Robot item picking method, terminal device, and readable storage medium

Abstract

To improve the efficiency and accuracy of item picking. [Solution] According to one embodiment, a robotic article picking method, terminal device, and computer-readable recording medium are provided, which include acquiring an article picking task, identifying article location information of an article to be picked based on the article picking task, acquiring robot device information, identifying a target robot based on the article location information and the device information, identifying a target article corresponding to the target robot, acquiring article description information and article dimension information of the target article, determining the mounting position of the target article on the target robot based on the article dimension information, determining that the mounting position is on a pallet platform of a different layer, and generating article picking information based on the article description information and mounting position of the target article.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a method for picking up articles by a robot, a terminal device, and a computer-readable recording medium.

Background Art

[0002] Conventionally, in the warehouse logistics industry, sorting and picking up articles for a large number of orders are required. After picking up the corresponding articles, article transportation is realized by transporting the articles to the corresponding positions.

[0003] However, this type of work requires a large amount of manpower, and sorting orders takes time and effort. As a result, there are problems such as low work efficiency and low work accuracy due to manual work.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present invention provides a method for picking up articles by a robot, an orbital robot, and a computer-readable recording medium, and solves the problems of low efficiency and accuracy in conventional article picking up.

Means for Solving the Problems

[0005] As a first aspect, the present invention obtains a task of picking up articles by a robot including a multi-layer pallet platform for placing articles, and specifies article position information of articles to be picked up based on the task of picking up articles. Obtains device information of the robot, and specifies the target robot based on the article position information and the device information. Specifies the target article corresponding to the target robot, and obtains article description information and article dimension information of the target article. Based on the item dimensions information, the mounting position of the target item on the target robot is determined, and the mounting position is determined to be on a pallet platform of a different layer, and The present invention provides an item picking method that includes generating item picking information based on the item description information and mounting position of the target item.

[0006] In a second aspect, the present invention provides a terminal device comprising a memory for storing a computer program and a processor that executes the computer program and causes the robot to pick up items as a result of the execution of the computer program.

[0007] In a third aspect, the present invention provides a computer-readable recording medium that, when executed by a processor, stores a computer program that causes the processor to execute the robot article picking method described in any one of claims 1 to 8. [Effects of the Invention]

[0008] According to the robot article picking method, terminal device, and computer-readable recording medium of the present invention, an article picking task is acquired, article location information of the article to be picked is identified based on the task, robot device information is acquired, the target robot is identified based on the article location information and device information, the target article corresponding to the target robot is identified, article description information and article dimension information of the target article are acquired, the mounting position of the target article on the target robot is determined based on the article dimension information, the mounting position is set as a pallet platform of different layers, and article picking information is generated based on the article description information and mounting position of the target article. As a result, article picking can be performed with the assistance of the robot, significantly reducing the workload and labor costs, and the efficiency and accuracy of article picking can be effectively improved by having the robot equipped with a multi-layered pallet platform structure. [Brief explanation of the drawing]

[0009] To more clearly explain the technical solutions according to embodiments of the present invention, the drawings used in describing the embodiments will be briefly described below. Note that the drawings shown below illustrate some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these without requiring any creative effort. [Figure 1] This is a structural diagram of an article picking system according to one embodiment of the present invention. [Figure 2] This is a structural diagram of a robot according to one embodiment of the present invention. [Figure 3] This is a flowchart illustrating a robotic method for picking items according to one embodiment of the present invention. [Figure 4] This is a structural diagram of a track robot according to one embodiment of the present invention. [Modes for carrying out the invention]

[0010] Next, with reference to the drawings, the technical solutions according to embodiments of the present invention will be described clearly and completely. Note that the following embodiments are only a part of, not all, embodiments of the present invention. Those skilled in the art can obtain other embodiments based on these embodiments without requiring any creative effort, and all of these fall within the scope of the present invention.

[0011] The flowchart shown is for illustrative purposes only and does not require the inclusion of all content, actions, and procedures, nor does it mean that the procedure must be followed exactly as described. For example, some actions and procedures may be split, combined, or partially integrated, and the actual execution procedure may vary depending on the situation.

[0012] The terms used herein are for illustrative purposes only and are not intended to limit the invention. For example, terms used herein and in the claims include singular and plural forms unless otherwise clear from the context.

[0013] In this specification and in the claims, the terms “and” and “or” mean one or more of the matters listed in relation, as well as any and all possible combinations thereof.

