A material box management method, system and device, electronic equipment and storage medium

Abstract

This application provides a bin management method, system, device, electronic device, and storage medium, relating to the field of robot scheduling. The bin management method includes: when preset management trigger conditions are met, selecting a target bin for allocation to a target bin handling robot, which is to be positioned; based on the target bin handling robot and the target bin's location in the target storage area, executing a sorting task for the target bin; the sorting task includes: scheduling the target bin handling robot to the target storage area, controlling the target bin handling robot to perform a retrieval action on the target bin at the target storage area, and after the retrieval action is completed, performing an action to place the target bin into the storage area. This solution provides a foundation for reducing the bin retrieval failure rate without affecting inbound and outbound operations.

Description

Technical Field

[0001] This application relates to the field of robot scheduling technology, and in particular to a bin management method, system, device, electronic device and storage medium. Background Technology

[0002] In automated warehousing scenarios, bin-carrying robots moving on shelves and bin-transfer robots moving on the ground can work together to transfer bins within the warehouse locations on the shelves, i.e., inbound and outbound operations. Specifically, a bin-carrying robot is a transport robot that can run on a track and is mainly responsible for transporting bins vertically; for example, a bin-carrying robot can be an STU (Sky Transfer Unit, track-mounted bin robot). A bin-transfer robot can be a transport trolley that works in conjunction with the bin-carrying robot and is mainly responsible for transferring bins horizontally; for example, a Q1P (a stealthy robot that can carry bins on its back and move quickly on the ground to pick up and deliver goods).

[0003] However, for bin handling robots, whose tracks are set on shelves, vibrations are generated during operation, causing some bins on the shelves to shift position, especially lighter bins with less friction. If the shift angle of the bins is large (such as exceeding the predetermined angle), the bin handling robot will fail to retrieve the bins during inbound and outbound operations. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, device, electronic device, and storage medium for managing material bins, thereby providing a foundation for reducing the failure rate of material bin retrieval without affecting inbound and outbound operations. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a bin management method, including:

[0006] When the preset control triggering conditions are met, the target bin to be positionally corrected is selected for allocation to the target bin handling robot; wherein, the control triggering conditions are: the conditions set to ensure that the target bin handling robot is idle;

[0007] Based on the target bin handling robot and the target bin's location, the task of sorting the target bin is performed.

[0008] The sorting task includes: dispatching the target bin transport robot to the target storage location, controlling the target bin transport robot to perform a take-out action on the target bin at the target storage location, and performing a put-in action on the target bin after the take-out action is completed.

[0009] Secondly, embodiments of this application provide a bin management system, including a scheduling server and at least one bin handling robot;

[0010] The scheduling server is used to select a target bin for position correction to be allocated to the target bin handling robot when a preset control trigger condition is met; and to perform a sorting task for the target bin based on the target bin handling robot and the target bin's location in the target storage area; wherein the control trigger condition is a condition set to ensure that the target bin handling robot is idle; the target bin handling robot is any one of the at least one bin handling robot; the sorting task includes: scheduling the target bin handling robot to the target storage area, controlling the target bin handling robot to perform a take-out action on the target bin at the target storage area, and performing a put-in action on the target bin after the take-out action is completed;

[0011] The target bin handling robot is used to move to the target storage location under the control of the scheduling server, and to perform a take-out action on the target bin at the target storage location, and after the take-out action is completed, to perform an action to put the target bin into the storage location.

[0012] Thirdly, embodiments of this application provide a bin control device, including:

[0013] The selection module is used to select a target bin for position correction to be assigned to the target bin handling robot when a preset control trigger condition is met; wherein, the control trigger condition is a set condition that ensures the target bin handling robot is idle;

[0014] The execution module is used to perform a sorting task for the target bin based on the target bin handling robot and the target bin's location in the target compartment;

[0015] The sorting task includes: dispatching the target bin transport robot to the target storage location, controlling the target bin transport robot to perform a take-out action on the target bin at the target storage location, and performing a put-in action on the target bin after the take-out action is completed.

[0016] Fourthly, embodiments of this application provide an electronic device, including:

[0017] Memory, used to store computer programs;

[0018] The processor, when executing the program stored in the memory, implements the aforementioned bin control method.

[0019] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned bin control method.

[0020] Sixthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the aforementioned bin control methods.

[0021] Beneficial effects of the embodiments in this application:

[0022] The solution provided in this application satisfies the control triggering conditions as the triggering time, enabling the control process for the tote box to be triggered when the target tote box handling robot is idle. Furthermore, for the selected target tote box to be allocated to the target tote box handling robot and requiring position correction, the robot can be used to perform the actions of retrieving and placing the tote box into its storage location, thus eliminating positional shifts caused by shelf vibration. Therefore, this solution provides a foundation for reducing the failure rate of tote box retrieval without affecting inbound and outbound operations.

[0023] Furthermore, this solution eliminates the need for modifications to the mechanical structure of shelves, bin handling robots, etc., thus avoiding additional costs associated with mechanical structural improvements.

[0024] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0026] Figure 1 This is a schematic diagram of the structure of a bin handling robot provided in an embodiment of this application;

[0027] Figure 2A flowchart illustrating a bin control method provided in an embodiment of this application;

[0028] Figure 3 This is another flowchart of a bin control method provided in an embodiment of this application;

[0029] Figure 4 This is another flowchart of a bin control method provided in an embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the structure of a material bin control system provided in an embodiment of this application;

[0031] Figure 6 This is a schematic diagram of the structure of a material bin control device provided in an embodiment of this application;

[0032] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0033] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application. In the technical solutions of this application, the operations of obtaining, storing, using, processing, transmitting, providing, and disclosing user personal information are all performed with the user's authorization.

[0034] This application provides a method, system, device, electronic device, and storage medium for managing material bins, providing a basis for reducing the failure rate of material bin retrieval without affecting inbound and outbound operations.

[0035] The following section first introduces a bin management method provided in the embodiments of this application.

[0036] The bin management method provided in this application can be applied to electronic devices. In specific applications, the electronic device can be in the form of a terminal device or a server. For example, when the electronic device is in the form of a server, it can be a scheduling server used for robot scheduling.

[0037] Furthermore, the entity executing this bin control method can be a bin control device running in electronic equipment. For example, this bin control device can be a functional module in a control system used for robot task allocation and scheduling, or proprietary functional software used to implement the control function; both are reasonable. It is understood that this control system is the core hub managing the collaborative operation of multiple robot swarms, responsible for task allocation, path planning, traffic control, and status monitoring; it is the "brain" of the robot swarm's efficient operation.

[0038] It's important to note that in automated warehousing scenarios, bin handling robots and bin transfer robots can utilize docking stations (such as reserved spaces on the first level of a shelf) to transfer bins within those spaces, enabling inbound and outbound operations. For example, STU and Q1P robots use docking stations located on the first level of the shelf to facilitate bin transfer. Furthermore, inbound and outbound operations typically have designated execution periods. These periods are fixed times during which robots are invoked to perform inbound and outbound tasks. Outside of these designated periods, the target bin handling robot can remain idle.

