Method, device and electronic device for scheduling a handling device

Abstract

This disclosure provides a scheduling method, apparatus, and electronic device for handling equipment, relating to the field of smart warehousing. The method includes: in response to a gathering instruction for a first gathering area, generating a gathering task for multiple first handling equipment, wherein the first handling equipment is of a first type, and the first gathering area is used to gather handling equipment of the first type; and issuing the gathering task to the multiple first handling equipment to schedule the multiple first handling equipment to move to the first gathering area. This allows for the gathering of handling equipment of the same type, improving the flexibility of handling equipment gathering.

Description

Technical Field

[0001] This disclosure relates to the field of warehousing technology, and in particular to a method, apparatus and electronic device for scheduling handling equipment. Background Technology

[0002] In warehouse management, multiple handling devices can perform tasks in different locations within the warehouse. When it is necessary to manage multiple handling devices in different locations in a unified manner, such as when it is necessary to carry out unified maintenance on handling devices in different locations, staff need to move to the location of the handling devices to handle the problem, or each handling device needs to be dispatched to the maintenance area individually, which is inefficient. Summary of the Invention

[0003] This disclosure provides a scheduling method, apparatus, and electronic device for handling equipment. The following technical solutions are disclosed in this disclosure:

[0004] A first aspect of this disclosure provides a method for scheduling transport equipment. The method includes: generating a set task for multiple first transport equipment in response to a set command for a first set area, wherein the equipment type of the first transport equipment is a first type, and the first set area is used to set up transport equipment of the first type; and issuing set tasks to the multiple first transport equipment to schedule the multiple first transport equipment to move to the first set area.

[0005] In some embodiments, the method further includes: receiving a region selection instruction and determining a first set region according to the region selection instruction; receiving a configuration instruction, the configuration instruction being used to configure the first set region for settling handling equipment of the first type; in response to the configuration instruction, verifying the right-of-way of multiple first handling equipment in the first set region, and determining that the configuration is successful if the right-of-way verification is successful.

[0006] In some embodiments, in response to a configuration instruction, verifying the right-of-way of multiple first transport devices in a first set area includes: generating a set path for each first transport device to move from its current location to the first set area; if the set path cannot be generated, or the set path is impassable, or the set path overlaps with the movement area of ​​a second transport device, the right-of-way verification is determined to have failed; otherwise, the right-of-way verification is determined to have succeeded, and the device type of the second transport device is the second type.

[0007] In some embodiments, generating a set path for scheduling each first transport device to move from its current location to a first set area includes: determining at least one of the current state of the first transport device, the task to be executed by the first transport device, and the current location of the first transport device; generating a set path based on at least one of the current state, the task to be executed, and the current location, wherein the set task is used to schedule the first transport device to move to the first set area according to the set path.

[0008] In some embodiments, the method further includes: when the first transport device is performing a first task, determining a first parameter according to a set-up instruction, the first parameter being used to indicate the priority of the set-up task and the first task; wherein, when the first parameter indicates that the priority of the set-up task is greater than the priority of the first task, the first transport device is stopped from performing the first task, and the first transport device is scheduled to move to the first set-up area according to the set-up path; when the first parameter indicates that the priority of the first task is greater than the priority of the set-up task, the first transport device is scheduled to move to the first set-up area according to the set-up path, provided that the set-up conditions are met.

[0009] In some embodiments, the set conditions include at least one of the following: the power of the first handling device is greater than or equal to a preset threshold; the first task changes from an incomplete state to a completed state; the list of tasks to be executed by the first handling device is empty.

[0010] In some embodiments, the method further includes at least one of the following: clearing the list of tasks to be executed by the first transport device and assigning the tasks to be executed by the first transport device to a third type of transport device; suspending the first task and saving the progress of the first task; and after the task is completed, scheduling the first transport device to continue executing the first task.

[0011] In some embodiments, when the bearing structure of the first transport device carries the target object, the method includes any one of the following: scheduling the first transport device to transport the target object to a first collection area; scheduling the first transport device to place the target object at a preset position and then move it to the first collection area.

[0012] In some embodiments, the method further includes: determining that the third transport device has not received a collection task and the device type of the third transport device is a first type when the third transport device is not in the first collection area and there is no collection task in the task list to be executed of the third transport device; generating a collection path corresponding to the third transport device based on at least one of the current state of the third transport device, the task to be executed of the third transport device, and the current position of the third transport device; and sending a collection task to the third transport device, the collection task being used to schedule the third transport device to move to the first collection area according to the collection path.

[0013] In some embodiments, the method further includes: receiving abnormal information reported by the first transport device; if it is determined from the abnormal information that the first transport device is in an abnormal state, suspending the scheduling of the first transport device to move to the first set area according to the set path, or canceling the scheduling of the first transport device to move to the first set area according to the set path.

[0014] In some embodiments, the method further includes: after determining that the first transport device has switched from an abnormal state to a normal state, scheduling the first transport device to continue moving to the first collection area according to the collection path; or, after determining that the first transport device has switched from an abnormal state to a normal state, regenerating the collection path according to at least one of the current state of the first transport device, the task to be executed by the first transport device, and the current position of the first transport device, and scheduling the first transport device to move to the first collection area according to the regenerated collection path.

[0015] In some embodiments, when the first collection area and the restricted area overlap, the method further includes: scheduling multiple first handling devices that have entered the first collection area to leave the restricted area when the restricted area is enabled; and canceling the collection task for the multiple first handling devices.

[0016] A second aspect of this disclosure provides a warehousing system, characterized in that it includes: a processing module, configured to generate a collection task for multiple first handling devices in response to a collection instruction for a first collection area, wherein the first handling devices are of a first type and the first collection area is used to collect handling devices of the first type; and a transceiver module, configured to send the collection task to the multiple first handling devices to schedule the multiple first handling devices to move to the first collection area.

[0017] A third aspect of this disclosure provides an electronic device, including: a processor and a memory; the memory for storing computer-executable instructions; and the processor for reading instructions from the memory and executing the instructions to implement the method in any of the implementations of the first aspect.