[0014] One embodiment of the present invention provides a robotic article picking method, a terminal device, and a computer-readable storage medium. Here, the robotic article picking method is applicable to the terminal device, the robot, or the server. According to the present invention, since articles can be picked with the assistance of a robot, the workload and labor costs can be significantly reduced, and furthermore, since the robot has a multi-layered pallet platform structure, the efficiency and accuracy of article picking can be effectively improved.

[0015] Next, with reference to the drawings, several embodiments of the present invention will be described in detail. Unless otherwise consistent, the following embodiments and features can be combined.

[0016] Figure 1 shows the configuration of an item picking system 10 according to an embodiment of the present invention. As shown in Figure 1, the item picking system 10 may include a robot 100 and a terminal device 200. Here, the robot 100 can communicate with the terminal device 200 via Bluetooth®, 4G, 5G, 6G, Wi-Fi, etc.

[0017] In an embodiment of the present invention, the article picking method and its implementing body may be either a robot 100 or a terminal device 200. When the implementing body is the terminal device 200, the terminal device 200 acquires an article picking task, determines the location information of the article to be picked based on the article picking task, acquires the robot's device information, determines the target robot based on the article location information and device information, determines the target article corresponding to the target robot, acquires the target article's description information and article dimension information, determines the mounting position of the target article on the target robot based on the article dimension information, and generates article picking information based on the target article's description information and mounting position. In one embodiment of the present invention, for the sake of explanation, the article picking method will be described with the terminal device 200 as the implementing body.

[0018] Before describing the robot's method for picking items according to one embodiment of the present invention, the configuration of the robot 100 according to one embodiment of the present invention will be described.

[0019] As shown in Figure 2, the robot 100 includes a multi-layered pallet platform 10 for placing items.

[0020] The robot 100 including the three - layer pallet platform 10 will be described as an example. The three - layer pallet platform 10 includes the top - layer pallet platform 11, the middle - layer pallet platform 12, and the bottom - layer pallet platform 13 respectively. Here, since the bottom - layer pallet platform 13 is connected to the base of the robot, it has the largest load - bearing capacity. On the other hand, since the top - layer pallet platform 11 and the middle - layer pallet platform 12 are installed by hanging in the air, their load - bearing capacities are smaller than that of the bottom - layer pallet platform 13. That is, there is a limit to the weight of the items that can be placed on the top - layer pallet platform 11 and the middle - layer pallet platform 12. Also, since the middle - layer pallet platform 12 is arranged above the bottom - layer pallet platform 13 and the top - layer pallet platform 11 is arranged above the middle - layer pallet platform 12, layer heights are set for the bottom - layer pallet platform 13 and the middle - layer pallet platform 12. That is, there is a limit to the height of the items that can be placed on the bottom - layer pallet platform 13 and the middle - layer pallet platform 12.

[0021] As an example, the robot 100 may further include an emergency stop button 20 for controlling the operation stop of the robot in case of emergency.

[0022] As an example, the robot 100 may further include an ultrasonic sensor 30 for detecting obstacles existing behind the robot.

[0023] As an example, the robot 100 may further include an indicator light 40 for providing feedback regarding the operating state of the robot.

[0024] As an example, the robot 100 may further include a LiDAR for robot navigation and obstacle avoidance.

[0025] As an example, the robot 100 may further include a full - circumference contact edge 50 for detecting and protecting against mechanical collisions around the robot.

[0026] For example, the robot 100 may further include a touchscreen 60 for displaying item picking information.

[0027] For example, the robot 100 may further include a barcode scanner 70 for scanning product barcodes to verify items.

[0028] Figure 3 is a flowchart of a robotic item picking method according to an embodiment of the present invention. This robotic item picking method significantly reduces workload and labor costs because items can be picked with the assistance of the robot. Furthermore, the robot's multi-layered pallet platform structure effectively improves the efficiency and accuracy of item picking.

[0029] As shown in Figure 3, the robot's item picking method includes steps S101 to S105.

[0030] S101: Obtain an item picking task and determine the location information of the items to be picked based on the item picking task.

[0031] Here, the item picking task is the task of a robot picking items, in which an operator controls the robot based on item picking information to move it to the corresponding item's location and generate item picking information for that item. The location information of the item to be picked is information that indicates the loading position of the item to be picked.

[0032] Specifically, the process involves analyzing the item picking task to determine which items should be transported, identifying these items as items to be picked, and obtaining the loading position of these items as item location information.