[0039] The bin-handling robot mentioned in this application may include a horizontal track, a vertical track, and an actuator. One of the horizontal and vertical tracks may be a fixed track, and the other may be a movable track. The actuator can be mounted on the movable track. By moving the movable track on the fixed track and by moving the actuator on the movable track, the actuator can move to any location on the shelf (this can be referred to as the bin-handling robot moving to any location). Of course, in other possible implementations, both the horizontal and vertical tracks can be movable tracks, which is also reasonable. Furthermore, the specific form of the actuator can be varied. For example, the actuator can be a gripping mechanism, a telescopic fork mechanism, a vacuum suction cup mechanism, a hook mechanism, a gripping and lifting composite mechanism, etc. In specific applications, the bin-handling robot mentioned in this application can be an STU (Standardized Unit), but it is not limited to this. Any track-mounted robot that can be mounted on a shelf can be used as the bin-handling robot of this application. To facilitate understanding of the structure of the bin-handling robot, combined with... Figure 1 Provide an example; specifically, such as Figure 1 As shown, a bin handling robot may include an actuator 101, a vertical track 102 and a horizontal track 103. The actuator 101 is mounted vertically on the vertical track 102, and the vertical track 102 is mounted horizontally on the horizontal track 103.

[0040] Furthermore, in the application scenario of this application (automated warehousing scenario), multiple aisles can exist: warehouse shelves are generally arranged in rows, and the space between two rows of shelves is called an aisle. For example, in one implementation, a bin-handling robot (such as STU) can operate in the aisle space to pick up and place bins on the shelves on both sides of the aisle (i.e., inbound and outbound operations); of course, in other implementations, each shelf on both sides of the aisle can also have an independent bin-handling robot, that is, a bin-handling robot only picks up and places bins on the shelf on one side of the aisle, which is also reasonable. This application does not specifically limit the specific matching method between the bin-handling robot and the shelf.

[0041] One method for managing a material bin may include:

[0042] When the preset control trigger condition is met, the target bin to be position corrected is selected for allocation to the target bin handling robot; wherein, the control trigger condition is: the condition set with the requirement that the target bin handling robot is idle;

[0043] Based on the target bin handling robot and the target bin's location, the task of sorting the target bin is performed.

[0044] The tasks of this sorting task include: dispatching the target bin transport robot to the target bin location, controlling the target bin transport robot to perform a take-out action on the target bin at the target bin location, and performing a put-in action on the target bin after the take-out action is completed.

[0045] The solution provided in this application's embodiments satisfies control triggering conditions as the triggering time, so that the control process for the material box is triggered when the target material box handling robot is idle.

[0046] Furthermore, for the target bins selected for allocation to the target bin handling robot and requiring position correction, the target bin handling robot can be used to perform the actions of retrieving and placing them into the storage location. This process of repositioning the target bins eliminates positional shifts caused by shelf vibration. Therefore, this solution provides a foundation for reducing the failure rate of bin retrieval without affecting inbound and outbound operations.

[0047] Furthermore, this solution eliminates the need for modifications to the mechanical structure of shelves, bin handling robots, etc., thus avoiding additional costs associated with mechanical structural improvements.

[0048] like Figure 2 As shown, the bin control method provided in this application may include steps S201-S202:

[0049] S201, when the preset control triggering conditions are met, select the target bin to be position corrected for allocation to the target bin handling robot;

[0050] The control trigger condition is set to ensure that the target bin handling robot is idle.

[0051] S202, based on the target bin handling robot and the target bin's location, perform the sorting task for the target bin;

[0052] The tasks of this sorting task include: dispatching the target bin transport robot to the target bin location, controlling the target bin transport robot to perform a take-out action on the target bin at the target bin location, and performing a put-in action on the target bin after the take-out action is completed.

[0053] In this embodiment, in order to avoid conflict with the inbound and outbound operations (also known as inbound and outbound work) and to ensure that the inbound and outbound operations are not affected, the control trigger condition is set to ensure that the target bin handling robot is idle. In this way, when the control trigger condition is met, the target bin handling robot is guaranteed to be idle. Therefore, it can be applied to the control of bins in the control process, that is, to select the target bin to be assigned to the target bin handling robot and perform the step S202 at least for the selected target bin.

[0054] When the requirement is to ensure that the target bin handling robot is idle, there can be various control trigger conditions. For example, in one implementation, a time indicator is used as the condition content of the control trigger condition. Specifically, the control trigger condition may include reaching a set target time. This target time can be set according to actual needs. For example, the target time is the start time of a specified period. This specified period can be: part or all of the period other than the above-mentioned executable period, or part or all of the period related to the warehouse management business (the target bin handling robot is idle), or other period set according to actual control needs (such as periods during certain holidays, or a specified period in the executable period, which is also reasonable). This application does not limit the specified period.

[0055] For example, in another implementation, business status indicators are used as the conditions for control triggering. Specifically, control triggering conditions may include: the current warehousing scenario or the shelf (or aisle) where the target bin handling robot is located is in a state other than the inbound / outbound state (the business state of performing inbound / outbound operations) (the target bin handling robot is idle in this other state); or, the target bin handling robot is in a state other than the inbound / outbound state (the business state of performing inbound / outbound operations) (the target bin handling robot is idle in this other state), and so on.

[0056] For example, in another implementation, task indicators are used as the conditions for control triggering. Specifically, control triggering conditions may include: the target bin handling robot has not performed any task, etc. The way to identify whether the target bin handling robot has performed a task may include, but is not limited to: analyzing the task log information of the target bin handling robot, or analyzing the flag information associated with the target bin handling robot used to record whether a task is being performed.

[0057] The above description of control triggering conditions is merely an example and should not be construed as limiting the control triggering conditions.

[0058] The target bin handling robot can be a bin handling robot in the current application scenario. Any of the bin handling robots in this scenario, or even any robot among all bin handling robots, can be a target bin handling robot. These target bin handling robots can be manually designated, or identified by setting the shelves (or aisles) requiring bin control and / or setting the conditions that the bins requiring control must meet, in order to analyze which bin handling robots qualify as this group. It is understood that when there are multiple target bin handling robots, these robots can be scheduled in parallel to manage multiple target bins concurrently. The target bins assigned to the target bin handling robots are bins on the shelves that the target bin handling robots can operate on, and are those requiring offset correction. One target bin can be assigned to one target bin handling robot at a time.

[0059] In addition, in specific applications, the target bin handling robot can be identified first, and the bins on the shelf that the target bin handling robot can operate can be used as the basis for selecting the target bins. Alternatively, candidate bins with bin management requirements can be identified first (such as those that meet certain set conditions). Based on the identified candidate bins, one or more target bin handling robots that can operate can be analyzed, and then the target bins assigned to the target bins can be selected based on the identified candidate bins.