[0018] A fourth aspect of this disclosure provides a computer-readable storage medium storing computer instructions configured to cause the computer to perform the method in any implementation of the first aspect.

[0019] A fifth aspect of this disclosure provides a computer program product including a computing program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the method in any implementation of the first aspect described above.

[0020] The scheduling method, apparatus, and electronic equipment for handling equipment provided in this disclosure can aggregate handling equipment in different locations within a warehouse, and can aggregate handling equipment of a specified type, thereby improving the flexibility of handling equipment aggregation. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a scheduling method for a material handling device according to an embodiment of this disclosure;

[0022] Figure 2 This is a flowchart illustrating a scheduling method for a material handling device according to an embodiment of this disclosure;

[0023] Figure 3 This is a flowchart illustrating a scheduling method for a material handling device according to an embodiment of this disclosure;

[0024] Figure 4A This is a schematic diagram of a trigger set instruction proposed in an embodiment of this disclosure;

[0025] Figure 4B This is a schematic diagram illustrating a method for setting one-click set parameters according to an embodiment of this disclosure;

[0026] Figure 4C This is a schematic diagram illustrating another method for setting one-click set parameters according to an embodiment of this disclosure;

[0027] Figure 5 This is a schematic diagram of the structure of a warehousing system 500 according to an embodiment of the present disclosure;

[0028] Figure 6 This is a schematic diagram of the structure of an electronic device 600 for implementing the scheduling method of the above-described transport equipment, according to an exemplary embodiment. Detailed Implementation

[0029] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0030] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0031] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this disclosure, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “when…”.

[0032] The following describes the solutions of the embodiments of this disclosure with reference to examples.

[0033] In warehouse management, different robots can perform tasks in different locations within the warehouse. When it is necessary to manage multiple robots in different locations in a unified manner, such as when robots in different locations need to be inspected in a unified manner, it is inefficient to have staff move to the locations of different robots to handle the problem.

[0034] Traditional robot aggregation methods typically do not differentiate between robot types, resulting in low flexibility in warehouse scenarios where multiple robot types coexist. For example, if multiple robots are located in the same warehouse area, but only type A robots need to be aggregated, a traditional aggregation method would require all types of robots to perform the aggregation task, disrupting the normal operation of other non-type A robots. Conversely, if a different method is used, scheduling instructions must be issued separately for each type A robot to be aggregated, potentially leading to scheduling errors, duplicate scheduling, or incomplete scheduling (i.e., missing the scheduling of a particular type A robot).

[0035] Furthermore, when robots require unified maintenance, different maintenance equipment may be needed for different types of robots. Traditional assembly methods do not distinguish between robot types, requiring the assembly area to be equipped with maintenance equipment corresponding to each robot type, occupying a large area, and frequent switching of maintenance tools reduces maintenance efficiency. For example, different types of robots may have different sizes. For instance, type A robots are larger and taller, so when assembling type A robots, a lift is needed in the assembly area. Type B robots are smaller and shorter, so a lift is not needed for maintenance. If the traditional assembly method is used, even if only type B robots need to be assembled, a lift still needs to be stored in the assembly area. If both type A and type B robots are to be maintained simultaneously, workers may have to frequently go up and down the lift to maintain both types of robots.

[0036] To address the aforementioned problems, embodiments of this disclosure propose a scheduling method for handling equipment. This method can concentrate robots from different locations in the same area, facilitating unified processing of multiple robots. Furthermore, it can aggregate one type of robot for processing without affecting other types of robots during the aggregation process.

[0037] In some embodiments, the method of this solution can be executed by an electronic device, on which a management system may be deployed, such as a robot management system (RMS).

[0038] Figure 1 This is a flowchart illustrating a scheduling method for handling equipment according to an embodiment of this disclosure, as shown below. Figure 1 As shown, the method includes the following steps:

[0039] Step 101: In response to the collection instruction for the first collection area, generate a collection task for multiple first handling devices.

[0040] In some embodiments, the first handling device is of a first type, and the first collection area is used to collect handling devices of the first type. In other words, a collection area can be used to collect one type of handling device. When handling devices are collected, different types of handling devices can move to different collection areas for collection. The handling device is a device used in a warehouse to move goods or shelves, such as a handling robot.

[0041] In some embodiments, optionally, a collection area can also be used to collect multiple types of handling equipment; that is, one-click collection can be used to collect multiple types of handling equipment. The collection area can be used at different times to collect different types of handling equipment. For example, at the current time, if type A robots need maintenance, the system issues a collection command for that type of robot, and type A robots respond to the collection command and collect in the collection area. The next day, if type B robots need maintenance, the system can issue a collection command for type B robots that need maintenance at that time, and type B robots respond to the collection command and collect in the collection area.

[0042] In some embodiments, before generating a collection task for multiple first handling devices in response to a collection instruction for a first collection area, the method further includes: receiving a region selection instruction and determining a first collection area according to the region selection instruction; receiving a configuration instruction, the configuration instruction being used to configure the first collection area for collecting handling devices of a first type; in response to the configuration instruction, verifying the right-of-way of the multiple first handling devices in the first collection area, and determining that the configuration is successful if the right-of-way verification is successful.

[0043] The area selection command is triggered by the user on the map monitoring page of the management system. For example, the user can select a first area on the management system page, and the area selection command can then instruct the user to use the selected area as the first set area; or the user can select maintenance areas, fire prevention areas, charging areas, etc. on the map as set areas. In other words, upon receiving an area selection command, the first set area can be determined based on the area indicated by the area selection command.