[0033] For example, a robot dispatch system stores information such as a photograph, dimensions, weight, name, and location of the item to be picked, and the robot dispatch system can be used to retrieve the location of the item to be picked.

[0034] In some embodiments, an item picking order is obtained before obtaining an item picking task. Based on the item picking order, the priority and type of items to be picked are determined, and the items to be picked are matched based on the priority and type to generate an item picking task. This allows for the accurate generation of item picking tasks based on the item picking order.

[0035] Specifically, the system retrieves multiple item picking orders from the order system, analyzes these orders to determine the priority and type of each item to be picked, groups and aligns the items to be picked in all item picking orders based on their priority and type, and generates an item picking task.

[0036] For example, the system groups and aligns high-priority items to be picked in all item picking orders to generate item picking tasks. It also groups and aligns items of the same or similar item type in all item picking orders to generate item picking tasks.

[0037] S102: Obtain the robot's device information and determine the target robot based on the item location information and device information.

[0038] Here, the robot's device information may include the robot's type, voltage, and position, and a robot used for picking and transporting items may be designated as the target robot.

[0039] In some embodiments, the equipment status and position information of the robot are determined based on the device information, the robot to be assigned is determined based on the equipment status, and the target robot is determined from among the robots to be assigned based on the position information of the robot to be assigned and the item position information. As a result, the target robot can be accurately picked and acquired based on the robot's equipment information and item position information, improving the accuracy and efficiency of item picking.

[0040] Here, the equipment status may include both usable and unusable states, and the equipment status can be determined based on the robot's voltage, degree of wear, and robot type, etc. The robot to be assigned may be one whose equipment status is usable.

[0041] For example, the equipment status of each robot can be determined based on the robot's voltage, degree of wear, robot type, etc. If the robot's voltage is below a predetermined voltage threshold, the robot's equipment status is unusable. If the robot's voltage is above the predetermined voltage threshold, the robot's equipment status is usable. If the robot's degree of wear is below a predetermined wear threshold, the robot's equipment status is usable. If the robot's degree of wear is above the predetermined wear threshold, the robot's equipment status is unusable. If the robot type does not match a predetermined robot type, the robot's equipment status is unusable. If the robot type matches a predetermined robot type, the robot's equipment status is usable.

[0042] The predetermined voltage threshold, predetermined degree of wear, and predetermined robot type may be any numerical value or any type, and are not specifically limited here. The equipment status of the robot may be determined by any one of the following: the robot's voltage, degree of wear, and robot type, or by a combination of these, and are not specifically limited here.

[0043] In some embodiments, the distance between each assigned robot and an item is determined based on the position information of the assigned robot and the position information of the item. If the distance between the assigned robot and the item is less than a set distance threshold, that assigned robot is designated as the target robot. This allows for the selection of the closest assigned robot as the target robot, improving the accuracy and efficiency of item picking.

[0044] The set distance threshold may be any distance, such as 10m or 20m, and is not particularly limited in this specification.

[0045] Specifically, based on the location information of the assigned robot and the location information of the item, the distance between each assigned robot and the item is determined. If the distance between the assigned robot and the item is less than the set distance threshold, that assigned robot is designated as the target robot. If the distance between the assigned robot and the item is equal to or greater than the set distance threshold, that assigned robot is not designated as the target robot and picking is not performed.

[0046] For example, if the assigned robots include assigned robot A, assigned robot B, and assigned robot C, and the set distance threshold is 10m, the travel distance between the position of each assigned robot and the position of the item is determined, and if the distance between assigned robot A and assigned robot C and the item is less than the set distance threshold, assigned robot A and assigned robot C may be designated as target robots.

[0047] S103: Determine the target item corresponding to the target robot, and obtain the descriptive information and dimensional information of the target item.

[0048] The target item is the item that the target robot is to pick. The descriptive information for the target item may include a photograph of the target item, dimensions, weight, and name, and the item dimensions may include the height, width, and volume of the target item.

[0049] For example, if the robot dispatch system has registered information such as a photograph, dimensions, weight, name, and mounting location of the item to be picked, the robot dispatch system can retrieve the photograph, height, width, volume, weight, and name of the item to be picked.

[0050] S104: Based on the dimensions of the item, the mounting position of the target item on the target robot is determined, and the mounting position is on a pallet platform of a different layer.

[0051] Furthermore, the mounting position of the target item in the target robot indicates that the target item will be placed on the pallet platform of the corresponding layer. Different layers of pallet platforms correspond to different mounting positions.