[0060] It is understandable that control trigger conditions can be configured through a pre-defined configuration interface; the configuration interface can be the local display interface of the electronic device, or the interface displayed by the designated client corresponding to the bin control device, etc.

[0061] Within the same warehouse, the same or different control trigger conditions can be set for all shelves (or aisles). Furthermore, when a preset control trigger condition is met, the shelf (or aisle) with that condition can be used as the basis for selecting a target bin. Of course, further filtering conditions can be set for the shelf used as the basis for bin selection, allowing the selection of target bins from the filtered shelves (or aisles). All of these are reasonable. In other words, from the perspective of control trigger conditions, shelves (or aisles) can be initially located, and then target bins can be further selected based on this initial location.

[0062] Furthermore, there can be multiple methods for selecting the target bin for position correction to be allocated to the target bin handling robot. For example, in one implementation, each bin in the selectable bins for the target bin handling robot is considered a candidate bin for allocation to the target bin handling robot, and the target bin is selected from the candidate bins; wherein the selectable bins for the target bin handling robot can be all or some bins on the rack operable by the target bin handling robot (e.g., selected based on set screening criteria for bins with position correction requirements).

[0063] After selecting the target bin, it can be located, i.e., its target bin location can be determined. Subsequently, based on the target bin location and the target bin handling robot, operations adapted to the selected target bin's position correction can be performed, i.e., a sorting task can be executed. The methods for determining the target bin's location can include, but are not limited to, determining the target bin's location based on a pre-established mapping relationship between bins and locations; and the mapping relationship between bins and locations can be updated in real time.

[0064] Considering that the target bins typically do not exhibit positional deviation when placed in the target storage location, and that any deviation is caused by vibrations generated and accumulated from the physical structure and environmental factors (vibration of the tracks on the shelf), this application employs a method of removing the target bins and placing them back into the storage location to eliminate this deviation. Specifically, for the selected target bins, based on the target bin handling robot and the target storage location, a sorting task is performed on the selected target bins; this sorting task is the task of removing the target bins and placing them back into the storage location.

[0065] For example, in one implementation, performing the action of placing the target bin into the storage space may include: placing the target bin into the target storage space; of course, in other implementations, the target bin transport robot may be dispatched to an idle storage space other than the target storage space, and the target bin transport robot may be controlled to place the target bin into the idle storage space.

[0066] It should be noted that, based on the target bin handling robot and the target bin location, there can be multiple specific implementation methods for performing the sorting task for the target bin.

[0067] For example, in one implementation, the electronic device can perform the sorting task by interacting with the target bin handling robot multiple times. Specifically, it sends a movement command to the target bin handling robot to schedule it to the target bin location. After the target bin handling robot moves to the target bin location, it sends a pick-up command to the target bin handling robot, so that the target bin handling robot responds to the pick-up command by taking out the target bin through an actuator and sending a signal to the electronic device indicating that the pick-up is complete. In response to the pick-up completion signal, the electronic device can send a signal to the target bin handling robot to instruct it to put the target bin into the bin location, which can be simply referred to as an insertion signal or storage signal, etc. Alternatively, it can send a movement command to the target bin handling robot to schedule it to an empty bin location and, when it is in the target bin location, send a signal to the target bin handling robot to instruct it to put the target bin into the bin location.

[0068] Of course, in other implementations, electronic devices can also perform sorting tasks by interacting with the target bin handling robot once. In other words, electronic devices can send a control command to the target bin handling robot once to accomplish the sorting task.

[0069] The solution provided in this application satisfies the control triggering conditions as the triggering time, enabling the control process for the tote box to be triggered when the target tote box handling robot is idle. Furthermore, for the selected target tote box to be allocated to the target tote box handling robot and requiring position correction, the robot can perform the actions of retrieving and placing it into the storage location, i.e., repositioning the target tote box, thereby eliminating positional shifts caused by shelf vibration. Therefore, this solution provides a foundation for reducing the failure rate of tote box retrieval without affecting inbound and outbound operations.

[0070] Furthermore, this solution eliminates the need for modifications to the mechanical structure of shelves, bin handling robots, etc., thus avoiding additional costs associated with mechanical structural improvements.

[0071] In one possible embodiment, such as Figure 3 As shown, the bin control method provided in this application may include the following steps:

[0072] S301, when the preset control trigger conditions are met, identify the bins that meet the set offset correction conditions from each bin located on the target shelf to be analyzed, so as to obtain the current candidate bins.

[0073] The control trigger condition is set to ensure that the target bin handling robot is idle.

[0074] S302, Select the target bin that the target bin handling robot can operate from the current candidate bins to obtain the target bin to be assigned to the target bin handling robot and to be corrected in position;

[0075] S303, based on the target bin handling robot and the target bin's location, performs the sorting task for the target bin;

[0076] The tasks of this sorting task include: dispatching the target bin transport robot to the target bin location, controlling the target bin transport robot to perform a take-out action on the target bin at the target bin location, and performing a put-in action on the target bin after the take-out action is completed.

[0077] S304, in response to the completion of the sorting task for the current target bin, determine the bins that have not been selected from the current candidate bins, and use them as the current candidate bins, and return to S302;

[0078] S305, in response to the fact that all bins that meet the control termination condition corresponding to the control trigger condition or the set offset correction condition have been selected, the current control process ends.

[0079] In this embodiment, S303 is the same as S202 in the above embodiment, and will not be described again here.

[0080] In this embodiment, when the preset control triggering conditions are met, the target shelf to be analyzed is first determined. Then, from the various bins located on the target shelf to be analyzed, bins that meet the set offset correction conditions are identified to obtain the current candidate bins. Then, from the current candidate bins, a bin operable by the target bin handling robot (e.g., a bin located on the target shelf where the target bin handling robot operates) is selected to obtain the target bin for position correction to be assigned to the target bin handling robot. It should be noted that, considering that the current candidate bins may belong to the operating range of one or more bin handling robots, and the target bin handling robot is any bin handling robot capable of operating at least one candidate bin; and, a random selection method can be used to select bins operable by the target bin handling robot from the current candidate bins; or, considering that bins with high popularity have a higher probability of being prioritized for outbound, a selection priority can also be set according to popularity, thereby selecting bins operable by the target bin handling robot from the current candidate bins based on the set selection priority.

[0081] Among them, the bins that meet the set offset correction conditions are the bins with offset correction requirements. The offset correction conditions can be configured through the configuration interface, and the specific conditions can be set according to the actual situation. For example, offset correction conditions may include: the temperature exceeding a predetermined threshold or being located in a designated shelf area affected by vibration, etc. Furthermore, the target shelf to be analyzed can be the shelf determined based on the met control trigger conditions, or it can be determined by the shelf positioning information set through the configuration interface; both are reasonable.

