a processor, the position display method provided in the above embodiment is implemented.

[0109] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0110] In some embodiments, the client and server can communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0111] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0112] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device is enabled to: obtain the picking task being performed by the picking robot, and determine the items to be picked according to the picking task; wherein the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in the warehouse to transport items, and the shelves include multiple cargo storage grids for storing different items respectively, and the items to be picked are items that need to be picked manually; determine the robot position of the picking robot between the shelves and the grid position of the cargo storage grid where the items to be picked are located; and display the relative position relationship between the grid position and the robot position on the preset display interface of the picking robot.

[0113] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0114] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0115] The units involved in the embodiments described in this disclosure may be implemented in software or hardware. In some cases, the name of a unit does not limit the unit itself. For example, the first acquisition unit may also be described as a "unit for acquiring at least two Internet Protocol addresses."

[0116] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0117] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0118] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0119] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0120] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A position display method, applied to a picking robot, characterized in that: The method comprises: Obtaining a picking task currently being performed by a picking robot, and determining items to be picked based on the picking task; wherein the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in a warehouse to transport the items, the shelves including multiple cargo storage compartments for storing different items, and the items to be picked are items that require manual picking; Determining the robot position of the picking robot between the shelves and the compartment position of the cargo storage compartment where the item to be picked is located; The relative positional relationship between the slot position and the robot position is displayed on a preset display interface of the picking robot.

2. The position display method according to claim 1, characterized in that: The display of the relative position relationship between the slot position and the robot position on the preset display interface of the picking robot includes: A picking area layout diagram is displayed on a preset display interface of the picking robot, wherein the picking area layout diagram includes warehouse layout information at the grid positions and the robot position, and the warehouse layout information includes at least layout information of the shelves, the cargo storage grids on the shelves, and the aisles between the multiple shelves in the warehouse; The robot identification of the picking robot is displayed in the picking area layout diagram according to the robot position; and the cargo storage compartment is highlighted in the picking area layout diagram according to the compartment position.

3. The position display method according to claim 2, characterized in that: Before displaying the picking area layout diagram, the method further includes: Determine a target picking area according to the grid position and / or the robot position; A warehouse layout diagram of the warehouse where the picking robot is located is obtained, and a local layout diagram corresponding to the target picking area in the warehouse layout diagram is used as a picking area layout diagram.

4. The position display method according to claim 3, characterized in that: Determining the target picking area according to the slot position and / or the robot position includes at least one of the following operations: Determine an area of ​​a first preset size centered at the grid position in the warehouse as a target picking area; determining an area of ​​a second preset size centered on the position of the robot in the warehouse as a target picking area; A core area is determined in the warehouse with the grid position and the robot position as boundary points, and the core area is expanded to obtain a target picking area.

5. The position display method according to claim 2, characterized in that: Before displaying the picking area layout diagram, the method further includes: Obtain a warehouse layout diagram of the warehouse where the picking robot is located, and use the warehouse layout diagram as the picking area layout diagram.

6. The position display method according to claim 1, characterized in that: The relative position relationship includes the orientation information of the grid position relative to the robot position; and the display of the relative position relationship between the grid position and the robot position includes: Determining, based on the robot position and the grid opening position, the orientation information of the grid opening position relative to the robot position; On a preset display interface of the picking robot, orientation prompt information corresponding to the orientation information is displayed.

7. The position display method according to claim 6, characterized in that: The direction prompt information includes direction prompt text and / or direction prompt pattern, and the direction prompt pattern includes a direction indicating arrow.

8. The position display method according to claim 1, characterized in that: The display of the relative position relationship between the slot position and the robot position on the preset display interface of the picking robot includes: When the picking robot moves to the target picking point, or when the relative distance between the grid position and the robot position is less than or equal to a preset distance threshold, the relative position relationship between the grid position and the robot position is displayed on the preset display interface of the picking robot.

9. A position display device, characterized in that: include: An item determination module is configured to obtain a picking task currently being performed by a picking robot and determine items to be picked based on the picking task; wherein the picking robot includes at least one container for carrying the items to be picked, and the picking robot moves between multiple shelves in a warehouse to transport the items, wherein the shelves include multiple cargo storage compartments for storing different items, and the items to be picked are items that require manual picking; A position determination module, configured to determine the robot position of the picking robot between the shelves and the position of the cargo storage compartment where the item to be picked is located; A position display module is used to display the relative position relationship between the grid position and the robot position on a preset display interface of the picking robot.

10. A picking robot, characterized in that: The picking robot comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the position display method according to any one of claims 1 to 8.

11. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, the computer executable instructions are used to perform the position display method according to any one of claims 1 to 8.

12. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the status prompt method according to any one of claims 1 to 8.

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