[0052] In some embodiments, the height and load limit of each layer of the pallet platform are obtained, and based on the item dimensions and the height and load limit of the pallet platform, the pallet platform corresponding to the target item is determined as the mounting position. This allows for the accurate determination of the pallet platform for placing the target item based on the height and load limit of each layer of the pallet platform.

[0053] For example, the height and load limit corresponding to each pallet platform can be obtained. Using the robot shown in Figure 2 as an example, the load limit of the lowest pallet platform is the maximum, and the uppermost pallet platform has no height limit. After obtaining the height and load limit of each pallet platform, the pallet platform of the layer corresponding to the target item may be assigned based on the height and load limit of each pallet platform and the item dimensions, and that pallet platform may be used as the mounting position for the target item. The shelf-type installation configuration in the robot is convenient for receiving and putting away items, and at the same time, it allows the robot to pick multiple orders simultaneously and can transport items with a total weight of up to 100 kg, thus improving picking efficiency.

[0054] In some embodiments, if the height of an item exceeds the height of the pallet platform, the pallet platform corresponding to the target item is determined as the uppermost pallet platform, and this uppermost pallet platform is designated as the mounting position. Furthermore, if the weight of an item exceeds the load limit of the pallet platform, the pallet platform corresponding to the target item is determined as the lowermost pallet platform, and this lowermost pallet platform is designated as the mounting position. This allows for accurate determination of the mounting position for special items (those exceeding both the height and load limit).

[0055] For example, if the height of an item exceeds the height of the pallet platform, the pallet platform corresponding to the target item is determined as the topmost pallet platform, and this topmost pallet platform is designated as the loading position. On the other hand, if the height of an item is less than or equal to the height of the pallet platform, the pallet platform corresponding to the target item is determined based on the weight, type, etc. of the target item.

[0056] For example, if the weight of an item exceeds the load limit of the pallet platform, the pallet platform corresponding to the target item is determined as the lowest pallet platform, and this lowest pallet platform is designated as the loading position. On the other hand, if the weight of an item is less than or equal to the load limit of the pallet platform, the pallet platform corresponding to the target item is determined based on the height, type, etc., of the target item.

[0057] In some embodiments, after determining the mounting position of the target item on the target robot based on item dimensional information, the total weight of the item to be placed on the robot is determined, and it is determined whether the total weight of the item exceeds the robot's allowable total load. If the total weight of the item exceeds the robot's allowable total load, the mounting position of the target item on the target robot is determined anew. This prevents the total weight of the item to be placed on the robot from exceeding the robot's allowable total load, thus avoiding impeding the robot's movement stability.

[0058] For example, the total weight of the items to be placed on the robot is determined, and it is determined whether the total weight of the items exceeds the robot's allowable total load. If the total weight of the items exceeds the robot's allowable total load, a new mounting position for the target items on the target robot is determined. If the total weight of the items is less than or equal to the robot's allowable total load, the robot is controlled to move the items to the corresponding position and achieve item transport. The shelf-type mounting configuration on the robot is convenient for receiving and putting away items, and at the same time, it allows the robot to pick multiple orders simultaneously and transport items with a total weight of up to 100 kg, thus improving picking efficiency.

[0059] S105: Generate item picking information based on the target item's description and loading location.

[0060] The item picking information refers to information about the items that the robot should transport.

[0061] Specifically, the system generates item picking information based on the target item's description and placement location, displays it on the robot's touchscreen, and enables operators to accurately pick the corresponding items based on the item picking information. The visualization screen displays information and quantities of the items to be picked, as well as the location of the cargo box into which the items should be picked, thereby improving the accuracy of the picking operation.

[0062] In some embodiments, after generating item picking information based on the target item description and mounting position, the robot detects whether or not the item is placed at the corresponding mounting position. If it is confirmed that the item is at the corresponding mounting position, it performs a verification process on the item and controls the robot to transport the item after it has been verified. This improves the accuracy of item picking by verifying the item.

[0063] For example, if the robot confirms that an item is located at the corresponding mounting position, it performs a verification process for the item and controls the robot to transport the item after confirming its presence. If the item cannot be confirmed, new item picking information is determined.

[0064] For example, by scanning the barcode of an item and performing a matching process using a software system, it is possible to avoid picking the wrong item and improve the accuracy of picking.