[0082] In this embodiment, after the current target bin sorting task is completed, bins that have not been selected can be identified from the current candidate bins and used as the current candidate bins, i.e., the candidate bins are updated. Then, the process returns to selecting bins operable by the target bin handling robot from the current candidate bins to obtain the target bins to be assigned to the target bin handling robot for position correction. This is the process of reassigning target bins to the target bin handling robot until all bins that meet the set offset correction conditions have been selected, and then the current control process ends.

[0083] Furthermore, to ensure the effective execution of inbound and outbound operations, the current control process can also be terminated upon fulfilling the control termination condition corresponding to the control trigger condition. For example, if a time indicator is used as the control trigger condition, the corresponding control termination condition could include: reaching the end time of a specified period; if a business status indicator is used as the control trigger condition, the corresponding control termination condition could include: the current warehousing scenario or the shelf (or aisle) where the target bin handling robot is located is set to inbound / outbound status; or, the target bin handling robot is set to inbound / outbound status (the business status for performing inbound / outbound operations), etc.; if a task indicator is used as the control trigger condition, the corresponding control termination condition could include: the target bin handling robot being scheduled to execute any task (a task with higher priority), etc.

[0084] In this embodiment, the control trigger condition is used as the triggering time, and the control termination condition corresponding to the control trigger condition or the set offset correction condition is selected as the termination time. This allows the control process of the box to be performed when the target box handling robot is idle, and the control process to be terminated in a timely manner. Furthermore, by selecting each candidate box on the target shelf that meets the offset correction condition, the offset correction can be more targeted and adapted to the actual position correction needs of the box. For the target boxes selected multiple times, the target box handling robot can be used to perform the actions of taking them out and putting them into the storage space, that is, the process of repositioning the target box, thereby eliminating the positional offset caused by shelf vibration. Therefore, this solution can provide a basis for further reducing the failure rate of box taking out of the box by the box handling robot without affecting the inbound and outbound operations. Moreover, this solution can be implemented without changing the mechanical structure of the shelf, robot, etc., and without incurring additional costs for mechanical structure improvement.

[0085] In one possible embodiment, the offset correction condition includes: the inactivity period exceeds a predetermined duration threshold, and / or the position belongs to a set target position type;

[0086] The inactivity period is the duration during which no operation has been performed.

[0087] The target storage location type includes: a first storage location type, and / or, a second storage location type; wherein, the first storage location type is: the storage location is within the track vibration radiation range on the target shelf, and the second storage location type includes: the storage space size exceeds the predetermined space size.

[0088] Considering that the positional deviation of any bin is an accumulation of vibration deviation, and the longer the time, the greater the accumulation of vibration deviation, the settling time can be used as a consideration for setting offset correction conditions. The duration during which no operations have been performed can refer to the duration during which no inbound / outbound operations or sorting tasks have been performed. The settling time of any bin can be determined by analyzing its operation record information, which may include, but is not limited to, the time the bin entered the storage location, the time when a sorting task was performed, etc. The predetermined time threshold can be set according to actual conditions, such as 10 days or 15 days, which are all reasonable.

[0089] Furthermore, considering the varying dimensions and locations of the storage compartments where the material bins are located, the vibration deviations they experience will also differ. For example, compartments near the track experience greater vibration than other compartments, and larger compartments experience greater vibration. Therefore, compartment location and / or the size of the storage space can be considered when setting offset correction conditions. The predetermined space size can be set according to actual conditions and is not limited here. The vibration radiation range of the track on the target shelf can be manually specified or determined using a preset method, both of which are reasonable. For clarity of the solution and layout, the preset determination method will be described in subsequent embodiments.

[0090] In this embodiment, the resting time and / or target bin type are taken into consideration as offset correction conditions. This can make the positioning of bins with position correction requirements more accurate and provide a more effective basis for reducing the failure rate of bin removal by bin handling robots.

[0091] In one possible embodiment, the determination of the track vibration radiation range on the target shelf includes:

[0092] If either the vertical or horizontal track on the target shelf is a fixed track, a predetermined range corresponding to the target track that is a fixed track is determined as the track vibration radiation range; wherein, the predetermined range corresponding to the target track is: the range on the target shelf from which the distance to the target track does not exceed a predetermined distance threshold;

[0093] or,

[0094] If both the vertical and horizontal tracks on the target shelf are movable, determine the historical positions of the vertical and horizontal tracks within a historical period starting from the current time, as well as the number of times each track is at each historical position. Based on the determined historical positions and the number of times each track is at each historical position, filter the determined historical positions to obtain the target historical positions. For each determined target historical position, determine the range on the target shelf that is no more than a predetermined distance threshold from the target historical position as the track vibration radiation range.

[0095] If either the vertical or horizontal track on the target shelf is a fixed track (e.g., the horizontal track is a fixed track), the position of that fixed track on the shelf can be determined. Using the position of the fixed track as a reference point, a predetermined range can be determined as the track vibration radiation range. For example, the predetermined distance threshold can be set according to the actual situation, such as 0.5m, 0.3m, etc.

[0096] Furthermore, when both the vertical and horizontal tracks on the target shelf are movable, the track vibration radiation range can be determined by combining the movement process of the horizontal and vertical tracks within a historical period. Specifically, the historical positions of the vertical and horizontal tracks, starting from the current time, and the number of times each track is at each historical position are determined. Based on the determined historical positions and frequencies, the determined historical positions are filtered to obtain target historical positions. For each determined target historical position, the range on the target shelf that is no more than a predetermined distance threshold from the target historical position is determined as the track vibration radiation range. For example, the historical period can be the most recent 15 days, the most recent 10 days, etc.; and the implementation method of filtering the determined historical positions based on the determined historical positions and frequencies to obtain target historical positions can include, but is not limited to: selecting historical positions where the corresponding frequency exceeds a predetermined frequency threshold as target historical positions, or selecting historical positions with the highest corresponding frequency as target historical positions.

[0097] In this embodiment, the vibration radiation range of the target shelf can be determined quickly and accurately by the method of determining the vibration radiation range of the track on the target shelf, thereby providing a basis for the identification of the first warehouse type.

[0098] In one possible embodiment, the target shelf is a multi-depth structure (e.g., a double-depth structure); such as Figure 4 As shown above, in the above Figure 3 Based on the illustrated embodiment, S302 may include steps S3021-S3023:

[0099] S3021: Select one bin that the target bin handling robot can operate from the current candidate bins and use it as the current initial bin;

[0100] S3022, If among the current candidate bins there are other bins at the same depth as the current initial bin, the current initial bin and the other bins at the same depth are both used as target bins to be assigned to the target bin handling robot for position correction.

[0101] S3023, If there are no other bins in the current candidate bins that are at the same depth as the current initial bin, the current initial bin is used as the target bin to be assigned to the target bin handling robot for position correction.

[0102] Accordingly, controlling the target bin handling robot to perform a take-out action on the target bin at the target location, and performing a put-in action on the target bin after the take-out action is completed, may include step A:

[0103] Step A: Based on the number of target boxes selected and their positions in the same depth structure, control the target box handling robot to perform a take-out action on the target boxes at the target compartment, and after the take-out action is completed, perform an action to put the selected target boxes into the compartment.