[0044] In some embodiments, after determining the first collection area, the types of devices that can be collected in the first collection area can be configured, i.e., the types of robots that can be collected in the collection area can be configured. Optionally, at least one type of device can be configured for the first collection area. Preferably, one collection area can be configured with one type of device, i.e., one collection area can be used only to collect one type of handling equipment. Similarly, the user can select a robot type for the first collection area on the management system page to trigger a configuration command. After receiving the configuration command, the user can perform the configuration for the first collection area according to the instructions of the configuration command. During the configuration process, it is necessary to verify the right-of-way of the handling equipment of the corresponding device type in the first collection area. For example, when configuring the first collection area to collect handling equipment of the first type, the right-of-way of the handling equipment of the first type in the first collection area can be verified to determine whether at least one handling equipment of the first type can move to the first collection area.

[0045] In some embodiments, in response to a configuration instruction, verifying the right-of-way of multiple first transport devices in a first set area includes: generating a set path for each first transport device to move from its current location to the first set area; if the set path cannot be generated, or the set path is impassable, or the set path overlaps with the movement area of ​​a second transport device, the right-of-way verification is determined to have failed; otherwise, the right-of-way verification is determined to have succeeded, and the device type of the second transport device is the second type.

[0046] In other words, for each type of first-class transport equipment, at least one set path can be generated for the transport equipment to move from its current location to the first set area. When the transport equipment can move normally to the first set area through any set path, it can be determined that the right-of-way verification of the transport equipment in the first set area is successful. Otherwise, the verification fails. When the verification is successful, the first set area is successfully configured to collect the first-class transport equipment. When the verification fails, the configuration fails, and it is necessary to reselect the equipment type for the first set area.

[0047] For example, right-of-way verification fails when a collection path for the first type of transport equipment cannot be generated. This is if the first transport equipment is located in area A, the first collection area is located in area B, and areas A and B are not connected. Another example is when at least one collection path for the first transport equipment is impassable, such as when an obstacle prevents the first transport equipment from passing through its collection path. Yet another example is when the collection path of the first transport equipment passes through the work areas of other types of transport equipment. This means that the first type and the second type are different equipment types, and if the first transport equipment passes through the work areas of other types of transport equipment while moving to the first collection area, it may affect the normal operation of those other types of transport equipment. For example, a conflict with other types of transport equipment may affect their working efficiency.

[0048] In some embodiments, a user can trigger a collection command for a first collection area on the management system's page. Optionally, the user can select a collection function in the management system and then select the area to be collected. For example, when the area to be collected is selected as the first collection area, the user can respond to the collection command for the first collection area and determine the type of equipment to be collected in the first collection area. For example, if the first collection area is used to perform a first type of handling equipment, a collection task for the first type of handling equipment can be generated. That is, a collection task for the first handling equipment is generated, and the collection task is used to schedule at least one first type of handling equipment to move to the first collection area.

[0049] Optionally, after at least one type of first-class handling equipment is moved to the first collection area, the at least one type of first-class handling equipment in the collection can be managed uniformly, such as through unified charging and unified maintenance.

[0050] Step 102: Issue a collection task to multiple first handling devices to schedule the multiple first handling devices to move to the first collection area.

[0051] In some embodiments, after generating a collection task, the collection task can be sent to multiple first transport devices that need to be collected, so as to schedule the first transport devices to move to the first collection area. The collection task includes a collection path for the first transport devices to execute the collection task, and the destination of the collection path is the first collection area, that is, the first transport devices can move to the first collection area according to the collection path.

[0052] Optionally, while the first transport device is currently performing a task, the collection task can be used to schedule the first transport device to move immediately to the first collection area, or it can be scheduled to move to the first collection area after the first transport device has completed the task it is currently performing.

[0053] Optionally, when the first handling equipment is handling a box or shelf, the aggregation task can be used to schedule the first handling equipment to directly move the box or shelf to the first aggregation area, or the aggregation task can be used to schedule the first handling equipment to place the box or shelf in a designated location and then move it to the first aggregation area.

[0054] In summary, the above embodiments of this disclosure can aggregate handling equipment in different locations within a warehouse, and can aggregate handling equipment of a specified type. By verifying the right-of-way of the handling equipment within the aggregation area, configuration errors that prevent aggregation can be avoided. Furthermore, the aggregation of the first type of handling equipment can prevent it from affecting the normal operation of other types of handling equipment, thereby improving the flexibility of handling equipment aggregation and avoiding impact on the working efficiency of other types of handling equipment.

[0055] Figure 2 This is a flowchart illustrating a scheduling method for handling equipment according to an embodiment of this disclosure, as shown below. Figure 2 As shown, the method also includes the following steps:

[0056] Step 201: Determine at least one of the following: the current state of the first transport device, the task to be performed by the first transport device, and the current position of the first transport device.

[0057] In some embodiments, the current state of the first handling device can be an idle state, a working state, or a charging state, etc. Specifically, when the handling device is performing a handling task, its current state can be determined to be a working state, such as when the first handling device is moving to retrieve a box or shelf, or when the first handling device is moving a box or shelf to a target location. Optionally, when the first handling device is performing a charging task, its current state can be determined to be a charging state, such as when the first handling device is moving to a charging area or is charging in a charging area. Optionally, if the first handling device is not performing a task, its current state can be determined to be an idle state.

[0058] In some embodiments, it can be determined whether the task list to be executed by the first handling device contains tasks to be executed, and the task type of the tasks to be executed, such as a charging task, a handling task, etc. Optionally, the location of the first handling device can be determined, that is, the current location of the first handling device.

[0059] In some embodiments, optionally, a set path can be generated based on at least one of the current state, the task to be executed, and the current location, and the set task is used to schedule the first handling device to move to the first set area according to the set path.

[0060] Step 202: Generate a set path based on at least one of the current state, the task to be executed, and the current location. The set task is used to schedule the first handling equipment to move to the first set area according to the set path.

[0061] In some embodiments, a collection task can be generated based on at least one of the current state of the first transport device, the task to be executed, and the current position. Optionally, when generating a collection task, a collection task can also be generated based on the indication of a collection instruction, such as whether the first transport device will interrupt the task being executed when collecting.