[0065] The robotic article picking method according to an embodiment of the present invention involves acquiring an article picking task, determining the location information of the article to be picked based on the article picking task, acquiring robot equipment information, determining a target robot based on the article location information and equipment information, determining a target article corresponding to the target robot and acquiring descriptive information and article dimension information for the target article, determining the mounting position of the target article on the target robot based on the article dimension information, and generating article picking information based on the descriptive information and mounting position of the target article, wherein the mounting position is on a pallet platform with different layers. Because articles can be picked with the assistance of a robot, the workload and labor costs can be significantly reduced, and because the robot has a multi-layered pallet platform structure, the efficiency and accuracy of article picking are effectively improved.

[0066] Figure 4 is a diagram showing the configuration of a terminal device according to an embodiment of the present invention.

[0067] As shown in Figure 4, the terminal device 200 may include a processor 201 and memory 202 connected via a bus 203 such as I2C (Inter-Integrated Circuit).

[0068] In one embodiment, the processor 201 provides arithmetic and control functions and is used to support the execution of all aspects of the orbital robot. The processor 201 may be a central processing unit (CPU), another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or another programmable logic device, discrete gate or transistor logic device, or individual hardware components. The general-purpose processor may be a microprocessor or another general-purpose processor.

[0069] Specifically, memory 202 may be flash memory, or it may be read-only memory (ROM), a disk, a CD, a USB flash drive, or a portable hard drive, etc.

[0070] The configuration shown in Figure 4 is only a part of the configuration according to the embodiment of the present invention and does not limit the application of the solution of the embodiment of the present invention to the terminal device. Specifically, the terminal device may include more or fewer components than those shown in the figure, may combine multiple components, or may employ a different configuration of components.

[0071] The processor 201 is for executing a computer program stored in the memory 202, and by executing the computer program, any of the robot's article picking methods according to the embodiments of the present invention can be realized.

[0072] In one embodiment, the processor 201 is for executing a computer program stored in memory, and when executing the computer program, it performs the following operations: acquire an item picking task, identify the location information of the item to be picked based on the item picking task, acquire robot equipment information, identify the target robot based on the location information and the equipment information, identify the target item corresponding to the target robot, acquire item description information and item dimension information of the target item, determine the placement position of the target item on the target robot based on the item dimension information, the placement position is on a pallet platform of a different layer, and generate item picking information based on the item description information and the placement position.

[0073] In one embodiment, when the processor 201 identifies a target robot based on the location information and the device information, it performs the following operations: Based on the device information, it identifies the device state and location information of the robot; based on the device state, it identifies the robot to be assigned; and based on the location information of the robot to be assigned, it identifies the target robot from among the robots to be assigned.

[0074] In one embodiment, the processor 201 performs the following operations when identifying a target robot from among the target robots based on the location information of the target robots: Based on the location information of the target robots, it identifies the distance between each target robot and the item, and if the distance is less than a set distance threshold, it identifies that target robot as the target robot.

[0075] In one embodiment, when determining the placement position of the target item on the target robot, the processor 201 performs the following operations: It obtains the layer height and load limit of the pallet platform for each layer, and determines the pallet platform corresponding to the target item as the placement position based on the item dimensions, the layer height, and the load limit.

[0076] In one embodiment, when the processor 201 determines the placement position of the pallet platform corresponding to the target item based on the item dimensions and the height and load limit of the pallet platform, it performs the following operations: If the height of the item exceeds the height of the pallet platform, the processor determines the pallet platform corresponding to the target item to be the uppermost pallet platform and sets the uppermost pallet platform as the placement position; if the weight of the item exceeds the load limit of the pallet platform, the processor determines the pallet platform corresponding to the target item to be the lowest pallet platform and sets the lowest pallet platform as the placement position.

[0077] In one embodiment, the processor 201 performs the following operations after determining the placement position of the target item on the target robot: it identifies the total weight of the item placed on the robot, determines whether the total weight exceeds the total allowable load of the robot, and if the total weight exceeds the total allowable load of the robot, it determines a new placement position of the target item on the target robot.

[0078] In one embodiment, the processor 201 performs the following operations before acquiring an item picking task: acquire an item picking order, identify the priority and item type of the items to be picked based on the item picking order, and consolidate the items to be picked based on the priority and item type to generate an item picking task.

[0079] In one embodiment, the processor 201 generates item picking information based on the item description information and the placement location, and then performs the following operations: it detects whether an item is placed at the corresponding placement location on the robot, and if it is determined that an item is placed at the corresponding placement location on the robot, it performs a verification process on the item, and if the verification process is successful, it controls the robot to transport the item.