[0104] Multi-depth structures can include: double-deep structures, triple-deep structures, etc. A double-deep structure means that for the same storage space, there are inner and outer layers of space, and both the inner and outer layers can be used to place material boxes; a triple-deep structure means that for the same storage space, there are inner, middle, and outer layers of space, and all three layers can be used to place material boxes.

[0105] Considering that when the target shelf is a multi-depth structure, one or more bins belonging to the same depth structure can serve as candidate bins, to improve management efficiency, all candidate bins of the same depth structure are selected as target bins when selecting target bins. This allows for the processing of candidate bins of the same depth structure during a single sorting task. Therefore, from the current candidate bins, one bin operable by the target bin handling robot is selected as the initial bin. The system analyzes whether the initial bin contains other bins belonging to the same depth structure, and based on the analysis results, selects different numbers of target bins for the target bin handling robot.

[0106] Furthermore, after selecting the target bins, the target bin handling robot can be controlled to perform a retrieval action on the target bins at the target location based on the number of target bins selected and their positions in the same depth structure, using a matching method. After the retrieval action is completed, the target bins are placed into the location. The matching method is one that enables all selected target bins to be retrieved and placed into the location. The specific method will be explained in conjunction with other embodiments later.

[0107] In this embodiment, during the selection of target bins for the target bin handling robot, an initial bin is selected. Using the initial bin, it is analyzed whether there are other bins belonging to the same depth structure. Based on the analysis results, the number of target bins that need to be processed in one sorting task and their positions in the same depth structure are determined for the target bin handling robot. Then, by combining the number of selected target bins and their positions in the same depth structure, the operation of taking out and putting the selected target bins into the bin is performed, thereby improving management efficiency.

[0108] In one possible embodiment, the multi-deep structure includes a double-deep structure; step A above may include:

[0109] Step A1: If the number of selected target boxes is two, or if the number of selected target boxes is one and it is located in the inner layer of the target compartment, then control the target box transport robot to perform a take-out action on the selected first target box. After the take-out action on the first target box is completed, dispatch the target box transport robot to an idle compartment and control the target box transport robot to place the first target box into the idle compartment. Then, at the target compartment, the target box transport robot performs a take-out action on the second target box among the selected target boxes. After the take-out action on the second target box is completed, perform an action to place the second target box into the compartment. Wherein, the first target box is the target box located in the outer layer of the target compartment, and the second target box is the target box located in the inner layer of the target compartment.

[0110] or,

[0111] Step A2: If the selected target bin is one and is located outside the target compartment, perform a take-out action on the target bin located outside the target compartment, and after the take-out action is completed, perform an action to put the taken-out target bin into the compartment.

[0112] Considering that regardless of whether two target bins are selected or only one target bin is selected and located in the inner layer of the target compartment, each bin in the double-deep structure of the target compartment needs to be removed in order for the selected target bin to be retrieved. Therefore, when two target bins are selected, or when only one target bin is selected and located in the inner layer of the target compartment, the first target bin can be removed first and placed in an idle compartment. Then, the second target bin is removed, and then an action for placing the second target bin into a compartment is performed. For example, the second target bin is placed back into the inner space of the target compartment, or placed into another idle compartment. It is understandable that after the second target bin is placed into a compartment, such as into the memory of the target compartment or into an idle compartment, the first target bin can be returned to the target compartment, which is also reasonable.

[0113] Furthermore, considering that when the selected target bin is one and located on the outer layer of the target compartment, the selected target bin can be removed without operating other bins of the same double-deep structure. Therefore, when the selected target bin is one and located on the outer layer of the target compartment, the removal action is performed on the target bin located on the outer layer of the target compartment, and after the removal action is completed, the removal action is performed on the target bin to be placed into the compartment.

[0114] In this embodiment, for a double-deep shelf, the number of selected target boxes and their positions within the same depth structure can be combined to perform the removal and placement of the selected target boxes in a matching manner, thereby improving management efficiency and ensuring the effective execution of the management process.

[0115] In one possible embodiment, in Figure 2 Based on the illustrated embodiments, the bin control method provided in this application may further include step B:

[0116] Step B: In response to receiving the specified information reported by the target bin handling robot, output alarm information for the target bin. After receiving feedback information indicating that manual correction is completed, omit the action of putting the target bin into the bin after the take-out action is completed, and determine that the sorting task for the current target bin is completed.

[0117] The specified information is: after the target bin handling robot is scheduled to the target bin, the information reported when the target bin meets the failure conditions for removal is estimated based on the set sensor module;

[0118] This alarm message is used to instruct manual location correction.

[0119] For example, the sensor module can be a vision sensor module, an infrared sensor module, etc. The vision sensor module of the target bin handling robot can acquire images of the target bin, and based on the acquired images, analyze the offset angle of the target bin at the target bin. If the offset angle is greater than a preset angle threshold, it is estimated that the target bin meets the condition for failure to retrieve. Alternatively, an infrared sensor module can be set at a predetermined position (e.g., the end effector) of the actuator of the target bin handling robot. If the target bin is offset by a large amount, when the actuator operates the target bin (e.g., clamps the target bin), the actuator cannot successfully grasp the target bin, and the infrared sensor module can be sensed. In this case, it is estimated that the target bin meets the condition for failure to retrieve.

[0120] There are no restrictions on the specific form of the alarm information. For example, it can be sent as a push notification to the user's device carrying the alarm information, or as an email containing the alarm information sent to the user's inbox, etc.

[0121] In this embodiment, alarm information allows for timely manual intervention for target bins that cannot be retrieved, thereby ensuring the smooth execution of the control process.

[0122] In one possible embodiment, identifying bins that meet the set offset correction conditions from the bins located on the target shelf to be analyzed, in order to obtain the current candidate bins, may include steps C1-C3:

[0123] Step C1: Obtain the selection rule information stored in association with the control triggering condition; wherein, the selection rule information includes shelf positioning information and offset correction conditions; the shelf positioning information is used to characterize the map and / or passage of the storage space;

[0124] Step C2: Based on the shelf positioning information in the obtained selection rule information, locate the target shelf to be analyzed;

[0125] Step C3: Identify the bins that meet the offset correction conditions in the acquired selection rule information from the bins located on the target shelf to be analyzed, and obtain the current candidate bins.

[0126] In this embodiment, the shelf positioning information and offset correction conditions corresponding to the control trigger conditions can be pre-configured through the configuration interface to obtain the control trigger conditions and selection rule information including shelf positioning information and offset correction conditions. The control trigger conditions and selection rule information are then stored together. Therefore, when the control trigger conditions are met, the selection rule information associated with the met control trigger conditions can be obtained, and the candidate material bins can be determined using the selection rule information. The shelf positioning information can be set according to actual conditions, and the specific storage location for the associated storage of the control trigger conditions and selection rule information is not limited. For example, it can be stored in the local storage space of the electronic device or in the storage space of other devices accessible to the electronic device, etc.