[0062] In some embodiments, the method further includes: when the first transport device is performing a first task, determining a first parameter according to a set-up instruction, the first parameter being used to indicate the priority of the set-up task and the first task; wherein, when the first parameter indicates that the priority of the set-up task is greater than the priority of the first task, the first transport device is stopped from performing the first task, and the first transport device is scheduled to move to the first set-up area according to the set-up path; when the first parameter indicates that the priority of the first task is greater than the priority of the set-up task, the first transport device is scheduled to move to the first set-up area according to the set-up path, provided that the set-up conditions are met.

[0063] The first task can be, for example, a transport task or a charging task. When the first parameter indicates that the priority of the collection task is greater than the priority of the first task, the first transport device needs to interrupt the first task it is currently executing and immediately execute the collection task. That is, after receiving the collection task, the first transport device will immediately move to the first collection area. When the first parameter indicates that the priority of the first task is greater than the priority of the collection task, it means that the task being executed by the first transport device will not be interrupted during collection. In this case, the first transport device can move to the first collection area when the collection conditions are met.

[0064] Optionally, the collection command can use multiple parameters to indicate whether different tasks need to be interrupted when issuing the collection task. For example, the first parameter can indicate whether to interrupt the transportation task, that is, to indicate the priority between the transportation task and the collection task; the second parameter can indicate whether to interrupt the charging task, that is, to indicate the priority between the charging task and the collection task, and so on.

[0065] In some embodiments, the set conditions include at least one of the following: the power of the first handling device is greater than or equal to a preset threshold; the first task changes from an incomplete state to a completed state; the list of tasks to be executed by the first handling device is empty.

[0066] For example, when the first task is a charging task, if the first parameter indicates that the charging task has a higher priority than the collection task, the first transport device can continue to perform the charging task until the battery level of the first transport device is greater than or equal to a preset threshold. Then, the first transport device stops charging and moves to the first collection area. Optionally, the preset threshold can also be 100%, that is, the first transport device can complete the charging task before moving to the first collection area.

[0067] Alternatively, when the first task is a charging task, if the first parameter indicates that the charging task has a lower priority than the collection task, the first transport device can still continue to perform the charging task until the battery level of the first transport device is greater than or equal to a preset threshold. At this point, the first transport device stops charging and moves to the first collection area, meaning the charging task has the highest priority. Optionally, the preset threshold can also be 100%, meaning the first transport device can complete the charging task before moving to the first collection area. That is, even if a collection task is received while the first transport device is performing a charging task, it can still continue to perform the charging task. For example, if the first transport device receives a collection task while it is moving to the charging pile, it can continue to move to the charging pile for charging. If the first transport device receives a collection task while it is charging at the charging pile, it can continue charging until it is fully charged, and then move to the collection area. Alternatively, if the first transport device receives a collection task while it is charging at the charging pile, its current battery level can be determined. For example, if the battery level of the first transport device is greater than 40%, it can stop charging and move to the collection area. If the battery level of the first transport device is less than 40%, it can continue charging until it reaches 40%, then stop charging and move to the collection area to complete the collection task.

[0068] For example, when the first task is a transport task, if the first parameter indicates that the priority of the transport task is higher than the priority of the collection task, the first transport device will complete the currently executing transport task and then not continue to execute the remaining tasks to be executed, but will execute the collection task and move to the first collection area; or, the first transport device can complete all the tasks in the list of tasks to be executed before executing the collection task and moving to the first collection area.

[0069] In some embodiments, the method further includes at least one of the following: clearing the list of tasks to be executed by the first transport device and assigning the tasks to be executed by the first transport device to a third type of transport device; suspending the first task and saving the progress of the first task; and after the task is completed, scheduling the first transport device to continue executing the first task.

[0070] Optionally, if the task list of the first transport device is not empty, and the first parameter indicates that the priority of the aggregated task is the highest, the first transport device can prioritize the execution of the aggregated task, suspend the currently executing first task, and save the task progress. After the aggregated task is completed and multiple first transport devices are processed in a unified manner, when the first transport device continues to work, it can be scheduled to continue executing the first task. For other tasks in the task list that have not yet started execution, when the first transport device is executing the aggregated task, the unexecuted tasks can be assigned to other normally operating transport devices for execution. At this time, the relevant tasks can be removed from the task list of the first transport device, or the tasks in the task list of the first transport device can be retained. After the aggregated task is completed and multiple first transport devices are processed in a unified manner, when the first transport device continues to work, it can be scheduled to continue executing the tasks.

[0071] In some embodiments, when the bearing structure of the first handling device carries the target object, the method includes any one of the following: scheduling the first handling device to move the target object to a first collection area; scheduling the first handling device to place the target object at a preset position and then move it to the first collection area.

[0072] In some embodiments, when the first handling device receives a collection task, it can continue to execute the first task that is being executed. The first task can be a handling task, such as instructing the first handling device to move the box from the shelf to the workbench to perform picking, or to move the box from the workbench back to the shelf, etc. In this case, the first handling device can report to the RMS that the handling task has been completed after completing the handling task. Then the RMS can schedule the first handling device to move to the first collection area according to the collection path to complete the collection task, i.e., the first handling device.

[0073] In some embodiments, when the first handling device receives a collection task, it can interrupt the currently executing first task, which may be a handling task. For example, the first task may be instructing the first handling device to move a box from the shelf to the workbench for picking, or to move a box from the workbench back to the shelf, etc. If the first handling device needs to prioritize the collection task, it can be determined whether the first handling device is handling target objects such as boxes and / or shelves.

[0074] In some embodiments, the support structure of the first handling device is a structure for handling target objects such as boxes and / or shelves, such as a picking and placing mechanism, a storage position on the robot for temporarily storing boxes, a support mechanism for supporting shelves, etc.

[0075] Optionally, if the first handling equipment is not handling any target objects such as boxes or shelves, i.e. when the first handling equipment is in an unloaded state, the handling task of the first handling equipment can be directly cancelled. For example, if the first handling equipment is moving to the shelf or workbench to pick up a box, after cancelling the handling task, the first handling equipment can be directly dispatched to the collection area to complete the collection task, and the first handling equipment will no longer be dispatched to the shelf or workbench to pick up the box.