[0080] For convenience and to provide a concise explanation, the specific operation process of the above-mentioned orbital robot can be found by referring to the related processes described in the above embodiment; therefore, no further detailed explanation will be provided here.

[0081] In embodiments of the present invention, a computer-readable storage medium is also provided, which stores a computer program including program instructions. The processor executes the program instructions to realize one of the robot article picking methods according to embodiments of the present invention.

[0082] For example, once the program is loaded into the processor, it can perform the following actions:

[0083] The system acquires an item picking task, identifies the location information of the item to be picked based on the item picking task, acquires robot equipment information, identifies the target robot based on the location information and equipment information, identifies the target item corresponding to the target robot, acquires item description information and item dimension information of the target item, determines the placement position of the target item on the target robot based on the item dimension information, the placement position is on a pallet platform on a different layer, and generates item picking information based on the item description information and the placement position.

[0084] The computer-readable storage medium may be an internal storage unit such as the orbital robot's hard disk or memory. Alternatively, the computer-readable storage medium may be an external storage device such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital Card (SD Card), or Flash Memory Card mounted on the orbital robot.

[0085] Furthermore, the computer-readable storage medium may include a program storage area and a data storage area. Here, the program storage area can store programs and the like necessary for the operating system and at least one function, and the data storage area can store data and the like created by each program.

[0086] The above describes merely embodiments for carrying out the present invention, and the scope of protection of the present invention is not limited thereto. A person ordinary in the art could easily conceive of various equivalent modifications or substitutions within the technical scope described in the present invention, and these modifications or substitutions are included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention is determined based on the claims.

Claims

1. A robotic method for picking items, comprising a multi-layered pallet platform for placing items, wherein the method involves acquiring an item picking task and identifying the item location information of the item to be picked based on the item picking task. To acquire robot device information and identify the target robot based on the item position information and the device information, Identify the target item corresponding to the target robot, and obtain the item description information and item dimension information of the target item. Based on the item dimensions information, the mounting position of the target item on the target robot is determined, and the mounting position is on a pallet platform of a different layer. A method for picking items, characterized by generating item picking information based on the item description information and mounting position of the target item.

2. Based on the aforementioned device information, the device status and location information of the robot are identified. Identifying the robot to be assigned based on the state of the aforementioned device, The method according to claim 1, characterized in that it includes identifying a target robot from among the assigned robots based on the location information of the assigned robot and the location information of the item.

3. Based on the location information of the assigned robot and the location information of the item, calculate the distance between each assigned robot and the item. If the distance between the assigned robot and the item is less than the set distance threshold, the assigned robot shall be designated as the target robot. The method according to the second invention, characterized by including the following:

4. To obtain the height and allowable load of the pallet platform for each of the aforementioned layers, The method according to claim 1, further comprising determining the pallet platform corresponding to the target article as the mounting position based on the article dimensions, the height of the pallet platform and the allowable load.

5. The aforementioned article dimension information includes the article height and article weight. If the height of the item exceeds the height of the pallet platform, the pallet platform corresponding to the item is determined to be the uppermost pallet platform, and the uppermost pallet platform is designated as the mounting position. The method according to claim 4, characterized in that, if the weight of the article exceeds the allowable load of the pallet platform, the pallet platform corresponding to the article in question is determined to be the lowest pallet platform, and the lowest pallet platform is set as the mounting position.

6. After determining the mounting position of the target item on the target robot, the total weight of the item mounted on the robot is calculated, and it is determined whether the total weight exceeds the total allowable load of the robot. The method according to claim 1, further comprising re-determining the mounting position of the target item on the target robot if the total weight exceeds the total allowable load of the robot.

7. The method according to claim 1, further comprising obtaining an item picking order before obtaining the item picking task, identifying the priority and item type of items to be picked based on the item picking order, and integrating the items to be picked based on the priority and item type to generate an item picking task.

8. After generating item picking information based on the item description information and mounting position of the target item, the system detects whether or not the item is placed at the corresponding mounting position in the robot. If it is determined that an item is placed at the corresponding mounting position in the robot, a verification process is performed on the item, and The method according to claim 1, further comprising controlling the robot to transport the item if the verification process of the item is successful.

9. A terminal device comprising: a memory for storing a computer program; and a processor that executes the computer program and realizes the robot article picking method described in any one of claims 1 to 8 by executing the computer program.

10. A computer-readable recording medium, characterized in that it stores a computer program, and when the computer program is executed by a processor, it realizes the robot article picking method described in any one of claims 1 to 8.

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