[0127] This solution allows for the accurate identification of candidate material bins that require control, thereby ensuring the effective execution of the control process.

[0128] To better understand the bin management method provided in this application, the following describes the bin management method in conjunction with a specific embodiment.

[0129] Information configuration process:

[0130] The electronic device provides a configuration page for users to configure control trigger conditions and select rule information (shelf positioning information and offset correction conditions); the configurable items on this configuration page may include the following:

[0131] (1) Start time (indicates the time when the execution begins each day, i.e. the start time of the specified time period mentioned above).

[0132] (2) End time (indicates the time when execution ends; if execution is not completed, it will also end at the specified time, i.e., the end time of the specified time period).

[0133] (3) Number of days of rest (indicates how many days the bin has not been operated. The deviation of bins that have not been operated for more than this number of days may be greater. That is, the above-mentioned resting time needs to exceed the predetermined time threshold).

[0134] (4) Location map (indicating which map needs to perform the timed bin sorting task (i.e. the sorting task mentioned above), as part of the shelf location information mentioned above)

[0135] (5) Location (This indicates which channel on the map requires regular sorting of the bins, serving as a type of shelf location information)

[0136] (6) Position type (Generally, positions near the track fluctuate more. Select the corresponding position type range that needs to be adjusted, i.e., the first position type that can be set above).

[0137] The process of managing material bins:

[0138] Based on the configuration items configured by the user, the electronic device can obtain the control trigger conditions and selection rule information (shelf positioning information and offset correction conditions), and thus start the control process within the specified time range (i.e., the specified time period). Specifically, it queries each candidate material box that simultaneously meets the requirements of the number of days of rest, the location map requirements, the location channel requirements, and the warehouse type. If there is no candidate material box that simultaneously meets all the above requirements, the current control process ends.

[0139] After selecting candidate bins, the electronic equipment groups them by channel. For each group of candidate bins, a System Unit (STU) is assigned to the corresponding channel as the target STU. The target STUs are then scheduled in parallel to simultaneously perform bin sorting tasks (i.e., the sorting task mentioned above): For each target STU, a bin operable by that target STU is selected from the current candidate bins (specifically, bins within the corresponding group are selected), resulting in a target bin assigned to that target STU for position correction. Based on the target STU and the target bin's location, the sorting task is performed on the selected target bin, for example, removing it from its original location and then returning it to its original position. During the sorting task, since the target bin is repositioned by the target STU, the offset error caused by vibration is eliminated.

[0140] Furthermore, in the case of a double-deep shelving structure with bins in both the inner and outer layers, if the inner bins meet the conditions for bin offset adjustment (i.e., offset correction conditions), but the outer bins do not, meaning only the inner bins are selected as candidate bins and then as target bins, the electronic equipment will move the outer bins from the target bin to a nearby empty bin. After this process, the inner bin (the target bin) will be retrieved and returned to the inner layer. The outer bins do not need to be moved back to the outer layer of the target bin; they can remain in their new location.

[0141] When the target bin shifts excessively due to vibration, it will be impossible to retrieve the target bin during the sorting task (i.e., the target STU reports the specified information). In this case, manual intervention is required. The electronic device first issues an alarm (i.e., sends an alarm message) to the monitoring system to prompt manual intervention. After the target bin's position is corrected manually, relevant personnel can click on the abnormal handling completion page provided by the electronic device. Then, the electronic device can schedule the target STU to select a new target bin (execute the sorting of other bins that meet the shift correction conditions), ensuring the smooth completion of the sorting task for each candidate bin.

[0142] It should be noted that in this embodiment, when configuring the configuration items, the start and end times are configured within idle time (i.e., a specified time period), such as the idle time period each day when there is no normal business (inbound / outbound business). Electronic devices can be triggered to start the control process at the start time each day. The number of idle days needs to be configured by the on-site user based on the actual situation. Generally, the material bin offset is not particularly large, and a default configuration of 15 days is recommended. That is, only material bins that have not been operated within 15 days need to be adjusted. As for the bin type condition, generally only bins near the track will vibrate more significantly, and only bins in these bins need to be offset and adjusted.

[0143] The solution provided in this embodiment has the following beneficial effects:

[0144] By scheduling STUs (System Units) using electronic devices to perform bin retrieval and placement on a regular basis (during daily off-peak hours), the task of organizing target bins during the control process can be eliminated. This eliminates vibration deviations caused and accumulated by physical structures and other environmental factors, thus eliminating errors before normal business operations begin. This ensures that the impact on the smooth execution of normal business operations is minimized. In other words, it provides a foundation for reducing the failure rate of bin retrieval without affecting inbound and outbound operations.

[0145] Furthermore, it fully considers execution conditions (such as control trigger conditions, offset correction conditions, and shelf positioning information formed based on various configuration items). Specifically: it allows configuration of start and end times to meet the different idle time requirements of different projects; it allows configuration of warehouse type to specify a specific warehouse range to filter out most warehouses that will not experience vibration; it allows configuration of different maps and different channels; it allows configuration of idle days for filtering; and it considers the case of double-deep warehouse structures.

[0146] Corresponding to the above method embodiments, this application also provides a bin management system, such as... Figure 5 As shown, the bin control system includes a scheduling server 510 and at least one bin handling robot 520;

[0147] The scheduling server 510 is used to select a target bin for position correction to be allocated to the target bin handling robot when a preset control trigger condition is met; and to perform a sorting task for the target bin based on the target bin handling robot and the target bin's location in the target storage area; wherein the control trigger condition is a condition set to ensure that the target bin handling robot is idle; the target bin handling robot is any one of the at least one bin handling robot 520; the sorting task includes: scheduling the target bin handling robot to the target storage area, controlling the target bin handling robot to perform a take-out action on the target bin at the target storage area, and performing a put-in action on the target bin after the take-out action is completed;

[0148] The target bin handling robot is used to move to the target storage location under the control of the scheduling server, and to perform a take-out action on the target bin at the target storage location, and after the take-out action is completed, to perform an action to put the target bin into the storage location.

[0149] For details on the specific implementation of each step of the scheduling server 510 and the target bin handling robot, please refer to the corresponding content in the above method embodiments, which will not be repeated here.

[0150] The bin management system provided in this embodiment can provide a basis for reducing the failure rate of bin retrieval by bin handling robots without affecting inbound and outbound operations.

[0151] Corresponding to the above method embodiments, this application also provides a material bin control device, such as... Figure 6 As shown, it may include:

[0152] The selection module 610 is used to select a target bin for position correction to be assigned to the target bin handling robot when a preset control trigger condition is met; wherein, the control trigger condition is a set condition that ensures the target bin handling robot is idle;

[0153] The execution module 620 is used to perform a sorting task for the target bin based on the target bin handling robot and the target bin location.