[0076] Optionally, if the first handling equipment is carrying a target object such as a box or shelf when performing a collection task, the collection task can be scheduled to directly move the target object carried by the first handling equipment to the collection area. In the collection area, the target object can be manually removed from the support structure and processed, such as placing it in a designated location in the storage area, and the location of the target object can be updated to the designated location in the system. Alternatively, the location of the target object can be determined to be on the support structure of the first handling equipment, and the staff will not remove the target object. After the first handling equipment has completed the unified processing, the first handling equipment can automatically place the target object in the designated location.

[0077] Alternatively, the collection task can be used to schedule the first handling equipment to place the target object in a preset position and then move it to the first collection area. The preset position can be manually set or determined according to preset rules. For example, it can be a shelf location, that is, one or more shelf locations can be reserved as preset positions. The shelf location is a location on the shelf used to store boxes or goods. Or it can be other locations where the target object can be stored. For example, a special area can be set up, in which there can be a structure for storing goods, such as the aforementioned shelf or platform. The structure for storing goods can be the aforementioned preset position.

[0078] Alternatively, the preset rule can be to determine the initial location of the target item as a preset location, which is the place where the target item is stored, such as a shelf location on a shelf in the inventory area. The first handling equipment can retrieve the target item from the initial location, transport it to the workstation for picking, and after picking, it needs to be transported back to the initial location for storage. For a period of time, the initial location of a target item is fixed. That is, the collection task can be used to schedule the first handling equipment to put the target item back to its original storage location before moving it to the first collection area. For example, if the first handling equipment needs to retrieve a box from the shelf and then transport it to the workstation to complete the handling task, the first handling equipment can put the box back on the shelf when the handling task is interrupted, and then move it to the first collection area to complete the collection task.

[0079] Alternatively, the preset rule can be to determine the location of the target object closest to the first handling equipment as the preset location, such as any storage location on the shelf closest to the first handling equipment; or the preset rule can be to determine the cache location closest to the first handling equipment as the preset location, such as the cache location on the shelf closest to the first handling equipment; or the preset rule can be to determine any cache location as the preset location, and so on.

[0080] In some embodiments, the method further includes: determining that the third transport device has not received a collection task and the device type of the third transport device is a first type when the third transport device is not in the first collection area and there is no collection task in the task list to be executed of the third transport device; generating a collection path corresponding to the third transport device based on at least one of the current state of the third transport device, the task to be executed of the third transport device, and the current position of the third transport device; and sending a collection task to the third transport device, the collection task being used to schedule the third transport device to move to the first collection area according to the collection path.

[0081] In some embodiments, after issuing a collection task to at least one first handling device, the status of all first-type handling devices in the warehouse can be traversed to determine whether there is a problem of missing collection tasks. For example, after issuing collection tasks to multiple first handling devices, a third handling device is added to the warehouse. The device type of the third handling device is first type, that is, the third handling device also needs to execute a collection task. However, since no collection task has been sent to the third handling device, it can be detected that the third handling device is not in the first collection area, and there is no collection task in the list of tasks to be executed of the third handling device. At this time, a collection task can be issued to the third handling device. At this time, a collection path corresponding to the third handling device can be generated according to at least one of the current status of the third handling device, the tasks to be executed of the third handling device, and the current position of the third handling device. A collection task is then issued to the third handling device to schedule the third handling device to move to the first collection area according to the collection path.

[0082] In some embodiments, the method further includes: receiving abnormal information reported by the first transport device; if it is determined from the abnormal information that the first transport device is in an abnormal state, suspending the scheduling of the first transport device to move to the first set area according to the set path, or canceling the scheduling of the first transport device to move to the first set area according to the set path.

[0083] In other words, if the first transport device malfunctions while moving to the first collection area according to the collection path, the execution of the collection task by the first transport device can be suspended. At this time, the list of tasks to be executed by the first transport device still contains the collection task. After the first transport device recovers, the collection task can continue to be executed. Alternatively, if the first transport device malfunctions, the execution of the collection task by the first transport device can be cancelled, and the collection task can be removed from the list of tasks to be executed by the first transport device.

[0084] In some embodiments, the method further includes: after determining that the first transport device has switched from an abnormal state to a normal state, scheduling the first transport device to continue moving to the first collection area according to the collection path; or, after determining that the first transport device has switched from an abnormal state to a normal state, regenerating the collection path according to at least one of the current state of the first transport device, the task to be executed by the first transport device, and the current position of the first transport device, and scheduling the first transport device to move to the first collection area according to the regenerated collection path.

[0085] In the above embodiments, the abnormal state of the first handling equipment may be caused by hardware motor malfunctions or other reasons. Handling the abnormal state of the first handling equipment may include several methods such as restarting, resetting, and manual handling. The first handling equipment may automatically restart or reset to resolve the abnormal state. If the abnormal problem cannot be resolved after the first handling equipment can automatically restart or reset, staff can be alerted to handle the issue.

[0086] Optionally, after determining that the first transport device has switched from an abnormal state to a normal state, if there are still set tasks in the task list to be executed by the first transport device, the first transport device can be scheduled to continue moving to the first set area according to the set path of the set task; or, if there are no set tasks in the task list to be executed by the first transport device, the set path can be regenerated according to at least one of the current state of the first transport device, the task to be executed by the first transport device, and the current position of the first transport device, and the first transport device can be scheduled to move to the first set area according to the regenerated set path.

[0087] In summary, the above embodiments of this disclosure can generate a set path based on at least one of the current state of the first handling equipment, the task to be executed, and the current location, so as to schedule the first handling equipment to move to the first set area according to the set path, thereby avoiding the impact of the set handling equipment on handling efficiency.

[0088] Figure 3 This is a flowchart illustrating a scheduling method for handling equipment according to an embodiment of this disclosure, as shown below. Figure 3 As shown, the method also includes the following steps:

[0089] Step 301: When the restricted area is in the enabled state, dispatch multiple first transport devices that have entered the first collection area to leave the restricted area.