[0154] The sorting task includes: dispatching the target bin transport robot to the target storage location, controlling the target bin transport robot to perform a take-out action on the target bin at the target storage location, and performing a put-in action on the target bin after the take-out action is completed.

[0155] Optionally, the selection module is further configured to identify, from each bin located on the target shelf to be analyzed, bins that meet the set offset correction conditions before selecting the target bins to be assigned to the target bin handling robot for position correction, so as to obtain the current candidate bins.

[0156] The selection module selects the target bins to be positioned for allocation to the target bin handling robot, including:

[0157] From the current candidate bins, select the bins that the target bin handling robot can operate on to obtain the target bins to be assigned to the target bin handling robot and to be corrected in position.

[0158] The hopper control device also includes:

[0159] The first response module is configured to, in response to the completion of the sorting task for the current target bin, determine the bins that have not been selected from the current candidate bins as the current candidate bins, and return to the step of selecting a target bin operable by the target bin handling robot from the current candidate bins to obtain the target bin to be assigned to the target bin handling robot for position correction; and,

[0160] The second response module is used to terminate the current control process when all bins that meet the control termination condition corresponding to the control trigger condition or the set offset correction condition have been selected.

[0161] Optionally, the offset correction conditions include: the inactivity period exceeds a predetermined time threshold, and / or the current position belongs to a set target position type;

[0162] The inactivity period is the duration during which no task has been performed.

[0163] The target storage location type includes: a first storage location type and / or a second storage location type; wherein, the first storage location type is: the storage location is within the track vibration radiation range on the target shelf, and the second storage location type includes: the storage space size exceeds a predetermined space size.

[0164] Optionally, the method for determining the vibration radiation range of the track on the target shelf includes:

[0165] If either the vertical or horizontal track on the target shelf is a fixed track, a predetermined range corresponding to the target track that is a fixed track is determined as the track vibration radiation range; wherein, the predetermined range corresponding to the target track is: the range on the target shelf from which the distance to the target track does not exceed a predetermined distance threshold;

[0166] or,

[0167] When both the vertical and horizontal tracks on the target shelf are movable, the historical positions of the vertical and horizontal tracks, starting from the current time, and the number of times each track is at each historical position are determined within a historical period. Based on the determined historical positions and the number of times each track is at each historical position, the determined historical positions are filtered to obtain target historical positions. For each determined target historical position, the range on the target shelf that is no more than a predetermined distance threshold from the target historical position is determined as the track vibration radiation range.

[0168] Optionally, the target shelf is a multi-depth shelf;

[0169] The selection module selects a target bin that the target bin handling robot can operate from the current candidate bins, obtaining a target bin for position correction to be assigned to the target bin handling robot, including:

[0170] From the current candidate bins, select one bin that the target bin handling robot can operate as the current initial bin;

[0171] If among the current candidate bins, there are other bins at the same depth as the current initial bin, the current initial bin and the other bins at the same depth will be used as target bins to be assigned to the target bin handling robot for position correction.

[0172] If there are no other bins in the current candidate bins that are at the same depth as the current initial bin, the current initial bin will be used as the target bin for position correction and assigned to the target bin handling robot.

[0173] The control of the target bin handling robot to perform a take-out action on the target bin at the target compartment, and after the take-out action is completed, to perform a put-in action on the target bin, includes:

[0174] Based on the selected number of target bins and their positions in the same depth structure, the target bin handling robot is controlled to perform a take-out action on the target bins at the target location, and after the take-out action is completed, it performs an action to put the selected target bins into the location.

[0175] Optionally, the multi-deep structure includes a double-deep structure;

[0176] Based on the selected number of target bins and their positions within the same depth structure, the target bin handling robot is controlled to perform a retrieval action on the target bins at the target storage location. After the retrieval action is completed, the robot performs a placement action on the selected target bins into the storage location, including:

[0177] If two target boxes are selected, or if one target box is selected and it is located in the inner layer of the target compartment, then the target box handling robot is controlled to perform a take-out action on the selected first target box. After the take-out action on the first target box is completed, the target box handling robot is dispatched to an idle compartment and controlled to place the first target box into the idle compartment. Additionally, the target box handling robot is dispatched to the target compartment to perform a take-out action on the second target box among the selected target boxes. After the take-out action on the second target box is completed, the robot performs an action to place the second target box into the compartment. Here, the first target box is the target box located in the outer layer of the target compartment, and the second target box is the target box located in the inner layer of the target compartment.

[0178] or,

[0179] If the selected target bin is one and is located outside the target compartment, a take-out action is performed on the target bin located outside the target compartment, and after the take-out action is completed, an action for placing the taken-out target bin into the compartment is performed.

[0180] Optionally, the bin control device further includes:

[0181] The third response module is used to respond to the specified information reported by the target bin handling robot, output alarm information for the target bin, and after receiving feedback information indicating that manual correction is completed, omit the step of performing the action of putting the target bin into the bin after the take-out action is completed, and determine that the sorting task for the current target bin is completed.

[0182] The specified information is: after the target bin handling robot is scheduled to the target bin, the information reported when the target bin meets the failure conditions for removal is estimated based on the set sensor module;

[0183] The alarm information is used to instruct manual location correction.

[0184] Optionally, the selection module identifies bins that meet the set offset correction conditions from each bin located on the target shelf to be analyzed, to obtain the current candidate bins, including:

[0185] Obtain the selection rule information stored in association with the control triggering condition; wherein, the selection rule information includes shelf positioning information and offset correction conditions; the shelf positioning information is used to characterize the map and / or passage of the storage space;

[0186] Based on the shelf positioning information in the obtained selection rule information, locate the target shelf to be analyzed;

[0187] From the various bins located on the target shelf to be analyzed, identify the bins that meet the offset correction conditions in the acquired selection rule information to obtain the current candidate bins.

[0188] This application also provides an electronic device, such as... Figure 7 As shown, it includes:

[0189] Memory 701 is used to store computer programs;

[0190] The processor 702, when executing the program stored in the memory 701, implements the steps of any of the above-described bin control methods.

[0191] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 702, the communication interface, and the memory 701 communicating with each other via the communication bus.

[0192] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0193] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0194] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0195] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0196] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described bin control methods.

[0197] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform the steps of any of the bin control methods described in the above embodiments.

[0198] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as 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, all or part of the processes or functions described in the embodiments of this application are generated. 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, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0199] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0200] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for embodiments such as systems, devices, and equipment, since they are basically similar to the method embodiments, the descriptions are relatively simple, and relevant parts can be referred to the descriptions of the method embodiments.

[0201] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for controlling a material bin, characterized in that, include: When the preset control triggering conditions are met, the target bin to be positionally corrected is selected for allocation to the target bin handling robot; wherein, the control triggering conditions are: the conditions set to ensure that the target bin handling robot is idle; Based on the target bin handling robot and the target bin's location, the task of sorting the target bin is performed. The sorting task includes: dispatching the target bin transport robot to the target storage location, controlling the target bin transport robot to perform a take-out action on the target bin at the target storage location, and performing a put-in action on the target bin after the take-out action is completed.