[0090] In some embodiments, the restricted area can be a fire lane or a temporary restricted area. When the restricted area is active, transport equipment is not allowed to gather within it; that is, the restricted area and the gathering area cannot overlap. If the first gathering area and the restricted area do not overlap, when the first type of transport equipment passes through the restricted area while moving to the first gathering area, the first type of transport equipment can normally pass through the restricted area to move to the first gathering area. In other words, the gathering path can pass through the restricted area. Optionally, the restricted area can be activated upon receiving a clearing instruction.

[0091] In some embodiments, when the first collection area overlaps with the restricted area, if the first collection area overlaps with the restricted area, the first type of handling equipment is not allowed to collect in the first collection area. Therefore, when the restricted area is in an enabled state, it is necessary to schedule the handling equipment located in the restricted area to leave the restricted area.

[0092] Step 302: Cancel the aggregation task for multiple first handling devices.

[0093] In some embodiments, if the first collection area overlaps with the restricted area, after the transport equipment located in the restricted area is scheduled to leave the restricted area, the collection task for the first type of transport equipment can be cancelled to avoid the first transport equipment repeatedly entering and leaving the collection area.

[0094] In summary, the above embodiments of this disclosure can handle the handling equipment in the restricted area and the reverse restricted area when the restricted area overlaps, so as to avoid the repeated assembly of handling equipment and avoid the occupation of the restricted area leading to safety accidents, thereby improving the efficiency and safety of warehouse management.

[0095] The technical solutions of this disclosure will be further described in detail below with reference to specific application embodiments.

[0096] The following is a detailed implementation of a one-click collection function optimization method provided in this disclosure. The specific content of the method is as follows.

[0097] The method disclosed herein can set different collection areas for different types of robots, realize the binding of robot type and collection area, improve the flexibility of one-click collection, and avoid the impact of one-click collection on robot working efficiency.

[0098] The method includes: RMS sending a gathering command to the robot, and the robot moving to the gathering area after receiving the gathering command.

[0099] Different types of robots correspond to different collection areas. You can select a collection area and configure the robot type corresponding to the collection area. During the configuration process, it is necessary to verify whether the robot type configured in the current collection area is correct. If the configuration is correct, you can upload the map to RMS. RMS needs to identify and update the set collection area and the configured robot type.

[0100] During the verification process, it can be determined whether the configured robot type has the right-of-way to the collection area, that is, whether the robot can move to the collection area. If the robot has the right-of-way to the collection area, the configuration is confirmed to be correct. If the configuration is correct, the robot type corresponding to the collection area is configured successfully. If the configuration is incorrect, the robot type corresponding to the collection area is configured to fail, and a pop-up window is displayed on the RMS system to indicate that the configuration failed.

[0101] Optionally, such as Figure 4A As shown, the aforementioned grouping command is triggered by the user on the map monitoring page of the RMS system. The grouping command can be triggered in response to the confirmation of a grouping area. For example, the user can click the "One-Click Grouping" button on the map monitoring page, triggering the "Select Area Pop-up" window. The user can then select a grouping area in the pop-up window and trigger the aforementioned grouping command after confirming the grouping area. However, if only one grouping area exists in the RMS system, no area selection is required; the user can directly confirm the grouping area and trigger the grouping command after triggering "One-Click Grouping".

[0102] Optionally, based on the gathering area, the type of robot configured in that gathering area can be determined, and a gathering command can be sent to the corresponding type of robot. The gathering command instructs the robot to suspend its current task and move to the corresponding gathering area (the robot can resume executing the suspended task when it restarts); or it can instruct the robot to move to the corresponding gathering area after completing its current task; or it can instruct the robot to clear any unfinished tasks and move to the corresponding gathering area (the robot needs to be reassigned tasks when it restarts). For example, such as... Figure 4B As shown, when the robot type that needs to be assembled is a sorting robot, the sorting robot will trigger a task pause after receiving the assembly instruction, and will no longer go to the sorting work area, but will move to the assembly area.

[0103] When the robot's task is charging, the assembly command can indicate whether to interrupt the charging task during assembly, such as... Figure 4CAs shown, one-click task parameters can be configured in the RMS system. These parameters indicate whether to interrupt the charging task of the robots to be gathered during one-click gathering. If the one-click task parameters indicate that the task should not be interrupted, the robot can continue to perform the charging task and move to the gathering area when the battery level reaches the threshold. If the one-click task parameters indicate that the task should be interrupted, the robot stops charging and moves to the gathering area.

[0104] In the above embodiments, if the robot is in a transport state (i.e., the robot is carrying a shelf or box) when it receives the collection command, the robot can move to the collection area after placing the transported shelf or box in the designated location; or the robot can move the shelf or box to the collection area. For example, if the robot needs to place an external box on its own buffer position to retrieve or place an internal box, the robot needs to place the box in its original position and then move to the collection area; as another example, if the box carried by the robot is a box to be confirmed, the robot can move the box to be confirmed to the collection area.

[0105] Optionally, if a new robot is added after the one-click collection is triggered and the collection instruction is sent to the robot, and the new robot type is the type that needs to be collected, RMS can send a supplementary collection instruction to the newly added robot. The new robot will not perform collection until it receives the supplementary collection instruction.

[0106] Optionally, the gathering area can be, for example, a repair area, a battery swapping area, a charging area, or other types of areas. That is, the robots can gather in the repair area to facilitate user repair, or the robots can first gather in the gathering area and then go from the gathering area to the repair area for repair.

[0107] Optionally, if an anomaly occurs during the robot's movement to the assembly area after receiving the assembly instruction, the RMS system can resend the assembly instruction to the robot to instruct it to move to the assembly area. Alternatively, if the robot receives other tasks while moving to the assembly area after receiving the assembly instruction, such as instructions to move to another location, the robot will not process these tasks. Instead, the robot will prioritize assembling at the assembly area. After completing the assembly task, the robot can continue executing the assigned tasks.

[0108] Optionally, RMS can be configured with fire lanes and temporary restricted areas. When the temporary restricted area is enabled, the assembly area and the restricted area are not allowed to overlap, but the robot can move to the assembly area through the temporary restricted area.

[0109] Optionally, if the robot receives a gathering instruction and a clearing instruction at the same time, and the restricted area (fire passage) overlaps with the gathering area, the robot will leave the gathering area. The clearing instruction can be used to instruct the robot to leave the fire passage or the temporary restricted area.

[0110] In summary, the above embodiments of this disclosure enable the configuration of different robot types for different collection areas, thereby improving the flexibility of robot collections and preventing some types of robot collections from affecting the normal operation of other types of robots.

[0111] Figure 5 This is a schematic diagram of the structure of a warehousing system 500 according to an embodiment of the present disclosure, as shown below. Figure 5 As shown, the system includes: a processing module 510, used to generate a collection task for multiple first handling devices in response to a collection command for a first collection area, wherein the device type of the first handling devices is a first type, and the first collection area is used to collect handling devices of the first type; and a transceiver module 520, used to send collection tasks to the multiple first handling devices to schedule the multiple first handling devices to move to the first collection area.

[0112] In some embodiments, the transceiver module is further configured to receive a region selection instruction and determine a first collection region according to the region selection instruction; and receive a configuration instruction, the configuration instruction being configured to configure the first collection region for collecting handling equipment of the first type.

[0113] In some embodiments, the processing module is further configured to, in response to a configuration instruction, verify the right-of-way of the multiple first handling devices in the first set area, and determine that the configuration is successful if the right-of-way verification is successful.

[0114] In some embodiments, the processing module is further configured to generate a set path for each of the multiple first transport devices to move from its current location to a first set area; if the set path cannot be generated, or the set path is impassable, or the set path overlaps with the movement area of ​​the second transport device, the right-of-way verification is determined to have failed; otherwise, the right-of-way verification is determined to have succeeded, and the device type of the second transport device is the second type.

[0115] In some embodiments, the processing module is further configured to determine at least one of the current state of the first transport device, the task to be executed by the first transport device, and the current position of the first transport device; and generate a set path based on at least one of the current state, the task to be executed, and the current position, wherein the set task is used to schedule the first transport device to move to the first set area according to the set path.

[0116] In some embodiments, the processing module is further configured to determine a first parameter according to a set-up instruction when the first transport device is performing a first task, the first parameter being used to indicate the priority of the set-up task and the first task; wherein, when the first parameter indicates that the priority of the set-up task is greater than the priority of the first task, the first transport device is stopped from performing the first task, and the first transport device is scheduled to move to the first set-up area according to the set-up path; when the first parameter indicates that the priority of the first task is greater than the priority of the set-up task, the first transport device is scheduled to move to the first set-up area according to the set-up path if the set-up conditions are met.

[0117] In some embodiments, the set conditions include at least one of the following: the power of the first handling device is greater than or equal to a preset threshold; the first task changes from an incomplete state to a completed state; the list of tasks to be executed by the first handling device is empty.

[0118] In some embodiments, the processing module is further configured to clear the list of tasks to be executed by the first transport device, and assign the tasks to be executed by the first transport device to the third type of transport device; suspend the first task, save the progress of the first task, and after the collection task is completed, schedule the first transport device to continue executing the first task.

[0119] In some embodiments, the processing module is further configured to schedule the first handling device to move the target object to the first collection area; after scheduling the first handling device to place the target object at a preset position, move it to the first collection area.

[0120] In some embodiments, the processing module is further configured to determine that the third transport device has not received a collection task and the device type of the third transport device is a first type when the third transport device is not in the first collection area and there is no collection task in the task list to be executed of the third transport device; generate a collection path corresponding to the third transport device based on at least one of the current state of the third transport device, the task to be executed of the third transport device, and the current position of the third transport device; and send a collection task to the third transport device, the collection task being used to schedule the third transport device to move to the first collection area according to the collection path.

[0121] In some embodiments, the processing module is further configured to receive abnormal information reported by the first handling device; if it is determined from the abnormal information that the first handling device is in an abnormal state, to stop scheduling the first handling device to move to the first set area according to the set path, or to cancel scheduling the first handling device to move to the first set area according to the set path.

[0122] In some embodiments, the processing module is further configured to, after determining that the first transport device has switched from an abnormal state to a normal state, schedule the first transport device to continue moving to the first collection area according to the collection path; or, after determining that the first transport device has switched from an abnormal state to a normal state, regenerate the collection path according to at least one of the current state of the first transport device, the task to be executed by the first transport device, and the current position of the first transport device, and schedule the first transport device to move to the first collection area according to the regenerated collection path.

[0123] In some embodiments, the processing module is further configured to, when the restricted area is enabled, schedule multiple first transport devices that have entered the first collection area to leave the restricted area; and cancel the collection task for the multiple first transport devices.

[0124] In summary, the warehousing system disclosed herein can aggregate handling equipment in different locations within a warehouse, and can also aggregate handling equipment of a specified type, thereby improving the flexibility of handling equipment aggregation.

[0125] Figure 6 This is a schematic diagram of an electronic device provided according to an embodiment of the present disclosure. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store 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 methods described in the above embodiments. Figure 6 As shown, the electronic device 600 includes a processor 601 and a memory 602. Exemplarily, the electronic device 600 may also include a communication interface 603 and a communication bus 604.

[0126] The processor 601, memory 602, and communication interface 603 communicate with each other via communication bus 604. Communication interface 603 is used to communicate with other network elements such as clients or other servers.

[0127] In some embodiments, processor 601 is used to execute program 605, specifically performing the steps described above in the method embodiments. Exemplarily, program 605 may include program code, which includes computer-executable instructions.

[0128] For example, processor 601 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure. Electronic device 600 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0129] In some embodiments, memory 602 is used to store program 605. Memory 602 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0130] Specifically, program 605 can be called by processor 601 to cause electronic device 600 to execute the method shown in any of the above embodiments.