2. The method according to claim 1, characterized in that, Before selecting the target bin for position correction to be assigned to the target bin handling robot, the method further includes: Identify the bins that meet the set offset correction conditions from each bin located on the target shelf to be analyzed, so as to obtain the current candidate bins; The selection of the target bins to be positioned for allocation to the target bin handling robot includes: From the current candidate bins, select the bins that the target bin handling robot can operate on to obtain the target bins to be assigned to the target bin handling robot and to be corrected in position. The method further includes: In response to the completion of the sorting task for the current target bin, the steps of identifying unselected bins from the current candidate bins as current candidate bins, and returning to the step of selecting a target bin operable by the target bin handling robot from the current candidate bins to obtain the target bin to be assigned to the target bin handling robot for position correction are as follows: The current control process ends when all bins that meet the control termination condition corresponding to the control trigger condition or the set offset correction condition have been selected.

3. The method according to claim 2, characterized in that, The offset correction conditions include: the inactivity period exceeds a predetermined time threshold, and / or the position belongs to the set target position type; The target storage location type includes: a first storage location type and / or a second storage location type; wherein, the first storage location type is: the storage location is within the track vibration radiation range on the target shelf, and the second storage location type includes: the storage space size exceeds a predetermined space size.

4. The method according to claim 3, characterized in that, The methods for determining the vibration radiation range of the track on the target shelf include: If either the vertical or horizontal track on the target shelf is a fixed track, a predetermined range corresponding to the target track that is a fixed track is determined as the track vibration radiation range; wherein, the predetermined range corresponding to the target track is: the range on the target shelf from which the distance to the target track does not exceed a predetermined distance threshold; or, When both the vertical and horizontal tracks on the target shelf are movable, the historical positions of the vertical and horizontal tracks, starting from the current time, and the number of times each track is at each historical position are determined within a historical period. Based on the determined historical positions and the number of times each track is at each historical position, the determined historical positions are filtered to obtain target historical positions. For each determined target historical position, the range on the target shelf that is no more than a predetermined distance threshold from the target historical position is determined as the track vibration radiation range.

5. The method according to any one of claims 2-4, characterized in that, The target shelf is a multi-depth shelf structure; The step of selecting a target bin operable by the target bin handling robot from the current candidate bins to obtain the target bin for position correction to be assigned to the target bin handling robot includes: From the current candidate bins, select one bin that the target bin handling robot can operate as the current initial bin; If among the current candidate bins, there are other bins at the same depth as the current initial bin, the current initial bin and the other bins at the same depth will be used as target bins to be assigned to the target bin handling robot for position correction. If there are no other bins in the current candidate bins that are at the same depth as the current initial bin, the current initial bin will be used as the target bin for position correction and assigned to the target bin handling robot. The control of the target bin handling robot to perform a take-out action on the target bin at the target compartment, and after the take-out action is completed, to perform a put-in action on the target bin, includes: Based on the selected number of target bins and their positions in the same depth structure, the target bin handling robot is controlled to perform a take-out action on the target bins at the target location, and after the take-out action is completed, it performs an action to put the selected target bins into the location.

6. The method according to claim 5, characterized in that, The multi-deep structure includes a double-deep structure; Based on the selected number of target bins and their positions within the same depth structure, the target bin handling robot is controlled to perform a retrieval action on the target bins at the target storage location. After the retrieval action is completed, the robot performs a placement action on the selected target bins into the storage location, including: If two target boxes are selected, or if one target box is selected and it is located in the inner layer of the target compartment, then the target box handling robot is controlled to perform a take-out action on the selected first target box. After the take-out action on the first target box is completed, the target box handling robot is dispatched to an idle compartment and controlled to place the first target box into the idle compartment. Additionally, the target box handling robot is dispatched to the target compartment to perform a take-out action on the second target box among the selected target boxes. After the take-out action on the second target box is completed, the robot performs an action to place the second target box into the compartment. Here, the first target box is the target box located in the outer layer of the target compartment, and the second target box is the target box located in the inner layer of the target compartment. or, If the selected target bin is one and is located outside the target compartment, a take-out action is performed on the target bin located outside the target compartment, and after the take-out action is completed, an action for placing the taken-out target bin into the compartment is performed.

7. The method according to claim 2, characterized in that, The method further includes: In response to receiving the specified information reported by the target bin handling robot, an alarm message for the target bin is output. After receiving feedback information indicating that manual correction is completed, the step of performing the action of placing the target bin into the storage space after the take-out action is completed is omitted, and it is determined that the sorting task for the current target bin is completed. The specified information is: after the target bin transport robot is placed in the target bin, the information reported when the target bin is estimated by the set sensor module to meet the failure conditions for removal. The alarm information is used to instruct manual location correction.

8. The method according to claim 2, characterized in that, The process of identifying bins that meet the set offset correction conditions from each bin located on the target shelf to be analyzed, in order to obtain the current candidate bins, includes: Obtain the selection rule information stored in association with the control triggering condition; wherein, the selection rule information includes shelf positioning information and offset correction conditions; the shelf positioning information is used to characterize the map and / or passage of the storage space; Based on the shelf positioning information in the obtained selection rule information, locate the target shelf to be analyzed; From the various bins located on the target shelf to be analyzed, identify the bins that meet the offset correction conditions in the acquired selection rule information to obtain the current candidate bins.

9. A bin control system, characterized in that, Includes a scheduling server and at least one bin-handling robot; The scheduling server is used to select a target bin for position correction to be allocated to the target bin handling robot when a preset control trigger condition is met; and to perform a sorting task for the target bin based on the target bin handling robot and the target bin's location in the target storage area; wherein the control trigger condition is a condition set to ensure that the target bin handling robot is idle; the target bin handling robot is any one of the at least one bin handling robot; the sorting task includes: scheduling the target bin handling robot to the target storage area, controlling the target bin handling robot to perform a take-out action on the target bin at the target storage area, and performing a put-in action on the target bin after the take-out action is completed; The target bin handling robot is used to move to the target storage location under the control of the scheduling server, and to perform a take-out action on the target bin at the target storage location, and after the take-out action is completed, to perform an action to put the target bin into the storage location.

10. A material bin control device, characterized in that, include: The selection module is used to select a target bin for position correction to be assigned to the target bin handling robot when a preset control trigger condition is met; wherein, the control trigger condition is a set condition that ensures the target bin handling robot is idle; The execution module is used to perform a sorting task for the target bin based on the target bin handling robot and the target bin's location in the target compartment; The sorting task includes: dispatching the target bin transport robot to the target storage location, controlling the target bin transport robot to perform a take-out action on the target bin at the target storage location, and performing a put-in action on the target bin after the take-out action is completed.

11. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-8.

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