[0131] This disclosure provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device 600, causes the electronic device 600 to perform the method described above.

[0132] For example, the computer-readable storage medium may be a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0133] The beneficial effects that the warehousing system, electronic equipment and computer-readable storage medium provided in the embodiments of this disclosure can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0134] Embodiments of this disclosure also provide a computer program product, including a computer program that is executed by a processor using the methods described in the above embodiments of this disclosure.

[0135] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0137] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0138] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). In addition, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning paper or other media, followed by editing, interpreting or otherwise processing as necessary, and then stored in computer memory.

[0139] It should be understood that various parts of the embodiments of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0140] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0141] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The aforementioned storage medium can be a read-only memory, a hard disk, or an optical disk, etc.

[0142] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for scheduling handling equipment, characterized in that, The method includes: In response to a collection instruction for a first collection area, a collection task for multiple first handling devices is generated, wherein the device type of the first handling devices is a first type, and the first collection area is used to collect handling devices of the first type. The collective task is issued to the plurality of first handling devices to schedule the plurality of first handling devices to move to the first collective area.

2. The method according to claim 1, characterized in that, The method further includes: Receive a region selection instruction and determine the first set region according to the region selection instruction; Receive a configuration instruction, the configuration instruction being used to configure the first collection area to collect handling equipment of the first type; In response to the configuration command, the right-of-way of the plurality of first handling devices in the first set area is verified, and if the right-of-way verification is successful, the configuration is determined to be successful.

3. The method according to claim 2, characterized in that, The step of verifying the right-of-way of the plurality of first handling devices in the first set area in response to the configuration command includes: For the plurality of first handling devices, generate a set path to schedule each first handling device to move from its current position to the first set area; If the set path cannot be generated, or the set path is impassable, or the set path overlaps with the movement area of ​​the second transport equipment, the right-of-way verification is determined to have failed; otherwise, the right-of-way verification is determined to have succeeded, and the equipment type of the second transport equipment is the second type.

4. The method according to claim 3, characterized in that, The generated and scheduled set path for each first transport device to move from its current location to the first set area includes: Determine at least one of the following: the current state of the first transport device, the task to be performed by the first transport device, and the current position of the first transport device; The set path is generated based on at least one of the current state, the task to be executed, and the current location. The set task is used to schedule the first handling device to move to the first set area according to the set path.

5. The method according to claim 4, characterized in that, The method further includes: While the first handling device is performing the first task, a first parameter is determined according to the set instruction. The first parameter is used to indicate the priority between the set task and the first task. Specifically, when the first parameter indicates that the priority of the collection task is greater than the priority of the first task, the scheduling of the first handling equipment to execute the first task is stopped, and the first handling equipment is scheduled to move to the first collection area according to the collection path; When the first parameter indicates that the priority of the first task is greater than the priority of the set task, and the set conditions are met, the first handling equipment is scheduled to move to the first set area according to the set path.

6. The method according to claim 5, characterized in that, The set conditions include at least one of the following: The power of the first handling device is greater than or equal to a preset threshold; The first task changes from an incomplete state to a completed state; The task list to be executed for the first handling device is empty.

7. The method according to claim 5, characterized in that, The method further includes at least one of the following: Clear the pending tasks list of the first handling equipment and assign the pending tasks of the first handling equipment to the third type of handling equipment; The first task is aborted, and its progress is saved. After the collection task is completed, the first handling equipment is scheduled to continue executing the first task.

8. The method according to claim 5, characterized in that, When the target object is supported by the load-bearing structure of the first handling equipment, the method includes any one of the following: The first handling equipment is dispatched to move the target object to the first collection area; After the first handling device places the target object in a preset position, it moves it to the first collection area.

9. The method according to claim 6, characterized in that, The method further includes: If the third handling device is not in the first set area and the set task does not exist in the task list to be executed of the third handling device, it is determined that the third handling device has not received the set task, and the device type of the third handling device is the first type; Generate the set path corresponding to the third transport device based on at least one of the current state of the third transport device, the task to be executed by the third transport device, and the current position of the third transport device; The collection task is sent to the third transport device, and the collection task is used to schedule the third transport device to move to the first collection area according to the collection path.

10. The method according to claim 1, characterized in that, The method further includes: Receive abnormal information reported by the first handling equipment; If, based on the abnormal information, it is determined that the first handling equipment is in an abnormal state, the scheduling of the first handling equipment to move to the first settling area according to the settling path is suspended, or... Cancel scheduling the first handling equipment to move to the first set area according to the set path.

11. The method according to claim 10, characterized in that, The method further includes: After determining that the first handling device has switched from the abnormal state to the normal state, the first handling device is scheduled to continue moving to the first collection area according to the collection path; or... After determining that the first handling device has switched from the abnormal state to the normal state, the collection path is regenerated based on at least one of the current state of the first handling device, the task to be executed by the first handling device, and the current position of the first handling device, and the first handling device is scheduled to move to the first collection area according to the regenerated collection path.

12. The method according to claim 1, characterized in that, When the first set area overlaps with the restricted area, the method further includes: When the restricted area is in an active state, the plurality of first transport devices that have entered the first collection area are scheduled to leave the restricted area; Cancel the collective task for multiple first handling devices.

13. A warehousing system, characterized in that, include: The processing module is configured to generate a collection task for multiple first handling devices in response to a collection instruction for a first collection area, wherein the device type of the first handling devices is a first type, and the first collection area is used to collect handling devices of the first type. The transceiver module is used to send the collection task to the plurality of first handling devices to schedule the plurality of first handling devices to move to the first collection area.

14. An electronic device comprising: Processor and memory, of which, The memory is used to store computer-executable instructions; The processor is configured to read the instructions from the memory and execute the instructions to implement the method as described in any one of claims 1 to 12.

15. A computer-readable storage medium, wherein, The storage medium stores computer program instructions, which, when read by the computer, execute the method as described in any one of claims 1 to 12.

16. A computer program product comprising a computer program, wherein, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 12.

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